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1. WO2020092775 - SYSTEM AND METHOD FOR ASSISTING TOOL EXCHANGE

Publication Number WO/2020/092775
Publication Date 07.05.2020
International Application No. PCT/US2019/059172
International Filing Date 31.10.2019
IPC
A61B 34/30 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 34/00 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/50 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
50Supports for surgical instruments, e.g. articulated arms
A61B 90/90 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
90Identification means for patients or instruments, e.g. tags
B25J 15/04 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
04with provision for the remote detachment or exchange of the head or parts thereof
A61B 34/20 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
CPC
A61B 2034/302
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
302specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
A61B 34/20
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 34/70
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
70Manipulators specially adapted for use in surgery
A61B 90/50
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
50Supports for surgical instruments, e.g. articulated arms
A61B 90/90
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
90Identification means for patients or instruments, e.g. tags
Applicants
  • INTUITIVE SURGICAL OPERATIONS, INC. [US]/[US]
Inventors
  • GRIFFITHS, Paul G.
  • HE, Xingchi
Agents
  • WELCH, Henry L.
  • NGUYEN, Frank
  • KUBODERA, John
  • CHENG, Wendy
  • ALLENBY, Christopher
  • LEE, Hwa
  • ISON, Lisa
  • MEI, Yiming
  • CHANG, Jeff
  • KOPLOW, Mike
  • CAREY, John C.
  • MIRZA, Sarah
Priority Data
62/753,76231.10.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SYSTEM AND METHOD FOR ASSISTING TOOL EXCHANGE
(FR) SYSTÈME ET PROCÉDÉ D'AIDE À L'ÉCHANGE D'OUTILS
Abstract
(EN)
A system and method of assisting tool exchange includes a computer-assisted device having a manipulator configured to have at least one tool of multiple tools mounted thereon and a control unit coupled to the manipulator. The control unit is configured to detect initiation of a tool exchange, locate a source of a replacement tool to be mounted to the manipulator, determine, based on the located source, a configuration of the manipulator that facilitates mounting of the replacement tool to the manipulator, and command movement of the manipulator into the configuration. In some embodiments, the control unit is configured to determine the configuration further based on a type of the source of the replacement tool. In some embodiments, to locate the source of the replacement tool, the control unit is configured to locate at least a part of an assistant or locate a tool holding device.
(FR)
La présente invention concerne un système et un procédé d'aide à l'échange d'outils comprenant un dispositif assisté par ordinateur ayant un manipulateur conçu pour avoir au moins un outil parmi de multiples outils monté sur ce dernier et une unité de commande couplée au manipulateur. L'unité de commande est configurée pour détecter l'initiation d'un échange d'outil, pour localiser une source d'un outil de remplacement à monter sur le manipulateur, pour déterminer, sur la base de la source localisée, une configuration du manipulateur qui facilite le montage de l'outil de remplacement sur le manipulateur, et un mouvement de commande du manipulateur dans la configuration. Selon certains modes de réalisation, l'unité de commande est configurée pour déterminer la configuration en outre sur la base du type de la source de l'outil de remplacement. Selon certains modes de réalisation, afin de localiser la source de l'outil de remplacement, l'unité de commande est configurée pour localiser au moins une partie d'un système d'aide ou localiser un dispositif de maintien d'outil.
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