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1. WO2020095053 - HAPTIC CONTROL OF A SURGEON CONSOLE

Publication Number WO/2020/095053
Publication Date 14.05.2020
International Application No. PCT/GB2019/053155
International Filing Date 08.11.2019
IPC
A61B 34/37 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
37Master-slave 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
B25J 3/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
3Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
A61B 90/00 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
CPC
A61B 2090/065
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
06Measuring instruments not otherwise provided for
064for measuring force, pressure or mechanical tension
065for measuring contact or contact pressure
A61B 34/35
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
35for telesurgery
A61B 34/37
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
A61B 34/74
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
74Manipulators with manual electric input means
A61B 90/03
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
03Automatic limiting or abutting means, e.g. for safety
B25J 13/025
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
02Hand grip control means
025comprising haptic means
Applicants
  • CMR SURGICAL LIMITED [GB]/[GB]
Inventors
  • HENRYWOOD, Ross Hamilton
Agents
  • SLINGSBY PARTNERS LLP
Priority Data
1818320.209.11.2018GB
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) HAPTIC CONTROL OF A SURGEON CONSOLE
(FR) COMMANDE HAPTIQUE D'UNE CONSOLE DE CHIRURGIEN
Abstract
(EN)
A surgical robotic system comprises a surgeon console, remote surgical robot, and a control unit. The surgeon console comprises a base connected to a hand controller by a linkage, the linkage comprising a plurality of joints whereby the configuration of the linkage can be altered. The surgeon console comprises a driver to drive each joint to move. The surgeon console further comprises a presence sensor to sense the presence of a surgeon's hand on the hand controller. The control unit receives user inputs from the hand controller, converts the received user inputs into command signals for driving manipulation of the surgical robot, receives sensory inputs from sensors including the presence sensor, and responds to, during a surgical operation, concurrently detecting from the received sensory inputs (i) the lack of a surgeon's hand on the hand controller, and (ii) an external force additional to gravity acting on the hand controller, by controlling the drivers to drive the joints with a damped response in the direction of the external force.
(FR)
L'invention concerne un système robotique chirurgical qui comprend une console de chirurgien, un robot chirurgical à distance et une unité de commande. La console de chirurgien comprend une base reliée à un dispositif de commande manuelle par une liaison, la liaison comprenant une pluralité d'articulations, la configuration de la liaison pouvant être modifiée. La console de chirurgien comprend un dispositif d'entraînement pour entraîner chaque articulation à se déplacer. La console de chirurgien comprend en outre un capteur de présence pour détecter la présence d'une main du chirurgien sur le dispositif de commande manuelle. L'unité de commande reçoit des entrées d'utilisateur en provenance du dispositif de commande manuelle, convertit les entrées d'utilisateur reçues en signaux de commande pour entraîner la manipulation du robot chirurgical, reçoit des entrées sensorielles provenant de capteurs comprenant le capteur de présence, et répond, pendant une opération chirurgicale, à la détection simultanée à partir des entrées sensorielles reçues (i) de l'absence de main du chirurgien sur le dispositif de commande manuelle, et (ii) d'une force externe supplémentaire à la gravité agissant sur le dispositif de commande manuelle, en commandant les dispositifs d'entraînement pour entraîner les articulations avec une réponse amortie dans la direction de la force externe.
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