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1. WO2022046053 - CONTROL OF AN ENDOSCOPE BY A SURGICAL ROBOT

Publication Number WO/2022/046053
Publication Date 03.03.2022
International Application No. PCT/US2020/048138
International Filing Date 27.08.2020
IPC
A61B 34/20 2016.1
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 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
B25J 9/16 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
G06F 3/03 2006.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
FELECTRIC DIGITAL DATA PROCESSING
3Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01Input arrangements or combined input and output arrangements for interaction between user and computer
03Arrangements for converting the position or the displacement of a member into a coded form
G16H 40/60 2018.1
GPHYSICS
16INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
HHEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
40ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
60for the operation of medical equipment or devices
G16H 40/63 2018.1
GPHYSICS
16INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
HHEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
40ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
60for the operation of medical equipment or devices
63for local operation
CPC
A61B 18/14
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
04by heating
12by passing a current through the tissue to be heated, e.g. high-frequency current
14Probes or electrodes therefor
A61B 2017/00199
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
00017Electrical control of surgical instruments
00199with a console, e.g. a control panel with a display
A61B 2017/00973
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
00973pedal-operated
A61B 2018/00595
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
00571for achieving a particular surgical effect
00595Cauterization
A61B 2018/1253
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
04by heating
12by passing a current through the tissue to be heated, e.g. high-frequency current
1206Generators therefor
1246characterised by the output polarity
1253monopolar
A61B 2018/126
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
04by heating
12by passing a current through the tissue to be heated, e.g. high-frequency current
1206Generators therefor
1246characterised by the output polarity
126bipolar
Applicants
  • VERB SURGICAL INC. [US]/[US]
Inventors
  • ZHOU, Renbin
  • YUN, Seungkook
  • YU, Haoran
  • KLIGNBEIL, Ellen
  • SHRIVASTAVA, Apoorv
Agents
  • SUMMERFIELD, Craig, A.
Priority Data
17/004,27727.08.2020US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) CONTROL OF AN ENDOSCOPE BY A SURGICAL ROBOT
(FR) COMMANDE D'UN ENDOSCOPE PAR UN ROBOT CHIRURGICAL
Abstract
(EN) An endoscope is controlled by a surgical robotic system. A user input with six degrees of freedom maps to control of an endoscope by a robotic arm having a fewer number of degrees of freedom. For example, untethered user interface devices control motion of an endoscope through a series of projections from user command, to endoscope motion, and to joint motion of the robotic arm. The projection from user command to endoscope motion may project a singular angular motion from three angular motions of the user interface devices. The projection may account for the remote center of motion and/or an angular orientation of the view of the endoscope relative to a shaft of the endoscope.
(FR) Endoscope commandé par un système robotique chirurgical. Une entrée d'utilisateur ayant six degrés de liberté est associée à la commande d'un endoscope par un bras robotique ayant un nombre de degrés de liberté inférieur. Par exemple, des dispositifs d'interface utilisateur non attachés commandent le mouvement d'un endoscope à travers une série de projections d'une commande d'utilisateur, à un mouvement d'endoscope, et à un mouvement d'articulation du bras robotique. La projection d'une commande d'utilisateur à un mouvement d'endoscope peut projeter un mouvement angulaire singulier à partir de trois mouvements angulaires des dispositifs d'interface utilisateur. La projection peut prendre en compte le centre de mouvement à distance et/ou une orientation angulaire de la vue de l'endoscope par rapport à un arbre de l'endoscope.
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