WO2009045827A3 - Methods and systems for tool locating and tool tracking robotic instruments in robotic surgical systems - Google Patents

Methods and systems for tool locating and tool tracking robotic instruments in robotic surgical systems Download PDF

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Publication number
WO2009045827A3
WO2009045827A3 PCT/US2008/077611 US2008077611W WO2009045827A3 WO 2009045827 A3 WO2009045827 A3 WO 2009045827A3 US 2008077611 W US2008077611 W US 2008077611W WO 2009045827 A3 WO2009045827 A3 WO 2009045827A3
Authority
WO
WIPO (PCT)
Prior art keywords
robotic
tool
systems
camera
view
Prior art date
Application number
PCT/US2008/077611
Other languages
French (fr)
Other versions
WO2009045827A2 (en
Inventor
Wenyi Zhao
Christopher J Hasser
William C Nowlin
Brian D Hoffman
Original Assignee
Intuitive Surgical Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US11/865,016 external-priority patent/US8073528B2/en
Priority claimed from US11/865,015 external-priority patent/US8147503B2/en
Priority claimed from US11/865,014 external-priority patent/US8108072B2/en
Application filed by Intuitive Surgical Inc filed Critical Intuitive Surgical Inc
Publication of WO2009045827A2 publication Critical patent/WO2009045827A2/en
Publication of WO2009045827A3 publication Critical patent/WO2009045827A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/372—Details of monitor hardware
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/03—Recognition of patterns in medical or anatomical images
    • G06V2201/034—Recognition of patterns in medical or anatomical images of medical instruments

Abstract

In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical system with a tool tracking sub-system. Further disclosed are a method to locate a robotic instrument in the field of view of a camera; a method for indicating tool entrance into the field of view of a camera; a method for image guided surgery; and a tool tracking system having a computer including a processor to execute computer readable program code and a computer usable medium having the computer readable program code.
PCT/US2008/077611 2007-09-30 2008-09-25 Methods and systems for tool locating and tool tracking robotic instruments in robotic surgical systems WO2009045827A2 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US11/865,016 US8073528B2 (en) 2007-09-30 2007-09-30 Tool tracking systems, methods and computer products for image guided surgery
US11/865,015 2007-09-30
US11/865,014 2007-09-30
US11/865,016 2007-09-30
US11/865,015 US8147503B2 (en) 2007-09-30 2007-09-30 Methods of locating and tracking robotic instruments in robotic surgical systems
US11/865,014 US8108072B2 (en) 2007-09-30 2007-09-30 Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information

Publications (2)

Publication Number Publication Date
WO2009045827A2 WO2009045827A2 (en) 2009-04-09
WO2009045827A3 true WO2009045827A3 (en) 2009-07-23

Family

ID=40342114

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2008/077611 WO2009045827A2 (en) 2007-09-30 2008-09-25 Methods and systems for tool locating and tool tracking robotic instruments in robotic surgical systems

Country Status (1)

Country Link
WO (1) WO2009045827A2 (en)

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US8830224B2 (en) 2008-12-31 2014-09-09 Intuitive Surgical Operations, Inc. Efficient 3-D telestration for local robotic proctoring
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US9439556B2 (en) 2010-12-10 2016-09-13 Wayne State University Intelligent autonomous camera control for robotics with medical, military, and space applications
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WO2012174406A1 (en) 2011-06-15 2012-12-20 University Of Washington Methods and systems for haptic rendering and creating virtual fixtures from point clouds
US20150297313A1 (en) * 2012-12-14 2015-10-22 The Trustees Of Columbia University In The City Of New York Markerless tracking of robotic surgical tools
US9477307B2 (en) 2013-01-24 2016-10-25 The University Of Washington Methods and systems for six degree-of-freedom haptic interaction with streaming point data
WO2014122301A1 (en) * 2013-02-11 2014-08-14 Neomedz Sàrl Tracking apparatus for tracking an object with respect to a body
AU2014231344B2 (en) 2013-03-15 2018-10-04 Synaptive Medical Inc. Systems and methods for navigation and simulation of minimally invasive therapy
KR102117273B1 (en) * 2013-03-21 2020-06-01 삼성전자주식회사 Surgical robot system and method for controlling the same
US20160199009A1 (en) * 2013-08-10 2016-07-14 Needleways Ltd. Medical needle path display
US10226869B2 (en) 2014-03-03 2019-03-12 University Of Washington Haptic virtual fixture tools
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WO2015154172A1 (en) 2014-04-10 2015-10-15 Quanser Consulting Inc. Robotic systems and methods of operating robotic systems
WO2016010737A2 (en) * 2014-07-15 2016-01-21 Sony Corporation Computer assisted surgical system with position registration mechanism and method of operation thereof
US9905000B2 (en) 2015-02-19 2018-02-27 Sony Corporation Method and system for surgical tool localization during anatomical surgery
JP6912393B2 (en) * 2015-06-09 2021-08-04 インテュイティブ サージカル オペレーションズ， インコーポレイテッド Video content search in a medical environment
EP3397188B1 (en) 2015-12-31 2020-09-09 Stryker Corporation System and methods for preparing surgery on a patient at a target site defined by a virtual object
CN113616332A (en) 2016-05-23 2021-11-09 马科外科公司 System and method for identifying and tracking physical objects during robotic surgical procedures
US11672616B2 (en) 2016-07-14 2023-06-13 Intuitive Surgical Operations, Inc. Secondary instrument control in a computer-assisted teleoperated system
JP2020512116A (en) 2017-03-31 2020-04-23 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． Markerless robot tracking system, control device, and method
KR102019482B1 (en) * 2017-07-31 2019-09-06 경북대학교 산학협력단 Optical tracking system and controlling method thereof
WO2019050821A1 (en) 2017-09-05 2019-03-14 Covidien Lp Camera control for surgical robotic systems
US11673268B2 (en) 2018-09-13 2023-06-13 The Charles Stark Draper Laboratory, Inc. Food-safe, washable, thermally-conductive robot cover
WO2022034183A1 (en) * 2020-08-12 2022-02-17 Lina Medical International Operations Ag A surgical camera
KR102519114B1 (en) * 2021-02-26 2023-04-07 (주)휴톰 Apparatus and Method for Providing a Surgical Environment based on a Virtual Reality
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