컴퓨터 보조 원격 조작 수술 시스템 및 방법

• Main Authors: BERNSTEIN NICHOLAS LEO, DIMAIO SIMON PETER, WATERBURY ANDEW CULLEN, ANDERSON KATHERINE SUZANNE, RABINDRAN DINESH, ROGERS THEODORE W, TIERLING KOLLIN MYLES, MOHR CATHERINE
• Format: Patent
• Language: Korean
• Published: 22.01.2019
• Subjects: DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; SURGERY

최소 침습 원격 수술을 위한 시스템과 방법이 기술되어 있다. 예를 들어, 본 명세서에는 여러 가지 수술 상황들에서 로봇 매니퓰레이터, 캐뉼라 및 수술 기구의 동작들을 독립적으로 제어하기 위한 방법이 기술되어 있다. A computer-assisted system includes a manipulator assembly configured to couple to a cannula at a distal portion of the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. A cannula axis is aligned with the cannula when the cannula is coupled to the manipulator assembly. An instrument axis is aligned with the instrument when the instrument is coupled to the manipulator assembly. A controller coupled to the manipulator assembly is configured to receive an indication to reposition a remote center of motion (RCM) for the manipulator assembly while the RCM is positioned at a first location relative to the distal portion along an axis, wherein the axis is aligned with the cannula axis or the instrument axis; and in response to receiving the indication, cause the RCM to be positioned at a second location relative to the distal portion along the axis.