http://rdf.ncbi.nlm.nih.gov/pubchem/patent/WO-2022264075-A2
Outgoing Links
| Predicate | Object |
|---|---|
| assignee | http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_2ef480c81ce956e3a6894fb3d4029ec7 |
| classificationCPCAdditional | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-715 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2090-064 |
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-30 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-71 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-35 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-30 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-00 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-35 |
| filingDate | 2022-06-16-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor | http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_8129286b08054f63ed43ad106129c858 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_174901825d260aacc2b599757cb23cf0 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_6e022831df4ea9eb0875991f2c92bca7 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_99d4cbcc06d913cb3cbff814da090ca9 |
| publicationDate | 2022-12-22-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | WO-2022264075-A2 |
| titleOfInvention | Method of teleoperation preparation in a teleoperated robotic surgery system and related system |
| abstract | A method of teleoperation preparation in a teleoperated robotic surgery system 1 is described, to be performed during a non-operating step, in which the system is not performing a teleoperation. The aforesaid robotic system 1, to which the method is applicable, comprises a plurality of motorized actuators 11, 12, 13, 14, 15, 16, and at least one surgical instrument 20. The surgical instrument 20 further comprises an articulated end-effector 40 having at least one degree of freedom (P, Y, G). The surgical instrument 20 further comprises at least one pair of antagonistic tendons (31, 32), (33, 34), (35, 36), mounted in the aforesaid surgical instrument 20 so as to be operatively connected or connectable to both the motorized actuators and to the respective links (or rigid connection elements) of the end-effector 40. The tendons of the aforesaid pair of antagonistic tendons are configured to actuate at least one degree of freedom associated therewith, between the aforesaid at least one degree of freedom P, Y, G, thus determining antagonistic effects. The method comprises the following steps: (i) establishing a univocal correlation between a set of movements of the motorized actuators 11, 12, 13, 14, 15, 16 of the robotic system 1 and a respective movement of the articulated end-effector 40 of the surgical instrument 20; (ii) performing a holding step, which in turn comprises: tensile-stressing at least one pair of antagonistic tendons (31, 32), (33, 34), (35, 36) and holding such tendons in a tensile-stressed state, by applying a holding force Fhold to the tendons, adapted to determine a loaded state of the tendons; providing a command indicating the will to enter teleoperation; enabling the entry of the surgical instrument (20) in a teleoperation state. Moreover, a corresponding teleoperated robotic surgery system is described. |
| priorityDate | 2021-06-17-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID430702421 http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID78759269 |
Total number of triples: 22.