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Robotic Assistant for Laparoscopic Surgery (1) | |
| Inventors: | V.F. Muñoz, J. Gómez, J Fernández, A. García-Cerezo, C. Vara |
| Description and Aims: | Robotic assistant system for laparoscopic surgery which can move a surgical tool in response to the surgeon’s commands. The system includes an industrial robot provided with an end actuator which is being used to hold a surgical tool, a robot controller for the industrial robot, and a computer interpreting the surgeon’s commands, through a speech recognition system or a keyboard attached to the robot arm. |
| Application No: | 009900173 PRIORITY COUNTRY: Spain |
| Application Date: | 28/01/1999 GRANT DATE: 16/08/2001 |
| Holder Institution: | Universidad de Málaga |
| Type of Patent Protection: | National |
| Patent Utilization Company: | SENER Ingeniería y Sistemas S.A. |
Robotic Assistant for Laparoscopic Surgery (2) | |
| Inventors: | V.F. Muñoz, J. Gómez, J Fernández, A. García Cerezo, C. Vara |
| Description and Aims: | Robotic assistant system for laparoscopic surgery which can move a surgical tool in response to the surgeon’s commands. The system includes a robot provided with an end actuator having 2 passive degrees of freedom which is being used to hold a surgical tool, a robot controller for the robot, and a computer interpreting the surgeon’s commands through a speech recognition system. |
| Application No: | 200000603 PRIORITY COUNTRY: España |
| Application Date: | 13/03/2000 GRANT DATE: 01/04/2004 |
| Holder Institution: | Universidad de Málaga |
| Type of Patent Protection: | National |
| Patent Utilization Company: | SENER Ingeniería y Sistemas S.A. |
Teleoperated robotic system for laparoscopic surgery | |
| Inventors: | J. M. Gómez de Gabriel, V. F. Muñoz, J. Fernández Lozano, Carlos VaraThorbeck |
| Description and Aims: | Teleoperated robotic system for laparoscopic surgery. This system is capable of moving a surgical tool in response to the surgeon’s commands present at the operating room or positioned in a distant site. The system includes: a manipulator robot provided with an end actuator which is being used to hold a surgical tool, a robot controller built into the structure thereof, and an interface system for ordering the system to perform the desired actions. Said interface system consists of a module attached to the robot controller, which decodes the orders that the user desires the robot executes, and the means to execute such orders. These input means can be physically found inside the operating room or in a distant site. |
| Application No: | 200200708 PRIORITY COUNTRY: Spain |
| Application Date: | 25/03/2002 |
| Holder Institution: | Universidad de Málaga |
| Type of Patent Protection: | National |
| Patent Utilization Company: | SENER Ingeniería y Sistemas S.A. |
Robotics System for Assisting Minimally Invasive Surgery, which Can Position a Surgical Instrument in Response to Orders from a Surgeon, Is Not Attached to the Operating Table and Does Not Require Pre-Calibration of the Insertion Point | |
| Inventors: | V.F. Muñoz, I. García Morales, J. Fdez Lozano, J. Gómez de Gabriel, A. García Cerezo, C. Pérez del Pulgar, J. Serón Barba, F. Domínguez Fdez, C. Vara Thorbeck, R. Toscano |
| Description and Aims: | Robotic system for assisting in minimally invasive surgery which can position a surgical tool in response to the surgeon’s commands. It is not fixed to the operating table and does not require pre-calibration of the insertion point. The system includes: a manipulator robot having 3 active DOF which is provided with an end actuator having 2 passive degrees of freedom, and which is being used to hold a surgical tool and a robot controller built into the structure thereof. This controller can put into practice a method for calculating the movement to be transmitted to the carried surgical tool so that it reaches the desired location without requiring pre-calibration and without the assembly having to be fixed to the operating table. |
| Application No: | WO 2008/021386 A1 PRIORITY COUNTRY: Spain |
| Application Date: | 31/01/2008 |
| Holder Institution: | Universidad de Málaga |
| Type of Patent Protection: | |
| Patent Utilization Company: | SENER Ingeniería y Sistemas S.A. |
Magnetic Endoscopic Device | |
| Inventors: | J. Gómez de Gabriel, W. Harwin, V.F. Muñoz |
| Description and Aims: | Magnetic endoscopic device formed by an inner portion provided with a surgical instrument, which, once inside a cavity of the patient, allows said instrument to be manipulated by a surgeon enabling the latter to take hold of, to cut, etc. an internal organ, and an outer portion that is outside said cavity. The inner portion is handled from the outside by means of the outer portion, by virtue of a set of pairs of magnets that keep the two portions connected magnetically, thereby requiring no entry opening in order to operate. The device allows a person or robot to manipulate various types of surgical instrument from outside the patient and to obtain different angles of access to the region of interest (triangulation). |
| Application No: | WO2013ES00262 20131125 PRIORITY COUNTRY: Spain |
| Application Date: | 25/11/2013 |
| Holder Institution: | Universidad de Málaga |
| Type of Patent Protection: | Patent Cooperation Treatment (PCT) |
| Patent Utilization Company: | |
Sistema robótico de asistencia a la cirugía mínimamente invasiva de puerto único capaz de acomodar su movimiento a la anatomía de la pared abdominal | |
| Inventors: | Rivas Blanco Irene, Muñoz Martínez Víctor Fernando, Del Saz-Orozco Huang Pablo, García Morales Isabel, Cuevas Rodríguez María, Estebanez Campos Belén, Bauzano Núñez Enrique |
| Description and Aims: | Sistema robótico de asistencia a la cirugía mínimamente invasiva de puerto único con mecanismo de orientación activa capaz de acomodar su movimiento a la anatomía de la pared abdominal que comprende un robot extra-abdominal, que a su vez comprende un efector final que, mediante campos magnéticos, permite posicionar y orientar un dispositivo médico para uso intra-abdominal El robot extra-abdominal comprende además un controlador software capaz de implementar un método para el guiado automático del dispositivo médico para uso intra-abdominal que permite su adaptación a la anatomía de la pared abdominal; y un sistema interfaz de comunicación y control que permite ordenar las acciones deseadas al sistema. Preferentemente, el sistema comprende además un dispositivo médico para uso intra-abdominal, más preferentemente un robot inta-abdominal dotado de un módulo que permite posicionar y orientar un dispositivo médico acoplado o comprendido en el robot intra-abdominal consistente preferentemente en un sistema de visión endoscópica. |
| Application No: | P201400773 PRIORITY COUNTRY: Spain |
| Application Date: | 25/09/2014 |
| Holder Institution: | Universidad de Málaga |
| Type of Patent Protection: | National |
| Patent Utilization Company: | |
Surgical Robotic System and Method for Operating a Surgical Robotic System | |
| Inventors UMA: | Bauzano Núñez Enrique, López Casado Mª Carmen, Muñoz Martínez Víctor Fernando |
| Description and Aims: | A surgical robotic system comprising: robotic units configured to be disposed in the proximity to an operating table, each one being independent from the others, each comprising a support and a robotic arm assembly; said support comprising motion means and configured to change position and orientation of the support with respect to the table; said robotic arm assembly comprising: a robotic arm, a surgical tool coupled thereto and a force sensor configured to receive measurement of forces and torques applied by the tool. The system also comprises a control console configured to remotely operate said robotic units, comprising: computing means; haptic devices configured to control the movement, spatial orientation and aperture/closure of the distal end of the tool, each haptic device being configured to control one robotic arm, the movement of a haptic device producing a corresponding movement of the surgical tool; selection means configured to activate/deactivate the robotic arms; a monitor configured to show a 3D image; and a configuration monitor. |
| Application No: | PCT/ES2016/070475 PRIORITY COUNTRY: Europe |
| Application Date: | 23/06/2016 |
| Holder Institution: | Tecnalia, Universidad de Córdoba, Servicio Andaluz de Salud, Universidad de Málaga |
| Type of Patent Protection: | International |
| Patent Utilization Company: | |
Método de Manejo de un Sistema Robótico para Cirugía Mínimamente Invasiva | |
| Inventors UMA: | Bauzano Núñez Enrique, López Casado Mª Carmen, Muñoz Martínez Víctor Fernando, Pérez del Pulgar Mancebo, Carlos |
| Description and Aims: | A method of moving a surgical tool within a cavity practiced on a patient, the surgical tool being attached to an end of a robotic arm comprising at least one force sensor located at said end of the robotic arm to which the tool is attached, the robotic arm being remotely controlled. The method comprises: from a signal comprising an order produced by a haptic device for positioning the tool, and from a signal comprising a measurement of the positioning of the distal tool end and a measurement of the forces applied by said tool end, calculating a desired position for the tool; estimating the localization of the fulcrum point from said desired position for said end of the robotic arm and from said signal comprising a measurement of the positioning of the distal tool end and a measurement of the forces applied by said tool end; from a signal comprising an order produced by a haptic device for applying a certain force at the tool end and from a signal comprising a measurement of the positioning of the distal tool end and a measurement of the forces applied by said tool end, calculating a desired force to be applied by the tool; estimating the rigidity of the patient’s body wall from said desired force to be applied by the tool and from said signal comprising a measurement of the positioning of the distal tool end and a measurement of the forces applied by said tool end; from said estimation of the localization of the fulcrum point and from said estimation of the rigidity of the patient’s body wall, actuating on the force applied by the tool and on the position of the tool by moving it according to said estimation of the localization of the fulcrum point. |
| Application No: | P201630855 PRIORITY COUNTRY: Spain |
| Application Date: | 23/06/2016 |
| Holder Institution: | Tecnalia, Universidad de Córdoba, Servicio Andaluz de Salud, Universidad de Málaga |
| Type of Patent Protection: | National |
| Patent Utilization Company: | |
Tool Coupling | |
| Inventors UMA: | Bauzano Núñez Enrique, López Casado Mª Carmen, Muñoz Martínez Víctor Fernando |
| Description and Aims: | The tool coupling comprises a first tool part and a second tool part, the second tool part being movable in relation to the first tool part. The tool coupling comprises a first base part for detachably retaining the first tool part and a second base part movable in relation to the first base part for detachably retaining the second tool part. The first base part comprises a pusher movable in relation to the first base part for detaching the first tool part and the second base part comprises a cap movable in relation to the second base part for detaching the second tool part. |
| Application No: | EP16382294.3 PRIORITY COUNTRY: Europe |
| Application Date: | 23/06/2016 |
| Holder Institution: | Tecnalia, Universidad de Córdoba, Servicio Andaluz de Salud, Universidad de Málaga |
| Type of Patent Protection: | International |
| Patent Utilization Company: | |
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