JP5785538B2 - 腹腔鏡手術用のロボットシステム - Google Patents
腹腔鏡手術用のロボットシステム Download PDFInfo
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- JP5785538B2 JP5785538B2 JP2012511310A JP2012511310A JP5785538B2 JP 5785538 B2 JP5785538 B2 JP 5785538B2 JP 2012511310 A JP2012511310 A JP 2012511310A JP 2012511310 A JP2012511310 A JP 2012511310A JP 5785538 B2 JP5785538 B2 JP 5785538B2
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- 238000002357 laparoscopic surgery Methods 0.000 title claims description 6
- 230000002401 inhibitory effect Effects 0.000 claims 1
- 238000001356 surgical procedure Methods 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 7
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 210000001015 abdomen Anatomy 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 238000002432 robotic surgery Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 238000007675 cardiac surgery Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Images
Classifications
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0218—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for minimally invasive 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
- B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Endoscopes (AREA)
Description
Claims (6)
- 支持構造体(230)を備えた腹腔鏡手術用のロボットシステム(200)であって、前記支持構造体(230)は前記支持構造体(230)に摺動式に装着されて蝶番により取り付けられた少なくとも2つのアーム(210、220)を含み、前記アーム(210;220)が蝶番により互いに取り付けられた第1部材(300)と第2部材(400)とを備えており、前記第1部材(300)が前記支持構造体(230)に蝶番により回転可能に取り付けられているもので、前記第1部材(300)が前記第1部材(300)の長手軸(L1)を中心として回転するように構成されており、前記第2部材(400)が、器具(900)を装着するために少なくとも2の自由度を有する継手(550)を受けるように構成され、前記アーム(210、220)が、前記支持構造体(230)の長手軸(L3)の周りに互いに独立して回転するように構成されていて、前記アーム(210、220)が互いに阻害せずに前記支持構造体(230)の周りにフル旋回で回転されうるように、互いに対して及び前記支持構造体(230)に対して回転可能に設置され互いに異なった高さに配置された、それぞれ対応する第1及び第2の上部(260、270)を伴い、前記第1及び第2の上部(260、270)は前記アーム(210、220)の高さを独立に調節するために垂直に摺動することができる、ロボットシステム(200)。
- 前記第1部材(300)の前記長手軸(L1)が、前記第1部材(300)と前記第2部材(400)とを互いに接続する接合軸(L2)に少なくとも概ね直交している、請求項1に記載のロボットシステム(200)。
- 器具(900)を装着するために少なくとも2の自由度を有する前記継手(550)がジンバル式継手である、請求項2に記載のロボットシステム(200)。
- 前記第2部材(400)が、前記アームの第1部材(300)が蝶番により取り付けられている2つの部品(410、420)からなっている、請求項3に記載のロボットシステム(200)。
- 前記第1部材(300)が、前記支持構造体(230)と一体式の延長部(265;275)に回転可能に装着されている、請求項4に記載のロボットシステム(200)。
- 前記支持構造体(230)が垂直の柱を備えており、前記垂直の柱の長手軸(L3)を中心として前記アーム(210、220)が回転できる、請求項1に記載のロボットシステム(200)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES200901313A ES2388029B1 (es) | 2009-05-22 | 2009-05-22 | Sistema robótico para cirugia laparoscópica. |
ESP200901313 | 2009-05-22 | ||
PCT/ES2010/000224 WO2010133733A1 (es) | 2009-05-22 | 2010-05-20 | Sistema robótico para cirugía laparoscópica |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2012527276A JP2012527276A (ja) | 2012-11-08 |
JP2012527276A5 JP2012527276A5 (ja) | 2013-06-20 |
JP5785538B2 true JP5785538B2 (ja) | 2015-09-30 |
Family
ID=43125780
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012511310A Active JP5785538B2 (ja) | 2009-05-22 | 2010-05-20 | 腹腔鏡手術用のロボットシステム |
Country Status (16)
Country | Link |
---|---|
US (1) | US9119653B2 (ja) |
EP (1) | EP2433585B1 (ja) |
JP (1) | JP5785538B2 (ja) |
KR (1) | KR101665744B1 (ja) |
CN (1) | CN102458295B (ja) |
AU (1) | AU2010251107B2 (ja) |
BR (1) | BRPI1011053B8 (ja) |
CA (1) | CA2762780C (ja) |
ES (2) | ES2388029B1 (ja) |
IL (1) | IL216470A0 (ja) |
MX (1) | MX336487B (ja) |
PL (1) | PL2433585T3 (ja) |
RU (1) | RU2531469C2 (ja) |
SG (1) | SG176183A1 (ja) |
WO (1) | WO2010133733A1 (ja) |
ZA (1) | ZA201109443B (ja) |
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