WO2010123231A3 - Coupling structure for a surgical instrument - Google Patents

Coupling structure for a surgical instrument Download PDF

Info

Publication number
WO2010123231A3
WO2010123231A3 PCT/KR2010/002405 KR2010002405W WO2010123231A3 WO 2010123231 A3 WO2010123231 A3 WO 2010123231A3 KR 2010002405 W KR2010002405 W KR 2010002405W WO 2010123231 A3 WO2010123231 A3 WO 2010123231A3
Authority
WO
WIPO (PCT)
Prior art keywords
housing
coupling structure
surgical instrument
drivers
interface unit
Prior art date
Application number
PCT/KR2010/002405
Other languages
French (fr)
Korean (ko)
Other versions
WO2010123231A2 (en
Inventor
최승욱
원종석
Original Assignee
주식회사 이턴
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
Application filed by 주식회사 이턴 filed Critical 주식회사 이턴
Priority to CN201080017258.2A priority Critical patent/CN102405021B/en
Publication of WO2010123231A2 publication Critical patent/WO2010123231A2/en
Publication of WO2010123231A3 publication Critical patent/WO2010123231A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Disclosed is a coupling structure for a surgical instrument. The coupling structure for mounting a surgical instrument onto an adapter arranged at the front end of a robot arm comprises: a housing formed into a tablet shape with a predetermined thickness and mounted on the front end of the robot arm; an interface unit formed in the thickness portion of the housing and coupled to the adapter; a plurality of drivers mounted on the interface unit to be actuated by the driving force transmitted by the adapter; a shaft coupled to the housing and accommodating a power transmission means, which is connected to the drivers, therein; and an effector coupled to the end of the shaft and connected to the power transmission means to perform operations required for surgery in accordance with the operation of the drivers. The housing of the instrument is formed into a slim tablet shape and the interface unit is formed in the thickness portion of the housing, to thereby minimize collisions or interference among instruments even when the instruments are mounted on the respective robot arms.
PCT/KR2010/002405 2009-04-21 2010-04-19 Coupling structure for a surgical instrument WO2010123231A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201080017258.2A CN102405021B (en) 2009-04-21 2010-04-19 Coupling structure for a surgical instrument

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20090034586 2009-04-21
KR10-2009-0034586 2009-04-21
KR10-2009-0060893 2009-07-03
KR1020090060893A KR100974464B1 (en) 2009-04-21 2009-07-03 Coupling structure of surgical instrument

Publications (2)

Publication Number Publication Date
WO2010123231A2 WO2010123231A2 (en) 2010-10-28
WO2010123231A3 true WO2010123231A3 (en) 2011-03-10

Family

ID=42759378

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/002405 WO2010123231A2 (en) 2009-04-21 2010-04-19 Coupling structure for a surgical instrument

Country Status (3)

Country Link
KR (1) KR100974464B1 (en)
CN (1) CN102405021B (en)
WO (1) WO2010123231A2 (en)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101550451B1 (en) * 2010-08-10 2015-09-07 (주)미래컴퍼니 RCM structure of surgical robot arm
EP2854692B1 (en) * 2012-06-01 2022-07-20 Intuitive Surgical Operations, Inc. Multi-port surgical robotic system architecture
CN104605942B (en) * 2012-07-03 2018-09-28 库卡实验仪器有限公司 The driver group and surgical instrument of surgical instrument group, particularly the surgical instrument of robot guiding
CN117770979A (en) * 2012-12-10 2024-03-29 直观外科手术操作公司 Collision avoidance during controlled movement of movable arm of image acquisition device and steerable device
KR101475665B1 (en) * 2013-05-24 2014-12-23 주식회사 고영테크놀러지 Surgical instruments for nasal cavities and surgical instrument assembly
KR101548646B1 (en) * 2014-01-21 2015-09-01 가톨릭관동대학교산학협력단 Trans-Platform Apparatus and Their Uses
GB2552540B (en) * 2016-07-29 2021-11-24 Cmr Surgical Ltd Interface structure
GB2563234B (en) 2017-06-06 2021-12-08 Cmr Surgical Ltd Securing an interface element rail of a robotic surgical instrument interface
CN107260309B (en) * 2017-07-31 2021-05-07 成都博恩思医学机器人有限公司 Surgical instrument of surgical robot and surgical robot
WO2019157763A1 (en) 2018-02-15 2019-08-22 Covidien Lp Sheath assembly for a rigid endoscope
CN108309456A (en) * 2018-03-02 2018-07-24 山东大学齐鲁医院 A kind of quick-changing mechanism of control decoupling for single hole operating robot
CN108498173A (en) * 2018-03-09 2018-09-07 深圳市精锋医疗科技有限公司 Motion arm with rotatable end instrument, from operation equipment and operating robot
CN112401944A (en) * 2020-10-14 2021-02-26 极限人工智能有限公司 Minimally invasive surgery device
KR102472766B1 (en) 2020-12-14 2022-12-01 주식회사 로엔서지컬 Wire tention adjuster for surgical instrument
CN114098996B (en) * 2021-11-29 2023-12-22 天津大学医疗机器人与智能系统研究院 Instrument driving device, instrument arm, slave hand end and robot auxiliary operation system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003061969A (en) * 2001-08-22 2003-03-04 Toshiba Corp Manipulator
US20030125753A1 (en) * 1999-02-26 2003-07-03 Cartesian Research, Inc. Stereotaxic holders, stereotaxic alignment systems comprising same, and methods for using same
JP2005211683A (en) * 2005-04-01 2005-08-11 Olympus Corp Treatment tool
US20070239170A1 (en) * 1998-02-24 2007-10-11 Brock David L Flexible instrument
KR20080047318A (en) * 2005-05-19 2008-05-28 인튜어티브 서지컬 인코포레이티드 Software center and highly configurable robotic systems for surgery and other uses
JP2009050288A (en) * 2007-08-23 2009-03-12 Terumo Corp Work mechanism of medical manipulator

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7699855B2 (en) * 1996-12-12 2010-04-20 Intuitive Surgical Operations, Inc. Sterile surgical adaptor
US7666191B2 (en) * 1996-12-12 2010-02-23 Intuitive Surgical, Inc. Robotic surgical system with sterile surgical adaptor
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070239170A1 (en) * 1998-02-24 2007-10-11 Brock David L Flexible instrument
US20030125753A1 (en) * 1999-02-26 2003-07-03 Cartesian Research, Inc. Stereotaxic holders, stereotaxic alignment systems comprising same, and methods for using same
JP2003061969A (en) * 2001-08-22 2003-03-04 Toshiba Corp Manipulator
JP2005211683A (en) * 2005-04-01 2005-08-11 Olympus Corp Treatment tool
KR20080047318A (en) * 2005-05-19 2008-05-28 인튜어티브 서지컬 인코포레이티드 Software center and highly configurable robotic systems for surgery and other uses
JP2009050288A (en) * 2007-08-23 2009-03-12 Terumo Corp Work mechanism of medical manipulator

Also Published As

Publication number Publication date
WO2010123231A2 (en) 2010-10-28
KR100974464B1 (en) 2010-08-10
CN102405021A (en) 2012-04-04
CN102405021B (en) 2014-07-23

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