AU2008234966B2 - A control assembly - Google Patents

A control assembly Download PDF

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Publication number
AU2008234966B2
AU2008234966B2 AU2008234966A AU2008234966A AU2008234966B2 AU 2008234966 B2 AU2008234966 B2 AU 2008234966B2 AU 2008234966 A AU2008234966 A AU 2008234966A AU 2008234966 A AU2008234966 A AU 2008234966A AU 2008234966 B2 AU2008234966 B2 AU 2008234966B2
Authority
AU
Australia
Prior art keywords
endoscopic instrument
movement
control
control assembly
freedom
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
AU2008234966A
Other languages
English (en)
Other versions
AU2008234966A1 (en
Inventor
Patrick Armstrong Finlay
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Freehand 2010 Ltd
Original Assignee
Freehand 2010 Ltd
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 Freehand 2010 Ltd filed Critical Freehand 2010 Ltd
Publication of AU2008234966A1 publication Critical patent/AU2008234966A1/en
Assigned to FREEHAND 2010 LIMITED reassignment FREEHAND 2010 LIMITED Request for Assignment Assignors: PROSURGICS LTD
Application granted granted Critical
Publication of AU2008234966B2 publication Critical patent/AU2008234966B2/en
Ceased legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • A61B1/005—Flexible endoscopes
    • 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
    • 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
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/01—Guiding arrangements therefore
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biophysics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
AU2008234966A 2007-10-26 2008-10-24 A control assembly Ceased AU2008234966B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0721121A GB2454017A (en) 2007-10-26 2007-10-26 A control assembly
GB0721121.2 2007-10-26

Publications (2)

Publication Number Publication Date
AU2008234966A1 AU2008234966A1 (en) 2009-05-14
AU2008234966B2 true AU2008234966B2 (en) 2014-09-11

Family

ID=38830068

Family Applications (1)

Application Number Title Priority Date Filing Date
AU2008234966A Ceased AU2008234966B2 (en) 2007-10-26 2008-10-24 A control assembly

Country Status (6)

Country Link
US (1) US9649020B2 (enExample)
EP (1) EP2052675B1 (enExample)
JP (1) JP5529408B2 (enExample)
CN (1) CN101416865B (enExample)
AU (1) AU2008234966B2 (enExample)
GB (1) GB2454017A (enExample)

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US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US9435995B2 (en) * 2011-01-13 2016-09-06 Poincare Systems, Inc. Medical devices with internal motors
US9060781B2 (en) 2011-06-10 2015-06-23 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to surgical end effectors
US9089353B2 (en) 2011-07-11 2015-07-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US10866783B2 (en) * 2011-08-21 2020-12-15 Transenterix Europe S.A.R.L. Vocally activated surgical control system
JP6502848B2 (ja) 2011-10-03 2019-04-17 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ モジュール式手術用ロボットシステム
US20140058205A1 (en) 2012-01-10 2014-02-27 Board Of Regents Of The University Of Nebraska Methods, Systems, and Devices for Surgical Access and Insertion
EP4357083A3 (en) 2012-05-01 2024-08-21 Board of Regents of the University of Nebraska Single site robotic device and related systems and methods
KR102396142B1 (ko) * 2012-06-01 2022-05-12 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 기구 매니퓰레이터 양태들
KR102849844B1 (ko) 2012-06-01 2025-08-26 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 멀티­포트 수술 로봇 시스템 구조
US9295524B2 (en) * 2012-06-01 2016-03-29 Intuitive Surgical Operations, Inc. Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
EP4234185A3 (en) 2012-06-22 2023-09-20 Board of Regents of the University of Nebraska Local control robotic surgical devices
CA2880622C (en) 2012-08-08 2021-01-12 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
CA2905948C (en) 2013-03-14 2022-01-11 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
EP4628042A2 (en) 2013-03-15 2025-10-08 Virtual Incision Corporation Robotic surgical devices and systems
CA2918531A1 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
DE102013108228A1 (de) 2013-07-31 2015-02-05 MAQUET GmbH Assistenzeinrichtung zur bildgebenden Unterstützung eines Operateurs während eines chirurgischen Eingriffs
DE102013109677A1 (de) 2013-09-05 2015-03-05 MAQUET GmbH Assistenzeinrichtung zur bildgebenden Unterstützung eines Operateurs während eines chirurgischen Eingriffs
EP3868322B1 (en) 2014-09-12 2024-11-20 Board of Regents of the University of Nebraska Quick-release effectors and related systems
CA2967593C (en) 2014-11-11 2024-02-27 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
DE102015101018A1 (de) 2015-01-23 2016-07-28 MAQUET GmbH Vorrichtung zum Halten und Bewegen eines Laparoskops während einer Operation
CN114027986B (zh) 2015-08-03 2024-06-14 内布拉斯加大学董事会 机器人手术装置系统及相关方法
CN114098975A (zh) 2016-05-18 2022-03-01 虚拟切割有限公司 机器人外科装置、系统及相关方法
CA3035064A1 (en) 2016-08-30 2018-03-08 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and an additional degree of freedom and related systems and methods
CN115337111B (zh) 2016-11-22 2025-04-25 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
JP7099728B2 (ja) 2016-11-29 2022-07-12 バーチャル インシジョン コーポレイション ユーザの存在検出機能を備えたユーザコントローラ、関連システムおよび方法
US10722319B2 (en) 2016-12-14 2020-07-28 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
US20200037847A1 (en) * 2017-03-24 2020-02-06 Sony Corporation Control apparatus for medical system, control method for medical system, and medical system
EP3687370B1 (en) 2017-09-27 2024-11-20 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems
US11013564B2 (en) 2018-01-05 2021-05-25 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
EP3908171A4 (en) 2019-01-07 2022-09-14 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
US11850730B2 (en) 2019-07-17 2023-12-26 Asensus Surgical Us, Inc. Double eye tracker configuration for a robot-assisted surgical system
CA3186863A1 (en) 2020-07-06 2022-01-13 Virtual Incision Corporation Surgical robot positioning system and related devices and methods

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997000649A1 (en) * 1995-06-20 1997-01-09 Wan Sing Ng Articulated arm for medical procedures
US6024695A (en) * 1991-06-13 2000-02-15 International Business Machines Corporation System and method for augmentation of surgery
JP2000350735A (ja) * 1999-06-11 2000-12-19 Toshiba Corp 医療用マニピュレータ
US20020040217A1 (en) * 2000-09-29 2002-04-04 Kabushiki Kaisha Toshiba Manipulator
US20030229338A1 (en) * 2000-11-03 2003-12-11 Irion Klaus M. Device for holding and positioning an endoscopic instrument
US20050234435A1 (en) * 2002-05-02 2005-10-20 Gabrit Concourse, Inc. Apparatus for positioning a medical instrument
US20060100501A1 (en) * 2002-05-13 2006-05-11 Peter Berkelman System for positioning on a patient an observation and/or intervention device
WO2006111966A2 (en) * 2005-04-18 2006-10-26 M.S.T. Medical Surgery Technologies Ltd Means and methods of improving laparoscopic surgery
WO2007045810A2 (en) * 2005-10-19 2007-04-26 The Acrobot Company Limited A tool constraint mechanism
EP1815950A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Robotic surgical system for performing minimally invasive medical procedures
JP2007260431A (ja) * 2007-07-09 2007-10-11 Toshiba Corp 医療用マニピュレータ
WO2008001003A2 (fr) * 2006-06-26 2008-01-03 UNIVERSITE LOUIS PASTEUR (Etablissement Public à Caractère Scientifique, Culturel et Professionnel) Installation robotisee pour le positionnement et le deplacement d'un organe ou instrument et appareil de traitement comprenant une telle installation
US20080058776A1 (en) * 2006-09-06 2008-03-06 National Cancer Center Robotic surgical system for laparoscopic surgery
US20100185212A1 (en) * 2007-07-02 2010-07-22 Mordehai Sholev System for positioning endoscope and surgical instruments

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US5417210A (en) * 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US6406472B1 (en) * 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
JP3625894B2 (ja) * 1995-05-29 2005-03-02 オリンパス株式会社 医療用処置装置
JP3596340B2 (ja) * 1999-03-18 2004-12-02 株式会社日立製作所 手術用挿入装置
DE19961971B4 (de) * 1999-12-22 2009-10-22 Forschungszentrum Karlsruhe Gmbh Vorrichtung zum sicheren automatischen Nachführen eines Endoskops und Verfolgen eines Instruments
JP4186102B2 (ja) * 2002-10-11 2008-11-26 アスカ株式会社 内視鏡保持装置
US8414475B2 (en) * 2005-04-18 2013-04-09 M.S.T. Medical Surgery Technologies Ltd Camera holder device and method thereof
EP1815949A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6024695A (en) * 1991-06-13 2000-02-15 International Business Machines Corporation System and method for augmentation of surgery
WO1997000649A1 (en) * 1995-06-20 1997-01-09 Wan Sing Ng Articulated arm for medical procedures
JP2000350735A (ja) * 1999-06-11 2000-12-19 Toshiba Corp 医療用マニピュレータ
US20020040217A1 (en) * 2000-09-29 2002-04-04 Kabushiki Kaisha Toshiba Manipulator
US20030229338A1 (en) * 2000-11-03 2003-12-11 Irion Klaus M. Device for holding and positioning an endoscopic instrument
US20050234435A1 (en) * 2002-05-02 2005-10-20 Gabrit Concourse, Inc. Apparatus for positioning a medical instrument
US20060100501A1 (en) * 2002-05-13 2006-05-11 Peter Berkelman System for positioning on a patient an observation and/or intervention device
WO2006111966A2 (en) * 2005-04-18 2006-10-26 M.S.T. Medical Surgery Technologies Ltd Means and methods of improving laparoscopic surgery
WO2007045810A2 (en) * 2005-10-19 2007-04-26 The Acrobot Company Limited A tool constraint mechanism
EP1815950A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Robotic surgical system for performing minimally invasive medical procedures
WO2008001003A2 (fr) * 2006-06-26 2008-01-03 UNIVERSITE LOUIS PASTEUR (Etablissement Public à Caractère Scientifique, Culturel et Professionnel) Installation robotisee pour le positionnement et le deplacement d'un organe ou instrument et appareil de traitement comprenant une telle installation
US20080058776A1 (en) * 2006-09-06 2008-03-06 National Cancer Center Robotic surgical system for laparoscopic surgery
US20100185212A1 (en) * 2007-07-02 2010-07-22 Mordehai Sholev System for positioning endoscope and surgical instruments
JP2007260431A (ja) * 2007-07-09 2007-10-11 Toshiba Corp 医療用マニピュレータ

Also Published As

Publication number Publication date
GB0721121D0 (en) 2007-12-05
EP2052675A1 (en) 2009-04-29
AU2008234966A1 (en) 2009-05-14
GB2454017A (en) 2009-04-29
EP2052675B1 (en) 2016-04-06
JP5529408B2 (ja) 2014-06-25
US9649020B2 (en) 2017-05-16
US20090112056A1 (en) 2009-04-30
CN101416865A (zh) 2009-04-29
CN101416865B (zh) 2017-08-01
JP2009106738A (ja) 2009-05-21

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Owner name: FREEHAND 2010 LIMITED

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