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 (https=)
EP (1) EP2052675B1 (https=)
JP (1) JP5529408B2 (https=)
CN (1) CN101416865B (https=)
AU (1) AU2008234966B2 (https=)
GB (1) GB2454017A (https=)

Families Citing this family (37)

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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
EP4275634A3 (en) 2011-06-10 2024-01-10 Board of Regents of the University of Nebraska Surgical end effector
WO2013009887A1 (en) 2011-07-11 2013-01-17 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
EP3730031A1 (en) 2011-10-03 2020-10-28 Board of Regents of the University of Nebraska Robotic surgical devices and systems
WO2013106569A2 (en) 2012-01-10 2013-07-18 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and insertion
US9498292B2 (en) 2012-05-01 2016-11-22 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
KR102322620B1 (ko) * 2012-06-01 2021-11-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 하드웨어 제한형 원격 중심 로봇 매니퓰레이터용 여유 축 및 자유도
CN104349741B (zh) 2012-06-01 2017-03-22 直观外科手术操作公司 手术器械操纵器方面
KR102497776B1 (ko) 2012-06-01 2023-02-09 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 멀티­포트 수술 로봇 시스템 구조
JP6228196B2 (ja) 2012-06-22 2017-11-08 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 ローカル制御ロボット手術デバイス
EP2882331A4 (en) 2012-08-08 2016-03-23 Univ Nebraska ROBOTIC SURGICAL DEVICES, SYSTEMS AND CORRESPONDING 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
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
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
US10667883B2 (en) 2013-03-15 2020-06-02 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
JP6479790B2 (ja) 2013-07-17 2019-03-06 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 ロボット外科的デバイス、システムおよび関連する方法
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
JP6710199B2 (ja) 2014-09-12 2020-06-17 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 クイックリリースエンドエフェクターおよび関連するシステムおよび方法
EP3217890B1 (en) 2014-11-11 2020-04-08 Board of Regents of the University of Nebraska Robotic device with compact joint design
DE102015101018A1 (de) 2015-01-23 2016-07-28 MAQUET GmbH Vorrichtung zum Halten und Bewegen eines Laparoskops während einer Operation
EP4555965A3 (en) 2015-08-03 2025-07-02 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US10751136B2 (en) 2016-05-18 2020-08-25 Virtual Incision Corporation Robotic surgical devices, systems and related methods
EP3503829A4 (en) 2016-08-25 2020-04-15 Board of Regents of the University of Nebraska QUICKLY RELEASABLE TOOL COUPLING AND RELATED SYSTEMS AND METHODS
EP4699745A3 (en) 2016-08-30 2026-04-29 Board of Regents of the University of Nebraska Robotic device with compact joint design and an additional degree of freedom
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
CN110462259B (zh) 2016-11-29 2022-10-28 虚拟切割有限公司 具有用户存在检测的用户控制器及相关系统和方法
WO2018112199A1 (en) 2016-12-14 2018-06-21 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
CN111417333B (zh) 2017-09-27 2023-08-29 虚拟切割有限公司 具有跟踪相机技术的机器人手术设备及相关系统和方法
CN117140580A (zh) 2018-01-05 2023-12-01 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
CN121714364A (zh) 2019-01-07 2026-03-24 虚拟切割有限公司 机器人辅助手术系统以及相关装置和方法
US11850730B2 (en) 2019-07-17 2023-12-26 Asensus Surgical Us, Inc. Double eye tracker configuration for a robot-assisted surgical system
CN115843233A (zh) 2020-07-06 2023-03-24 虚拟切割有限公司 手术机器人定位系统及相关装置和方法

Citations (14)

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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
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JP3625894B2 (ja) * 1995-05-29 2005-03-02 オリンパス株式会社 医療用処置装置
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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
EP2052675A1 (en) 2009-04-29
JP2009106738A (ja) 2009-05-21
GB0721121D0 (en) 2007-12-05
EP2052675B1 (en) 2016-04-06
AU2008234966A1 (en) 2009-05-14
JP5529408B2 (ja) 2014-06-25
CN101416865B (zh) 2017-08-01
CN101416865A (zh) 2009-04-29
GB2454017A (en) 2009-04-29
US20090112056A1 (en) 2009-04-30
US9649020B2 (en) 2017-05-16

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Owner name: FREEHAND 2010 LIMITED

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MK14 Patent ceased section 143(a) (annual fees not paid) or expired