BR112019003873A2 - mecanismo de transmissão e instrumento cirúrgico - Google Patents

mecanismo de transmissão e instrumento cirúrgico

Info

Publication number
BR112019003873A2
BR112019003873A2 BR112019003873A BR112019003873A BR112019003873A2 BR 112019003873 A2 BR112019003873 A2 BR 112019003873A2 BR 112019003873 A BR112019003873 A BR 112019003873A BR 112019003873 A BR112019003873 A BR 112019003873A BR 112019003873 A2 BR112019003873 A2 BR 112019003873A2
Authority
BR
Brazil
Prior art keywords
transmission mechanism
surgical instrument
instrument
guide mechanisms
tractors
Prior art date
Application number
BR112019003873A
Other languages
English (en)
Other versions
BR112019003873B1 (pt
Inventor
Wang Changchun
He Chao
Yuan Shuai
He Yuyuan
Original Assignee
Microport Shanghai Medbot Co 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 Microport Shanghai Medbot Co Ltd filed Critical Microport Shanghai Medbot Co Ltd
Publication of BR112019003873A2 publication Critical patent/BR112019003873A2/pt
Publication of BR112019003873B1 publication Critical patent/BR112019003873B1/pt

Links

Classifications

    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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

Landscapes

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

Abstract

mecanismo de transmissão e instrumento cirúrgico. mecanismo de transmissão aplicado ao instrumento cirúrgico para conduzir um instrumento terminal (20) na extremidade do instrumento cirúrgico, para que se mova, e o mecanismo de transmissão tem mecanismos guias (8, 9, 16, 17), primeiro, segundo e terceiros eixos de impulsão (1, 2, 3), e primeiro, segundo, terceiro e quarto tratores (4, 5, 6, 7). os três eixos (1, 2, 3) são providos em paralelo, com o primeiro e o segundo tratores (4, 5) circundando o primeiro eixo de impulsão (1) em direções opostas, e são conectados de maneira parcialmente fixa ao mesmo, e conectados de maneira fixa ao instrumento terminal (20) após a mudança da direção por meio dos mecanismos guias (8, 9, 16, 17); o terceiro e o quarto tratores (6, 7) circundam o terceiro eixo de impulsão (3) em direção opostas, e são conectados de maneira parcialmente fixa ao mesmo e conectados de maneira fixa ao instrumento (20) após a mudança da direção por meio dos mecanismos guias (8, 9, 16, 17); em que os mecanismos guias (8, 9, 16, 17) são configurados para, quando o segundo eixo de impulsão (2) gira, a direção do movimento da porção do primeiro e segundo tratores (4, 5) que fica localizada entre os mecanismos guias (8, 9, 16, 17) e o instrumento terminal (20) é oposta àquela da porção do terceiro e quarto tratores (6, 7) que fica localizada entre os mecanismos guias (8, 9, 16, 17) e o instrumento terminal (20). o instrumento cirúrgico tem o mecanismo de transmissão.
BR112019003873-6A 2016-08-31 2017-06-29 Mecanismo de transmissão e instrumento cirúrgico BR112019003873B1 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201610791555.1 2016-08-31
CN201610791555.1A CN106308933B (zh) 2016-08-31 2016-08-31 传动机构以及手术器械
PCT/CN2017/090720 WO2018040706A1 (zh) 2016-08-31 2017-06-29 传动机构以及手术器械

Publications (2)

Publication Number Publication Date
BR112019003873A2 true BR112019003873A2 (pt) 2019-06-18
BR112019003873B1 BR112019003873B1 (pt) 2024-02-20

Family

ID=57789424

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112019003873-6A BR112019003873B1 (pt) 2016-08-31 2017-06-29 Mecanismo de transmissão e instrumento cirúrgico

Country Status (6)

Country Link
EP (1) EP3508311B1 (pt)
JP (1) JP6983888B2 (pt)
CN (1) CN106308933B (pt)
BR (1) BR112019003873B1 (pt)
RU (1) RU2710476C1 (pt)
WO (1) WO2018040706A1 (pt)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106308933B (zh) * 2016-08-31 2018-10-16 微创（上海）医疗机器人有限公司 传动机构以及手术器械
CN108969106B (zh) * 2018-07-27 2020-06-16 微创（上海）医疗机器人有限公司 伸缩装置和手术机器人
CN110368092B (zh) * 2019-08-15 2024-02-09 上海微创医疗机器人（集团）股份有限公司 手术机器人及手术器械
CN112754667A (zh) * 2020-12-19 2021-05-07 深圳市精锋医疗科技有限公司 手术器械、从操作设备及手术机器人
CN113729968B (zh) * 2021-09-23 2023-03-31 上海卓昕医疗科技有限公司 手术器械引导设备及医疗机器人
CN113995515B (zh) * 2021-12-31 2022-03-29 极限人工智能有限公司 手术器械驱动装置、手术动力装置及分体式手术装置
CN114732450B (zh) * 2022-05-20 2024-09-06 敏捷医疗科技(苏州)有限公司 手术器械

Family Cites Families (18)

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Publication number Priority date Publication date Assignee Title
US5792135A (en) * 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6714839B2 (en) * 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
US6817974B2 (en) * 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US7143926B2 (en) * 2005-02-07 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multi-stroke firing mechanism with return spring rotary manual retraction system
US9186221B2 (en) * 2008-07-16 2015-11-17 Intuitive Surgical Operations Inc. Backend mechanism for four-cable wrist
CN101732093B (zh) * 2009-11-30 2011-09-07 哈尔滨工业大学 腹腔微创手术用微型机械手
EP2415408B1 (en) * 2010-03-03 2016-12-28 Olympus Corporation Treatment device
US20120330287A1 (en) * 2010-03-15 2012-12-27 Aden Limited Surgical instrument
CN102119872B (zh) * 2011-01-10 2012-11-07 天津大学 微创外科手术机器人紧凑型快换机构
CN102499757B (zh) * 2011-10-17 2014-06-11 上海交通大学 具有力反馈的九自由度微创手术机器人主操作手
US9655638B2 (en) * 2012-02-21 2017-05-23 Calabrian High Tech Srl Twin forceps for single access laparoscopy
US20140001234A1 (en) * 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Coupling arrangements for attaching surgical end effectors to drive systems therefor
US9839481B2 (en) * 2013-03-07 2017-12-12 Intuitive Surgical Operations, Inc. Hybrid manual and robotic interventional instruments and methods of use
EP2967623B1 (en) * 2013-03-14 2021-07-21 SRI International Compact robotic wrist
DE102013225117A1 (de) * 2013-12-06 2015-06-11 Richard Wolf Gmbh Antriebsanordnung für ein endoskopisches Schaftinstrument
CN105286999B (zh) * 2015-10-15 2017-09-29 天津大学 具有末端自转功能的微创手术器械
CN105287002B (zh) * 2015-12-02 2017-10-27 吉林大学 一种机器人辅助微创手术用柔性多关节手术微器械
CN106308933B (zh) * 2016-08-31 2018-10-16 微创（上海）医疗机器人有限公司 传动机构以及手术器械

Also Published As

Publication number Publication date
CN106308933B (zh) 2018-10-16
EP3508311A4 (en) 2019-08-28
EP3508311B1 (en) 2022-03-09
JP6983888B2 (ja) 2021-12-17
JP2019532783A (ja) 2019-11-14
CN106308933A (zh) 2017-01-11
RU2710476C1 (ru) 2019-12-26
BR112019003873B1 (pt) 2024-02-20
WO2018040706A1 (zh) 2018-03-08
EP3508311A1 (en) 2019-07-10

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Legal Events

Date Code Title Description
B25D Requested change of name of applicant approved

Owner name: SHANGHAI MICROPORT MEDBOT (GROUP) CO., LTD. (CN)

B350 Update of information on the portal [chapter 15.35 patent gazette]
B25G Requested change of headquarter approved

Owner name: SHANGHAI MICROPORT MEDBOT (GROUP) CO., LTD. (CN)

B06W Patent application suspended after preliminary examination (for patents with searches from other patent authorities) chapter 6.23 patent gazette]
B25K Entry of change of name and/or headquarter and transfer of application, patent and certificate of addition of invention: republication

Owner name: SHANGHAI MICROPORT MEDBOT (GROUP) CO., LTD. (CN)

Free format text: RETIFICACAO DO DESPACHO (25.7) ? ALTERACAO DE SEDE PUBLICADO NA RPI NO 2649, DE 13/10/2021, QUANTO AO ITEM (71) ? DEPOSITANTE NO PARECER.ONDE SE LE: MICROPORT (SHANGHAI) MEDBOT CO., LTD.LEIA-SE: SHANGHAI MICROPORT MEDBOT (GROUP) CO., LTD.

B06A Patent application procedure suspended [chapter 6.1 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 29/06/2017, OBSERVADAS AS CONDICOES LEGAIS