CA2684559C - Devices for interfacing between manipulators and surgical tools - Google Patents
Devices for interfacing between manipulators and surgical tools Download PDFInfo
- Publication number
- CA2684559C CA2684559C CA2684559A CA2684559A CA2684559C CA 2684559 C CA2684559 C CA 2684559C CA 2684559 A CA2684559 A CA 2684559A CA 2684559 A CA2684559 A CA 2684559A CA 2684559 C CA2684559 C CA 2684559C
- Authority
- CA
- Canada
- Prior art keywords
- tool holder
- holder element
- arms
- gate
- collar assembly
- 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.)
- Expired - Fee Related
Links
- 239000012636 effector Substances 0.000 claims abstract description 63
- 239000003381 stabilizer Substances 0.000 claims abstract description 32
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 6
- 230000008878 coupling Effects 0.000 claims description 18
- 238000010168 coupling process Methods 0.000 claims description 18
- 238000005859 coupling reaction Methods 0.000 claims description 18
- 230000000994 depressogenic effect Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 abstract description 5
- 238000000429 assembly Methods 0.000 abstract description 5
- 239000000463 material Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000001954 sterilising effect Effects 0.000 description 5
- 238000004659 sterilization and disinfection Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical group [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 229910052719 titanium Inorganic materials 0.000 description 2
- 239000010936 titanium Substances 0.000 description 2
- IAYPIBMASNFSPL-UHFFFAOYSA-N Ethylene oxide Chemical compound C1CO1 IAYPIBMASNFSPL-UHFFFAOYSA-N 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- ZPUCINDJVBIVPJ-LJISPDSOSA-N cocaine Chemical compound O([C@H]1C[C@@H]2CC[C@@H](N2C)[C@H]1C(=O)OC)C(=O)C1=CC=CC=C1 ZPUCINDJVBIVPJ-LJISPDSOSA-N 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000000593 degrading effect Effects 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910001026 inconel Inorganic materials 0.000 description 1
- 230000005291 magnetic effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- -1 polyethylene Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 229910001256 stainless steel alloy Inorganic materials 0.000 description 1
- 229910000601 superalloy Inorganic materials 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 125000000391 vinyl group Chemical group [H]C([*])=C([H])[H] 0.000 description 1
- 229920002554 vinyl polymer Polymers 0.000 description 1
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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00477—Coupling
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US91215307P | 2007-04-16 | 2007-04-16 | |
| US60/912,153 | 2007-04-16 | ||
| PCT/IB2008/003465 WO2009027848A2 (en) | 2007-04-16 | 2008-04-16 | Devices for interfacing between manipulators and surgical tools |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2684559A1 CA2684559A1 (en) | 2009-03-05 |
| CA2684559C true CA2684559C (en) | 2017-09-12 |
Family
ID=40387950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2684559A Expired - Fee Related CA2684559C (en) | 2007-04-16 | 2008-04-16 | Devices for interfacing between manipulators and surgical tools |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US9492239B2 (cg-RX-API-DMAC10.html) |
| EP (1) | EP2211748B1 (cg-RX-API-DMAC10.html) |
| JP (1) | JP2010531672A (cg-RX-API-DMAC10.html) |
| CA (1) | CA2684559C (cg-RX-API-DMAC10.html) |
| IL (1) | IL201595A0 (cg-RX-API-DMAC10.html) |
| WO (1) | WO2009027848A2 (cg-RX-API-DMAC10.html) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9241766B2 (en) * | 2010-12-22 | 2016-01-26 | Intuitive Surgical Operations, Inc. | Alternate instrument removal |
| USD644675S1 (en) * | 2011-04-28 | 2011-09-06 | Restoration Robotics, Inc. | Housing for a robotic end effector |
| CN102670297B (zh) * | 2012-05-09 | 2014-07-02 | 华南理工大学 | 一种医用机械臂末端装置 |
| US20140360305A1 (en) * | 2013-06-07 | 2014-12-11 | The Johns Hopkins University | Rotation preserving quick connect device |
| US9974619B2 (en) * | 2015-02-11 | 2018-05-22 | Engineering Services Inc. | Surgical robot |
| WO2016134266A1 (en) * | 2015-02-20 | 2016-08-25 | Stryker Corporation | Sterile barrier assembly, mounting system, and method for coupling surgical components |
| WO2016196165A1 (en) * | 2015-06-01 | 2016-12-08 | Covidien Lp | Surgical drape including unrolling mechanism |
| CA2987061C (en) * | 2015-06-08 | 2024-01-02 | Covidien Lp | Mounting device for surgical systems and method of use |
| EP3344179B1 (en) * | 2015-08-31 | 2021-06-30 | KB Medical SA | Robotic surgical systems |
| US11331163B2 (en) | 2016-09-23 | 2022-05-17 | Xact Robotics Ltd. | Universal holder for an insertable medical tool |
| EP3710209A2 (en) | 2017-11-15 | 2020-09-23 | Steerable Instruments NV | Devices to enhance robotic arm tasks |
| WO2019147948A1 (en) | 2018-01-26 | 2019-08-01 | Mako Surgical Corp. | End effectors, systems, and methods for impacting prosthetics guided by surgical robots |
| WO2019147964A1 (en) * | 2018-01-26 | 2019-08-01 | Mako Surgical Corp. | End effectors and methods for driving tools guided by surgical robotic systems |
| EP4308031A4 (en) * | 2021-03-15 | 2025-05-14 | Human Xtensions Ltd. | ROBOTIC SURGICAL SYSTEM |
| KR20240004821A (ko) * | 2021-05-04 | 2024-01-11 | 마이크로슈어 비.뷔. | 수술 로봇 시스템 및 적용 및 이를 위한 부품 |
| US11975445B2 (en) | 2021-08-06 | 2024-05-07 | DePuy Synthes Products, Inc. | System for connecting end effectors to robot arms that operate under sterile conditions |
| US20230355325A1 (en) * | 2022-05-03 | 2023-11-09 | Mazor Robotics Ltd. | Replaceable arm guide and end effector for surgical systems |
| WO2025093680A1 (en) * | 2023-10-31 | 2025-05-08 | Microsure B.V. | Surgical robotic system and applications and parts therefore |
| EP4775168A1 (en) * | 2025-01-14 | 2026-07-15 | Microsure B.V. | Instrument-adapter assembly |
Family Cites Families (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4647099A (en) * | 1986-02-04 | 1987-03-03 | Hughes Tool Company | Lifting head |
| FI93607C (fi) * | 1991-05-24 | 1995-05-10 | John Koivukangas | Leikkaustoimenpidelaite |
| US5785643A (en) | 1995-07-26 | 1998-07-28 | Jim Lynn | Laparoscopic scope manipulator |
| US8182469B2 (en) * | 1997-11-21 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Surgical accessory clamp and method |
| US7727244B2 (en) | 1997-11-21 | 2010-06-01 | Intuitive Surgical Operation, Inc. | Sterile surgical drape |
| US6132368A (en) * | 1996-12-12 | 2000-10-17 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
| US5931786A (en) * | 1997-06-13 | 1999-08-03 | Barzell Whitmore Maroon Bells, Inc. | Ultrasound probe support and stepping device |
| EP2362283B1 (en) | 1997-09-19 | 2015-11-25 | Massachusetts Institute Of Technology | Robotic apparatus |
| US5871448A (en) * | 1997-10-14 | 1999-02-16 | Real World Design And Development Co. | Stepper apparatus for use in the imaging/treatment of internal organs using an ultrasound probe |
| US6875182B2 (en) * | 1998-03-03 | 2005-04-05 | Senorx, Inc. | Electrosurgical specimen-collection system |
| US6451027B1 (en) * | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
| AU2002248360A1 (en) * | 2001-01-16 | 2002-08-19 | Microdexterity Systems, Inc. | Surgical manipulator |
| US20030183545A1 (en) * | 2002-03-28 | 2003-10-02 | Carl Lauryssen | Surgical syringe holder |
| US20030208187A1 (en) | 2002-05-02 | 2003-11-06 | Gmp Surgical Solutions, Inc. | Apparatus for positioning a medical instrument |
| CA2437286C (en) | 2002-08-13 | 2008-04-29 | Garnette Roy Sutherland | Microsurgical robot system |
| US7331967B2 (en) * | 2002-09-09 | 2008-02-19 | Hansen Medical, Inc. | Surgical instrument coupling mechanism |
| US7628762B2 (en) * | 2003-03-19 | 2009-12-08 | Suros Surgical Systems, Inc. | Adapter assembly for stereotactic biopsy |
| JP2006061272A (ja) * | 2004-08-25 | 2006-03-09 | Olympus Corp | 医療器具保持装置 |
| KR20090051029A (ko) * | 2006-06-14 | 2009-05-20 | 맥도널드 디트윌러 앤드 어소시에이츠 인코포레이티드 | 직각풀리 구동기구를 갖는 수술조종장치 |
-
2008
- 2008-04-16 WO PCT/IB2008/003465 patent/WO2009027848A2/en not_active Ceased
- 2008-04-16 JP JP2010503626A patent/JP2010531672A/ja active Pending
- 2008-04-16 US US12/596,420 patent/US9492239B2/en active Active - Reinstated
- 2008-04-16 EP EP08828412.0A patent/EP2211748B1/en not_active Not-in-force
- 2008-04-16 CA CA2684559A patent/CA2684559C/en not_active Expired - Fee Related
-
2009
- 2009-10-18 IL IL201595A patent/IL201595A0/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| JP2010531672A (ja) | 2010-09-30 |
| WO2009027848A3 (en) | 2011-04-28 |
| EP2211748A2 (en) | 2010-08-04 |
| IL201595A0 (en) | 2010-05-31 |
| EP2211748B1 (en) | 2018-04-04 |
| EP2211748A4 (en) | 2014-03-12 |
| WO2009027848A2 (en) | 2009-03-05 |
| US20100286669A1 (en) | 2010-11-11 |
| CA2684559A1 (en) | 2009-03-05 |
| US9492239B2 (en) | 2016-11-15 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20130415 |
|
| MKLA | Lapsed |
Effective date: 20220301 |
|
| MKLA | Lapsed |
Effective date: 20200831 |