CA2709634C - Manipulateur chirurgical - Google Patents
Manipulateur chirurgical Download PDFInfo
- Publication number
- CA2709634C CA2709634C CA2709634A CA2709634A CA2709634C CA 2709634 C CA2709634 C CA 2709634C CA 2709634 A CA2709634 A CA 2709634A CA 2709634 A CA2709634 A CA 2709634A CA 2709634 C CA2709634 C CA 2709634C
- Authority
- CA
- Canada
- Prior art keywords
- tool
- surgical
- pulley
- axis
- input
- 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.)
- Active
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
- A61B34/30—Surgical robots
- A61B34/37—Master-slave 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
-
- 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
-
- 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
- A61B2034/715—Cable tensioning mechanisms for removing slack
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
La présente invention concerne un manipulateur chirurgical qui comprend un bras de manipulateur, un effecteur terminal tenu par le bras robotique, des outils chirurgicaux tenus par l'effecteur terminal et des articulations de manipulateur, particulièrement des dispositifs d'entraînement à angle droits destinés à transmettre un mouvement rotatif dans un axe à un axe perpendiculaire. Le manipulateur chirurgical peut avoir jusqu'à sept (7) degrés de liberté en utilisant jusqu'à quatre (4) mécanismes d'entraînement à angle droit.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US857407P | 2007-12-21 | 2007-12-21 | |
US61/008,574 | 2007-12-21 | ||
PCT/CA2008/002250 WO2009079781A1 (fr) | 2007-12-21 | 2008-12-22 | Manipulateur chirurgical |
Publications (2)
Publication Number | Publication Date |
---|---|
CA2709634A1 CA2709634A1 (fr) | 2009-07-02 |
CA2709634C true CA2709634C (fr) | 2017-04-25 |
Family
ID=40800617
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA2709634A Active CA2709634C (fr) | 2007-12-21 | 2008-12-22 | Manipulateur chirurgical |
Country Status (2)
Country | Link |
---|---|
CA (1) | CA2709634C (fr) |
WO (1) | WO2009079781A1 (fr) |
Families Citing this family (42)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9113880B2 (en) | 2007-10-05 | 2015-08-25 | Covidien Lp | Internal backbone structural chassis for a surgical device |
US10041822B2 (en) | 2007-10-05 | 2018-08-07 | Covidien Lp | Methods to shorten calibration times for powered devices |
US8496647B2 (en) | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
US8628518B2 (en) | 2005-12-30 | 2014-01-14 | Intuitive Surgical Operations, Inc. | Wireless force sensor on a distal portion of a surgical instrument and method |
US8561473B2 (en) | 2007-12-18 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
DE102010040405B4 (de) * | 2010-09-08 | 2017-07-27 | Siemens Healthcare Gmbh | Instrumentensystem für einen Endoskopieroboter |
CN105636543B (zh) | 2013-08-15 | 2018-07-13 | 直观外科手术操作公司 | 器械无菌适配器驱动接口 |
CN109247987B (zh) | 2013-08-15 | 2021-07-23 | 直观外科手术操作公司 | 预加载外科手术器械接口 |
JP6719376B2 (ja) | 2013-08-15 | 2020-07-08 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | ロボット器具の被駆動要素 |
JP6426181B2 (ja) | 2013-08-15 | 2018-11-21 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 可変器具予荷重機構コントローラ |
CN109602495B (zh) | 2013-08-15 | 2021-05-11 | 直观外科手术操作公司 | 器械无菌适配器驱动特征 |
DE102013224753A1 (de) * | 2013-12-03 | 2015-06-03 | Richard Wolf Gmbh | Instrument, insbesondere ein medizinisch-endoskopisches Instrument oder Technoskop |
KR102237597B1 (ko) * | 2014-02-18 | 2021-04-07 | 삼성전자주식회사 | 수술 로봇용 마스터 장치 및 그 제어 방법 |
GB201513850D0 (en) | 2015-08-05 | 2015-09-16 | Renishaw Plc | Coordinate positioning machine |
US11759224B2 (en) | 2017-10-30 | 2023-09-19 | Cilag Gmbh International | Surgical instrument systems comprising handle arrangements |
US11510741B2 (en) | 2017-10-30 | 2022-11-29 | Cilag Gmbh International | Method for producing a surgical instrument comprising a smart electrical system |
US10675107B2 (en) | 2017-11-15 | 2020-06-09 | Intuitive Surgical Operations, Inc. | Surgical instrument end effector with integral FBG |
US11896443B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Control of a surgical system through a surgical barrier |
US11969142B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws |
US12035890B2 (en) | 2017-12-28 | 2024-07-16 | Cilag Gmbh International | Method of sensing particulate from smoke evacuated from a patient, adjusting the pump speed based on the sensed information, and communicating the functional parameters of the system to the hub |
US20230171304A1 (en) * | 2017-12-28 | 2023-06-01 | Cilag Gmbh International | Method of robotic hub communication, detection, and control |
US11864728B2 (en) | 2017-12-28 | 2024-01-09 | Cilag Gmbh International | Characterization of tissue irregularities through the use of mono-chromatic light refractivity |
US20190201139A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Communication arrangements for robot-assisted surgical platforms |
US11857152B2 (en) | 2017-12-28 | 2024-01-02 | Cilag Gmbh International | Surgical hub spatial awareness to determine devices in operating theater |
US11464559B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Estimating state of ultrasonic end effector and control system therefor |
US11672605B2 (en) | 2017-12-28 | 2023-06-13 | Cilag Gmbh International | Sterile field interactive control displays |
US11903601B2 (en) | 2017-12-28 | 2024-02-20 | Cilag Gmbh International | Surgical instrument comprising a plurality of drive systems |
US11179175B2 (en) | 2017-12-28 | 2021-11-23 | Cilag Gmbh International | Controlling an ultrasonic surgical instrument according to tissue location |
US11257589B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes |
US11896322B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub |
US11969216B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution |
US12062442B2 (en) | 2017-12-28 | 2024-08-13 | Cilag Gmbh International | Method for operating surgical instrument systems |
US20190206569A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Method of cloud based data analytics for use with the hub |
US11998193B2 (en) | 2017-12-28 | 2024-06-04 | Cilag Gmbh International | Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation |
US11076921B2 (en) | 2017-12-28 | 2021-08-03 | Cilag Gmbh International | Adaptive control program updates for surgical hubs |
US11701162B2 (en) | 2018-03-08 | 2023-07-18 | Cilag Gmbh International | Smart blade application for reusable and disposable devices |
US11090047B2 (en) | 2018-03-28 | 2021-08-17 | Cilag Gmbh International | Surgical instrument comprising an adaptive control system |
US11980504B2 (en) | 2018-05-25 | 2024-05-14 | Intuitive Surgical Operations, Inc. | Fiber Bragg grating end effector force sensor |
WO2020102780A1 (fr) | 2018-11-15 | 2020-05-22 | Intuitive Surgical Operations, Inc. | Cabestan et arbre à glissement limité par entraînement de câble |
US11291445B2 (en) | 2019-02-19 | 2022-04-05 | Cilag Gmbh International | Surgical staple cartridges with integral authentication keys |
US20230172680A1 (en) * | 2020-05-04 | 2023-06-08 | Intuitive Surgical Operations, Inc. | Medical instrument having single input for driving multiple cables |
CN115590631A (zh) * | 2021-07-14 | 2023-01-13 | 天津大学医疗机器人与智能系统研究院(Cn) | 前端执行装置、手术器械、从手端及微创手术系统 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2906143A (en) * | 1955-03-21 | 1959-09-29 | United Shoe Machinery Corp | Strain wave gearing |
US4452193A (en) * | 1982-03-19 | 1984-06-05 | Outboard Marine Corporation | Engine with belt means connecting a flywheel pulley a governor drive pulley, and a cooling liquid pump drive pulley |
US4766775A (en) * | 1986-05-02 | 1988-08-30 | Hodge Steven W | Modular robot manipulator |
WO1995016396A1 (fr) * | 1993-12-15 | 1995-06-22 | Computer Motion, Inc. | Systeme automatise d'endoscope permettant un positionnement optimal |
US6436107B1 (en) * | 1996-02-20 | 2002-08-20 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
JP4014792B2 (ja) * | 2000-09-29 | 2007-11-28 | 株式会社東芝 | マニピュレータ |
US7367973B2 (en) * | 2003-06-30 | 2008-05-06 | Intuitive Surgical, Inc. | Electro-surgical instrument with replaceable end-effectors and inhibited surface conduction |
WO2003067341A2 (fr) * | 2002-02-06 | 2003-08-14 | The Johns Hopkins University | Centre telecommande d'un procede et d'un systeme automatises et motorises |
EP1815950A1 (fr) * | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Dispositif chirurgical robotique pour effectuer des techniques opératoires minimalement invasive |
WO2007143859A1 (fr) * | 2006-06-14 | 2007-12-21 | Macdonald Dettwiler & Associates Inc. | Manipulateur chirurgical avec mécanismes d'entraînement par poulies à angle droit |
-
2008
- 2008-12-22 CA CA2709634A patent/CA2709634C/fr active Active
- 2008-12-22 WO PCT/CA2008/002250 patent/WO2009079781A1/fr active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2009079781A1 (fr) | 2009-07-02 |
CA2709634A1 (fr) | 2009-07-02 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request |
Effective date: 20131219 |