CA2709634C - Manipulateur chirurgical - Google Patents

Manipulateur chirurgical Download PDF

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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
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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
Application number
CA2709634A
Other languages
English (en)
Other versions
CA2709634A1 (fr
Inventor
Benny Hon Bun Yeung
Dennis Gregoris
Bronislaw Bednarz
Michael A. Gray
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.)
MacDonald Dettwiler and Associates Corp
Original Assignee
MacDonald Dettwiler and Associates Corp
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 MacDonald Dettwiler and Associates Corp filed Critical MacDonald Dettwiler and Associates Corp
Publication of CA2709634A1 publication Critical patent/CA2709634A1/fr
Application granted granted Critical
Publication of CA2709634C publication Critical patent/CA2709634C/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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.
CA2709634A 2007-12-21 2008-12-22 Manipulateur chirurgical Active CA2709634C (fr)

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)

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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
KR102312950B1 (ko) 2013-08-15 2021-10-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 가변형 기구 예압 기구 컨트롤러
CN105611894B (zh) 2013-08-15 2019-02-15 直观外科手术操作公司 器械无菌适配器驱动特征
KR102384055B1 (ko) * 2013-08-15 2022-04-07 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 예압형 수술 기구 인터페이스
US10307213B2 (en) 2013-08-15 2019-06-04 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive interface
EP3033030B1 (fr) 2013-08-15 2020-07-22 Intuitive Surgical Operations, Inc. Élément entraîné par un instrument robotique
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
US11819231B2 (en) 2017-10-30 2023-11-21 Cilag Gmbh International Adaptive control programs for a surgical system comprising more than one type of cartridge
US10675107B2 (en) 2017-11-15 2020-06-09 Intuitive Surgical Operations, Inc. Surgical instrument end effector with integral FBG
US11672605B2 (en) 2017-12-28 2023-06-13 Cilag Gmbh International Sterile field interactive control displays
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
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
US20230171304A1 (en) * 2017-12-28 2023-06-01 Cilag Gmbh International Method of robotic hub communication, detection, and control
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
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
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
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US20190201113A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Controls for robot-assisted surgical platforms
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
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US11986233B2 (en) 2018-03-08 2024-05-21 Cilag Gmbh International Adjustment of complex impedance to compensate for lost power in an articulating ultrasonic device
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
WO2019227032A1 (fr) 2018-05-25 2019-11-28 Intuitive Surgical Operations, Inc. Capteur de force d'effecteur terminal à réseau de bragg fibré
US11331101B2 (en) 2019-02-19 2022-05-17 Cilag Gmbh International Deactivator element for defeating surgical stapling device lockouts
CN115697236A (zh) * 2020-05-04 2023-02-03 直观外科手术操作公司 用于驱动多根缆线的具有单输入装置的医疗器械
CN115486943A (zh) * 2021-07-14 2022-12-20 天津大学医疗机器人与智能系统研究院 前端执行装置、手术器械、从手端及微创手术系统

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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
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JP4014792B2 (ja) * 2000-09-29 2007-11-28 株式会社東芝 マニピュレータ
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WO2003067341A2 (fr) * 2002-02-06 2003-08-14 The Johns Hopkins University Centre telecommande d'un procede et d'un systeme automatises et motorises
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Also Published As

Publication number Publication date
CA2709634A1 (fr) 2009-07-02
WO2009079781A1 (fr) 2009-07-02

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