CN101106952B - 机器人手术的模块化机械手支架 - Google Patents

机器人手术的模块化机械手支架 Download PDF

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Publication number
CN101106952B
CN101106952B CN2006800030034A CN200680003003A CN101106952B CN 101106952 B CN101106952 B CN 101106952B CN 2006800030034 A CN2006800030034 A CN 2006800030034A CN 200680003003 A CN200680003003 A CN 200680003003A CN 101106952 B CN101106952 B CN 101106952B
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CN
China
Prior art keywords
platform
joint
linkage
manipulator
assembly
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CN2006800030034A
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English (en)
Chinese (zh)
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CN101106952A (zh
Inventor
T·库珀
S·J·布鲁门克兰斯
G·S·古萨特
D·罗莎
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Intuitive Surgical Operations Inc
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Intuitive Surgical Inc
Intuitive Surgical Operations Inc
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Publication date
Application filed by Intuitive Surgical Inc, Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Inc
Priority to CN201610576433.0A priority Critical patent/CN106214259B/zh
Priority to CN201410814964.XA priority patent/CN104586507B/zh
Priority to CN201410321165.9A priority patent/CN104042347B/zh
Priority to CN201110271360.1A priority patent/CN102415915B/zh
Priority to CN201910723516.1A priority patent/CN110432987B/zh
Priority to CN201210041107.1A priority patent/CN102579133B/zh
Publication of CN101106952A publication Critical patent/CN101106952A/zh
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Publication of CN101106952B publication Critical patent/CN101106952B/zh
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    • 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—Leader-follower 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
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • 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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • 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
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/15—Jointed arm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/16—Cartesian, three degrees of freedom
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/17—Cylindrical
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/18—Spherical

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
  • Surgical Instruments (AREA)
CN2006800030034A 2005-01-24 2006-01-24 机器人手术的模块化机械手支架 Active CN101106952B (zh)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN201610576433.0A CN106214259B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201410814964.XA CN104586507B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201410321165.9A CN104042347B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201110271360.1A CN102415915B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201910723516.1A CN110432987B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201210041107.1A CN102579133B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US11/043,688 2005-01-24
US11/043,688 US7763015B2 (en) 2005-01-24 2005-01-24 Modular manipulator support for robotic surgery
PCT/US2006/002628 WO2006079108A1 (en) 2005-01-24 2006-01-24 Modular manipulator support for robotic surgery

Related Child Applications (8)

Application Number Title Priority Date Filing Date
CN201410814964.XA Division CN104586507B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201110271360.1A Division CN102415915B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201410321165.9A Division CN104042347B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201210299557.0A Division CN102813553B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201910723516.1A Division CN110432987B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN2009101728848A Division CN101664339B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201210041107.1A Division CN102579133B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201610576433.0A Division CN106214259B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架

Publications (2)

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CN101106952A CN101106952A (zh) 2008-01-16
CN101106952B true CN101106952B (zh) 2011-11-09

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Application Number Title Priority Date Filing Date
CN201910723516.1A Active CN110432987B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN2009101728848A Active CN101664339B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201610576433.0A Active CN106214259B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201410814964.XA Active CN104586507B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201210041107.1A Active CN102579133B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201110271360.1A Active CN102415915B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN2006800030034A Active CN101106952B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201410321165.9A Active CN104042347B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201210299557.0A Active CN102813553B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架

Family Applications Before (6)

Application Number Title Priority Date Filing Date
CN201910723516.1A Active CN110432987B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN2009101728848A Active CN101664339B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201610576433.0A Active CN106214259B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201410814964.XA Active CN104586507B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201210041107.1A Active CN102579133B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201110271360.1A Active CN102415915B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架

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CN201410321165.9A Active CN104042347B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架
CN201210299557.0A Active CN102813553B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架

Country Status (5)

Country Link
US (7) US7763015B2 (enExample)
EP (6) EP2263590B1 (enExample)
JP (11) JP2008528130A (enExample)
CN (9) CN110432987B (enExample)
WO (1) WO2006079108A1 (enExample)

Families Citing this family (466)

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