CN102579133B - 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
CN102579133B
CN102579133B CN201210041107.1A CN201210041107A CN102579133B CN 102579133 B CN102579133 B CN 102579133B CN 201210041107 A CN201210041107 A CN 201210041107A CN 102579133 B CN102579133 B CN 102579133B
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China
Prior art keywords
joint
platform
support arm
linkage
mounting base
Prior art date
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Application number
CN201210041107.1A
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English (en)
Chinese (zh)
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CN102579133A (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 Operations Inc
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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—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)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
  • Surgical Instruments (AREA)
CN201210041107.1A 2005-01-24 2006-01-24 机器人手术的模块化机械手支架 Active CN102579133B (zh)

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
CN2006800030034A CN101106952B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN2006800030034A Division CN101106952B (zh) 2005-01-24 2006-01-24 机器人手术的模块化机械手支架

Publications (2)

Publication Number Publication Date
CN102579133A CN102579133A (zh) 2012-07-18
CN102579133B true CN102579133B (zh) 2015-07-15

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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
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
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
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
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
CN2009101728848A Active CN101664339B (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
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

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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
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
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
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

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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
CN2009101728848A Active CN101664339B (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
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) EP3427685B1 (enExample)
JP (11) JP2008528130A (enExample)
CN (9) CN106214259B (enExample)
WO (1) WO2006079108A1 (enExample)

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