CN102596063B - 弯曲套管手术系统 - Google Patents

弯曲套管手术系统 Download PDF

Info

Publication number
CN102596063B
CN102596063B CN201080051159.6A CN201080051159A CN102596063B CN 102596063 B CN102596063 B CN 102596063B CN 201080051159 A CN201080051159 A CN 201080051159A CN 102596063 B CN102596063 B CN 102596063B
Authority
CN
China
Prior art keywords
sleeve pipe
instrument
sleeve
robotic manipulator
far
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
CN201080051159.6A
Other languages
English (en)
Chinese (zh)
Other versions
CN102596063A (zh
Inventor
G·M·普里斯科
C·R·杰尔比
T·W·罗杰斯
J·R·斯蒂格
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.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
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
Priority claimed from US12/618,549 external-priority patent/US20110071541A1/en
Priority claimed from US12/618,583 external-priority patent/US8545515B2/en
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Priority claimed from PCT/US2010/056173 external-priority patent/WO2011060031A1/en
Publication of CN102596063A publication Critical patent/CN102596063A/zh
Application granted granted Critical
Publication of CN102596063B publication Critical patent/CN102596063B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3431—Cannulas being collapsible, e.g. made of thin flexible material
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3439—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3474—Insufflating needles, e.g. Veress needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3498—Valves therefor, e.g. flapper valves, slide valves
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/92—Identification means for patients or instruments, e.g. tags coded with colour
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
    • A61M25/0041—Catheters; Hollow probes characterised by the form of the tubing pre-formed, e.g. specially adapted to fit with the anatomy of body channels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00526—Methods of manufacturing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/0084—Material properties low friction
    • A61B2017/00845—Material properties low friction of moving parts with respect to each other
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2904—Details of shaft curved, but rigid
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2905—Details of shaft flexible
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A61B2017/2936—Pins in guiding slots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B2017/3419—Sealing means between cannula and body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
    • A61B2017/3429—Access ports, e.g. toroid shape introducers for instruments or hands having a unitary compressible body, e.g. made of silicone or foam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3439—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable
    • A61B2017/3441—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable with distal sealing means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • A61B2017/3447—Linked multiple cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B2017/3454—Details of tips
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
    • A61B2017/3466—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals for simultaneous sealing of multiple instruments
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • 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
    • Y10S901/30—End effector
    • Y10S901/41—Tool

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN201080051159.6A 2009-11-13 2010-11-10 弯曲套管手术系统 Active CN102596063B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US12/618,549 2009-11-13
US12/618,583 2009-11-13
US12/618,549 US20110071541A1 (en) 2009-09-23 2009-11-13 Curved cannula
US12/618,583 US8545515B2 (en) 2009-09-23 2009-11-13 Curved cannula surgical system
PCT/US2010/056173 WO2011060031A1 (en) 2009-09-23 2010-11-10 Curved cannula surgical system

Publications (2)

Publication Number Publication Date
CN102596063A CN102596063A (zh) 2012-07-18
CN102596063B true CN102596063B (zh) 2015-09-23

Family

ID=43754950

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201080051159.6A Active CN102596063B (zh) 2009-11-13 2010-11-10 弯曲套管手术系统
CN201080051135.0A Active CN102596062B (zh) 2009-11-13 2010-11-10 弯曲套管、机器人操纵器和具有被动柔性轴的手术器械

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201080051135.0A Active CN102596062B (zh) 2009-11-13 2010-11-10 弯曲套管、机器人操纵器和具有被动柔性轴的手术器械

Country Status (5)

Country Link
EP (1) EP2467074B1 (cg-RX-API-DMAC10.html)
JP (4) JP5824456B2 (cg-RX-API-DMAC10.html)
KR (5) KR102118008B1 (cg-RX-API-DMAC10.html)
CN (2) CN102596063B (cg-RX-API-DMAC10.html)
BR (1) BR112012011326B1 (cg-RX-API-DMAC10.html)

Families Citing this family (84)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11896446B2 (en) 2012-06-21 2024-02-13 Globus Medical, Inc Surgical robotic automation with tracking markers
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US11786324B2 (en) 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US20170258535A1 (en) * 2012-06-21 2017-09-14 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US10799298B2 (en) 2012-06-21 2020-10-13 Globus Medical Inc. Robotic fluoroscopic navigation
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11589771B2 (en) 2012-06-21 2023-02-28 Globus Medical Inc. Method for recording probe movement and determining an extent of matter removed
US11963755B2 (en) 2012-06-21 2024-04-23 Globus Medical Inc. Apparatus for recording probe movement
US8821509B2 (en) * 2012-10-27 2014-09-02 Danamed, Inc. Surgical instrument and method of using same
US10492825B2 (en) 2013-03-15 2019-12-03 Intuitive Surgical Operations, Inc. Sealing multiple surgical instruments
US9888941B2 (en) 2013-03-15 2018-02-13 Intuitive Surgical Operations, Inc. Sealing multiple surgical instruments
US10292730B2 (en) 2013-03-15 2019-05-21 Intuitive Surgical Operations, Inc. Sealing multiple surgical instruments
WO2014144771A1 (en) * 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Sealing multiple surgical instruments
JP6416886B2 (ja) * 2013-05-15 2018-10-31 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 遠隔操作手術システムのための力伝達機構
WO2014190185A1 (en) * 2013-05-22 2014-11-27 Covidien Lp Methods and apparatus for controlling surgical instruments using a port assembly
JP6274630B2 (ja) * 2013-06-19 2018-02-07 タイタン メディカル インコーポレイテッドＴｉｔａｎ Ｍｅｄｉｃａｌ Ｉｎｃ． 多関節器具位置決め装置およびそれを採用するシステム
EP3753509B1 (en) * 2014-03-17 2023-11-29 Intuitive Surgical Operations, Inc. Cannula seal assembly
WO2015142824A1 (en) * 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Surgical drape and systems including surgical drape and attachment sensor
US20170231701A1 (en) 2014-09-04 2017-08-17 Memic Innovative Surgery Ltd. Method and devices for hysterectomy
KR102714284B1 (ko) * 2015-09-09 2024-10-11 아우리스 헬스, 인크. 수술 로봇 시스템을 위한 기구 장치 조작기
GB201521807D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Surgical instrument shaft spokes
GB201521812D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Driving a surgical instrument articulation
JP2017104451A (ja) * 2015-12-11 2017-06-15 川崎重工業株式会社 外科手術システム
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US10463438B2 (en) 2016-03-09 2019-11-05 Memic Innovative Surgery Ltd. Modular device comprising mechanical arms
CN105686883B (zh) * 2016-03-14 2018-11-30 昆山一邦泰汽车零部件制造有限公司 一种冗余自由度持镜机械臂
US10973599B2 (en) * 2016-03-25 2021-04-13 Intuitive Surgical Operations, Inc. Surgical platform supported by multiple arms
CN114767266B (zh) * 2016-06-09 2026-07-17 直观外科手术操作公司 计算机辅助远程操作手术系统和方法
JP6632487B2 (ja) * 2016-07-13 2020-01-22 キヤノン株式会社 連続体ロボット、その運動学の補正方法、および連続体ロボットの制御方法
EP3484397B1 (en) * 2016-07-14 2024-07-24 Intuitive Surgical Operations, Inc. Multi-cable medical instrument
CN113598844B (zh) * 2016-09-09 2025-06-17 直观外科手术操作公司 使用柔性张紧构件的推拉式外科手术器械末端执行器致动
JP6979025B2 (ja) * 2016-10-14 2021-12-08 株式会社メディカロイド 手術システム
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US20180311473A1 (en) * 2017-04-25 2018-11-01 Project Moray, Inc. Hybrid fluid/mechanical actuation and transseptal systems for catheters and other uses
EP3681367A4 (en) * 2017-11-09 2021-06-02 Endomaster Pte Ltd ENDOSCOPY SYSTEM
CN108567489B (zh) * 2018-03-23 2022-05-13 深圳市精锋医疗科技股份有限公司 操作臂、从操作设备及手术机器人
CN108839047B (zh) * 2018-03-28 2020-07-31 江苏求恒医疗器械有限公司 一种医疗器械夹具
EP3773302B1 (en) * 2018-04-10 2025-06-04 Intuitive Surgical Operations, Inc. Articulable medical devices having flexible wire routing
GB201806943D0 (en) 2018-04-27 2018-06-13 Imperial Innovations Ltd Laparoscopic instruments
CN108514447A (zh) * 2018-06-11 2018-09-11 沈阳尚贤微创医疗器械股份有限公司 内镜手术机器人控制终端及机器人系统
CN108742733A (zh) * 2018-06-29 2018-11-06 哈尔滨理工大学 新型可收缩式微创手术操作臂
WO2020017605A1 (ja) * 2018-07-18 2020-01-23 リバーフィールド株式会社 医療用器具の関節部および医療用器具
CN108888360B (zh) * 2018-08-02 2024-05-28 北京德迈特科技发展有限公司 术前定位针
US12268457B2 (en) 2018-10-15 2025-04-08 Mazor Robotics Ltd. Versatile multi-arm robotic surgical system
KR102149167B1 (ko) 2018-11-07 2020-08-31 주식회사 삼육오엠씨네트웍스 인공지능 기반의 캐뉼라 수술 진단 장치
JP6870010B2 (ja) * 2019-01-21 2021-05-12 株式会社メディカロイド 手術システムおよび支持装置
EP3934508B1 (en) * 2019-03-07 2025-10-15 PROCEPT BioRobotics Corporation Stiff sheath for imaging probe
IL265963A (en) * 2019-04-10 2020-10-28 Tamar Robotics Ltd Steerable needle with tip navigation
CN109893255A (zh) * 2019-04-17 2019-06-18 李宽正 微创神经内镜弧形导引器及其使用方法
CN111714162B (zh) * 2019-05-10 2023-03-28 上海微创医疗机器人（集团）股份有限公司 手术装置及手术器械
JP6791516B1 (ja) * 2019-10-17 2020-11-25 リバーフィールド株式会社 手術ロボット用術具
CN110786932B (zh) * 2019-11-19 2022-04-12 杭州唯精医疗机器人有限公司 聚散式微创手术机器人从臂系统
CN114980816B (zh) * 2019-12-12 2026-03-13 直观外科手术操作公司 具有释放特征件的器械轴以及相关装置、系统和方法
CN113967076B (zh) * 2020-07-23 2026-01-02 北京术锐机器人股份有限公司 一种多关节机械臂组及含该臂组的手术机器人系统
CN113967054A (zh) 2020-07-23 2022-01-25 北京术锐技术有限公司 一种单孔手术装置及医疗设备系统
CN114073587B (zh) 2020-08-19 2025-07-11 北京术锐机器人股份有限公司 机器人系统以及控制方法
CN113749777B (zh) * 2020-08-26 2023-07-18 上海微创医疗机器人（集团）股份有限公司 手术器械平台、器械组件及手术器械
US12274525B2 (en) 2020-09-29 2025-04-15 Mazor Robotics Ltd. Systems and methods for tracking anatomical motion
EP3981461B1 (de) 2020-10-06 2026-08-19 Erbe Elektromedizin GmbH Instrument mit halterung
JP7520678B2 (ja) * 2020-10-07 2024-07-23 株式会社メディカロイド 手術器具
KR102537304B1 (ko) 2020-10-21 2023-05-30 주식회사 삼육오엠씨(365mc) 음파 탐지를 이용한 캐뉼라 기반의 지방흡입 장치 및 위험도 모니터링 방법
US12465441B2 (en) 2021-02-01 2025-11-11 Mazor Robotics Ltd. Multi-arm robotic systems and methods for identifying a target
US12508085B2 (en) 2021-02-04 2025-12-30 Mazor Robotics Ltd. Systems, methods, and devices for verifying mechanical coupling between anatomical elements
US12150728B2 (en) 2021-04-14 2024-11-26 Globus Medical, Inc. End effector for a surgical robot
CN113413201B (zh) * 2021-07-30 2023-09-08 上海微创医疗机器人（集团）股份有限公司 一种穿刺器及腔镜机器人
WO2023006049A1 (zh) * 2021-07-30 2023-02-02 上海微创医疗机器人（集团）股份有限公司 一种穿刺器及腔镜机器人
DE102021122841A1 (de) 2021-09-02 2023-03-02 Olympus Winter & Ibe Gmbh Verfahren zum Betreiben eines chirurgischen Systems
CN114010320B (zh) * 2021-09-15 2022-09-23 苏州中科华影健康科技有限公司 一种柔性手术器械控制装置及内镜手术机器人系统
CN114569249B (zh) * 2022-02-28 2023-10-31 复旦大学 一种用于复杂气道插管机器人的软镜递送装置
CN217960169U (zh) * 2022-03-11 2022-12-06 北京术锐技术有限公司 弯曲手术工具及手术机器人
CN116965863B (zh) * 2022-04-23 2026-07-07 深圳市精锋医疗科技股份有限公司 具有气体吹入装置的计算机辅助医疗系统
CN116177305B (zh) * 2022-11-09 2026-06-23 上海卓昕医疗科技有限公司 一种用于多种柔性线束器械自动更换的输送装置及机器人
CN122535365A (zh) 2024-01-15 2026-08-07 辛菲拉有限公司 改进的手术系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020138082A1 (en) * 1998-02-24 2002-09-26 Brock David L. Surgical instrument
US20060074406A1 (en) * 2004-09-30 2006-04-06 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US20070049966A1 (en) * 2005-03-22 2007-03-01 Frank Bonadio Surgical instrument
WO2007146987A2 (en) * 2006-06-13 2007-12-21 Intuitive Surgical, Inc. Minimally invasive surgical system
CN101106952A (zh) * 2005-01-24 2008-01-16 直观外科手术公司 机器人手术的模块化机械手支架
US20090062602A1 (en) * 2007-07-30 2009-03-05 Hansen Medical, Inc. Apparatus for robotic instrument having variable flexibility and torque transmission
US20090270676A1 (en) * 2008-04-23 2009-10-29 Ncontact Surgical, Inc. Articulating cannula access device

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69417229T2 (de) * 1993-05-14 1999-07-08 Sri International, Menlo Park, Calif. Chirurgiegerät
JP4176126B2 (ja) * 1996-02-20 2008-11-05 コンピュータ・モーション・インコーポレーテッド 侵襲を最小に抑えた心臓手術を施術するための方法および装置
US6364888B1 (en) * 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
US7344547B2 (en) * 1998-09-15 2008-03-18 Phavel Systems, Inc. Laparoscopic instruments and trocar systems and related surgical method
US8527094B2 (en) 1998-11-20 2013-09-03 Intuitive Surgical Operations, Inc. Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
JP2001309920A (ja) * 2000-02-24 2001-11-06 Hitachi Ltd 鉗子及びそれを用いたマニピュレータ
US6716226B2 (en) * 2001-06-25 2004-04-06 Inscope Development, Llc Surgical clip
US20030135204A1 (en) * 2001-02-15 2003-07-17 Endo Via Medical, Inc. Robotically controlled medical instrument with a flexible section
JP2003230565A (ja) * 2002-02-12 2003-08-19 Univ Tokyo 能動トロカール
US7753901B2 (en) * 2004-07-21 2010-07-13 Tyco Healthcare Group Lp Laparoscopic instrument and cannula assembly and related surgical method
KR100585458B1 (ko) * 2004-04-13 2006-06-07 국립암센터 복강경 수술 로봇 시스템
JP4577215B2 (ja) * 2005-12-27 2010-11-10 株式会社島津製作所 Ｘ線検査装置
US9820771B2 (en) * 2006-03-03 2017-11-21 Axcess Instruments Inc. Apparatus and method for minimally invasive surgery
CN2889158Y (zh) * 2006-04-12 2007-04-18 徐永芳 医用硬质内窥镜
JP5154961B2 (ja) * 2008-01-29 2013-02-27 テルモ株式会社 手術システム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020138082A1 (en) * 1998-02-24 2002-09-26 Brock David L. Surgical instrument
US20060074406A1 (en) * 2004-09-30 2006-04-06 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
CN101106952A (zh) * 2005-01-24 2008-01-16 直观外科手术公司 机器人手术的模块化机械手支架
US20070049966A1 (en) * 2005-03-22 2007-03-01 Frank Bonadio Surgical instrument
WO2007146987A2 (en) * 2006-06-13 2007-12-21 Intuitive Surgical, Inc. Minimally invasive surgical system
US20090062602A1 (en) * 2007-07-30 2009-03-05 Hansen Medical, Inc. Apparatus for robotic instrument having variable flexibility and torque transmission
US20090270676A1 (en) * 2008-04-23 2009-10-29 Ncontact Surgical, Inc. Articulating cannula access device

Also Published As

Publication number Publication date
KR20170055557A (ko) 2017-05-19
KR101868123B1 (ko) 2018-06-18
JP2013510661A (ja) 2013-03-28
JP2013510663A (ja) 2013-03-28
KR101772426B1 (ko) 2017-08-30
JP6000382B2 (ja) 2016-09-28
JP2016105938A (ja) 2016-06-16
KR20120117017A (ko) 2012-10-23
JP2015077466A (ja) 2015-04-23
KR102118008B1 (ko) 2020-06-02
KR20180067725A (ko) 2018-06-20
KR20120115486A (ko) 2012-10-18
KR20200064161A (ko) 2020-06-05
BR112012011326A2 (pt) 2020-12-15
CN102596062A (zh) 2012-07-18
JP5824456B2 (ja) 2015-11-25
EP2467074A2 (en) 2012-06-27
EP2467074B1 (en) 2019-01-02
CN106137397A (zh) 2016-11-23
BR112012011326B1 (pt) 2021-10-26
CN102596063A (zh) 2012-07-18
CN102596062B (zh) 2016-08-24
JP5722336B2 (ja) 2015-05-20

Similar Documents

Publication Publication Date Title
CN102596064B (zh) 弯曲套管和机器人操纵器
CN102596062B (zh) 弯曲套管、机器人操纵器和具有被动柔性轴的手术器械
US11504156B2 (en) Surgical port feature
US10709516B2 (en) Curved cannula surgical system control
US10842579B2 (en) Curved cannula surgical system
EP2467073B1 (en) Curved cannula and robotic manipulator
US8465476B2 (en) Cannula mounting fixture
US8545515B2 (en) Curved cannula surgical system

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant