CN102802552B - 机械臂 - Google Patents

机械臂 Download PDF

Info

Publication number
CN102802552B
CN102802552B CN201080033518.5A CN201080033518A CN102802552B CN 102802552 B CN102802552 B CN 102802552B CN 201080033518 A CN201080033518 A CN 201080033518A CN 102802552 B CN102802552 B CN 102802552B
Authority
CN
China
Prior art keywords
arm
arms
bone
coupled
relative
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.)
Expired - Fee Related
Application number
CN201080033518.5A
Other languages
English (en)
Chinese (zh)
Other versions
CN102802552A (zh
Inventor
杰弗里·W·马斯特
小拉尔夫·F·波利梅尼
约翰·S·萨金特
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.)
Synthes GmbH
Original Assignee
Synthes GmbH
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 Synthes GmbH filed Critical Synthes GmbH
Publication of CN102802552A publication Critical patent/CN102802552A/zh
Application granted granted Critical
Publication of CN102802552B publication Critical patent/CN102802552B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/885—Tools for expanding or compacting bones or discs or cavities therein
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
    • A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements for external osteosynthesis, e.g. distractors, contractors
    • A61B17/64—Devices extending alongside the bones to be positioned
    • A61B17/6408—Devices not permitting mobility, e.g. fixed to bed, with or without means for traction or reduction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
    • A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements for external osteosynthesis, e.g. distractors, contractors
    • A61B17/66—Alignment, compression or distraction mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/8866—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices for gripping or pushing bones, e.g. approximators
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00535—Surgical instruments, devices or methods pneumatically or hydraulically operated
    • A61B2017/00539—Surgical instruments, devices or methods pneumatically or hydraulically operated hydraulically
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
CN201080033518.5A 2009-05-27 2010-05-27 机械臂 Expired - Fee Related CN102802552B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US18150509P 2009-05-27 2009-05-27
US61/181,505 2009-05-27
PCT/US2010/036404 WO2010138715A1 (en) 2009-05-27 2010-05-27 Robotic arms

Publications (2)

Publication Number Publication Date
CN102802552A CN102802552A (zh) 2012-11-28
CN102802552B true CN102802552B (zh) 2015-11-25

Family

ID=42358420

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201080033518.5A Expired - Fee Related CN102802552B (zh) 2009-05-27 2010-05-27 机械臂

Country Status (10)

Country Link
US (2) US8425519B2 (enExample)
EP (1) EP2434976B1 (enExample)
JP (1) JP5667175B2 (enExample)
KR (1) KR101661318B1 (enExample)
CN (1) CN102802552B (enExample)
BR (1) BRPI1013255A2 (enExample)
CA (1) CA2763480C (enExample)
CO (1) CO6480916A2 (enExample)
RU (1) RU2541754C2 (enExample)
WO (1) WO2010138715A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109330686A (zh) * 2018-10-25 2019-02-15 上海大学 一种用于长骨骨折的机器人辅助复位系统

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9155544B2 (en) * 2002-03-20 2015-10-13 P Tech, Llc Robotic systems and methods
US8652031B2 (en) * 2011-12-29 2014-02-18 St. Jude Medical, Atrial Fibrillation Division, Inc. Remote guidance system for medical devices for use in environments having electromagnetic interference
TR201202175A2 (tr) * 2012-02-27 2012-09-21 Tam�� Otogaz Sanay� T�C. Ve M�H. H�Z. �Th. �Hr. Ltd. �T�. Kemik kırıkları için bir sabitleme robotu.
EP2841000B1 (de) * 2012-04-27 2019-02-27 KUKA Deutschland GmbH Chirurgierobotersystem
US9610101B2 (en) * 2012-06-11 2017-04-04 Lihai Zhang Long-bone fracture-reduction robot
CA2905968A1 (en) 2013-03-15 2014-09-25 Sri International Hyperdexterous surgical system
US10390737B2 (en) 2013-09-30 2019-08-27 Stryker Corporation System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure
CA2932600C (en) 2013-12-15 2022-05-10 Mazor Robotics Ltd. Semi-rigid bone attachment robotic surgery system
KR101564717B1 (ko) * 2014-04-03 2015-11-02 경북대학교 산학협력단 뼈 견인장치 및 이를 포함하는 골절정복장치
DE102014113658A1 (de) * 2014-09-22 2016-03-24 MAQUET GmbH Vorrichtung zur Repositionierung von Knochenfrakturfragmenten
GB2541177A (en) * 2015-07-30 2017-02-15 Univ Of The West Of England Bristol Apparatus for performing fracture reduction
US20200383793A1 (en) * 2016-04-07 2020-12-10 Kambiz Behzadi Materials in orthopedics and fracture fixation
TR201607675A2 (tr) 2016-06-07 2017-12-21 Tamis Serpauoto Test Makinalari Imalati Oto Ekspertiz Ve Muehendislik Hizmetleri Ithalat Ihracat San Ortopedi̇ ameli̇yatlarinda kullanilmak üzere bi̇r kemi̇k hi̇zalama ve sabi̇tleme robotu
US10010350B2 (en) 2016-06-14 2018-07-03 Stryker European Holdings I, Llc Gear mechanisms for fixation frame struts
AU2017340607B2 (en) 2016-10-05 2022-10-27 Nuvasive, Inc. Surgical navigation system and related methods
US10874433B2 (en) 2017-01-30 2020-12-29 Stryker European Holdings I, Llc Strut attachments for external fixation frame
CN110573110A (zh) * 2017-05-03 2019-12-13 史密夫和内修有限公司 可锁定式液压手术支承设备
CN208002889U (zh) * 2017-05-13 2018-10-26 张荣峰 单边多自由度复位机器人
EP3761899A4 (en) * 2018-03-08 2021-12-15 Versitech Limited FLUID-POWERED MASTER-SLAVE ACTION FOR MAGNETIC RESONANCE IMAGING GUIDED INTERVENTIONS (MRI)
EP3962385A1 (en) * 2019-05-03 2022-03-09 Universiteit Gent Patient specific robotic bone implant positioning
US11612440B2 (en) 2019-09-05 2023-03-28 Nuvasive, Inc. Surgical instrument tracking devices and related methods
CN113397710A (zh) * 2020-03-17 2021-09-17 上海奥朋医疗科技有限公司 适用于血管介入手术的双平面机械臂装置
CN112402000B (zh) * 2020-11-13 2022-03-11 山东中医药大学附属医院 一种钢板插入辅助装置、钢板自动插入系统及控制方法
CN112370290B (zh) * 2020-11-13 2022-09-30 毕建平 面向四肢骨折的复位及固定一体化手术系统
CN112370153B (zh) * 2020-11-13 2022-03-11 山东中医药大学 面向四肢骨折的一体化手术系统及控制方法
WO2022243784A1 (en) * 2021-05-19 2022-11-24 Covidien Lp Actuation assemblies for surgical instruments such as for use in robotic surgical systems
US20230181180A1 (en) * 2021-11-12 2023-06-15 Nicholas H. Mast, M.D., Inc. , California Medical Corporation Self-retaining bone holding devices and methods
CN114176752B (zh) * 2021-12-15 2023-12-05 山东中医药大学附属医院 一种基于机器人骨折复位的夹持固定装置
EP4447833A4 (en) * 2021-12-15 2025-12-03 Revbio Inc Devices and methods for bone fixation
CN120304929A (zh) * 2025-04-22 2025-07-15 北京大顶医疗科技有限公司 用于长骨骨折闭合复位的手术机器人

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0386912A1 (en) * 1989-03-08 1990-09-12 Autogenesis Corporation Automatic compression-distraction-torsion apparatus and use thereof
WO1998004203A2 (en) * 1996-07-25 1998-02-05 Renata De Luise Orthopaedic system allowing alignment of bones or fracture reduction
US20070225704A1 (en) * 2006-03-23 2007-09-27 Ziran Bruce H Electromechanically driven external fixator and methods of use
US20090036890A1 (en) * 2007-07-31 2009-02-05 John Peter Karidis Fixator apparatus with radiotransparent apertures for orthopaedic applications

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7022A (en) * 1850-01-15 Cideb-mill
US5762458A (en) * 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6701174B1 (en) * 2000-04-07 2004-03-02 Carnegie Mellon University Computer-aided bone distraction
JP3735751B2 (ja) * 2000-07-05 2006-01-18 隆弘 越智 骨の修復・治療装置
UA73295C2 (en) * 2001-08-14 2005-07-15 Anatolii Ivanovych Kavchuk Kavchuk's device for external reposition and fixation of bone fragments and technique for automatic and semi-automatic reposition and fixation of bone fragments with the aid of this device
US8180429B2 (en) * 2002-04-17 2012-05-15 Warsaw Orthopedic, Inc. Instrumentation and method for mounting a surgical navigation reference device to a patient
RU2240749C1 (ru) * 2003-08-07 2004-11-27 Федеральное государственное унитарное предприятие "Государственное машиностроительное конструкторское бюро "Радуга" им. А.Я. Березняка" Шарнирно-дистракционный аппарат с системой контроля и настройки
US8182491B2 (en) * 2004-08-06 2012-05-22 Depuy Spine, Inc. Rigidly guided implant placement
US7575575B2 (en) * 2005-03-18 2009-08-18 Ron Anthon Olsen Adjustable splint for osteosynthesis with modular components
US7881771B2 (en) * 2005-08-03 2011-02-01 The Hong Kong Polytechnic University Bone reposition device, method and system
RU2339332C2 (ru) * 2006-02-02 2008-11-27 Вячеслав Васильевич Козырев Ортопедический аппарат остеосинтеза
JP2009527366A (ja) * 2006-02-24 2009-07-30 フェルロボティクス コンプライアント ロボット テクノロジー ゲーエムベーハー ロボットアーム
US8202273B2 (en) * 2007-04-28 2012-06-19 John Peter Karidis Orthopedic fixation device with zero backlash and adjustable compliance, and process for adjusting same
WO2008156881A1 (en) * 2007-06-13 2008-12-24 Amei Technologies, Inc. Adjustable fixation devices incorporating drive systems
US7875039B2 (en) * 2008-06-30 2011-01-25 Eigen, Inc. Support assembly for a tracking assembly and mounted transrectal ultrasound probe

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0386912A1 (en) * 1989-03-08 1990-09-12 Autogenesis Corporation Automatic compression-distraction-torsion apparatus and use thereof
WO1998004203A2 (en) * 1996-07-25 1998-02-05 Renata De Luise Orthopaedic system allowing alignment of bones or fracture reduction
US20070225704A1 (en) * 2006-03-23 2007-09-27 Ziran Bruce H Electromechanically driven external fixator and methods of use
US20090036890A1 (en) * 2007-07-31 2009-02-05 John Peter Karidis Fixator apparatus with radiotransparent apertures for orthopaedic applications

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109330686A (zh) * 2018-10-25 2019-02-15 上海大学 一种用于长骨骨折的机器人辅助复位系统
CN109330686B (zh) * 2018-10-25 2021-06-04 上海大学 一种用于长骨骨折的机器人辅助复位系统

Also Published As

Publication number Publication date
EP2434976A1 (en) 2012-04-04
KR101661318B1 (ko) 2016-09-29
US20100312291A1 (en) 2010-12-09
KR20120028889A (ko) 2012-03-23
US8425519B2 (en) 2013-04-23
CA2763480C (en) 2018-04-10
JP2012527976A (ja) 2012-11-12
US20130218216A1 (en) 2013-08-22
RU2541754C2 (ru) 2015-02-20
CO6480916A2 (es) 2012-07-16
RU2011153373A (ru) 2013-07-10
CA2763480A1 (en) 2010-12-02
BRPI1013255A2 (pt) 2016-11-01
JP5667175B2 (ja) 2015-02-12
CN102802552A (zh) 2012-11-28
EP2434976B1 (en) 2015-10-28
US9161800B2 (en) 2015-10-20
WO2010138715A1 (en) 2010-12-02

Similar Documents

Publication Publication Date Title
CN102802552B (zh) 机械臂
EP2429441B1 (en) Remote centre of motion positioner
CN108309458B (zh) 偏移遥控中心的操纵器
CN110432987B (zh) 机器人手术的模块化机械手支架
Seide et al. A hexapod robot external fixator for computer assisted fracture reduction and deformity correction
US20160331482A1 (en) Torque sensing in a surgical robotic wrist
US20140249546A1 (en) Apparatus and method for supporting a robotic arm
EP3416583B1 (en) Robotic systems for minimally invasive orthopedic surgeries
EP3328306A1 (en) Apparatus for performing fracture reduction
JP2013517898A (ja) 動力付き信号制御手動関節装置および使用方法
CN110179541A (zh) 机器人辅助手术系统及控制方法
US20220257334A1 (en) Clamp assembly for fixing a navigation tracker to a portion of bone
US10478362B2 (en) Device for repositioning bone fracture fragments
KR100994101B1 (ko) 마스터 로봇의 조작장치
US11185376B2 (en) Robot for placement of spinal instrumentation
JP2022059591A (ja) ナビゲーションアレイを固定するためのシステムおよび方法
WO2017213602A1 (en) A bone alignment and fixation robot for use in orthopaedic surgery

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
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20151125