CN103200896B - 多关节医疗器械的致动中的张力控制 - Google Patents

多关节医疗器械的致动中的张力控制 Download PDF

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Publication number
CN103200896B
CN103200896B CN201180054014.6A CN201180054014A CN103200896B CN 103200896 B CN103200896 B CN 103200896B CN 201180054014 A CN201180054014 A CN 201180054014A CN 103200896 B CN103200896 B CN 103200896B
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Prior art keywords
joint
tip
tension force
torsion
tension
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Chinese (zh)
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CN103200896A (zh
Inventor
S·K·W·奥
G·M·普里斯科
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Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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Priority to CN201510731030.4A priority Critical patent/CN105342703B/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
    • A61B34/70—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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • 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
    • A61B2017/2908—Multiple segments connected by articulations
    • 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
    • A61B2034/306—Wrists with multiple vertebrae
    • 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

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (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)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
CN201180054014.6A 2010-11-12 2011-10-28 多关节医疗器械的致动中的张力控制 Active CN103200896B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510731030.4A CN105342703B (zh) 2010-11-12 2011-10-28 多关节医疗器械的致动中的张力控制

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US12/945,734 US9101379B2 (en) 2010-11-12 2010-11-12 Tension control in actuation of multi-joint medical instruments
US12/945,734 2010-11-12
PCT/US2011/058376 WO2012064528A1 (en) 2010-11-12 2011-10-28 Tension control in actuation of multi-joint medical instruments

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN201510731030.4A Division CN105342703B (zh) 2010-11-12 2011-10-28 多关节医疗器械的致动中的张力控制

Publications (2)

Publication Number Publication Date
CN103200896A CN103200896A (zh) 2013-07-10
CN103200896B true CN103200896B (zh) 2015-12-09

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CN201180054014.6A Active CN103200896B (zh) 2010-11-12 2011-10-28 多关节医疗器械的致动中的张力控制
CN201510731030.4A Active CN105342703B (zh) 2010-11-12 2011-10-28 多关节医疗器械的致动中的张力控制

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Country Link
US (5) US9101379B2 (enExample)
EP (1) EP2637592B1 (enExample)
JP (4) JP6209447B2 (enExample)
KR (2) KR101927749B1 (enExample)
CN (2) CN103200896B (enExample)
WO (1) WO2012064528A1 (enExample)

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