CN103648428B - 用于微创手术的医学主/从式装置 - Google Patents
用于微创手术的医学主/从式装置 Download PDFInfo
- Publication number
- CN103648428B CN103648428B CN201280034243.6A CN201280034243A CN103648428B CN 103648428 B CN103648428 B CN 103648428B CN 201280034243 A CN201280034243 A CN 201280034243A CN 103648428 B CN103648428 B CN 103648428B
- Authority
- CN
- China
- Prior art keywords
- main device
- slave unit
- equipment according
- shape
- lock system
- 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
Links
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
-
- 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
-
- 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—Master-slave 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
-
- 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
- A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
Abstract
Description
Claims (18)
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1107937.3 | 2011-05-12 | ||
GBGB1107937.3A GB201107937D0 (en) | 2011-05-12 | 2011-05-12 | A device |
GBGB1108320.1A GB201108320D0 (en) | 2011-05-18 | 2011-05-18 | A device |
GB1108320.1 | 2011-05-18 | ||
PCT/GB2012/051070 WO2012153152A1 (en) | 2011-05-12 | 2012-05-14 | Medical master/slave type device for minimally invasive surgery |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103648428A CN103648428A (zh) | 2014-03-19 |
CN103648428B true CN103648428B (zh) | 2016-01-13 |
Family
ID=46317428
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201280034243.6A Expired - Fee Related CN103648428B (zh) | 2011-05-12 | 2012-05-14 | 用于微创手术的医学主/从式装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US9387043B2 (zh) |
EP (1) | EP2706943A1 (zh) |
JP (1) | JP2014517747A (zh) |
KR (1) | KR20140037122A (zh) |
CN (1) | CN103648428B (zh) |
CA (1) | CA2835805A1 (zh) |
WO (1) | WO2012153152A1 (zh) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IT1401669B1 (it) | 2010-04-07 | 2013-08-02 | Sofar Spa | Sistema di chirurgia robotizzata con controllo perfezionato. |
JP6164964B2 (ja) * | 2013-07-26 | 2017-07-19 | オリンパス株式会社 | 医療用システムおよびその制御方法 |
JP6459013B2 (ja) * | 2014-08-08 | 2019-01-30 | ビービーゼット エス.アール.エル. | 遠隔操作入力デバイス |
DE102014223701B4 (de) * | 2014-11-20 | 2019-03-07 | Siemens Healthcare Gmbh | Vorgebbare Beweglichkeit für ein robotisches Gerät |
US20160206179A1 (en) * | 2015-01-15 | 2016-07-21 | National Taiwan University | Assistive robot endoscopic system with intuitive maneuverability for laparoscopic surgery and method thereof |
EP3350670B1 (en) * | 2015-09-16 | 2024-01-10 | Koninklijke Philips N.V. | Medical system using optical shape sensing fiber for triggering an event |
US9872738B2 (en) * | 2016-01-06 | 2018-01-23 | Ethicon Endo-Surgery, Llc | Methods, systems, and devices for control of surgical tools in a robotic surgical system |
KR102583530B1 (ko) * | 2017-11-16 | 2023-10-05 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 원격조작을 위한 마스터/슬레이브 정합 및 제어 |
JP7401075B2 (ja) * | 2020-06-05 | 2023-12-19 | 学校法人産業医科大学 | 内視鏡操作システム |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5784542A (en) * | 1995-09-07 | 1998-07-21 | California Institute Of Technology | Decoupled six degree-of-freedom teleoperated robot system |
US20040243147A1 (en) * | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
WO2007033379A2 (en) * | 2005-09-14 | 2007-03-22 | Neoguide Systems, Inc. | Methods and apparatus for performing transluminal and other procedures |
WO2009023801A1 (en) * | 2007-08-14 | 2009-02-19 | Hansen Medical, Inc. | Robotic instrument systems and methods utilizing optical fiber sensor |
CN101500470A (zh) * | 2006-06-13 | 2009-08-05 | 直观外科手术公司 | 微创手术系统 |
CN101785704A (zh) * | 2010-01-15 | 2010-07-28 | 广东工业大学 | 一种主从式微创手术机器人系统的自适应滤波装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1107939A (en) | 1965-10-08 | 1968-03-27 | Xaloy Inc | Injection molding and extrusion cylinder |
DE1548019C3 (de) | 1966-03-22 | 1978-04-27 | Reich, Joachim, 8036 Herrsching | Zeithaltendes elektrisches Gerät mit einer als Sperrschwinger arbeitenden Transistorschaltung |
US5876325A (en) | 1993-11-02 | 1999-03-02 | Olympus Optical Co., Ltd. | Surgical manipulation system |
JP3668865B2 (ja) * | 1999-06-21 | 2005-07-06 | 株式会社日立製作所 | 手術装置 |
US7410483B2 (en) * | 2003-05-23 | 2008-08-12 | Novare Surgical Systems, Inc. | Hand-actuated device for remote manipulation of a grasping tool |
KR101707924B1 (ko) | 2008-02-06 | 2017-02-17 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 제동 능력을 가지고 있는 체절식 기구 |
-
2012
- 2012-05-14 EP EP12727902.4A patent/EP2706943A1/en not_active Withdrawn
- 2012-05-14 CA CA2835805A patent/CA2835805A1/en not_active Abandoned
- 2012-05-14 JP JP2014509844A patent/JP2014517747A/ja active Pending
- 2012-05-14 KR KR1020137032943A patent/KR20140037122A/ko not_active Application Discontinuation
- 2012-05-14 CN CN201280034243.6A patent/CN103648428B/zh not_active Expired - Fee Related
- 2012-05-14 WO PCT/GB2012/051070 patent/WO2012153152A1/en active Application Filing
- 2012-05-14 US US14/116,752 patent/US9387043B2/en not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5784542A (en) * | 1995-09-07 | 1998-07-21 | California Institute Of Technology | Decoupled six degree-of-freedom teleoperated robot system |
US20040243147A1 (en) * | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
WO2007033379A2 (en) * | 2005-09-14 | 2007-03-22 | Neoguide Systems, Inc. | Methods and apparatus for performing transluminal and other procedures |
CN101500470A (zh) * | 2006-06-13 | 2009-08-05 | 直观外科手术公司 | 微创手术系统 |
WO2009023801A1 (en) * | 2007-08-14 | 2009-02-19 | Hansen Medical, Inc. | Robotic instrument systems and methods utilizing optical fiber sensor |
CN101785704A (zh) * | 2010-01-15 | 2010-07-28 | 广东工业大学 | 一种主从式微创手术机器人系统的自适应滤波装置 |
Also Published As
Publication number | Publication date |
---|---|
EP2706943A1 (en) | 2014-03-19 |
CA2835805A1 (en) | 2012-11-15 |
US20140171964A1 (en) | 2014-06-19 |
CN103648428A (zh) | 2014-03-19 |
US9387043B2 (en) | 2016-07-12 |
KR20140037122A (ko) | 2014-03-26 |
WO2012153152A1 (en) | 2012-11-15 |
JP2014517747A (ja) | 2014-07-24 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | 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 | ||
CP01 | Change in the name or title of a patent holder |
Address after: England Atsushi Patentee after: IMPERIAL COLLEGE INNOVATIONS LTD. Address before: England Atsushi Patentee before: Imperial Baicheng Incubator Co.,Ltd. |
|
CP01 | Change in the name or title of a patent holder | ||
TR01 | Transfer of patent right |
Effective date of registration: 20191108 Address after: England Atsushi Patentee after: Imperial Baicheng Incubator Co.,Ltd. Address before: England Atsushi Patentee before: IMPERIAL INNOVATIONS Ltd. |
|
TR01 | Transfer of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160113 Termination date: 20200514 |
|
CF01 | Termination of patent right due to non-payment of annual fee |