CN105073055B - 用于手术器械的近端控制的系统和方法 - Google Patents

用于手术器械的近端控制的系统和方法 Download PDF

Info

Publication number
CN105073055B
CN105073055B CN201480008846.8A CN201480008846A CN105073055B CN 105073055 B CN105073055 B CN 105073055B CN 201480008846 A CN201480008846 A CN 201480008846A CN 105073055 B CN105073055 B CN 105073055B
Authority
CN
China
Prior art keywords
instrument
chassis
proximal
interface
surgical
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
CN201480008846.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN105073055A (zh
Inventor
T·G·库珀
D·J·罗萨
D·Q·拉金
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
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Priority to CN201810014321.5A priority Critical patent/CN108309453B/zh
Priority to CN202111072669.8A priority patent/CN113616337B/zh
Publication of CN105073055A publication Critical patent/CN105073055A/zh
Application granted granted Critical
Publication of CN105073055B publication Critical patent/CN105073055B/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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A61B2017/00327—Cables or rods with actuating members moving in opposite directions
    • 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
    • A61B2034/301—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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
CN201480008846.8A 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法 Active CN105073055B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201810014321.5A CN108309453B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法
CN202111072669.8A CN113616337B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361765482P 2013-02-15 2013-02-15
US61/765,482 2013-02-15
PCT/US2014/016552 WO2014127271A1 (en) 2013-02-15 2014-02-14 Systems and methods for proximal control of a surgical instrument

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CN202111072669.8A Division CN113616337B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法
CN201810014321.5A Division CN108309453B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法

Publications (2)

Publication Number Publication Date
CN105073055A CN105073055A (zh) 2015-11-18
CN105073055B true CN105073055B (zh) 2018-02-06

Family

ID=51351758

Family Applications (3)

Application Number Title Priority Date Filing Date
CN201480008846.8A Active CN105073055B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法
CN201810014321.5A Active CN108309453B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法
CN202111072669.8A Active CN113616337B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法

Family Applications After (2)

Application Number Title Priority Date Filing Date
CN201810014321.5A Active CN108309453B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法
CN202111072669.8A Active CN113616337B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法

Country Status (6)

Country Link
US (4) US9662176B2 (enExample)
EP (1) EP2956080B1 (enExample)
JP (3) JP6321047B2 (enExample)
KR (1) KR102229337B1 (enExample)
CN (3) CN105073055B (enExample)
WO (1) WO2014127271A1 (enExample)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9805625B2 (en) 2010-10-29 2017-10-31 KindHeart, Inc. Surgical simulation assembly
US9342997B2 (en) 2010-10-29 2016-05-17 The University Of North Carolina At Chapel Hill Modular staged reality simulator
KR102229337B1 (ko) 2013-02-15 2021-03-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술용 기구의 근위측 제어를 위한 시스템 및 방법
JP6537523B2 (ja) * 2014-03-17 2019-07-03 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 ツールの姿勢を維持するシステム及び方法
USD779678S1 (en) 2014-07-24 2017-02-21 KindHeart, Inc. Surgical tray
US20170231701A1 (en) 2014-09-04 2017-08-17 Memic Innovative Surgery Ltd. Method and devices for hysterectomy
EP3261574B1 (en) * 2015-02-26 2024-12-18 Covidien LP Robotically controlling remote center of motion with software and guide tube
US20160314712A1 (en) 2015-04-27 2016-10-27 KindHeart, Inc. Telerobotic surgery system for remote surgeon training using robotic surgery station and remote surgeon station and associated methods
DK3190942T3 (da) 2015-09-04 2020-07-13 Memic Innovative Surgery Ltd Aktivering af en enhed, der omfatter mekaniske arme
WO2017048922A1 (en) 2015-09-16 2017-03-23 KindHeart, Inc. Surgical simulation system and associated methods
EP4356848B1 (en) * 2016-01-29 2025-11-12 Intuitive Surgical Operations, Inc. System for variable velocity surgical instrument
US10463438B2 (en) * 2016-03-09 2019-11-05 Memic Innovative Surgery Ltd. Modular device comprising mechanical arms
WO2017189317A1 (en) 2016-04-26 2017-11-02 KindHeart, Inc. Telerobotic surgery system for remote surgeon training using robotic surgery station and remote surgeon station and an animating device
CN115363770B (zh) * 2016-07-14 2026-03-17 直观外科手术操作公司 用于控制外科器械的系统和方法
JP6761482B2 (ja) 2016-12-28 2020-09-23 オリンパス株式会社 医療システム、医療用オーバーチューブ、及び医療デバイスアダプタ
US10813710B2 (en) 2017-03-02 2020-10-27 KindHeart, Inc. Telerobotic surgery system using minimally invasive surgical tool with variable force scaling and feedback and relayed communications between remote surgeon and surgery station
US11779410B2 (en) 2017-03-09 2023-10-10 Momentis Surgical Ltd Control console including an input arm for control of a surgical mechanical arm
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US10806532B2 (en) 2017-05-24 2020-10-20 KindHeart, Inc. Surgical simulation system using force sensing and optical tracking and robotic surgery system
US11896334B2 (en) 2017-09-05 2024-02-13 Intuitive Surgical Operations, Inc. Computer-assisted teleoperated surgery systems and methods
CN109009449B (zh) * 2018-06-22 2020-08-11 深圳市精锋医疗科技有限公司 操作臂及从操作设备
CN109091240B (zh) * 2018-06-22 2020-08-25 深圳市精锋医疗科技有限公司 单切口手术机器人
CN209790013U (zh) * 2018-07-31 2019-12-17 深圳市精锋医疗科技有限公司 微创手术从操作设备组件及手术机器人
CN110870793B (zh) * 2018-08-31 2024-04-05 新加坡国立大学 机械臂、微创手术机器人及其制造方法
MX2021003099A (es) 2018-09-17 2021-05-13 Auris Health Inc Sistemas y metodos para procedimientos medicos concomitantes.
CN110772324B (zh) * 2018-12-20 2021-07-09 深圳市精锋医疗科技有限公司 连接组件、操作臂、从操作设备及手术机器人
JP2022527834A (ja) 2019-04-08 2022-06-06 オーリス ヘルス インコーポレイテッド 付随する処置のためのシステム、方法、及びワークフロー
EP3900661A1 (en) * 2020-04-23 2021-10-27 Microsure B.V. Surgical robotic system comprising strut assembly
CN116889430A (zh) * 2022-04-05 2023-10-17 直观外科手术操作公司 具有反枢转机构的器械

Family Cites Families (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5685821A (en) * 1992-10-19 1997-11-11 Arthrotek Method and apparatus for performing endoscopic surgical procedures
DE69417229T2 (de) 1993-05-14 1999-07-08 Sri International, Menlo Park, Calif. Chirurgiegerät
JPH07254207A (ja) * 1994-01-25 1995-10-03 Sony Corp ディスクチェンジャ
WO1996039944A1 (en) * 1995-06-07 1996-12-19 Sri International Surgical manipulator for a telerobotic system
US5814038A (en) * 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US5595965A (en) * 1996-05-08 1997-01-21 The Lubrizol Corporation Biodegradable vegetable oil grease
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
DE69940850D1 (de) 1998-08-04 2009-06-18 Intuitive Surgical Inc Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie
US6522906B1 (en) 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6645196B1 (en) 2000-06-16 2003-11-11 Intuitive Surgical, Inc. Guided tool change
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US20040243147A1 (en) 2001-07-03 2004-12-02 Lipow Kenneth I. Surgical robot and robotic controller
US8241271B2 (en) 2005-06-30 2012-08-14 Intuitive Surgical Operations, Inc. Robotic surgical instruments with a fluid flow control system for irrigation, aspiration, and blowing
US8182470B2 (en) 2005-12-20 2012-05-22 Intuitive Surgical Operations, Inc. Telescoping insertion axis of a robotic surgical system
WO2007075864A1 (en) 2005-12-20 2007-07-05 Intuitive Surgical, Inc. Instrument interface of a robotic surgical system
US8469945B2 (en) * 2006-01-25 2013-06-25 Intuitive Surgical Operations, Inc. Center robotic arm with five-bar spherical linkage for endoscopic camera
US8518024B2 (en) 2006-04-24 2013-08-27 Transenterix, Inc. System and method for multi-instrument surgical access using a single access port
AU2007243484B2 (en) 2006-04-24 2013-08-15 Transenterix Inc. Natural orifice surgical system
CN104688349B (zh) 2006-06-13 2017-05-10 直观外科手术操作公司 微创手术系统
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
GB2451498A (en) 2007-07-31 2009-02-04 Prosurgics Ltd A motorised manipulator that accommodates manual movement of a surgical instrument
US7677129B2 (en) 2007-09-28 2010-03-16 Intuitive Surgical, Inc. Multiaxis counterbalance and positioning system using a spatial linkage
US9895813B2 (en) 2008-03-31 2018-02-20 Intuitive Surgical Operations, Inc. Force and torque sensing in a surgical robot setup arm
JP5219073B2 (ja) * 2008-05-19 2013-06-26 国立大学法人 名古屋工業大学 手術支援マニピュレータ
JP5435327B2 (ja) 2008-10-27 2014-03-05 国立大学法人 名古屋工業大学 ３軸を有する手術支援マニピュレータ
KR101075363B1 (ko) * 2008-10-31 2011-10-19 정창욱 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템
JP5582561B2 (ja) * 2009-07-03 2014-09-03 国立大学法人九州大学 鉗子支持装置
KR101180665B1 (ko) 2009-07-03 2012-09-07 주식회사 이턴 하이브리드 수술용 로봇 시스템 및 수술용 로봇 제어방법
US8545515B2 (en) * 2009-09-23 2013-10-01 Intuitive Surgical Operations, Inc. Curved cannula surgical system
EP2467073B1 (en) * 2009-11-13 2017-01-11 Intuitive Surgical Operations, Inc. Curved cannula and robotic manipulator
US8603077B2 (en) * 2010-05-14 2013-12-10 Intuitive Surgical Operations, Inc. Force transmission for robotic surgical instrument
US20130190774A1 (en) * 2010-08-11 2013-07-25 Ecole Polytechnique Ferderale De Lausanne (Epfl) Mechanical positioning system for surgical instruments
WO2013116869A1 (en) 2012-02-02 2013-08-08 Transenterix, Inc. Mechanized multi-instrument surgical system
KR102229337B1 (ko) 2013-02-15 2021-03-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술용 기구의 근위측 제어를 위한 시스템 및 방법

Also Published As

Publication number Publication date
US20210228294A1 (en) 2021-07-29
JP6321047B2 (ja) 2018-05-09
CN108309453B (zh) 2021-10-08
KR20150118586A (ko) 2015-10-22
KR102229337B1 (ko) 2021-03-19
US11484376B2 (en) 2022-11-01
US10299872B2 (en) 2019-05-28
EP2956080A4 (en) 2016-07-27
JP2020036920A (ja) 2020-03-12
EP2956080B1 (en) 2020-08-05
US11000337B2 (en) 2021-05-11
EP2956080A1 (en) 2015-12-23
US20170239009A1 (en) 2017-08-24
US9662176B2 (en) 2017-05-30
CN113616337A (zh) 2021-11-09
JP2018126549A (ja) 2018-08-16
JP2016506859A (ja) 2016-03-07
CN113616337B (zh) 2025-02-07
WO2014127271A1 (en) 2014-08-21
JP6896047B2 (ja) 2021-06-30
JP6615931B2 (ja) 2019-12-04
CN105073055A (zh) 2015-11-18
US20190231462A1 (en) 2019-08-01
CN108309453A (zh) 2018-07-24
US20140236175A1 (en) 2014-08-21

Similar Documents

Publication Publication Date Title
US11484376B2 (en) Systems and methods for proximal control of a surgical instrument
JP7522777B2 (ja) コンピュータ支援医療システム及び方法
CN108143497B (zh) 用于利用零空间跟踪路径的系统和方法
US10219871B2 (en) Robotic system for tele-surgery
CN107595392B (zh) 使用零空间回避操纵器臂与患者碰撞
CN108113755B (zh) 多端口手术机器人系统架构
JP2020022770A (ja) ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法
US12343104B2 (en) Surgical platform supported and controlled by multiple arms
CN115869063A (zh) 计算机辅助远程操作手术系统和方法
US11844584B2 (en) Robotic system for tele-surgery
CN120981208A (zh) 在手术工作空间中提供增强的灵活性的机器人手术操纵器

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant