CN105188593B - 远程操作的手术系统的力传递机构 - Google Patents

远程操作的手术系统的力传递机构 Download PDF

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Publication number
CN105188593B
CN105188593B CN201480025668.XA CN201480025668A CN105188593B CN 105188593 B CN105188593 B CN 105188593B CN 201480025668 A CN201480025668 A CN 201480025668A CN 105188593 B CN105188593 B CN 105188593B
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China
Prior art keywords
gear
transfer mechanism
force transfer
ball
rod
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CN201480025668.XA
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English (en)
Chinese (zh)
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CN105188593A (zh
Inventor
E·P·唐伦
T·W·罗杰斯
B·兰布雷希特
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Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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Priority to CN201810054561.8A priority Critical patent/CN108095826B/zh
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/001—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18792—Reciprocating or oscillating to or from alternating rotary including worm

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
CN201480025668.XA 2013-05-15 2014-05-13 远程操作的手术系统的力传递机构 Active CN105188593B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810054561.8A CN108095826B (zh) 2013-05-15 2014-05-13 远程操作的手术系统的力传递机构

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361823688P 2013-05-15 2013-05-15
US61/823,688 2013-05-15
PCT/US2014/037921 WO2014186412A2 (en) 2013-05-15 2014-05-13 Force transmission mechanism for teleoperated surgical system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN201810054561.8A Division CN108095826B (zh) 2013-05-15 2014-05-13 远程操作的手术系统的力传递机构

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Publication Number Publication Date
CN105188593A CN105188593A (zh) 2015-12-23
CN105188593B true CN105188593B (zh) 2018-02-23

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CN201480025668.XA Active CN105188593B (zh) 2013-05-15 2014-05-13 远程操作的手术系统的力传递机构
CN201810054561.8A Active CN108095826B (zh) 2013-05-15 2014-05-13 远程操作的手术系统的力传递机构

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US (1) US9664262B2 (enExample)
EP (1) EP2996620B1 (enExample)
JP (2) JP6416886B2 (enExample)
KR (1) KR102294062B1 (enExample)
CN (2) CN105188593B (enExample)
WO (1) WO2014186412A2 (enExample)

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US20140338477A1 (en) 2014-11-20
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EP2996620B1 (en) 2020-09-16
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WO2014186412A3 (en) 2015-04-02
EP2996620A4 (en) 2017-11-08
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