CN106061425B - 具有增强运动范围的机械肘节关节以及相关的装置和方法 - Google Patents

具有增强运动范围的机械肘节关节以及相关的装置和方法 Download PDF

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Publication number
CN106061425B
CN106061425B CN201580009730.0A CN201580009730A CN106061425B CN 106061425 B CN106061425 B CN 106061425B CN 201580009730 A CN201580009730 A CN 201580009730A CN 106061425 B CN106061425 B CN 106061425B
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China
Prior art keywords
pins
disk
teeth
joint
surgical instrument
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CN201580009730.0A
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English (en)
Chinese (zh)
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CN106061425A (zh
Inventor
D·P·萨拉里夫
G·F·布里森
M·R·威廉斯
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Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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Priority to CN202410687302.4A priority Critical patent/CN118593136A/zh
Priority to CN202010595737.8A priority patent/CN111938812B/zh
Publication of CN106061425A publication Critical patent/CN106061425A/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • 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
    • A61B34/35—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
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • 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
    • A61B2034/305—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
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • Y10S901/29—Wrist

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Transmission Devices (AREA)
  • Gears, Cams (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
CN201580009730.0A 2014-02-21 2015-02-20 具有增强运动范围的机械肘节关节以及相关的装置和方法 Active CN106061425B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202410687302.4A CN118593136A (zh) 2014-02-21 2015-02-20 具有增强运动范围的机械肘节关节以及相关的装置和方法
CN202010595737.8A CN111938812B (zh) 2014-02-21 2015-02-20 具有增强运动范围的机械肘节关节以及相关的装置和方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461943068P 2014-02-21 2014-02-21
US61/943,068 2014-02-21
PCT/US2015/016879 WO2015127250A1 (en) 2014-02-21 2015-02-20 Mechanical wrist joints with enhanced range of motion, and related devices and methods

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CN202410687302.4A Division CN118593136A (zh) 2014-02-21 2015-02-20 具有增强运动范围的机械肘节关节以及相关的装置和方法
CN202010595737.8A Division CN111938812B (zh) 2014-02-21 2015-02-20 具有增强运动范围的机械肘节关节以及相关的装置和方法

Publications (2)

Publication Number Publication Date
CN106061425A CN106061425A (zh) 2016-10-26
CN106061425B true CN106061425B (zh) 2020-07-24

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CN201580009730.0A Active CN106061425B (zh) 2014-02-21 2015-02-20 具有增强运动范围的机械肘节关节以及相关的装置和方法
CN202410687302.4A Pending CN118593136A (zh) 2014-02-21 2015-02-20 具有增强运动范围的机械肘节关节以及相关的装置和方法
CN202010595737.8A Active CN111938812B (zh) 2014-02-21 2015-02-20 具有增强运动范围的机械肘节关节以及相关的装置和方法

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CN202410687302.4A Pending CN118593136A (zh) 2014-02-21 2015-02-20 具有增强运动范围的机械肘节关节以及相关的装置和方法
CN202010595737.8A Active CN111938812B (zh) 2014-02-21 2015-02-20 具有增强运动范围的机械肘节关节以及相关的装置和方法

Country Status (6)

Country Link
US (3) US10639805B2 (https=)
EP (3) EP4059461B1 (https=)
JP (3) JP2017513720A (https=)
KR (2) KR102499270B1 (https=)
CN (3) CN106061425B (https=)
WO (1) WO2015127250A1 (https=)

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KR20220029754A (ko) 2022-03-08
EP4059461A1 (en) 2022-09-21
US20230173692A1 (en) 2023-06-08
KR102366672B1 (ko) 2022-02-23
JP6961733B2 (ja) 2021-11-05
CN111938812A (zh) 2020-11-17
EP4512581A3 (en) 2025-04-09
EP4059461B1 (en) 2025-04-30
WO2015127250A1 (en) 2015-08-27
KR102499270B1 (ko) 2023-02-13
EP3107697A4 (en) 2017-11-22
JP2020078867A (ja) 2020-05-28
JP2017513720A (ja) 2017-06-01
US20170120457A1 (en) 2017-05-04
EP3107697A1 (en) 2016-12-28
EP4512581A2 (en) 2025-02-26
CN106061425A (zh) 2016-10-26
US20200290215A1 (en) 2020-09-17
EP3107697B1 (en) 2022-05-11
CN118593136A (zh) 2024-09-06
JP2022002759A (ja) 2022-01-11
KR20160124789A (ko) 2016-10-28
US12370700B2 (en) 2025-07-29
US11518048B2 (en) 2022-12-06
CN111938812B (zh) 2024-06-21
US10639805B2 (en) 2020-05-05

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