CN106536134A - 用于微创流程的可重新配置的机器人架构 - Google Patents

用于微创流程的可重新配置的机器人架构 Download PDF

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Publication number
CN106536134A
CN106536134A CN201580038327.0A CN201580038327A CN106536134A CN 106536134 A CN106536134 A CN 106536134A CN 201580038327 A CN201580038327 A CN 201580038327A CN 106536134 A CN106536134 A CN 106536134A
Authority
CN
China
Prior art keywords
instrument
actuator
arm
end effect
effect device
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.)
Pending
Application number
CN201580038327.0A
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English (en)
Chinese (zh)
Inventor
A·波波维奇
D·P·努南
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.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips Electronics NV
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 Koninklijke Philips Electronics NV filed Critical Koninklijke Philips Electronics NV
Publication of CN106536134A publication Critical patent/CN106536134A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/005—Arms having a curved shape
    • 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
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Electromagnetism (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
CN201580038327.0A 2014-07-15 2015-07-06 用于微创流程的可重新配置的机器人架构 Pending CN106536134A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462024527P 2014-07-15 2014-07-15
US62/024,527 2014-07-15
PCT/IB2015/055090 WO2016009301A2 (en) 2014-07-15 2015-07-06 Reconfigurable robot architecture for minimally invasive procedures

Publications (1)

Publication Number Publication Date
CN106536134A true CN106536134A (zh) 2017-03-22

Family

ID=53969382

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580038327.0A Pending CN106536134A (zh) 2014-07-15 2015-07-06 用于微创流程的可重新配置的机器人架构

Country Status (5)

Country Link
US (1) US20170165847A1 (enExample)
EP (1) EP3169491A2 (enExample)
JP (1) JP6692301B2 (enExample)
CN (1) CN106536134A (enExample)
WO (1) WO2016009301A2 (enExample)

Cited By (4)

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CN114886562A (zh) * 2022-04-07 2022-08-12 吉林省金博弘智能科技有限责任公司 一种用于单孔胸腹腔微创手术的机器人
CN118924435A (zh) * 2023-05-12 2024-11-12 北京术锐机器人股份有限公司 包括多个手术台车的手术机器人系统
CN118924431A (zh) * 2023-05-12 2024-11-12 北京术锐机器人股份有限公司 集成式定位臂及手术机器人系统
CN118924430A (zh) * 2023-05-12 2024-11-12 北京术锐机器人股份有限公司 分布式手术机器人系统

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JP6585613B2 (ja) * 2014-03-17 2019-10-02 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 遠隔操作医療システムのための構造調節システム及び方法
KR20160135222A (ko) * 2014-03-17 2016-11-25 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 액추에이터 제어식 수술 기기용 인디케이터 기구
EP3522814B1 (en) * 2016-10-04 2022-05-04 Intuitive Surgical Operations, Inc. Computer-assisted teleoperated surgery systems
EP3528736A4 (en) * 2016-10-18 2020-06-17 Intuitive Surgical Operations Inc. SYSTEMS AND METHODS FOR COMPUTER-ASSISTED TELE-OPERATED SURGERY
CN110769772A (zh) * 2017-06-19 2020-02-07 皇家飞利浦有限公司 具有同轴末端执行器的可配置并联医学机器人
EP3648674B1 (en) * 2017-07-07 2025-07-02 Koninklijke Philips N.V. Robotic instrument guide integration with an acoustic probe
EP4125698A1 (en) 2020-04-02 2023-02-08 Intuitive Surgical Operations, Inc. Devices for instrument use recording, devices for recording instrument reprocessing events, and related systems and methods
WO2021258217A1 (en) * 2020-06-25 2021-12-30 Rogue Research Inc. Articulated positioning system for a scientific or medical tool, robotized positioning assembly comprising same and corresponding method
CN113440262B (zh) * 2021-08-12 2023-02-17 吉林大学 一种腹腔微创手术机器人

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US5901936A (en) * 1997-08-25 1999-05-11 Sandia Corporation Six-degree-of-freedom multi-axes positioning apparatus
WO2000060521A1 (en) * 1999-04-07 2000-10-12 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
CN101304701A (zh) * 2005-10-19 2008-11-12 埃科罗伯特有限公司 工具约束机构
CN102225545A (zh) * 2011-05-31 2011-10-26 北京航空航天大学 一种具有虚拟运动中心的两维转动并联机构
CN102415915A (zh) * 2005-01-24 2012-04-18 直观外科手术操作公司 机器人手术的模块化机械手支架
CN103273479A (zh) * 2013-05-15 2013-09-04 西安电子科技大学 循环索驱动的索牵引并联机器人装置

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WO2007147232A1 (en) * 2006-06-19 2007-12-27 Robarts Research Institute Apparatus for guiding a medical tool
US8282653B2 (en) * 2008-03-24 2012-10-09 Board Of Regents Of The University Of Nebraska System and methods for controlling surgical tool elements
KR100944412B1 (ko) * 2008-10-13 2010-02-25 (주)미래컴퍼니 수술용 슬레이브 로봇
CN102292041A (zh) * 2009-01-20 2011-12-21 伊顿株式会社 吸脂手术机器人
US9259289B2 (en) * 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Estimation of a position and orientation of a frame used in controlling movement of a tool
GB201300490D0 (en) * 2013-01-11 2013-02-27 Univ Leuven Kath An apparatus and method for generating motion around a remote centre of motion
KR102188100B1 (ko) * 2013-03-15 2020-12-07 삼성전자주식회사 로봇 및 그 제어방법
JP6535653B2 (ja) * 2013-03-15 2019-06-26 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 ゼロ空間を使用してデカルト座標空間の端へのアクセスを容易にするためのシステム及び方法
TWI523743B (zh) * 2014-01-22 2016-03-01 Hiwin Tech Corp Spherical Linkage Robotic Arm
KR101485291B1 (ko) * 2014-04-07 2015-01-21 재단법인대구경북과학기술원 로봇

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5901936A (en) * 1997-08-25 1999-05-11 Sandia Corporation Six-degree-of-freedom multi-axes positioning apparatus
WO2000060521A1 (en) * 1999-04-07 2000-10-12 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
CN102415915A (zh) * 2005-01-24 2012-04-18 直观外科手术操作公司 机器人手术的模块化机械手支架
CN101304701A (zh) * 2005-10-19 2008-11-12 埃科罗伯特有限公司 工具约束机构
CN102225545A (zh) * 2011-05-31 2011-10-26 北京航空航天大学 一种具有虚拟运动中心的两维转动并联机构
CN103273479A (zh) * 2013-05-15 2013-09-04 西安电子科技大学 循环索驱动的索牵引并联机器人装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114886562A (zh) * 2022-04-07 2022-08-12 吉林省金博弘智能科技有限责任公司 一种用于单孔胸腹腔微创手术的机器人
CN118924435A (zh) * 2023-05-12 2024-11-12 北京术锐机器人股份有限公司 包括多个手术台车的手术机器人系统
CN118924431A (zh) * 2023-05-12 2024-11-12 北京术锐机器人股份有限公司 集成式定位臂及手术机器人系统
CN118924430A (zh) * 2023-05-12 2024-11-12 北京术锐机器人股份有限公司 分布式手术机器人系统
WO2024235054A1 (zh) * 2023-05-12 2024-11-21 北京术锐机器人股份有限公司 用于多人同时操作的手术机器人系统

Also Published As

Publication number Publication date
EP3169491A2 (en) 2017-05-24
US20170165847A1 (en) 2017-06-15
JP2017525413A (ja) 2017-09-07
WO2016009301A3 (en) 2016-03-10
JP6692301B2 (ja) 2020-05-13
WO2016009301A2 (en) 2016-01-21

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Application publication date: 20170322