CN106999251A - 用于执行微创和经自然腔道内镜外科动作的外科机器人装置和系统 - Google Patents
用于执行微创和经自然腔道内镜外科动作的外科机器人装置和系统 Download PDFInfo
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- CN106999251A CN106999251A CN201680003619.5A CN201680003619A CN106999251A CN 106999251 A CN106999251 A CN 106999251A CN 201680003619 A CN201680003619 A CN 201680003619A CN 106999251 A CN106999251 A CN 106999251A
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- driven portion
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- 238000001356 surgical procedure Methods 0.000 claims abstract description 223
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2906—Multiple forceps
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
-
- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- 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)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Otolaryngology (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
Abstract
Description
Claims (30)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910120413.6A CN110074865B (zh) | 2016-11-01 | 2016-11-01 | 用于执行微创和经自然腔道内镜外科动作的外科机器人装置和系统 |
CN201811148451.4A CN109567902B (zh) | 2016-11-01 | 2016-11-01 | 用于执行微创和经自然腔道内镜外科动作的外科机器人装置和系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2016/104270 WO2018081931A1 (en) | 2016-11-01 | 2016-11-01 | Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910120413.6A Division CN110074865B (zh) | 2016-11-01 | 2016-11-01 | 用于执行微创和经自然腔道内镜外科动作的外科机器人装置和系统 |
CN201811148451.4A Division CN109567902B (zh) | 2016-11-01 | 2016-11-01 | 用于执行微创和经自然腔道内镜外科动作的外科机器人装置和系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106999251A true CN106999251A (zh) | 2017-08-01 |
CN106999251B CN106999251B (zh) | 2019-07-09 |
Family
ID=59431851
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811148451.4A Active CN109567902B (zh) | 2016-11-01 | 2016-11-01 | 用于执行微创和经自然腔道内镜外科动作的外科机器人装置和系统 |
CN201910120413.6A Active CN110074865B (zh) | 2016-11-01 | 2016-11-01 | 用于执行微创和经自然腔道内镜外科动作的外科机器人装置和系统 |
CN201680003619.5A Active CN106999251B (zh) | 2016-11-01 | 2016-11-01 | 用于执行微创和经自然腔道内镜外科动作的外科机器人装置和系统 |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811148451.4A Active CN109567902B (zh) | 2016-11-01 | 2016-11-01 | 用于执行微创和经自然腔道内镜外科动作的外科机器人装置和系统 |
CN201910120413.6A Active CN110074865B (zh) | 2016-11-01 | 2016-11-01 | 用于执行微创和经自然腔道内镜外科动作的外科机器人装置和系统 |
Country Status (4)
Country | Link |
---|---|
CN (3) | CN109567902B (zh) |
GB (1) | GB2568616B (zh) |
SG (1) | SG11201805714YA (zh) |
WO (1) | WO2018081931A1 (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110123455A (zh) * | 2018-11-30 | 2019-08-16 | 香港生物医学工程有限公司 | 具有齿轮驱动的端部执行器组件的机器人臂系统 |
CN110547876A (zh) * | 2019-06-28 | 2019-12-10 | 香港生物医学工程有限公司 | 具有在内部驱动的齿轮组件的外科臂系统 |
US11090123B2 (en) | 2014-04-22 | 2021-08-17 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
US11103323B2 (en) | 2014-04-22 | 2021-08-31 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
US11154183B2 (en) | 2014-04-22 | 2021-10-26 | Bio-Medical Engineering (HK) Limited | Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems |
US11690647B2 (en) | 2014-04-22 | 2023-07-04 | Bio-Medical Engineering (HK) Limited | Surgical arm system with internally drive gear assemblies |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11246668B1 (en) | 2021-07-16 | 2022-02-15 | Yijiahe (Singapore) Pte. Ltd. | Minimally invasive surgical tool with asymmetric gear assembly |
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US7025064B2 (en) * | 1996-02-20 | 2006-04-11 | Intuitive Surgical Inc | Method and apparatus for performing minimally invasive cardiac procedures |
US20070123855A1 (en) * | 2000-12-29 | 2007-05-31 | Intuitive Surgical Inc. | Bipolar cauterizing instrument |
US20070173977A1 (en) * | 2006-01-25 | 2007-07-26 | Schena Bruce M | Center robotic arm with five-bar spherical linkage for endoscopic camera |
US20080046122A1 (en) * | 2003-06-30 | 2008-02-21 | Intuitive Surgical, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
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US20110144657A1 (en) * | 2009-12-11 | 2011-06-16 | Fish Jeffrey M | Systems and methods for determining the likelihood of endocardial barotrauma in tissue during ablation |
US20110167611A1 (en) * | 2006-11-16 | 2011-07-14 | Intuitive Surgical Operations, Inc. | Methods for Two-Piece End-Effectors of Robotic Surgical Tools |
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US20130255425A1 (en) * | 2006-01-25 | 2013-10-03 | Bruce M. Schena | Robotic arm with five-bar spherical linkage |
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WO2014030110A1 (en) * | 2012-08-21 | 2014-02-27 | Chinmay Deodhar | Wristed surgical instrument capable of multiple functions, without requiring extra inputs |
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- 2016-11-01 CN CN201910120413.6A patent/CN110074865B/zh active Active
- 2016-11-01 CN CN201680003619.5A patent/CN106999251B/zh active Active
- 2016-11-01 GB GB201901850A patent/GB2568616B/en active Active
- 2016-11-01 SG SG11201805714YA patent/SG11201805714YA/en unknown
- 2016-11-01 WO PCT/CN2016/104270 patent/WO2018081931A1/en active Application Filing
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US20070123855A1 (en) * | 2000-12-29 | 2007-05-31 | Intuitive Surgical Inc. | Bipolar cauterizing instrument |
US20080046122A1 (en) * | 2003-06-30 | 2008-02-21 | Intuitive Surgical, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
CN104586507A (zh) * | 2005-01-24 | 2015-05-06 | 直观外科手术操作公司 | 机器人手术的模块化机械手支架 |
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CN102143714A (zh) * | 2008-07-16 | 2011-08-03 | 直观外科手术操作公司 | 双极烧灼器械 |
CN104546135A (zh) * | 2008-10-13 | 2015-04-29 | 韩商未来股份有限公司 | 手术从动机器人 |
US20110144657A1 (en) * | 2009-12-11 | 2011-06-16 | Fish Jeffrey M | Systems and methods for determining the likelihood of endocardial barotrauma in tissue during ablation |
US20110238080A1 (en) * | 2010-03-25 | 2011-09-29 | Date Ranjit | Robotic Surgical Instrument System |
US20130131695A1 (en) * | 2010-04-26 | 2013-05-23 | Scuola Superiore De Studi Universitari E Di Per- Fezionamento Sant'anna | Robotic apparatus for minimally invasive surgery |
CN103079480A (zh) * | 2010-06-25 | 2013-05-01 | 苏图勒内蒂克斯股份有限公司 | 内窥镜缝合装置、系统和方法 |
CN101919739A (zh) * | 2010-09-07 | 2010-12-22 | 天津大学 | 一种具有大运动空间高结构刚性的微创机器人机械臂 |
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11090123B2 (en) | 2014-04-22 | 2021-08-17 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
US11103323B2 (en) | 2014-04-22 | 2021-08-31 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
US11154183B2 (en) | 2014-04-22 | 2021-10-26 | Bio-Medical Engineering (HK) Limited | Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems |
US11690647B2 (en) | 2014-04-22 | 2023-07-04 | Bio-Medical Engineering (HK) Limited | Surgical arm system with internally drive gear assemblies |
CN110123455A (zh) * | 2018-11-30 | 2019-08-16 | 香港生物医学工程有限公司 | 具有齿轮驱动的端部执行器组件的机器人臂系统 |
US10632613B1 (en) * | 2018-11-30 | 2020-04-28 | Bio-Medical Engineering (HK) Limited | Robotic arm system with gear-driven end-effector assembly |
WO2020107397A1 (en) * | 2018-11-30 | 2020-06-04 | Bio-Medical Engineering (HK) Limited | Robotic arm system with gear-driven end-effector assembly |
US11130228B2 (en) * | 2018-11-30 | 2021-09-28 | Bio-Medical Engineering (HK) Limited | Robotic arm system with gear-driven end-effector assembly |
US20210387329A1 (en) * | 2018-11-30 | 2021-12-16 | Bio-Medical Engineering (HK) Limited | Robotic Arm System with Gear-Driven End-Effector Assembly |
US11707835B2 (en) * | 2018-11-30 | 2023-07-25 | Bio-Medical Engineering (HK) Limited | Robotic arm system with gear-driven end-effector assembly |
CN110547876A (zh) * | 2019-06-28 | 2019-12-10 | 香港生物医学工程有限公司 | 具有在内部驱动的齿轮组件的外科臂系统 |
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GB2568616B (en) | 2019-12-25 |
CN106999251B (zh) | 2019-07-09 |
CN109567902B (zh) | 2022-04-08 |
WO2018081931A1 (en) | 2018-05-11 |
CN110074865A (zh) | 2019-08-02 |
CN110074865B (zh) | 2021-07-30 |
GB2568616A (en) | 2019-05-22 |
CN109567902A (zh) | 2019-04-05 |
GB201901850D0 (en) | 2019-04-03 |
SG11201805714YA (en) | 2018-07-30 |
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