CN106999251B - 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
- Publication number
- CN106999251B CN106999251B CN201680003619.5A CN201680003619A CN106999251B CN 106999251 B CN106999251 B CN 106999251B CN 201680003619 A CN201680003619 A CN 201680003619A CN 106999251 B CN106999251 B CN 106999251B
- Authority
- CN
- China
- Prior art keywords
- instrument
- wrist
- arm component
- surgery
- driven portion
- 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
Links
- 238000002674 endoscopic surgery Methods 0.000 title description 5
- 238000001356 surgical procedure Methods 0.000 claims abstract description 186
- 210000000707 wrist Anatomy 0.000 claims abstract description 123
- 239000012636 effector Substances 0.000 claims abstract description 94
- 230000033001 locomotion Effects 0.000 claims abstract description 82
- 230000004044 response Effects 0.000 claims description 17
- 238000000034 method Methods 0.000 abstract description 13
- 210000000683 abdominal cavity Anatomy 0.000 description 14
- 230000003993 interaction Effects 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 10
- 238000002324 minimally invasive surgery Methods 0.000 description 10
- 238000000429 assembly Methods 0.000 description 9
- 230000000712 assembly Effects 0.000 description 9
- 239000000463 material Substances 0.000 description 8
- 238000005259 measurement Methods 0.000 description 8
- 238000005520 cutting process Methods 0.000 description 7
- 238000011161 development Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 238000009413 insulation Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 238000004873 anchoring Methods 0.000 description 5
- 238000013475 authorization Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000005855 radiation Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 238000002955 isolation Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 210000000664 rectum Anatomy 0.000 description 3
- 210000001215 vagina Anatomy 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 229910000861 Mg alloy Inorganic materials 0.000 description 2
- 229910001069 Ti alloy Inorganic materials 0.000 description 2
- -1 Ti6A14V Inorganic materials 0.000 description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000806 elastomer Substances 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 239000012777 electrically insulating material Substances 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
- 239000012212 insulator Substances 0.000 description 2
- 210000004185 liver Anatomy 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000011707 mineral Substances 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 229910001000 nickel titanium Inorganic materials 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 229910052719 titanium Inorganic materials 0.000 description 2
- 239000010936 titanium Substances 0.000 description 2
- 208000031650 Surgical Wound Infection Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
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
-
- 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
- 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
- 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
- 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
- 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
- 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
- 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
Abstract
Description
Claims (9)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
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 |
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 |
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 CN106999251A (zh) | 2017-08-01 |
CN106999251B true CN106999251B (zh) | 2019-07-09 |
Family
ID=59431851
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
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 |
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 |
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 |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
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 |
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 |
Country Status (4)
Country | Link |
---|---|
CN (3) | CN106999251B (zh) |
GB (1) | GB2568616B (zh) |
SG (1) | SG11201805714YA (zh) |
WO (1) | WO2018081931A1 (zh) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015161677A1 (en) | 2014-04-22 | 2015-10-29 | Bio-Medical Engineering (HK) Limited | Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems |
US10500008B2 (en) | 2014-04-22 | 2019-12-10 | Bio-Medical Engineering (HK) Limited | Surgical arm system with internally driven gear assemblies |
US9895200B2 (en) | 2014-04-22 | 2018-02-20 | 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 |
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 |
WO2020107397A1 (en) * | 2018-11-30 | 2020-06-04 | Bio-Medical Engineering (HK) Limited | Robotic arm system with gear-driven end-effector assembly |
CN110547876B (zh) * | 2019-06-28 | 2020-10-09 | 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 |
US11246668B1 (en) | 2021-07-16 | 2022-02-15 | Yijiahe (Singapore) Pte. Ltd. | Minimally invasive surgical tool with asymmetric gear assembly |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7025064B2 (en) * | 1996-02-20 | 2006-04-11 | Intuitive Surgical Inc | Method and apparatus for performing minimally invasive cardiac procedures |
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 |
CN102143714A (zh) * | 2008-07-16 | 2011-08-03 | 直观外科手术操作公司 | 双极烧灼器械 |
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 |
CN103142309A (zh) * | 2005-10-20 | 2013-06-12 | 直观外科手术操作公司 | 医用机器人系统中的计算机显示屏上的辅助图像显示和操纵 |
WO2014030110A1 (en) * | 2012-08-21 | 2014-02-27 | Chinmay Deodhar | Wristed surgical instrument capable of multiple functions, without requiring extra inputs |
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 |
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 |
CN104983469A (zh) * | 2012-04-26 | 2015-10-21 | 香港生物医学工程有限公司 | 手术系统与方法及用于手术系统的操作者界面 |
CN105816242A (zh) * | 2015-04-22 | 2016-08-03 | 香港生物医学工程有限公司 | 外科系统以及配置外科系统的方法 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6840938B1 (en) * | 2000-12-29 | 2005-01-11 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
US8398634B2 (en) * | 2002-04-18 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Wristed robotic surgical tool for pluggable end-effectors |
US9002518B2 (en) * | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
US8162926B2 (en) * | 2006-01-25 | 2012-04-24 | Intuitive Surgical Operations Inc. | Robotic arm with five-bar spherical linkage |
US8469945B2 (en) * | 2006-01-25 | 2013-06-25 | Intuitive Surgical Operations, Inc. | Center robotic arm with five-bar spherical linkage for endoscopic camera |
US7935130B2 (en) * | 2006-11-16 | 2011-05-03 | Intuitive Surgical Operations, Inc. | Two-piece end-effectors for robotic surgical tools |
US20100262162A1 (en) * | 2007-12-28 | 2010-10-14 | Terumo Kabushiki Kaisha | Medical manipulator and medical robot system |
US9265567B2 (en) * | 2008-06-30 | 2016-02-23 | Intuitive Surgical Operations, Inc. | Vessel sealing instrument with stepped jaw |
EP2445434B1 (en) * | 2009-12-11 | 2018-08-22 | St. Jude Medical Atrial Fibrillation Division, Inc. | System for determining the likelihood of endocardial barotrauma in tissue during ablation |
US9339341B2 (en) * | 2010-02-08 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Direct pull surgical gripper |
US20110238080A1 (en) * | 2010-03-25 | 2011-09-29 | Date Ranjit | Robotic Surgical Instrument System |
IT1399603B1 (it) * | 2010-04-26 | 2013-04-26 | Scuola Superiore Di Studi Universitari E Di Perfez | Apparato robotico per interventi di chirurgia minimamente invasiva |
CN102499726A (zh) * | 2011-11-09 | 2012-06-20 | 天津大学 | 用于核磁共振成像环境的近距离微创针刺机械手机构 |
US20140005640A1 (en) * | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Surgical end effector jaw and electrode configurations |
DE102014205006A1 (de) * | 2014-03-18 | 2015-10-08 | Richard Wolf Gmbh | Endoskopisches Schaftinstrument |
-
2016
- 2016-11-01 GB GB201901850A patent/GB2568616B/en active Active
- 2016-11-01 CN CN201680003619.5A patent/CN106999251B/zh active Active
- 2016-11-01 SG SG11201805714YA patent/SG11201805714YA/en unknown
- 2016-11-01 WO PCT/CN2016/104270 patent/WO2018081931A1/en active Application Filing
- 2016-11-01 CN CN201910120413.6A patent/CN110074865B/zh active Active
- 2016-11-01 CN CN201811148451.4A patent/CN109567902B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7025064B2 (en) * | 1996-02-20 | 2006-04-11 | Intuitive Surgical Inc | Method and apparatus for performing minimally invasive cardiac procedures |
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 |
CN103142309A (zh) * | 2005-10-20 | 2013-06-12 | 直观外科手术操作公司 | 医用机器人系统中的计算机显示屏上的辅助图像显示和操纵 |
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 |
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 |
CN104983469A (zh) * | 2012-04-26 | 2015-10-21 | 香港生物医学工程有限公司 | 手术系统与方法及用于手术系统的操作者界面 |
WO2014030110A1 (en) * | 2012-08-21 | 2014-02-27 | Chinmay Deodhar | Wristed surgical instrument capable of multiple functions, without requiring extra inputs |
CN105816242A (zh) * | 2015-04-22 | 2016-08-03 | 香港生物医学工程有限公司 | 外科系统以及配置外科系统的方法 |
Also Published As
Publication number | Publication date |
---|---|
CN110074865B (zh) | 2021-07-30 |
GB201901850D0 (en) | 2019-04-03 |
CN110074865A (zh) | 2019-08-02 |
CN109567902A (zh) | 2019-04-05 |
GB2568616B (en) | 2019-12-25 |
SG11201805714YA (en) | 2018-07-30 |
WO2018081931A1 (en) | 2018-05-11 |
GB2568616A (en) | 2019-05-22 |
CN109567902B (zh) | 2022-04-08 |
CN106999251A (zh) | 2017-08-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106999251B (zh) | 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 | |
US20210361367A1 (en) | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems | |
Melvin et al. | Robotic resection of pancreatic neuroendocrine tumor | |
JP6771494B2 (ja) | 双方向連結部を備えたロボット外科用機器の制御法 | |
KR102115312B1 (ko) | 독립적으로 회전하는 부재 내의 병렬 구동 샤프트들을 위한 모터 연접부 | |
Phee et al. | Master and slave transluminal endoscopic robot (MASTER) for natural orifice transluminal endoscopic surgery | |
US20200170735A1 (en) | Surgical Arm System with Internally Driven Gear Assemblies | |
US11166776B2 (en) | Systems, devices, and methods for performing surgical actions via externally driven driving assemblies | |
US11925425B2 (en) | Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions | |
US20190183515A1 (en) | Surgical tool system having multiple tool tip interfaces | |
US20170042623A1 (en) | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems | |
US11690647B2 (en) | Surgical arm system with internally drive gear assemblies | |
Wortman et al. | Single-site colectomy with miniature in vivo robotic platform | |
CN110547876B (zh) | 具有在内部驱动的齿轮组件的外科臂系统 | |
US20130282173A1 (en) | Remotely Controlled Surgical Robots | |
Velasquez et al. | Preliminary design of an actuated imaging probe for generation of additional visual cues in a robotic surgery | |
JP2023549623A (ja) | 植え込み可能外科ロボットシステムにおいて外科器具を交換するためのシステムおよび方法 | |
Suzuki et al. | Tele-control of an endoscopic surgical robot system between Japan and Thailand for tele-NOTES | |
US20220378535A1 (en) | Surgical arm system with internally drive gear assemblies | |
US11801099B2 (en) | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems | |
Patil et al. | Study of robotic surgeries in India: Economical aspects and applications in cancer treatment | |
Wortman et al. | Multi-functional surgical robot for laparo-endoscopic single-site colectomies | |
JP2023529569A (ja) | ロボット内視鏡的粘膜下層剥離術のためのシステム及び方法 | |
JP2022096274A (ja) | 切断器、鉗子、エンドエフェクタ、医療用ツール、医療システム、ロボット、手術用医療ロボット、把持・切断方法及び携帯用手術器 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 1244649 Country of ref document: HK |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Surgical robotic device and system for performing minimally invasive and natural endoscopic surgical actions Effective date of registration: 20200311 Granted publication date: 20190709 Pledgee: EMCO Health Sciences Pte. Pledgor: Bio-Medical Engineering (HK) Ltd. Registration number: Y2020990000165 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230920 Granted publication date: 20190709 Pledgee: EMCO Health Sciences Pte. Pledgor: BIO-MEDICAL ENGINEERING (HK) LTD. Registration number: Y2020990000165 |
|
PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20231120 Address after: Room 3, 14/F, Shiyun Center, 700 Castle Peak Road, Kowloon, Hong Kong, China Patentee after: Intelligent Microinvasive Medicine (Hong Kong) Co.,Ltd. Address before: Room 401-404, building 4, Cyberport 3, Cyberport 100, Cyberport Road, Cyberport,, Hongkong, China Patentee before: BIO-MEDICAL ENGINEERING (HK) LTD. |