CN107530134B - 机电手术系统 - Google Patents
机电手术系统 Download PDFInfo
- Publication number
- CN107530134B CN107530134B CN201580067371.4A CN201580067371A CN107530134B CN 107530134 B CN107530134 B CN 107530134B CN 201580067371 A CN201580067371 A CN 201580067371A CN 107530134 B CN107530134 B CN 107530134B
- Authority
- CN
- China
- Prior art keywords
- input
- output
- surgical
- surgical system
- elements
- 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.)
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Classifications
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- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets 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, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
-
- 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
Abstract
Description
Claims (14)
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201462062741P | 2014-10-10 | 2014-10-10 | |
US62/062,741 | 2014-10-10 | ||
US201562192673P | 2015-07-15 | 2015-07-15 | |
US62/192,673 | 2015-07-15 | ||
PCT/US2015/055098 WO2016057989A2 (en) | 2014-10-10 | 2015-10-12 | Electromechanical surgical system |
Publications (3)
Publication Number | Publication Date |
---|---|
CN107530134A CN107530134A (zh) | 2018-01-02 |
CN107530134B true CN107530134B (zh) | 2021-01-08 |
CN107530134B8 CN107530134B8 (zh) | 2021-02-12 |
Family
ID=55653960
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201580067371.4A Active CN107530134B8 (zh) | 2014-10-10 | 2015-10-12 | 机电手术系统 |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3203924A4 (zh) |
KR (1) | KR102521822B1 (zh) |
CN (1) | CN107530134B8 (zh) |
WO (1) | WO2016057989A2 (zh) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11033182B2 (en) | 2014-02-21 | 2021-06-15 | 3Dintegrated Aps | Set comprising a surgical instrument |
AU2015362021B2 (en) * | 2014-12-11 | 2019-03-28 | Titan Medical Inc. | Actuator and drive for manipulating a tool |
US11020144B2 (en) | 2015-07-21 | 2021-06-01 | 3Dintegrated Aps | Minimally invasive surgery system |
CN108024806B (zh) | 2015-07-21 | 2022-07-01 | 3D集成公司 | 套管组装套件、套管针组装套件、套筒组件、微创手术系统及其方法 |
KR102429815B1 (ko) | 2016-04-14 | 2022-08-08 | 트랜스엔테릭스 서지컬, 인크. | 선형 구동식 기기 롤을 포함하는 전기기계 수술 시스템 |
US10813713B2 (en) | 2016-12-16 | 2020-10-27 | Ethicon Llc | Methods and systems for coupling a surgical tool to a tool driver of a robotic surgical system |
US10143524B2 (en) | 2016-12-16 | 2018-12-04 | Ethicon Llc | Methods and systems for coupling a surgical tool to a tool driver of a robotic surgical system |
US10398460B2 (en) | 2016-12-20 | 2019-09-03 | Ethicon Llc | Robotic endocutter drivetrain with bailout and manual opening |
US10987177B2 (en) | 2016-12-20 | 2021-04-27 | Ethicon Llc | Robotic endocutter drivetrain with bailout and manual opening |
WO2018144654A1 (en) | 2017-01-31 | 2018-08-09 | Transenterix Surgical, Inc. | Hydraulic instrument drive system for minimally invasive surgery |
CN110623739B (zh) * | 2018-06-22 | 2021-05-11 | 深圳市精锋医疗科技有限公司 | 可调整的手术机器人 |
CN110623733B (zh) * | 2018-06-22 | 2021-05-11 | 深圳市精锋医疗科技有限公司 | 从操作设备 |
CN110623744A (zh) * | 2018-06-22 | 2019-12-31 | 深圳市精锋医疗科技有限公司 | 稳定性高的连接机构、动力机构、操作臂及从操作设备 |
CN110623743A (zh) * | 2018-06-22 | 2019-12-31 | 深圳市精锋医疗科技有限公司 | 具有检测部的手术机器人 |
CN110623735B (zh) * | 2018-06-22 | 2021-05-11 | 深圳市精锋医疗科技有限公司 | 连接机构、动力机构、操作臂及从操作设备 |
CN110623748B (zh) * | 2018-06-22 | 2021-02-19 | 深圳市精锋医疗科技有限公司 | 可快速安装的从操作设备、操作臂、动力机构及连接机构 |
CN110623740B (zh) * | 2018-06-22 | 2021-06-01 | 深圳市精锋医疗科技有限公司 | 手术机器人 |
CN109091240B (zh) * | 2018-06-22 | 2020-08-25 | 深圳市精锋医疗科技有限公司 | 单切口手术机器人 |
CN110623742B (zh) * | 2018-06-22 | 2021-06-01 | 深圳市精锋医疗科技有限公司 | 高精度从操作设备 |
CN110623738B (zh) * | 2018-06-22 | 2021-06-01 | 深圳市精锋医疗科技有限公司 | 连接单元、连接机构 |
CN110693539A (zh) * | 2018-07-10 | 2020-01-17 | 中国科学院沈阳自动化研究所 | 一种驱动单侧平板布置的微创手术器械 |
US11123146B2 (en) | 2019-05-30 | 2021-09-21 | Titan Medical Inc. | Surgical instrument apparatus, actuator, and drive |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6723106B1 (en) * | 1998-11-23 | 2004-04-20 | Microdexterity Systems, Inc. | Surgical manipulator |
US8491603B2 (en) * | 2006-06-14 | 2013-07-23 | MacDonald Dettwiller and Associates Inc. | Surgical manipulator |
WO2013159933A1 (de) * | 2012-04-27 | 2013-10-31 | Kuka Laboratories Gmbh | Chirurgierobotersystem und chirurgisches instrument |
WO2014005689A2 (de) * | 2012-07-03 | 2014-01-09 | Kuka Laboratories Gmbh | Chirurgische instrumentenanordnung und antriebsstranganordnung für ein, insbesondere robotergeführtes, chirurgisches instrument und chirurgisches instrument |
WO2014129362A1 (en) * | 2013-02-20 | 2014-08-28 | Olympus Corporation | Medical manipulator |
WO2014133180A1 (en) * | 2013-02-27 | 2014-09-04 | Olympus Corporation | Manipulator |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060196299A1 (en) * | 2005-01-27 | 2006-09-07 | John Taboada | Seven Axis End Effector Articulating Mechanism |
US8752749B2 (en) * | 2008-02-14 | 2014-06-17 | Ethicon Endo-Surgery, Inc. | Robotically-controlled disposable motor-driven loading unit |
US9005217B2 (en) * | 2009-08-12 | 2015-04-14 | Biosense Webster, Inc. | Robotic drive for catheter |
JP5953058B2 (ja) * | 2011-08-04 | 2016-07-13 | オリンパス株式会社 | 手術支援装置およびその着脱方法 |
WO2013026920A1 (en) * | 2011-08-25 | 2013-02-28 | Endocontrol | Surgical instrument with disengageable handle |
US8912746B2 (en) * | 2011-10-26 | 2014-12-16 | Intuitive Surgical Operations, Inc. | Surgical instrument motor pack latch |
CN104736074B (zh) * | 2012-11-14 | 2018-05-25 | 直观外科手术操作公司 | 用于双控制手术器械的系统和方法 |
-
2015
- 2015-10-12 WO PCT/US2015/055098 patent/WO2016057989A2/en active Application Filing
- 2015-10-12 KR KR1020177012556A patent/KR102521822B1/ko active IP Right Grant
- 2015-10-12 CN CN201580067371.4A patent/CN107530134B8/zh active Active
- 2015-10-12 EP EP15849537.4A patent/EP3203924A4/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6723106B1 (en) * | 1998-11-23 | 2004-04-20 | Microdexterity Systems, Inc. | Surgical manipulator |
US8491603B2 (en) * | 2006-06-14 | 2013-07-23 | MacDonald Dettwiller and Associates Inc. | Surgical manipulator |
WO2013159933A1 (de) * | 2012-04-27 | 2013-10-31 | Kuka Laboratories Gmbh | Chirurgierobotersystem und chirurgisches instrument |
WO2014005689A2 (de) * | 2012-07-03 | 2014-01-09 | Kuka Laboratories Gmbh | Chirurgische instrumentenanordnung und antriebsstranganordnung für ein, insbesondere robotergeführtes, chirurgisches instrument und chirurgisches instrument |
WO2014129362A1 (en) * | 2013-02-20 | 2014-08-28 | Olympus Corporation | Medical manipulator |
WO2014133180A1 (en) * | 2013-02-27 | 2014-09-04 | Olympus Corporation | Manipulator |
Also Published As
Publication number | Publication date |
---|---|
CN107530134A (zh) | 2018-01-02 |
CN107530134B8 (zh) | 2021-02-12 |
KR102521822B1 (ko) | 2023-04-17 |
EP3203924A4 (en) | 2018-08-08 |
WO2016057989A2 (en) | 2016-04-14 |
KR20170070117A (ko) | 2017-06-21 |
WO2016057989A3 (en) | 2016-05-26 |
EP3203924A2 (en) | 2017-08-16 |
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Legal Events
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PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CI03 | Correction of invention patent | ||
CI03 | Correction of invention patent |
Correction item: Inventor Correct: Ma Xiu.r.panni|Gon Freecss ivudad|Ai Lun.poer|Hon Jimei|Brian Murphy|Danica Gordon False: Ma Xiu.r.panni|James A Woodard|Gon Freecss ivudad|Ai Lun.poer|Hon Jimei|Brian Murphy Number: 02-02 Page: The title page Volume: 37 Correction item: Inventor Correct: Ma Xiu.r.panni|Gon Freecss ivudad|Ai Lun.poer|Hon Jimei|Brian Murphy|Danica Gordon False: Ma Xiu.r.panni|James A Woodard|Gon Freecss ivudad|Ai Lun.poer|Hon Jimei|Brian Murphy Number: 02-02 Volume: 37 |
|
CP01 | Change in the name or title of a patent holder | ||
CP01 | Change in the name or title of a patent holder |
Address after: North Carolina, USA Patentee after: Asenses (USA) surgery Co. Address before: North Carolina, USA Patentee before: TransEnterix Surgical, Inc. |