CN107530134B8 - 机电手术系统 - Google Patents

机电手术系统 Download PDF

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Publication number
CN107530134B8
CN107530134B8 CN201580067371.4A CN201580067371A CN107530134B8 CN 107530134 B8 CN107530134 B8 CN 107530134B8 CN 201580067371 A CN201580067371 A CN 201580067371A CN 107530134 B8 CN107530134 B8 CN 107530134B8
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CN
China
Prior art keywords
input
elements
output
actuation
surgical system
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
Application number
CN201580067371.4A
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English (en)
Other versions
CN107530134A (zh
CN107530134B (zh
Inventor
马修·R·潘尼
小杰伊·伍达德
艾伦·坡尔
本杰明·莱恩
布莱恩·墨菲
达尼卡·戈登
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.)
Asenses (USA) surgery Co.
Original Assignee
Transenterix Surgical Inc
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 Transenterix Surgical Inc filed Critical Transenterix Surgical Inc
Publication of CN107530134A publication Critical patent/CN107530134A/zh
Application granted granted Critical
Publication of CN107530134B publication Critical patent/CN107530134B/zh
Publication of CN107530134B8 publication Critical patent/CN107530134B8/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • 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
    • A61B17/00234—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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Surgical Instruments (AREA)

Abstract

一种手术系统包括支撑件上的驱动单元。驱动单元包括电动机或其他致动器以及多个输出元件，配置成使得每个驱动单元的操作线性平移对应的一个输出元件。手术装置具有延伸穿过细长轴到远侧铰接区段的致动元件，以及设于轴近端的输入子系统。输入子系统的线性可平移输入元件或活塞各自相关联于对应的致动元件。输入和输出元件定位成使得致动器的操作线性平移输出元件，造成对应的输入元件的线性平移，以及致动元件的啮合。无菌盖布可定位于输入元件和输出元件之间。
CN201580067371.4A 2014-10-10 2015-10-12 机电手术系统 Active CN107530134B8 (zh)

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 CN107530134B (zh) 2021-01-08
CN107530134B8 true 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)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2935506A1 (en) 2014-02-21 2015-08-27 3Dintegrated Aps A set comprising a surgical instrument
KR101965678B1 (ko) 2014-12-11 2019-08-13 타이탄 메디칼 아이엔씨. 도구를 조작하기 위한 작동기 및 구동부
US11020144B2 (en) 2015-07-21 2021-06-01 3Dintegrated Aps Minimally invasive surgery system
WO2017012624A1 (en) 2015-07-21 2017-01-26 3Dintegrated Aps Cannula assembly kit, trocar assembly kit, sleeve assembly, minimally invasive surgery system and method therefor
CN110087558B (zh) 2016-04-14 2022-12-23 阿森塞斯(美国)手术公司 包括线性驱动器械辊的机电手术系统
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
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
US10405932B2 (en) 2016-12-20 2019-09-10 Ethicon Llc Robotic endocutter drivetrain with bailout and manual opening
US10398460B2 (en) 2016-12-20 2019-09-03 Ethicon Llc Robotic endocutter drivetrain with bailout and manual opening
CN110650691B (zh) * 2017-01-31 2023-11-10 阿森塞斯(美国)手术公司 用于微创手术的液压器械驱动系统
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
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
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
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
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
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
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
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
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
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
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)

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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

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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
WO2013026922A1 (en) * 2011-08-25 2013-02-28 Endocontrol Actuating knob for a surgical instrument
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

Patent Citations (6)

* Cited by examiner, † Cited by third party
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
EP3203924A4 (en) 2018-08-08
EP3203924A2 (en) 2017-08-16
CN107530134A (zh) 2018-01-02
WO2016057989A3 (en) 2016-05-26
CN107530134B (zh) 2021-01-08
KR102521822B1 (ko) 2023-04-17
WO2016057989A2 (en) 2016-04-14
KR20170070117A (ko) 2017-06-21

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Legal Events

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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.