CN107635505B - 用于传递驱动的手术单 - Google Patents

用于传递驱动的手术单 Download PDF

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Publication number
CN107635505B
CN107635505B CN201680026296.1A CN201680026296A CN107635505B CN 107635505 B CN107635505 B CN 107635505B CN 201680026296 A CN201680026296 A CN 201680026296A CN 107635505 B CN107635505 B CN 107635505B
Authority
CN
China
Prior art keywords
interface
drape
instrument
guide structure
drive assembly
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.)
Expired - Fee Related
Application number
CN201680026296.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN107635505A (zh
Inventor
L·D·R·黑尔斯
K·马歇尔
R·A·卡思伯森
N·P·S-L·霍尔成德
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.)
CMR Surgical Ltd
Original Assignee
CMR Surgical Ltd
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
Priority claimed from GBGB1507804.1A external-priority patent/GB201507804D0/en
Priority claimed from GB1507805.8A external-priority patent/GB2538230B/en
Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of CN107635505A publication Critical patent/CN107635505A/zh
Application granted granted Critical
Publication of CN107635505B publication Critical patent/CN107635505B/zh
Expired - Fee Related 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
    • 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
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/20—Surgical drapes specially adapted for patients
    • A61B46/23—Surgical drapes specially adapted for patients with means to retain or hold surgical implements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/40—Drape material, e.g. laminates; Manufacture thereof

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN201680026296.1A 2015-05-07 2016-05-06 用于传递驱动的手术单 Expired - Fee Related CN107635505B (zh)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
GBGB1507804.1A GB201507804D0 (en) 2015-05-07 2015-05-07 A surgical drape for transferring drive
GB1507804.1 2015-05-07
GB1507805.8A GB2538230B (en) 2015-05-07 2015-05-07 A surgical drape for transferring drive
GB1507805.8 2015-05-07
GB1508445.2 2015-05-15
GB1508445.2A GB2538326B (en) 2015-05-07 2015-05-15 A surgical drape for transferring drive
PCT/GB2016/051302 WO2016178027A1 (en) 2015-05-07 2016-05-06 A surgical drape for transferring drive

Publications (2)

Publication Number Publication Date
CN107635505A CN107635505A (zh) 2018-01-26
CN107635505B true CN107635505B (zh) 2021-01-26

Family

ID=53505906

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201680026296.1A Expired - Fee Related CN107635505B (zh) 2015-05-07 2016-05-06 用于传递驱动的手术单
CN201680026310.8A Expired - Fee Related CN107660140B (zh) 2015-05-07 2016-05-06 手术机器人和手术机器人系统

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201680026310.8A Expired - Fee Related CN107660140B (zh) 2015-05-07 2016-05-06 手术机器人和手术机器人系统

Country Status (6)

Country Link
US (2) US10932878B2 (enExample)
EP (3) EP3291755B1 (enExample)
JP (3) JP6738351B2 (enExample)
CN (2) CN107635505B (enExample)
GB (1) GB2538326B (enExample)
WO (2) WO2016178028A1 (enExample)

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US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
GB2552540B (en) 2016-07-29 2021-11-24 Cmr Surgical Ltd Interface structure
GB201615616D0 (en) * 2016-09-14 2016-10-26 Cambridge Medical Robotics Ltd Interfacing a surgical robotic arm and instrument
GB2552553B (en) * 2016-07-29 2022-03-16 Cmr Surgical Ltd Motion feedthrough
US11925431B2 (en) 2016-07-29 2024-03-12 Cmr Surgical Limited Motion feedthrough
US10709512B2 (en) * 2016-11-03 2020-07-14 Verb Surgical Inc. Tool driver with linear drives for use in robotic surgery
GB2599325B (en) * 2017-02-07 2022-08-03 Cmr Surgical Ltd Mounting an endoscope to a surgical robot
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
JP2020523067A (ja) * 2017-06-16 2020-08-06 ザクト ロボティクス リミテッド ドレープアダプタ
US11096754B2 (en) 2017-10-04 2021-08-24 Mako Surgical Corp. Sterile drape assembly for surgical robot
GB2570518B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
CN109009452B (zh) * 2018-06-22 2021-09-03 深圳市精锋医疗科技有限公司 微创手术从操作设备、连接机构、动力机构及操作臂
JP6902003B2 (ja) 2018-08-28 2021-07-14 株式会社メディカロイド 滅菌ドレープおよび手術器具の取付方法
CN113038903A (zh) * 2018-09-17 2021-06-25 塞吉博克斯股份有限公司 用于便携式手术围罩的数据分析和界面平台
CN109567947A (zh) * 2018-12-29 2019-04-05 易度河北机器人科技有限公司 一种介入手术机器人从端装置及其控制方法
IT201900000671A1 (it) * 2019-01-16 2020-07-16 Surgica Robotica S P A Testa attuata agonista-antagonista per un utensile e robot provvisto di tale testa
US11471233B2 (en) * 2019-04-30 2022-10-18 Canon U.S.A., Inc. Preloaded sterile bag
WO2020263827A1 (en) 2019-06-25 2020-12-30 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
WO2020263629A1 (en) 2019-06-27 2020-12-30 Auris Health, Inc. Systems and methods for a medical clip applier
EP3989794A4 (en) 2019-06-28 2023-07-12 Auris Health, Inc. PATIENT INTRODUCER FOR A ROBOTIC SYSTEM
US11109928B2 (en) 2019-06-28 2021-09-07 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
WO2021059100A1 (en) 2019-09-26 2021-04-01 Auris Health, Inc. Systems and methods for collision avoidance using object models
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
EP4061273A1 (en) 2019-11-21 2022-09-28 Auris Health, Inc. Systems and methods for draping a surgical system
GB2589380B (en) * 2019-11-29 2024-02-21 Cmr Surgical Ltd Controlling a surgical instrument
EP4084724A4 (en) 2019-12-31 2023-12-27 Auris Health, Inc. ADVANCED BASKET TRAINING MODE
EP4084717A4 (en) 2019-12-31 2024-02-14 Auris Health, Inc. Dynamic pulley system
IT202000002536A1 (it) 2020-02-10 2021-08-10 Medical Microinstruments Spa Adattatore sterile per un sistema di chirurgia robotica, assieme, sistema e metodo
JP6723595B1 (ja) 2020-02-18 2020-07-15 リバーフィールド株式会社 ドレープユニット
US12370002B2 (en) 2020-03-30 2025-07-29 Auris Health, Inc. Workspace optimization for robotic surgery
JP7198240B2 (ja) 2020-04-15 2022-12-28 株式会社メディカロイド インターフェイスおよび手術支援ロボット
CN115802975A (zh) 2020-06-29 2023-03-14 奥瑞斯健康公司 用于检测连杆与外部对象之间的接触的系统和方法
US11931901B2 (en) 2020-06-30 2024-03-19 Auris Health, Inc. Robotic medical system with collision proximity indicators
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
EP4401666A1 (en) 2021-09-13 2024-07-24 DistalMotion SA Instruments for surgical robotic system and interfaces for the same
US20230125213A1 (en) * 2021-10-27 2023-04-27 Distalmotion Sa Handheld adapter for robotic surgical instruments
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GB2642175A (en) * 2024-05-15 2026-01-07 Cmr Surgical Ltd Ultrasonic robotically driven surgical instrument

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CN102630154A (zh) * 2009-09-23 2012-08-08 伊顿株式会社 无菌适配器、转轮联接结构以及手术用器械的联接结构
CN102892376A (zh) * 2010-05-14 2013-01-23 直观外科手术操作公司 手术系统无菌帷帘
CN104394793A (zh) * 2012-07-03 2015-03-04 库卡实验仪器有限公司 手术器械组、特别是机器人引导的手术器械的传动器组和手术器械
CN104411266A (zh) * 2012-04-27 2015-03-11 库卡实验仪器有限公司 机器人手术系统

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Publication number Priority date Publication date Assignee Title
US6196682B1 (en) * 1999-09-21 2001-03-06 Steven Benjamin Walmsley Clip-on eyewear with biased temple arms
JP2011527611A (ja) * 2008-07-08 2011-11-04 パワー メディカル インターベンションズ， エルエルシー ロボット外科用システムとともに使用する外科用アタッチメント
CN102630154A (zh) * 2009-09-23 2012-08-08 伊顿株式会社 无菌适配器、转轮联接结构以及手术用器械的联接结构
CN102892376A (zh) * 2010-05-14 2013-01-23 直观外科手术操作公司 手术系统无菌帷帘
CN104411266A (zh) * 2012-04-27 2015-03-11 库卡实验仪器有限公司 机器人手术系统
CN104394793A (zh) * 2012-07-03 2015-03-04 库卡实验仪器有限公司 手术器械组、特别是机器人引导的手术器械的传动器组和手术器械

Also Published As

Publication number Publication date
EP3291755A1 (en) 2018-03-14
EP3291756A1 (en) 2018-03-14
JP6792567B2 (ja) 2020-11-25
JP2021035541A (ja) 2021-03-04
US20180132959A1 (en) 2018-05-17
EP3613377B1 (en) 2021-06-23
US12336780B2 (en) 2025-06-24
GB2538326B (en) 2019-06-05
JP7168628B2 (ja) 2022-11-09
EP3291756B1 (en) 2019-11-20
GB2538326A (en) 2016-11-16
EP3291755B1 (en) 2019-03-27
CN107635505A (zh) 2018-01-26
WO2016178027A1 (en) 2016-11-10
GB201508445D0 (en) 2015-07-01
CN107660140A (zh) 2018-02-02
US20180140371A1 (en) 2018-05-24
WO2016178028A1 (en) 2016-11-10
EP3613377A1 (en) 2020-02-26
US10932878B2 (en) 2021-03-02
JP2018515213A (ja) 2018-06-14
JP6738351B2 (ja) 2020-08-12
JP2018515212A (ja) 2018-06-14
CN107660140B (zh) 2021-05-11

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Address after: Cambridge County

Applicant after: CMR SURGICAL Ltd.

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Applicant before: CAMBRIDGE MEDICAL ROBOTICS LTD.

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20210126

CF01 Termination of patent right due to non-payment of annual fee