CN107660140B - 手术机器人和手术机器人系统 - Google Patents

手术机器人和手术机器人系统 Download PDF

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Publication number
CN107660140B
CN107660140B CN201680026310.8A CN201680026310A CN107660140B CN 107660140 B CN107660140 B CN 107660140B CN 201680026310 A CN201680026310 A CN 201680026310A CN 107660140 B CN107660140 B CN 107660140B
Authority
CN
China
Prior art keywords
interface
instrument
drive assembly
surgical
engage
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
CN201680026310.8A
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English (en)
Chinese (zh)
Other versions
CN107660140A (zh
Inventor
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 CN107660140A publication Critical patent/CN107660140A/zh
Application granted granted Critical
Publication of CN107660140B publication Critical patent/CN107660140B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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    • 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)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (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)
CN201680026310.8A 2015-05-07 2016-05-06 手术机器人和手术机器人系统 Expired - Fee Related CN107660140B (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
GB1507805.8 2015-05-07
GB1507805.8A GB2538230B (en) 2015-05-07 2015-05-07 A surgical drape for transferring drive
GB1508445.2A GB2538326B (en) 2015-05-07 2015-05-15 A surgical drape for transferring drive
GB1508445.2 2015-05-15
PCT/GB2016/051303 WO2016178028A1 (en) 2015-05-07 2016-05-06 A surgical drape for transferring drive

Publications (2)

Publication Number Publication Date
CN107660140A CN107660140A (zh) 2018-02-02
CN107660140B true CN107660140B (zh) 2021-05-11

Family

ID=53505906

Family Applications (2)

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
CN201680026296.1A Expired - Fee Related CN107635505B (zh) 2015-05-07 2016-05-06 用于传递驱动的手术单

Family Applications After (1)

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

Country Status (6)

Country Link
US (2) US10932878B2 (enExample)
EP (3) EP3613377B1 (enExample)
JP (3) JP6792567B2 (enExample)
CN (2) CN107660140B (enExample)
GB (1) GB2538326B (enExample)
WO (2) WO2016178028A1 (enExample)

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CN114502094A (zh) 2019-09-26 2022-05-13 奥瑞斯健康公司 用于碰撞检测和避免的系统和方法
US12324645B2 (en) 2019-09-26 2025-06-10 Auris Health, Inc. Systems and methods for collision avoidance using object models
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
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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
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Also Published As

Publication number Publication date
CN107635505B (zh) 2021-01-26
JP2018515212A (ja) 2018-06-14
WO2016178028A1 (en) 2016-11-10
EP3291755A1 (en) 2018-03-14
US20180132959A1 (en) 2018-05-17
EP3291755B1 (en) 2019-03-27
EP3291756B1 (en) 2019-11-20
WO2016178027A1 (en) 2016-11-10
JP2018515213A (ja) 2018-06-14
GB2538326B (en) 2019-06-05
US12336780B2 (en) 2025-06-24
JP6738351B2 (ja) 2020-08-12
EP3291756A1 (en) 2018-03-14
JP6792567B2 (ja) 2020-11-25
JP2021035541A (ja) 2021-03-04
JP7168628B2 (ja) 2022-11-09
EP3613377B1 (en) 2021-06-23
GB2538326A (en) 2016-11-16
GB201508445D0 (en) 2015-07-01
EP3613377A1 (en) 2020-02-26
US20180140371A1 (en) 2018-05-24
CN107660140A (zh) 2018-02-02
US10932878B2 (en) 2021-03-02
CN107635505A (zh) 2018-01-26

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PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information
CB02 Change of applicant information

Address after: Cambridge County

Applicant after: CMR SURGICAL Ltd.

Address before: Cambridge County

Applicant before: CAMBRIDGE MEDICAL ROBOTICS LTD.

GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20210511