CN108135663B - 步进器和稳定器之间的可移动接口 - Google Patents

步进器和稳定器之间的可移动接口 Download PDF

Info

Publication number
CN108135663B
CN108135663B CN201680055135.5A CN201680055135A CN108135663B CN 108135663 B CN108135663 B CN 108135663B CN 201680055135 A CN201680055135 A CN 201680055135A CN 108135663 B CN108135663 B CN 108135663B
Authority
CN
China
Prior art keywords
rotational
parallelogram
assembly
joint
compound
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
CN201680055135.5A
Other languages
English (en)
Chinese (zh)
Other versions
CN108135663A (zh
Inventor
单丹丹
杰弗里·巴克斯
罗志强
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.)
Fukang Precision Medical System Co
Original Assignee
Fukang Precision Medical System Co
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 Fukang Precision Medical System Co filed Critical Fukang Precision Medical System Co
Priority to CN202210070571.7A priority Critical patent/CN114305731A/zh
Publication of CN108135663A publication Critical patent/CN108135663A/zh
Application granted granted Critical
Publication of CN108135663B publication Critical patent/CN108135663B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/0233—Pointed or sharp biopsy instruments
    • A61B10/0241—Pointed or sharp biopsy instruments for prostate
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • 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
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Clinical applications involving detecting or locating foreign bodies or organic structures for locating instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/085—Clinical applications involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A61B8/466—Displaying means of special interest adapted to display 3D data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments, e.g. catheter-type instruments
    • A61B2010/045—Needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3413—Needle locating or guiding means guided by ultrasound
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • A61B2090/3784—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument both receiver and transmitter being in the instrument or receiver being also transmitter
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Computer Graphics (AREA)
  • General Engineering & Computer Science (AREA)
  • Vascular Medicine (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Surgical Instruments (AREA)
CN201680055135.5A 2015-08-27 2016-08-26 步进器和稳定器之间的可移动接口 Active CN108135663B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210070571.7A CN114305731A (zh) 2015-08-27 2016-08-26 步进器和稳定器之间的可移动接口

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562210637P 2015-08-27 2015-08-27
US62/210,637 2015-08-27
PCT/CA2016/051015 WO2017031600A1 (en) 2015-08-27 2016-08-26 Moveable interface between a stepper and a stabilizer

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202210070571.7A Division CN114305731A (zh) 2015-08-27 2016-08-26 步进器和稳定器之间的可移动接口

Publications (2)

Publication Number Publication Date
CN108135663A CN108135663A (zh) 2018-06-08
CN108135663B true CN108135663B (zh) 2022-03-04

Family

ID=58099347

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201680055135.5A Active CN108135663B (zh) 2015-08-27 2016-08-26 步进器和稳定器之间的可移动接口
CN202210070571.7A Pending CN114305731A (zh) 2015-08-27 2016-08-26 步进器和稳定器之间的可移动接口

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202210070571.7A Pending CN114305731A (zh) 2015-08-27 2016-08-26 步进器和稳定器之间的可移动接口

Country Status (6)

Country Link
US (1) US10588712B2 (enExample)
EP (1) EP3340919B1 (enExample)
JP (1) JP2018527144A (enExample)
CN (2) CN108135663B (enExample)
CA (1) CA2996597A1 (enExample)
WO (1) WO2017031600A1 (enExample)

Families Citing this family (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
CN111166274B (zh) 2013-10-24 2025-01-28 奥瑞斯健康公司 机器人辅助腔内外科手术系统及相关方法
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
US10569052B2 (en) 2014-05-15 2020-02-25 Auris Health, Inc. Anti-buckling mechanisms for catheters
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
CA2984578A1 (en) 2015-03-31 2016-10-06 Centre For Imaging Technology Commercialization (Cimtec) A counterbalancing apparatus for gimbal joints and/or a method for counterbalancing a load on a gimbal joint
AU2016321332B2 (en) 2015-09-09 2020-10-08 Auris Health, Inc. Instrument device manipulator for a surgical robotics system
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
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
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
EP3506836B1 (en) 2016-08-31 2024-10-02 Auris Health, Inc. Length conservative surgical instrument
KR101997827B1 (ko) * 2016-10-06 2019-07-08 사회복지법인 삼성생명공익재단 대퇴터널 유도기
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US11026758B2 (en) * 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
CN115068075B (zh) 2017-08-23 2025-04-15 麦米克创新外科有限公司 用于阴道途径的工具与方法
CN107756378B (zh) * 2017-11-20 2024-06-11 长沙理工大学 一种平面三自由度刚体运动跟踪机构
KR102462568B1 (ko) 2017-12-11 2022-11-04 아우리스 헬스, 인코포레이티드 기구 기반 삽입 아키텍처를 위한 시스템 및 방법
AU2018384820B2 (en) 2017-12-14 2024-07-04 Auris Health, Inc. System and method for estimating instrument location
EP3813632A4 (en) 2018-06-27 2022-03-09 Auris Health, Inc. ALIGNMENT AND MOUNTING SYSTEMS FOR MEDICAL INSTRUMENTS
WO2020069080A1 (en) 2018-09-28 2020-04-02 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
CN109512508B (zh) * 2018-12-03 2020-03-17 中国科学院深圳先进技术研究院 基于剪叉机构的远端中心运动机构
CN109877809A (zh) * 2019-04-10 2019-06-14 中国科学院沈阳自动化研究所 一种双向自适应伸缩机械臂
CN110313950B (zh) * 2019-08-13 2020-05-05 姚红兵 一种肝胆外科用手术挂钩装置
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
CN111000635B (zh) * 2019-12-06 2020-09-18 河南省肿瘤医院 一种肿瘤切除用机械臂机构
US11439419B2 (en) 2019-12-31 2022-09-13 Auris Health, Inc. Advanced basket drive mode
US11950872B2 (en) 2019-12-31 2024-04-09 Auris Health, Inc. Dynamic pulley system
CN111658003B (zh) * 2020-06-19 2021-08-20 浙江大学 一种基于机械臂的可调压医学超声扫查装置
CN111839738B (zh) * 2020-08-13 2025-05-09 武汉市利德威科技有限公司 一种融合成像机械臂
CN111887954B (zh) * 2020-08-13 2025-05-09 厦门市领汇医疗科技有限公司 一种步进器
US12458454B2 (en) * 2021-06-21 2025-11-04 Globus Medical, Inc. Gravity compensation of end effector arm for robotic surgical system
CN114098978B (zh) * 2021-11-12 2024-06-25 艺柏湾医疗科技(上海)有限公司 用于微创外科手术的机器人机械臂
CN118141521A (zh) * 2023-10-19 2024-06-07 珠海横乐医疗科技有限公司 一种末端执行器及手术机器人

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4823933A (en) * 1985-07-12 1989-04-25 Matsushita Electric Industrial Co., Ltd. Ballet shifter
US6289579B1 (en) * 1999-03-23 2001-09-18 Motorola, Inc. Component alignment and transfer apparatus
CN101027010A (zh) * 2004-09-30 2007-08-29 直观外科手术公司 偏移遥控中心的操纵器
CN203804972U (zh) * 2014-05-07 2014-09-03 马鞍山方宏自动化科技有限公司 一种机器人用平行四边形机构及三轴混联机构工业机器人
CN104224328A (zh) * 2014-10-11 2014-12-24 天津工业大学 一种用于支撑微创外科手术器械的机器人本体结构
CN104349741A (zh) * 2012-06-01 2015-02-11 直观外科手术操作公司 手术器械操纵器方面

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4567782A (en) 1981-04-06 1986-02-04 General Dynamics Pomona Division Compound parallelogram four-bar linkage
US4930598A (en) 1988-07-25 1990-06-05 501 Sky Climber, Inc. Scissors lift apparatus
US5397323A (en) * 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
WO1994026167A1 (en) * 1993-05-14 1994-11-24 Sri International Remote center positioner
US5569013A (en) 1993-12-08 1996-10-29 Lucent Technologies Inc. Load transporter with all-vertical jack lifting
US7963913B2 (en) * 1996-12-12 2011-06-21 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
US5984408A (en) 1998-01-08 1999-11-16 Bujaryn; L. Walter Compound lever and armrest mounting assemblies
WO2000028882A2 (en) * 1998-11-18 2000-05-25 Microdexterity Systems, Inc. Medical manipulator for use with an imaging device
US6788018B1 (en) 1999-08-03 2004-09-07 Intuitive Surgical, Inc. Ceiling and floor mounted surgical robot set-up arms
JP2002085353A (ja) * 2000-09-11 2002-03-26 Mamoru Mitsuishi 遠隔診断システム
JP2003230565A (ja) * 2002-02-12 2003-08-19 Univ Tokyo 能動トロカール
DE102004016728A1 (de) 2004-04-05 2005-10-13 Siemens Ag Hebevorrichtung
WO2006016390A1 (en) 2004-08-09 2006-02-16 Calabrian High Tech Srl Robotized system for the control and micrometric actuation of an endoscope
FR2902038B1 (fr) * 2006-06-07 2009-02-27 Bouygues Construction Sa Robot de poncage de plafond
WO2009009223A2 (en) 2007-05-19 2009-01-15 The Regents Of The University Of California Co-registration for dual pet-transrectal ultrasound (pet-trus) prostate imaging
WO2010049483A1 (en) 2008-10-30 2010-05-06 Medinnova As Biopsy needle guidance system
US8840304B2 (en) * 2010-06-14 2014-09-23 General Electric Company Positioner for ultra-portable imaging system
US8827948B2 (en) * 2010-09-17 2014-09-09 Hansen Medical, Inc. Steerable catheters
CN102407524A (zh) 2010-09-21 2012-04-11 鸿富锦精密工业（深圳）有限公司 机器人
US11612377B2 (en) 2010-12-16 2023-03-28 Best Medical International, Inc. Image guided surgical methodology and system employing patient movement detection and correction
US9351754B2 (en) * 2012-06-29 2016-05-31 Ethicon Endo-Surgery, Llc Ultrasonic surgical instruments with distally positioned jaw assemblies
CA2794226C (en) * 2012-10-31 2020-10-20 Queen's University At Kingston Automated intraoperative ultrasound calibration
CN103006329B (zh) * 2012-12-03 2014-10-15 上海交通大学 多关节单创口腹腔微创手术机器人及其操作机构
CN203510314U (zh) * 2013-10-31 2014-04-02 无锡顺达智能自动化工程股份有限公司 剪刀式夹紧机构
CN103737207A (zh) * 2013-12-07 2014-04-23 广西大学 一种六自由度混联焊接机器人机构
WO2016112452A1 (en) 2015-01-14 2016-07-21 Centre For Imaging Technology Commercialization (Cimtec) A counterbalance apparatus and/or method for supporting a load
CN105583827A (zh) * 2015-09-17 2016-05-18 唐易平 锥形机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4823933A (en) * 1985-07-12 1989-04-25 Matsushita Electric Industrial Co., Ltd. Ballet shifter
US6289579B1 (en) * 1999-03-23 2001-09-18 Motorola, Inc. Component alignment and transfer apparatus
CN101027010A (zh) * 2004-09-30 2007-08-29 直观外科手术公司 偏移遥控中心的操纵器
CN104349741A (zh) * 2012-06-01 2015-02-11 直观外科手术操作公司 手术器械操纵器方面
CN203804972U (zh) * 2014-05-07 2014-09-03 马鞍山方宏自动化科技有限公司 一种机器人用平行四边形机构及三轴混联机构工业机器人
CN104224328A (zh) * 2014-10-11 2014-12-24 天津工业大学 一种用于支撑微创外科手术器械的机器人本体结构

Also Published As

Publication number Publication date
CN108135663A (zh) 2018-06-08
EP3340919A1 (en) 2018-07-04
JP2018527144A (ja) 2018-09-20
EP3340919A4 (en) 2019-04-17
CA2996597A1 (en) 2017-03-02
EP3340919B1 (en) 2020-09-30
US10588712B2 (en) 2020-03-17
WO2017031600A1 (en) 2017-03-02
CN114305731A (zh) 2022-04-12
US20180243048A1 (en) 2018-08-30

Similar Documents

Publication Publication Date Title
CN108135663B (zh) 步进器和稳定器之间的可移动接口
US12274521B2 (en) Robotic arm having an extendable prismatic link
KR102817263B1 (ko) 풀리 공유를 통합한 의료 시스템
CN113613580B (zh) 用于使医疗器械上的输入部对准的系统和方法
KR102048352B1 (ko) 의료 이미지 스캐닝 및 이미지 안내 타겟팅을 위한 원격중심운동 로봇
JP5386178B2 (ja) 球面５バーリンク機構、球面５バーリンク機構を有するロボットアームおよび球面５バーリンク機構を有するロボットアームを備えたシステム
US7466303B2 (en) Device and process for manipulating real and virtual objects in three-dimensional space
CN114126529A (zh) 包括具有混合重定向表面的腕部的医疗器械
CN113613566A (zh) 用于医疗缝合的系统和方法
CN112218596A (zh) 具有高力器械的机器人医疗系统
CN113164184A (zh) 能够手动地和机器人地控制的医疗器械
CN112752534A (zh) 用于手动和机器人驱动医疗器械的装置、系统和方法
CN111343942A (zh) 具有机器人臂的边界的指示的机器人系统
CN115379811A (zh) 用于机器人系统的手动输入装置
US20130066232A1 (en) Axial Surgical Trajectory Guide
CN113180830A (zh) 绳驱动并联可重构手术导航定位机器人
US12285301B2 (en) Modular clamps for mounting surgical manipulators
CN114901188A (zh) 动态滑轮系统
US12496151B2 (en) Self-aligned docking for a robotic surgical platform
Arata et al. Laparoscopic ultrasound manipulator with a spring-based elastic mechanism
KR20250158789A (ko) 도구 드라이버 축방향 변위 감지
CN116234513A (zh) 手术台的动力辅助移动性
CN116456925A (zh) 机器人式可控场发生器

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
GR01 Patent grant
GR01 Patent grant