CN108348133B - 用于手术机器人系统的器械装置操纵器 - Google Patents

用于手术机器人系统的器械装置操纵器 Download PDF

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Publication number
CN108348133B
CN108348133B CN201680060162.1A CN201680060162A CN108348133B CN 108348133 B CN108348133 B CN 108348133B CN 201680060162 A CN201680060162 A CN 201680060162A CN 108348133 B CN108348133 B CN 108348133B
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China
Prior art keywords
surgical tool
surgical
tool holder
idm
attachment interface
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Active
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CN201680060162.1A
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Chinese (zh)
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CN108348133A (zh
Inventor
特拉维斯·舒
马修·雷根·威廉斯
约瑟夫·丹尼尔·博古斯基
大卫·S·明茨
艾伦·于
格雷戈里·金茨
壇洋一郎
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Auris Health Inc
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Auris Surgical Robotics Inc
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Priority to CN202011138920.1A priority Critical patent/CN113274140B/zh
Priority to CN202011138947.0A priority patent/CN113229942B/zh
Publication of CN108348133A publication Critical patent/CN108348133A/zh
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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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • 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
    • 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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • 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
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
CN201680060162.1A 2015-09-09 2016-09-09 用于手术机器人系统的器械装置操纵器 Active CN108348133B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202011138920.1A CN113274140B (zh) 2015-09-09 2016-09-09 手术覆盖件
CN202011138947.0A CN113229942B (zh) 2015-09-09 2016-09-09 手术器械装置操纵器

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562216239P 2015-09-09 2015-09-09
US62/216,239 2015-09-09
PCT/US2016/051154 WO2017044884A1 (en) 2015-09-09 2016-09-09 Instrument device manipulator for a surgical robotics system

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CN202011138920.1A Division CN113274140B (zh) 2015-09-09 2016-09-09 手术覆盖件
CN202011138947.0A Division CN113229942B (zh) 2015-09-09 2016-09-09 手术器械装置操纵器

Publications (2)

Publication Number Publication Date
CN108348133A CN108348133A (zh) 2018-07-31
CN108348133B true CN108348133B (zh) 2020-11-13

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Application Number Title Priority Date Filing Date
CN201680060162.1A Active CN108348133B (zh) 2015-09-09 2016-09-09 用于手术机器人系统的器械装置操纵器
CN202011138920.1A Active CN113274140B (zh) 2015-09-09 2016-09-09 手术覆盖件
CN202011138947.0A Active CN113229942B (zh) 2015-09-09 2016-09-09 手术器械装置操纵器

Family Applications After (2)

Application Number Title Priority Date Filing Date
CN202011138920.1A Active CN113274140B (zh) 2015-09-09 2016-09-09 手术覆盖件
CN202011138947.0A Active CN113229942B (zh) 2015-09-09 2016-09-09 手术器械装置操纵器

Country Status (7)

Country Link
US (4) US10631949B2 (enExample)
EP (2) EP3346899B1 (enExample)
JP (1) JP6938507B2 (enExample)
KR (4) KR102429651B1 (enExample)
CN (3) CN108348133B (enExample)
AU (2) AU2016321332B2 (enExample)
WO (1) WO2017044884A1 (enExample)

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US20170367782A1 (en) 2017-12-28
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