CN108366830B - 机器人手术器械、手术机器人臂和手术机器人 - Google Patents

机器人手术器械、手术机器人臂和手术机器人 Download PDF

Info

Publication number
CN108366830B
CN108366830B CN201680071992.4A CN201680071992A CN108366830B CN 108366830 B CN108366830 B CN 108366830B CN 201680071992 A CN201680071992 A CN 201680071992A CN 108366830 B CN108366830 B CN 108366830B
Authority
CN
China
Prior art keywords
instrument
drive
surgical
pulley
interface element
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
CN201680071992.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN108366830A (zh
Inventor
R·A·卡思伯森
B·R·卓别林
K·马歇尔
L·D·R·黑尔斯
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
Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of CN108366830A publication Critical patent/CN108366830A/zh
Application granted granted Critical
Publication of CN108366830B publication Critical patent/CN108366830B/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
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/00172—Connectors and adapters therefor
    • 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
    • A61B2034/306—Wrists with multiple vertebrae

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
CN201680071992.4A 2015-12-10 2016-12-09 机器人手术器械、手术机器人臂和手术机器人 Active CN108366830B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1521808.4 2015-12-10
GBGB1521808.4A GB201521808D0 (en) 2015-12-10 2015-12-10 Interfacing a surgical robot and instrument
PCT/GB2016/053893 WO2017098266A1 (en) 2015-12-10 2016-12-09 Interfacing a surgical robot and instrument

Publications (2)

Publication Number Publication Date
CN108366830A CN108366830A (zh) 2018-08-03
CN108366830B true CN108366830B (zh) 2021-11-02

Family

ID=55274529

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680071992.4A Active CN108366830B (zh) 2015-12-10 2016-12-09 机器人手术器械、手术机器人臂和手术机器人

Country Status (6)

Country Link
US (1) US10792113B2 (enExample)
EP (1) EP3386413A1 (enExample)
JP (1) JP6903057B2 (enExample)
CN (1) CN108366830B (enExample)
GB (2) GB201521808D0 (enExample)
WO (1) WO2017098266A1 (enExample)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
EP3102139B1 (en) 2014-02-03 2018-06-13 DistalMotion SA Mechanical teleoperated device comprising an interchangeable distal instrument
EP3232973B1 (en) 2014-12-19 2020-04-01 DistalMotion SA Sterile interface for articulated surgical instruments
US10646294B2 (en) 2014-12-19 2020-05-12 Distalmotion Sa Reusable surgical instrument for minimally invasive procedures
ES2996084T3 (en) 2015-08-28 2025-02-12 Distalmotion Sa Surgical instrument with increased actuation force
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
WO2018216204A1 (ja) * 2017-05-26 2018-11-29 オリンパス株式会社 マスタスレーブマニピュレータとその制御方法
GB2563234B (en) * 2017-06-06 2021-12-08 Cmr Surgical Ltd Securing an interface element rail of a robotic surgical instrument interface
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US10413374B2 (en) 2018-02-07 2019-09-17 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
WO2020044994A1 (ja) * 2018-08-28 2020-03-05 株式会社メディカロイド ロボット手術器具
US11730556B2 (en) 2018-12-31 2023-08-22 Asensus Surgical Us, Inc. Compact actuation configuration and expandable instrument receiver for robotically controlled surgical instruments
EP3998980A4 (en) * 2019-07-17 2023-08-09 Asensus Surgical US, Inc. COMPACT ACTUATION CONFIGURATION AND EXPANDABLE INSTRUMENT RECEIVER FOR ROBOTICALLY CONTROLLED SURGICAL INSTRUMENTS
EP4193955B1 (en) * 2020-09-01 2024-12-18 RIVERFIELD Inc. Surgical tool
GB2609033B (en) * 2021-07-19 2025-05-21 Cmr Surgical Ltd A robotic surgical instrument
US20230049257A1 (en) * 2021-08-12 2023-02-16 Cmr Surgical Limited Surgical robot arm and instrument detachment
EP4401666A1 (en) 2021-09-13 2024-07-24 DistalMotion SA Instruments for surgical robotic system and interfaces for the same
EP4422512A1 (en) 2021-10-27 2024-09-04 DistalMotion SA Handheld adapter for robotic surgical instruments

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6676684B1 (en) * 2001-09-04 2004-01-13 Intuitive Surgical, Inc. Roll-pitch-roll-yaw surgical tool
CN101340852A (zh) * 2005-12-20 2009-01-07 直观外科手术公司 机器人外科系统的器械对接装置
WO2011123669A1 (en) * 2010-03-31 2011-10-06 St. Jude Medical, Atrial Fibrillation Division, Inc. Intuitive user interface control for remote catheter navigation and 3d mapping and visualization systems
CN103431913A (zh) * 2013-09-12 2013-12-11 哈尔滨工业大学 微创外科机器人手术微器械
US8961533B2 (en) * 2010-09-17 2015-02-24 Hansen Medical, Inc. Anti-buckling mechanisms and methods
CN104605935A (zh) * 2012-04-27 2015-05-13 库卡实验仪器有限公司 机器人手术系统
WO2015175200A1 (en) * 2014-05-13 2015-11-19 Covidien Lp Robotic surgical systems and instrument drive units

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5582617A (en) * 1993-07-21 1996-12-10 Charles H. Klieman Surgical instrument for endoscopic and general surgery
US5649956A (en) * 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
US6554844B2 (en) * 1998-02-24 2003-04-29 Endovia Medical, Inc. Surgical instrument
US6206903B1 (en) * 1999-10-08 2001-03-27 Intuitive Surgical, Inc. Surgical tool with mechanical advantage
US6312435B1 (en) * 1999-10-08 2001-11-06 Intuitive Surgical, Inc. Surgical instrument with extended reach for use in minimally invasive surgery
US6994708B2 (en) * 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
US8931682B2 (en) * 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US9301807B2 (en) * 2007-06-13 2016-04-05 Intuitive Surgical Operations, Inc. Surgical system counterbalance
US8684962B2 (en) * 2008-03-27 2014-04-01 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter device cartridge
US9259274B2 (en) * 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US9339342B2 (en) * 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
US9026247B2 (en) * 2011-03-30 2015-05-05 University of Washington through its Center for Communication Motion and video capture for tracking and evaluating robotic surgery and associated systems and methods
US9402555B2 (en) * 2011-12-29 2016-08-02 St. Jude Medical, Atrial Fibrillation Division, Inc. Drive assembly for use in a robotic control and guidance system
EP2942027B1 (de) * 2012-07-03 2019-06-26 KUKA Deutschland GmbH Chirurgische instrumentenanordnung und antriebsstranganordnung für ein, insbesondere robotergeführtes, chirurgisches instrument und chirurgisches instrument
EP2914197B1 (en) * 2012-11-02 2020-12-09 Intuitive Surgical Operations, Inc. Self-antagonistic drive for medical instruments
ITMI20130516A1 (it) * 2013-04-05 2014-10-06 Sofar Spa Sistema chirurgico con teli sterili
WO2015116282A1 (en) * 2014-01-31 2015-08-06 Covidien Lp Interfaces for surgical systems
DE102014205036A1 (de) * 2014-03-18 2015-09-24 Richard Wolf Gmbh Endoskopisches Instrument zum Anschluss an einen Operationsroboter
CN104605943B (zh) * 2015-02-11 2017-01-18 中国科学院重庆绿色智能技术研究院 一种模块化手术器械驱动装置
US10653489B2 (en) * 2015-05-11 2020-05-19 Covidien Lp Coupling instrument drive unit and robotic surgical instrument

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6676684B1 (en) * 2001-09-04 2004-01-13 Intuitive Surgical, Inc. Roll-pitch-roll-yaw surgical tool
CN101340852A (zh) * 2005-12-20 2009-01-07 直观外科手术公司 机器人外科系统的器械对接装置
WO2011123669A1 (en) * 2010-03-31 2011-10-06 St. Jude Medical, Atrial Fibrillation Division, Inc. Intuitive user interface control for remote catheter navigation and 3d mapping and visualization systems
US8961533B2 (en) * 2010-09-17 2015-02-24 Hansen Medical, Inc. Anti-buckling mechanisms and methods
CN104605935A (zh) * 2012-04-27 2015-05-13 库卡实验仪器有限公司 机器人手术系统
CN103431913A (zh) * 2013-09-12 2013-12-11 哈尔滨工业大学 微创外科机器人手术微器械
WO2015175200A1 (en) * 2014-05-13 2015-11-19 Covidien Lp Robotic surgical systems and instrument drive units

Also Published As

Publication number Publication date
JP2019503735A (ja) 2019-02-14
WO2017098266A1 (en) 2017-06-15
EP3386413A1 (en) 2018-10-17
US10792113B2 (en) 2020-10-06
GB2546394B (en) 2021-06-23
GB201521808D0 (en) 2016-01-27
GB201620994D0 (en) 2017-01-25
CN108366830A (zh) 2018-08-03
US20180353251A1 (en) 2018-12-13
GB2546394A (en) 2017-07-19
JP6903057B2 (ja) 2021-07-14

Similar Documents

Publication Publication Date Title
CN108430374B (zh) 对称布置的手术器械铰接部
CN108472093B (zh) 用于铰接手术器械的滑轮装置
CN108472094B (zh) 机器人手术器械
CN108430371B (zh) 手术器械轴辐条
CN108430370B (zh) 用于手术器械的独立张紧和对齐机构
US11033348B2 (en) Guiding engagement of a robot arm and surgical instrument
CN108366830A (zh) 手术机器人与器械对接

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