CN108430370B - 用于手术器械的独立张紧和对齐机构 - Google Patents

用于手术器械的独立张紧和对齐机构 Download PDF

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Publication number
CN108430370B
CN108430370B CN201680071646.6A CN201680071646A CN108430370B CN 108430370 B CN108430370 B CN 108430370B CN 201680071646 A CN201680071646 A CN 201680071646A CN 108430370 B CN108430370 B CN 108430370B
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Prior art keywords
pair
drive
instrument
instrument interface
lug
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CN201680071646.6A
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Chinese (zh)
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CN108430370A (zh
Inventor
B·R·卓别林
K·马歇尔
N·P·S-L·霍尔成德
R·A·卡思伯森
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CMR Surgical Ltd
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CMR Surgical Ltd
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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
    • 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
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • 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
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw
    • Y10S901/36—Actuating means

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN201680071646.6A 2015-12-10 2016-12-09 用于手术器械的独立张紧和对齐机构 Active CN108430370B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110508789.1A CN113081285B (zh) 2015-12-10 2016-12-09 机器人手术器械及相关方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GBGB1521806.8A GB201521806D0 (en) 2015-12-10 2015-12-10 Independent tensioning and aligning mechanisms for a surgical instrument
GB1521806.8 2015-12-10
PCT/GB2016/053898 WO2017098271A1 (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202110508789.1A Division CN113081285B (zh) 2015-12-10 2016-12-09 机器人手术器械及相关方法

Publications (2)

Publication Number Publication Date
CN108430370A CN108430370A (zh) 2018-08-21
CN108430370B true CN108430370B (zh) 2021-05-28

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CN201680071646.6A Active CN108430370B (zh) 2015-12-10 2016-12-09 用于手术器械的独立张紧和对齐机构
CN202110508789.1A Active CN113081285B (zh) 2015-12-10 2016-12-09 机器人手术器械及相关方法

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US (2) US10463437B2 (enExample)
EP (1) EP3386415B1 (enExample)
JP (1) JP6811778B2 (enExample)
CN (2) CN108430370B (enExample)
GB (2) GB201521806D0 (enExample)
WO (1) WO2017098271A1 (enExample)

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JP2022510406A (ja) * 2018-12-06 2022-01-26 コヴィディエン リミテッド パートナーシップ ケーブル駆動エンドエフェクタの制御方法
CN112842534B (zh) * 2018-12-28 2024-03-29 北京术锐机器人股份有限公司 手术工具系统
CN109481040A (zh) * 2019-01-17 2019-03-19 厦门市领汇医疗科技有限公司 一种机械手夹具
US11123146B2 (en) * 2019-05-30 2021-09-21 Titan Medical Inc. Surgical instrument apparatus, actuator, and drive
CN112754545B (zh) * 2020-12-19 2025-07-25 深圳市精锋医疗科技股份有限公司 张紧机构、手术器械、从操作设备及手术机器人
WO2023181629A1 (ja) * 2022-03-25 2023-09-28 ソニーグループ株式会社 ワイヤー調整装置、ワイヤー駆動装置、並びにマニピュレータ装置
CN116492057A (zh) * 2023-04-18 2023-07-28 核动医疗机器人(深圳)有限公司 末端执行器、手术器械和手术机器人
US20250152263A1 (en) * 2023-11-09 2025-05-15 Cilag Gmbh International Pulley supports for end effector wrists
CN118370609B (zh) * 2024-06-25 2024-10-11 杭州唯精医疗机器人有限公司 张力调节工装

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Publication number Publication date
EP3386415A1 (en) 2018-10-17
GB201620996D0 (en) 2017-01-25
GB2546395B (en) 2021-10-06
GB201521806D0 (en) 2016-01-27
JP2019502439A (ja) 2019-01-31
US20200100854A1 (en) 2020-04-02
CN113081285B (zh) 2024-03-12
US20170165010A1 (en) 2017-06-15
CN113081285A (zh) 2021-07-09
WO2017098271A1 (en) 2017-06-15
JP6811778B2 (ja) 2021-01-13
EP3386415B1 (en) 2021-08-04
GB2546395A (en) 2017-07-19
CN108430370A (zh) 2018-08-21
US11382705B2 (en) 2022-07-12
US10463437B2 (en) 2019-11-05

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