CN108472025A - 具有平滑铰接的多簇接头的医疗装置 - Google Patents

具有平滑铰接的多簇接头的医疗装置 Download PDF

Info

Publication number
CN108472025A
CN108472025A CN201680071141.XA CN201680071141A CN108472025A CN 108472025 A CN108472025 A CN 108472025A CN 201680071141 A CN201680071141 A CN 201680071141A CN 108472025 A CN108472025 A CN 108472025A
Authority
CN
China
Prior art keywords
cluster
universal joint
connector
end effector
cable
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.)
Pending
Application number
CN201680071141.XA
Other languages
English (en)
Chinese (zh)
Inventor
J·M·利希特
S·奥塔
D·沙玛
Z·齐默曼
B·约翰森
C·K·霍尔梅斯
P·F·科斯塔
B·D·拉罗斯
R·苏利文
R·B·兰克
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.)
Flexdex Inc
Original Assignee
Flexdex Inc
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 Flexdex Inc filed Critical Flexdex Inc
Publication of CN108472025A publication Critical patent/CN108472025A/zh
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • 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
    • A61B1/005—Flexible endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • 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
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/0069—Aspects not otherwise provided for with universal joint, cardan joint
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • A61B2090/031—Automatic limiting or abutting means, e.g. for safety torque limiting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
CN201680071141.XA 2015-10-05 2016-10-05 具有平滑铰接的多簇接头的医疗装置 Pending CN108472025A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201562237476P 2015-10-05 2015-10-05
US201562237483P 2015-10-05 2015-10-05
US62/237,476 2015-10-05
US62/237,483 2015-10-05
PCT/US2016/055586 WO2017062516A1 (en) 2015-10-05 2016-10-05 Medical devices having smoothly articulating multi-cluster joints

Publications (1)

Publication Number Publication Date
CN108472025A true CN108472025A (zh) 2018-08-31

Family

ID=58446588

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680071141.XA Pending CN108472025A (zh) 2015-10-05 2016-10-05 具有平滑铰接的多簇接头的医疗装置

Country Status (6)

Country Link
US (4) US10959797B2 (enExample)
EP (2) EP3359054A4 (enExample)
JP (2) JP6886459B2 (enExample)
CN (1) CN108472025A (enExample)
BR (1) BR112018006826A2 (enExample)
WO (2) WO2017062529A1 (enExample)

Cited By (24)

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CN109262603A (zh) * 2018-10-29 2019-01-25 燕山大学 绳驱动机械手指及其机械手
CN109394302A (zh) * 2018-12-11 2019-03-01 依奈德医疗技术（上海）有限公司 可控弯椎体成形器及其组件和方法
CN110507275A (zh) * 2019-09-17 2019-11-29 重庆金山医疗技术研究院有限公司 一种万向节可调节蛇骨和内窥镜
CN111037602A (zh) * 2018-10-15 2020-04-21 通用电气公司 选择性柔性延伸工具
CN111168654A (zh) * 2020-02-13 2020-05-19 吉林大学 一种仿生机器人脊椎机构及仿生机器人
CN111544198A (zh) * 2020-05-14 2020-08-18 西安交通大学 一种眼科手术机器人柔性操作驱动系统
CN111796415A (zh) * 2020-07-02 2020-10-20 瑞泰生医科技股份有限公司 弯曲管体及内窥镜
CN113693681A (zh) * 2021-08-03 2021-11-26 武汉联影智融医疗科技有限公司 手术器械
CN113784826A (zh) * 2020-01-09 2021-12-10 瑞德医疗机器股份有限公司 滑动器以及手术工具
CN114727843A (zh) * 2019-08-21 2022-07-08 西拉格国际有限公司 具有柔性构件和枢转引导件的能够进行关节运动的腕部
US11613003B2 (en) 2020-01-24 2023-03-28 General Electric Company Line assembly for an extension tool having a plurality of links
US11654547B2 (en) 2021-03-31 2023-05-23 General Electric Company Extension tool
CN116269746A (zh) * 2023-03-16 2023-06-23 南昌华安众辉健康科技股份有限公司 柔性臂装置及医疗器械
US11692650B2 (en) 2020-01-23 2023-07-04 General Electric Company Selectively flexible extension tool
US11702955B2 (en) 2019-01-14 2023-07-18 General Electric Company Component repair system and method
US11707819B2 (en) 2018-10-15 2023-07-25 General Electric Company Selectively flexible extension tool
CN116602732A (zh) * 2023-07-20 2023-08-18 杭州锐健马斯汀医疗器材有限公司 一种篮钳
US11752622B2 (en) 2020-01-23 2023-09-12 General Electric Company Extension tool having a plurality of links
US11834990B2 (en) 2020-03-10 2023-12-05 Oliver Crispin Robotics Limited Insertion tool
CN118453135A (zh) * 2024-05-24 2024-08-09 芜湖创科医疗器械有限公司 一种用于微创腹腔手术的机械臂
US12091981B2 (en) 2020-06-11 2024-09-17 General Electric Company Insertion tool and method
CN119567236A (zh) * 2025-02-10 2025-03-07 之江实验室 一种基于折纸结构的抗扭力连续体机器人执行器
US12405187B2 (en) 2019-10-04 2025-09-02 General Electric Company Insertion apparatus for use with rotary machines
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