CN108472094B - 机器人手术器械 - Google Patents

机器人手术器械 Download PDF

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Publication number
CN108472094B
CN108472094B CN201680072242.9A CN201680072242A CN108472094B CN 108472094 B CN108472094 B CN 108472094B CN 201680072242 A CN201680072242 A CN 201680072242A CN 108472094 B CN108472094 B CN 108472094B
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CN
China
Prior art keywords
pulley
drive
pair
joint
surgical instrument
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Active
Application number
CN201680072242.9A
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English (en)
Chinese (zh)
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CN108472094A (zh
Inventor
B·R·卓别林
K·马歇尔
L·D·R·黑尔斯
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CMR Surgical Ltd
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CMR Surgical Ltd
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Publication date
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Publication of CN108472094A publication Critical patent/CN108472094A/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
    • A61B34/30—Surgical robots
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • 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
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • 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
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN201680072242.9A 2015-12-10 2016-12-09 机器人手术器械 Active CN108472094B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GBGB1521810.0A GB201521810D0 (en) 2015-12-10 2015-12-10 Supporting body of a surgical instrument articulation
GB1521810.0 2015-12-10
PCT/GB2016/053896 WO2017098269A1 (en) 2015-12-10 2016-12-09 Supporting body of a surgical instrument articulation

Publications (2)

Publication Number Publication Date
CN108472094A CN108472094A (zh) 2018-08-31
CN108472094B true CN108472094B (zh) 2021-06-25

Family

ID=55274531

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680072242.9A Active CN108472094B (zh) 2015-12-10 2016-12-09 机器人手术器械

Country Status (6)

Country Link
US (1) US10813706B2 (enExample)
EP (1) EP3386416B1 (enExample)
JP (1) JP7097813B2 (enExample)
CN (1) CN108472094B (enExample)
GB (3) GB201521810D0 (enExample)
WO (1) WO2017098269A1 (enExample)

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US8628518B2 (en) 2005-12-30 2014-01-14 Intuitive Surgical Operations, Inc. Wireless force sensor on a distal portion of a surgical instrument and method
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
EP3484397B1 (en) 2016-07-14 2024-07-24 Intuitive Surgical Operations, Inc. Multi-cable medical instrument
CN119302760A (zh) 2016-07-14 2025-01-14 直观外科手术操作公司 器械冲洗系统
CN115349951A (zh) * 2016-11-21 2022-11-18 直观外科手术操作公司 线缆长度持恒的医疗器械
US11076926B2 (en) 2017-03-21 2021-08-03 Intuitive Surgical Operations, Inc. Manual release for medical device drive system
US10675107B2 (en) 2017-11-15 2020-06-09 Intuitive Surgical Operations, Inc. Surgical instrument end effector with integral FBG
US12127809B2 (en) 2017-12-14 2024-10-29 Intuitive Surgical Operations, Inc. Medical tools having tension bands
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
US11992286B2 (en) * 2018-03-07 2024-05-28 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
CN111970985B (zh) 2018-03-07 2024-12-03 直观外科手术操作公司 具有易组装构件的低摩擦小型医疗工具
US11439376B2 (en) 2018-03-07 2022-09-13 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
EP3773302B1 (en) 2018-04-10 2025-06-04 Intuitive Surgical Operations, Inc. Articulable medical devices having flexible wire routing
US11980504B2 (en) 2018-05-25 2024-05-14 Intuitive Surgical Operations, Inc. Fiber Bragg grating end effector force sensor
US11259798B2 (en) 2018-07-16 2022-03-01 Intuitive Surgical Operations, Inc. Medical devices having tissue grasping surfaces and features for manipulating surgical needles
US11612447B2 (en) 2018-07-19 2023-03-28 Intuitive Surgical Operations, Inc. Medical devices having three tool members
CN108969034A (zh) * 2018-08-01 2018-12-11 锐志微创医疗科技（常州）有限公司 一种多自由度微创手术器械
JP6741731B2 (ja) * 2018-08-28 2020-08-19 株式会社メディカロイド ロボット手術器具およびその組み立て方法
US11815412B2 (en) 2018-11-15 2023-11-14 Intuitive Surgical Operations, Inc. Strain sensor with contoured deflection surface
EP3880107A1 (en) 2018-11-15 2021-09-22 Intuitive Surgical Operations, Inc. Decoupling tool shaft from cable drive load
WO2020102780A1 (en) 2018-11-15 2020-05-22 Intuitive Surgical Operations, Inc. Cable drive limited slip capstan and shaft
CN120114185A (zh) 2018-11-15 2025-06-10 直观外科手术操作公司 具有传感器对准电缆导向件的外科手术器械
US11213287B2 (en) 2018-11-15 2022-01-04 Intuitive Surgical Operations, Inc. Support apparatus for a medical retractor device
US11291514B2 (en) 2018-11-15 2022-04-05 Intuitive Surgical Operations, Inc. Medical devices having multiple blades and methods of use
JP6809720B2 (ja) * 2019-03-13 2021-01-06 リバーフィールド株式会社 術具
CN113811257B (zh) 2019-06-13 2025-09-30 直观外科手术操作公司 用于致动张力带的带有长度守恒机构的医疗工具
WO2021055276A1 (en) 2019-09-17 2021-03-25 Intuitive Surgical Operations, Inc. Compact, differential, coaxial inductive force sensor
US12185974B2 (en) 2019-10-17 2025-01-07 Intuitive Surgical Operations, Inc. Surgical tool with nested shaft tubes
GB2589380B (en) 2019-11-29 2024-02-21 Cmr Surgical Ltd Controlling a surgical instrument
US12544171B2 (en) 2020-05-04 2026-02-10 Intuitive Surgical Operations, Inc. Medical instrument having single input for driving multiple cables
US12239393B2 (en) 2020-05-18 2025-03-04 Intuitive Surgical Operations, Inc. Hard stop that produces a reactive moment upon engagement for cantilever-based force sensing
JP6815679B2 (ja) * 2020-08-18 2021-01-20 リバーフィールド株式会社 術具
JP6850517B1 (ja) * 2020-09-10 2021-03-31 リバーフィールド株式会社 鉗子装置及び鉗子装置の製造方法
CN116419731A (zh) 2020-09-14 2023-07-11 直观外科手术操作公司 用于紧凑型冗余感应力传感器的设备和方法
EP4223248A4 (en) * 2020-09-30 2024-10-16 Shenzhen Edge Medical Co., Ltd. Surgical instrument, slave operating equipment, and surgical robot
GB2599664B (en) * 2020-10-07 2024-12-18 Cmr Surgical Ltd Robotic surgical instrument chassis
KR102559600B1 (ko) * 2021-04-06 2023-07-25 주식회사 로엔서지컬 수술도구의 비대칭 구름 관절 장치
US12257014B2 (en) 2021-06-22 2025-03-25 Intuitive Surgical Operations, Inc. Devices and methods for crimp interface for cable tension sensor
US20230049257A1 (en) * 2021-08-12 2023-02-16 Cmr Surgical Limited Surgical robot arm and instrument detachment
EP4613217A3 (en) 2023-08-08 2025-12-03 Medicaroid Corporation Surgical instrument

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US6840938B1 (en) * 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
US6969385B2 (en) * 2002-05-01 2005-11-29 Manuel Ricardo Moreyra Wrist with decoupled motion transmission
WO2014151952A1 (en) * 2013-03-14 2014-09-25 Sri International Compact robotic wrist
CN104602624A (zh) * 2012-06-29 2015-05-06 伊西康内外科公司 具有定位在远侧的钳口组件的超声外科器械

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US6840938B1 (en) * 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
US6969385B2 (en) * 2002-05-01 2005-11-29 Manuel Ricardo Moreyra Wrist with decoupled motion transmission
CN104602624A (zh) * 2012-06-29 2015-05-06 伊西康内外科公司 具有定位在远侧的钳口组件的超声外科器械
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Also Published As

Publication number Publication date
GB2597151B (en) 2022-04-06
WO2017098269A1 (en) 2017-06-15
JP2019505260A (ja) 2019-02-28
CN108472094A (zh) 2018-08-31
EP3386416B1 (en) 2025-02-26
GB201521810D0 (en) 2016-01-27
JP7097813B2 (ja) 2022-07-08
GB2597151A (en) 2022-01-19
US20190223960A1 (en) 2019-07-25
EP3386416A1 (en) 2018-10-17
GB2546400A (en) 2017-07-19
US10813706B2 (en) 2020-10-27
GB202114352D0 (en) 2021-11-24
GB201621014D0 (en) 2017-01-25
GB2546400B (en) 2021-12-08

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