CN108836482B - 驱动部件、驱动机构，及驱动机构的制造方法 - Google Patents

驱动部件、驱动机构，及驱动机构的制造方法 Download PDF

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Publication number
CN108836482B
CN108836482B CN201810388765.5A CN201810388765A CN108836482B CN 108836482 B CN108836482 B CN 108836482B CN 201810388765 A CN201810388765 A CN 201810388765A CN 108836482 B CN108836482 B CN 108836482B
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CN
China
Prior art keywords
rotating
rotating member
pulley
drive mechanism
elongated element
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Expired - Fee Related
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CN201810388765.5A
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English (en)
Chinese (zh)
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CN108836482A (zh
Inventor
石原一树
臼木优
吾乡健二
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Medicaroid Corp
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Medicaroid Corp
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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
    • 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
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/2812—Surgical forceps with a single pivotal connection
    • A61B17/282—Jaws
    • 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
    • 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
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00526—Methods of manufacturing
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Mounting Of Bearings Or Others (AREA)
CN201810388765.5A 2017-05-01 2018-04-27 驱动部件、驱动机构，及驱动机构的制造方法 Expired - Fee Related CN108836482B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017091234A JP6811676B2 (ja) 2017-05-01 2017-05-01 駆動部材、駆動機構、および駆動機構の製造方法
JP2017-091234 2017-05-01

Publications (2)

Publication Number Publication Date
CN108836482A CN108836482A (zh) 2018-11-20
CN108836482B true CN108836482B (zh) 2021-04-30

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CN201810388765.5A Expired - Fee Related CN108836482B (zh) 2017-05-01 2018-04-27 驱动部件、驱动机构，及驱动机构的制造方法

Country Status (4)

Country Link
US (1) US10772694B2 (https=)
EP (1) EP3395280A1 (https=)
JP (1) JP6811676B2 (https=)
CN (1) CN108836482B (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP7257353B2 (ja) * 2020-03-30 2023-04-13 株式会社メディカロイド 内視鏡アダプタ、ロボット手術システムおよび内視鏡アダプタの回転位置調整方法
JP6815679B2 (ja) * 2020-08-18 2021-01-20 リバーフィールド株式会社 術具
JP7520678B2 (ja) * 2020-10-07 2024-07-23 株式会社メディカロイド 手術器具
US11787069B2 (en) * 2021-11-01 2023-10-17 Oliver Crispin Robotics Limited Insertion tool with flexible spine

Citations (6)

* Cited by examiner, † Cited by third party
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CN102084141A (zh) * 2008-06-27 2011-06-01 忠诚股份有限公司 挠性腕式元件及其制造和使用方法
CN102132225A (zh) * 2008-08-14 2011-07-20 曼特瑞斯医药公司 立体定向驱动系统
WO2015080248A1 (ja) * 2013-11-29 2015-06-04 オリンパス株式会社 術具
WO2015142958A1 (en) * 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Systems and methods for confirming disc engagement
WO2016025134A3 (en) * 2014-08-13 2016-07-07 Covidien Lp Robotically controlling mechanical advantage gripping
WO2016136676A1 (ja) * 2015-02-26 2016-09-01 オリンパス株式会社 医療用処置具

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US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
JP3912251B2 (ja) * 2002-10-02 2007-05-09 株式会社日立製作所 マニピュレータ
JP4460890B2 (ja) * 2003-12-15 2010-05-12 衛 光石 多自由度マニピュレータ
JP4755047B2 (ja) 2006-08-08 2011-08-24 テルモ株式会社 作業機構及びマニピュレータ
KR100942428B1 (ko) * 2009-08-27 2010-02-17 주식회사 래보 풀리 고정 구조
US9333040B2 (en) 2012-02-02 2016-05-10 Transenterix Surgical, Inc. Mechanized multi-instrument surgical system
US9687303B2 (en) * 2012-04-20 2017-06-27 Vanderbilt University Dexterous wrists for surgical intervention
US10201365B2 (en) * 2012-10-22 2019-02-12 Ethicon Llc Surgeon feedback sensing and display methods
WO2015088647A1 (en) * 2013-12-11 2015-06-18 Covidien Lp Wrist and jaw assemblies for robotic surgical systems
EP3079609B1 (en) * 2013-12-12 2019-07-17 Covidien LP Gear train assemblies for robotic surgical systems
US10226305B2 (en) * 2014-02-12 2019-03-12 Covidien Lp Surgical end effectors and pulley assemblies thereof
CN106132322B (zh) * 2014-03-31 2019-11-08 柯惠Lp公司 机器人手术系统的腕组件和钳夹组件
JP6169049B2 (ja) * 2014-06-19 2017-07-26 オリンパス株式会社 マニピュレータの制御方法、マニピュレータ、およびマニピュレータシステム
CA2957832A1 (en) * 2014-08-13 2016-02-18 Covidien Lp Robotically controlling mechanical advantage gripping
CN107530889A (zh) * 2015-07-09 2018-01-02 川崎重工业株式会社 回旋装置以及医疗器械
CN108601603B (zh) * 2016-02-05 2021-07-02 得克萨斯系统大学董事会 手术设备
EP3426176B1 (en) * 2016-03-07 2020-10-07 Ethicon LLC Robotic bi-polar instruments
US11207145B2 (en) * 2016-07-14 2021-12-28 Intuitive Surgical Operations, Inc. Multi-cable medical instrument

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102084141A (zh) * 2008-06-27 2011-06-01 忠诚股份有限公司 挠性腕式元件及其制造和使用方法
CN102132225A (zh) * 2008-08-14 2011-07-20 曼特瑞斯医药公司 立体定向驱动系统
WO2015080248A1 (ja) * 2013-11-29 2015-06-04 オリンパス株式会社 術具
WO2015142958A1 (en) * 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Systems and methods for confirming disc engagement
WO2016025134A3 (en) * 2014-08-13 2016-07-07 Covidien Lp Robotically controlling mechanical advantage gripping
WO2016136676A1 (ja) * 2015-02-26 2016-09-01 オリンパス株式会社 医療用処置具

Also Published As

Publication number Publication date
JP6811676B2 (ja) 2021-01-13
US10772694B2 (en) 2020-09-15
US20180311003A1 (en) 2018-11-01
CN108836482A (zh) 2018-11-20
JP2018187028A (ja) 2018-11-29
EP3395280A1 (en) 2018-10-31

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Granted publication date: 20210430