CN108992172B - 可变器械预加载机构控制器 - Google Patents

可变器械预加载机构控制器 Download PDF

Info

Publication number
CN108992172B
CN108992172B CN201810938638.8A CN201810938638A CN108992172B CN 108992172 B CN108992172 B CN 108992172B CN 201810938638 A CN201810938638 A CN 201810938638A CN 108992172 B CN108992172 B CN 108992172B
Authority
CN
China
Prior art keywords
assembly
preload
disk
drive
drive output
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
CN201810938638.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN108992172A (zh
Inventor
T·R·所罗门
A·K·麦克格罗甘
T·G·库珀
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.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations 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 Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of CN108992172A publication Critical patent/CN108992172A/zh
Application granted granted Critical
Publication of CN108992172B publication Critical patent/CN108992172B/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1641—Program controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2003—Screw mechanisms with arrangements for taking up backlash
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41032—Backlash

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Orthopedic Medicine & Surgery (AREA)
CN201810938638.8A 2013-08-15 2014-08-13 可变器械预加载机构控制器 Active CN108992172B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361866117P 2013-08-15 2013-08-15
US61/866,117 2013-08-15
CN201480055207.7A CN105611891B (zh) 2013-08-15 2014-08-13 可变器械预加载机构控制器

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201480055207.7A Division CN105611891B (zh) 2013-08-15 2014-08-13 可变器械预加载机构控制器

Publications (2)

Publication Number Publication Date
CN108992172A CN108992172A (zh) 2018-12-14
CN108992172B true CN108992172B (zh) 2021-11-09

Family

ID=52468671

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201810938638.8A Active CN108992172B (zh) 2013-08-15 2014-08-13 可变器械预加载机构控制器
CN201480055207.7A Active CN105611891B (zh) 2013-08-15 2014-08-13 可变器械预加载机构控制器

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201480055207.7A Active CN105611891B (zh) 2013-08-15 2014-08-13 可变器械预加载机构控制器

Country Status (6)

Country Link
US (1) US10932868B2 (enExample)
EP (2) EP3597135B1 (enExample)
JP (2) JP6426181B2 (enExample)
KR (1) KR102312950B1 (enExample)
CN (2) CN108992172B (enExample)
WO (1) WO2015023793A1 (enExample)

Families Citing this family (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US10271911B2 (en) 2013-08-15 2019-04-30 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
CN109247987B (zh) 2013-08-15 2021-07-23 直观外科手术操作公司 预加载外科手术器械接口
WO2015023853A1 (en) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Robotic instrument driven element
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
EP3033031B1 (en) 2013-08-15 2019-03-20 Intuitive Surgical Operations, Inc. Actuator interface to instrument sterile adapter
CN108784838B (zh) 2013-08-15 2021-06-08 直观外科手术操作公司 器械无菌适配器驱动接口
CN111658180B (zh) 2014-08-15 2024-05-31 直观外科手术操作公司 具有可变进入引导器配置的外科手术系统
US20170231701A1 (en) 2014-09-04 2017-08-17 Memic Innovative Surgery Ltd. Method and devices for hysterectomy
WO2016134266A1 (en) 2015-02-20 2016-08-25 Stryker Corporation Sterile barrier assembly, mounting system, and method for coupling surgical components
CN107771063B (zh) * 2015-06-19 2020-12-04 柯惠Lp公司 机器人外科手术组件
DK3190942T3 (da) * 2015-09-04 2020-07-13 Memic Innovative Surgery Ltd Aktivering af en enhed, der omfatter mekaniske arme
US10463438B2 (en) 2016-03-09 2019-11-05 Memic Innovative Surgery Ltd. Modular device comprising mechanical arms
GB2578513B (en) * 2016-05-23 2020-11-18 Imperial Innovations Ltd Surgical instrument
US11020190B2 (en) 2016-07-14 2021-06-01 Intuitive Surgical Operations, Inc. Automated instrument preload engage/disengage mechanism
CN114983575B (zh) 2016-07-14 2026-07-10 直观外科手术操作公司 包括具有机械封锁的无菌适配器的外科手术设备
WO2018013187A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Instrument release
US11007024B2 (en) 2016-07-14 2021-05-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
CN119302760A (zh) 2016-07-14 2025-01-14 直观外科手术操作公司 器械冲洗系统
WO2018013304A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Controller controlled instrument preload mechanism
EP3484397B1 (en) 2016-07-14 2024-07-24 Intuitive Surgical Operations, Inc. Multi-cable medical instrument
US20190231451A1 (en) 2016-07-14 2019-08-01 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
KR102546565B1 (ko) * 2016-10-14 2023-06-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 기기용 프리로드 장력을 가하는 시스템 및 관련 방법
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
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US11779410B2 (en) 2017-03-09 2023-10-10 Momentis Surgical Ltd Control console including an input arm for control of a surgical mechanical arm
US11076926B2 (en) 2017-03-21 2021-08-03 Intuitive Surgical Operations, Inc. Manual release for medical device drive system
CN110799124B (zh) * 2017-06-28 2023-04-25 爱惜康有限责任公司 具有关节运动系统比率的外科器械
CN111093550B (zh) * 2017-09-08 2023-12-12 柯惠Lp公司 用于机器人手术组件的能量断开
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
KR102904894B1 (ko) 2018-12-04 2025-12-29 마코 서지컬 코포레이션 수술용 컴포넌트의 커플링에 사용하기 위한 멸균 배리어 조립체를 갖는 마운팅 시스템
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
US11376082B2 (en) * 2019-06-27 2022-07-05 Cilag Gmbh International Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs
US12544171B2 (en) 2020-05-04 2026-02-10 Intuitive Surgical Operations, Inc. Medical instrument having single input for driving multiple cables
CN112472160B (zh) * 2020-12-19 2025-03-25 深圳市精锋医疗科技股份有限公司 手术器械以及手术机器人
US20240237976A1 (en) * 2021-07-15 2024-07-18 Covidien Lp Sterile adapter assemblies for robotic surgical systems
US11903669B2 (en) 2021-07-30 2024-02-20 Corindus, Inc Sterile drape for robotic drive
CN114533271B (zh) * 2021-09-13 2023-10-31 广西大学 一种单孔微创手术操控系统
US20230301737A1 (en) * 2022-03-24 2023-09-28 Titan Medical Inc. Emergency release and sterile barriers for robotic surgery systems

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1939228A (zh) * 2005-09-29 2007-04-04 伊西康内外科公司 具有预加载击发辅助机构的外科缝合器械
WO2012158449A1 (en) * 2011-05-13 2012-11-22 Intuitive Surgical Operations, Inc. Instrument interface
WO2012166806A1 (en) * 2011-05-31 2012-12-06 Intuitive Surgical Operations, Inc. Grip force control in a robotic surgical instrument

Family Cites Families (126)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US793510A (en) 1905-03-27 1905-06-27 Stuart W Cramer Machine for dyeing, &c.
US3596498A (en) * 1968-12-27 1971-08-03 Textron Inc Press
US4117359A (en) 1974-01-30 1978-09-26 Teldix Gmbh Bearing and drive structure for spinning turbine
FR2434685A1 (fr) 1978-09-04 1980-03-28 Commissariat Energie Atomique Manipulateur motorise
US4281447A (en) 1979-03-01 1981-08-04 Mcdonnell Douglas Corporation Detachable tool interface system for a robot
US4259876A (en) 1979-10-02 1981-04-07 Belyanin Petr N Mechanical arm
ES2014016B3 (es) 1986-09-24 1990-06-16 Siemens Ag Colocacion de funcionamiento, especialmente para mecanismo de elevacion de ventanas de un vehiculo.
US4911399A (en) * 1989-06-06 1990-03-27 Anglo-American, Inc. Cam valve for regulation of fluid flow through flexible tubing
JPH06114000A (ja) 1992-09-30 1994-04-26 Olympus Optical Co Ltd 医療用マニピュレータ
ES2114405B1 (es) 1994-08-11 1999-02-16 Daumal Castellon Melchor Sistema de fijacion rapido.
US5528955A (en) 1994-09-08 1996-06-25 Hannaford; Blake Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint
US5814038A (en) * 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
DE19541458C1 (de) 1995-11-07 1997-03-06 Siemens Ag Flexibler Aktor
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US7666191B2 (en) 1996-12-12 2010-02-23 Intuitive Surgical, Inc. Robotic surgical system with sterile surgical adaptor
US8529582B2 (en) 1996-12-12 2013-09-10 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US7727244B2 (en) 1997-11-21 2010-06-01 Intuitive Surgical Operation, Inc. Sterile surgical drape
US7699855B2 (en) 1996-12-12 2010-04-20 Intuitive Surgical Operations, Inc. Sterile surgical adaptor
US8206406B2 (en) 1996-12-12 2012-06-26 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
JP3578375B2 (ja) 1997-03-17 2004-10-20 技術研究組合医療福祉機器研究所 ロボットアーム駆動装置およびロボットハンド
US6139245A (en) 1997-07-11 2000-10-31 Brooks Automation Inc. Robot arm relocation system
US20020087048A1 (en) 1998-02-24 2002-07-04 Brock David L. Flexible instrument
US6459926B1 (en) 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
FR2792865B1 (fr) 1999-04-27 2001-06-15 Cie Generale De Participations Dispositif de telecommande de mouvement notamment d'organes de prehension
US6829455B2 (en) 2000-10-20 2004-12-07 Canon Kabushiki Kaisha Driving force transmission mechanism, image forming apparatus equipped with such a mechanism, and process unit of such an apparatus
JP2002200091A (ja) 2000-12-27 2002-07-16 Mizuho Co Ltd 手術器械操作における駆動ワイヤーの緩み補正機構
US20020096885A1 (en) 2001-01-22 2002-07-25 Benito Gomez Pinion assembly
US6994708B2 (en) 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
DE10119334C1 (de) 2001-04-20 2002-03-14 Porsche Ag Reibungskupplung
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
JP2003024336A (ja) 2001-07-16 2003-01-28 Hitachi Ltd 術具装置
JP4776823B2 (ja) 2001-07-23 2011-09-21 Ｈｏｙａ株式会社 ギヤバックラッシ除去機構及びモータ駆動装置
US7428855B2 (en) 2002-05-22 2008-09-30 Duval Eugene F Counter balance system and method with one or more mechanical arms
AT413420B (de) 2002-06-07 2006-02-15 Techmo Entw & Vertriebs Gmbh Verfahren und anordnung zum raschen verbinden und lösen von miteinander verbindbaren elementen
CN2573759Y (zh) 2002-08-20 2003-09-17 樊明月 皮带轮的离合装置
US7331967B2 (en) 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
JP3680050B2 (ja) 2002-09-18 2005-08-10 株式会社東芝 医療用マニピュレータ及びその制御方法
US8365633B2 (en) 2003-05-21 2013-02-05 The Johns Hopkins University Devices, systems and methods for minimally invasive surgery of the throat and other portions of mammalian body
US9002518B2 (en) 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US20070018958A1 (en) * 2003-10-24 2007-01-25 Tavakoli Seyed M Force reflective robotic control system and minimally invasive surgical device
ITPI20030107A1 (it) 2003-11-14 2005-05-15 Massimo Bergamasco Dispositivo per l'esecuzione di operazioni
US8021326B2 (en) 2004-03-05 2011-09-20 Hansen Medical, Inc. Instrument driver for robotic catheter system
US8052636B2 (en) 2004-03-05 2011-11-08 Hansen Medical, Inc. Robotic catheter system and methods
JP2005288590A (ja) 2004-03-31 2005-10-20 Hiroshi Kinoshita 多関節型マニピュレータ
US7377906B2 (en) 2004-06-15 2008-05-27 Biosense Webster, Inc. Steering mechanism for bi-directional catheter
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
JP4373879B2 (ja) 2004-08-26 2009-11-25 株式会社日立製作所 手術器具
US7837674B2 (en) 2005-01-24 2010-11-23 Intuitive Surgical Operations, Inc. Compact counter balance for robotic surgical systems
US7763015B2 (en) 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
US8800838B2 (en) 2005-08-31 2014-08-12 Ethicon Endo-Surgery, Inc. Robotically-controlled cable-based surgical end effectors
WO2007075864A1 (en) 2005-12-20 2007-07-05 Intuitive Surgical, Inc. Instrument interface of a robotic surgical system
CN101371058B (zh) 2006-01-13 2011-03-02 博格华纳公司 离合器组件及摩擦片
EP1815950A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Robotic surgical system for performing minimally invasive medical procedures
JP5124096B2 (ja) 2006-03-03 2013-01-23 川崎重工業株式会社 清潔空間用ロボットシステム
US7823330B2 (en) 2006-03-09 2010-11-02 Strattec Power Access Llc Apparatus and method for drums in a sliding door mechanism
US20070225562A1 (en) 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Articulating endoscopic accessory channel
US20070232858A1 (en) 2006-03-31 2007-10-04 Boston Scientific Scimed, Inc. Steering system tension control devices
CN104688349B (zh) 2006-06-13 2017-05-10 直观外科手术操作公司 微创手术系统
KR20090051029A (ko) 2006-06-14 2009-05-20 맥도널드 디트윌러 앤드 어소시에이츠 인코포레이티드 직각풀리 구동기구를 갖는 수술조종장치
US8151661B2 (en) 2006-06-30 2012-04-10 Intuituve Surgical Operations, Inc. Compact capstan
US7736254B2 (en) 2006-10-12 2010-06-15 Intuitive Surgical Operations, Inc. Compact cable tension tender device
US8157793B2 (en) 2006-10-25 2012-04-17 Terumo Kabushiki Kaisha Manipulator for medical use
EP1915963A1 (en) 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Force estimation for a minimally invasive robotic surgery system
US7935130B2 (en) 2006-11-16 2011-05-03 Intuitive Surgical Operations, Inc. Two-piece end-effectors for robotic surgical tools
US8684253B2 (en) 2007-01-10 2014-04-01 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
US9301807B2 (en) 2007-06-13 2016-04-05 Intuitive Surgical Operations, Inc. Surgical system counterbalance
US8444631B2 (en) 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US9050120B2 (en) 2007-09-30 2015-06-09 Intuitive Surgical Operations, Inc. Apparatus and method of user interface with alternate tool mode for robotic surgical tools
CA2709634C (en) 2007-12-21 2017-04-25 Benny Hon Bun Yeung Surgical manipulator
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
KR100975047B1 (ko) 2008-02-15 2010-08-11 (주)미래컴퍼니 수술용 인스트루먼트의 커플링 구조
US8333755B2 (en) 2008-03-31 2012-12-18 Intuitive Surgical Operations, Inc. Coupler to transfer controller motion from a robotic manipulator to an attached instrument
US7886743B2 (en) 2008-03-31 2011-02-15 Intuitive Surgical Operations, Inc. Sterile drape interface for robotic surgical instrument
US20110015650A1 (en) 2008-06-11 2011-01-20 Seung Wook Choi Instrument of robot arm for surgery
US20140100558A1 (en) 2012-10-05 2014-04-10 Gregory P. Schmitz Micro-articulated surgical instruments using micro gear actuation
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US8771270B2 (en) 2008-07-16 2014-07-08 Intuitive Surgical Operations, Inc. Bipolar cautery instrument
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US9259274B2 (en) * 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US8720448B2 (en) 2008-11-07 2014-05-13 Hansen Medical, Inc. Sterile interface apparatus
US8161838B2 (en) 2008-12-22 2012-04-24 Intuitive Surgical Operations, Inc. Method and apparatus for reducing at least one friction force opposing an axial force exerted through an actuator element
US8306656B1 (en) 2009-01-12 2012-11-06 Titan Medical Inc. Method and system for performing medical procedure
US8602031B2 (en) 2009-01-12 2013-12-10 Hansen Medical, Inc. Modular interfaces and drive actuation through barrier
JP2010220955A (ja) 2009-03-25 2010-10-07 Fujifilm Corp 医療用マニピュレータ、及びその初期化方法
US10080482B2 (en) 2009-06-30 2018-09-25 Intuitive Surgical Operations, Inc. Compliant surgical device
WO2011037394A2 (ko) 2009-09-23 2011-03-31 주식회사 이턴 멸균 어댑터, 휠의 체결 구조 및 수술용 인스트루먼트의 체결 구조
KR101037069B1 (ko) * 2009-09-23 2011-05-26 주식회사 이턴 멸균 어댑터
NL1037348C2 (en) * 2009-10-02 2011-04-05 Univ Eindhoven Tech Surgical robot, instrument manipulator, combination of an operating table and a surgical robot, and master-slave operating system.
EP2498710B1 (en) 2009-11-13 2018-05-16 Intuitive Surgical Operations, Inc. Motor interface for parallel drive shafts within an independently rotating member
US7752937B1 (en) 2009-12-21 2010-07-13 Winzeler Gear, Inc Anti-backlash gear
US8887595B2 (en) 2009-12-22 2014-11-18 Intuitive Surgical Operations, Inc. Instrument wrist with cycloidal surfaces
US8449569B2 (en) 2009-12-30 2013-05-28 MiT Capital Partners, LLC Apparatus for manipulation of implantable medical device and associated method
US8644988B2 (en) 2010-05-14 2014-02-04 Intuitive Surgical Operations, Inc. Drive force control in medical instrument providing position measurements
AT508701B1 (de) 2010-06-23 2011-05-15 Miba Sinter Austria Gmbh Zahnradanordnung
US8512199B2 (en) 2010-07-26 2013-08-20 Rethink Robotics, Inc. Minimizing backlash utilizing series elastic elements
US8978511B2 (en) 2010-11-09 2015-03-17 Shimano Inc. Position control mechanism
US9101379B2 (en) 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
WO2012068092A2 (en) 2010-11-15 2012-05-24 Milwaukee Electric Tool Corporation Powered dispensing tool
US8578810B2 (en) 2011-02-14 2013-11-12 Intuitive Surgical Operations, Inc. Jointed link structures exhibiting preferential bending, and related methods
US9259277B2 (en) 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Instrument actuation interface
US8978497B2 (en) * 2011-05-26 2015-03-17 Tolomatic, Inc. Linear actuator with anti-rotation mechanism
JP5879773B2 (ja) 2011-06-30 2016-03-08 日産自動車株式会社 カップリング装置
FR2984979B1 (fr) 2011-12-22 2017-01-27 Valeo Materiaux De Friction Dispositif de friction pour un embrayage
JP6165780B2 (ja) 2012-02-10 2017-07-19 エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ． ロボット制御式の手術器具
US9226751B2 (en) 2012-06-28 2016-01-05 Ethicon Endo-Surgery, Inc. Surgical instrument system including replaceable end effectors
US9028494B2 (en) 2012-06-28 2015-05-12 Ethicon Endo-Surgery, Inc. Interchangeable end effector coupling arrangement
JP6038589B2 (ja) * 2012-10-17 2016-12-07 Ntn株式会社 直動案内装置
US9095367B2 (en) 2012-10-22 2015-08-04 Ethicon Endo-Surgery, Inc. Flexible harmonic waveguides/blades for surgical instruments
CN105163679B (zh) 2013-03-14 2018-04-06 Sri国际公司 紧凑型机器人手腕
CN108784838B (zh) * 2013-08-15 2021-06-08 直观外科手术操作公司 器械无菌适配器驱动接口
WO2015023853A1 (en) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Robotic instrument driven element
CN109247987B (zh) 2013-08-15 2021-07-23 直观外科手术操作公司 预加载外科手术器械接口
US10271911B2 (en) 2013-08-15 2019-04-30 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
EP3033031B1 (en) * 2013-08-15 2019-03-20 Intuitive Surgical Operations, Inc. Actuator interface to instrument sterile adapter
US10639119B2 (en) 2014-03-17 2020-05-05 Intuitive Surgical Operations, Inc. Alignment and engagement for teleoperated actuated surgical instrument
EP3119263A4 (en) 2014-03-19 2018-06-27 Endomaster Pte Ltd Master slave flexible robotic endoscopy system
US9750499B2 (en) 2014-03-26 2017-09-05 Ethicon Llc Surgical stapling instrument system
GB201521812D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Driving a surgical instrument articulation
WO2018013304A1 (en) * 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Controller controlled instrument preload mechanism
CN114983575B (zh) * 2016-07-14 2026-07-10 直观外科手术操作公司 包括具有机械封锁的无菌适配器的外科手术设备
US10959744B2 (en) * 2017-10-30 2021-03-30 Ethicon Llc Surgical dissectors and manufacturing techniques
US10531883B1 (en) * 2018-07-20 2020-01-14 Syntheon 2.0, LLC Aspiration thrombectomy system and methods for thrombus removal with aspiration catheter

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1939228A (zh) * 2005-09-29 2007-04-04 伊西康内外科公司 具有预加载击发辅助机构的外科缝合器械
WO2012158449A1 (en) * 2011-05-13 2012-11-22 Intuitive Surgical Operations, Inc. Instrument interface
WO2012166806A1 (en) * 2011-05-31 2012-12-06 Intuitive Surgical Operations, Inc. Grip force control in a robotic surgical instrument

Also Published As

Publication number Publication date
JP6659798B2 (ja) 2020-03-04
KR20160043079A (ko) 2016-04-20
EP3597135A1 (en) 2020-01-22
CN105611891B (zh) 2018-09-21
CN105611891A (zh) 2016-05-25
JP6426181B2 (ja) 2018-11-21
EP3597135B1 (en) 2021-12-15
KR102312950B1 (ko) 2021-10-15
JP2019063536A (ja) 2019-04-25
EP3033032A1 (en) 2016-06-22
JP2016530003A (ja) 2016-09-29
US20160184036A1 (en) 2016-06-30
WO2015023793A1 (en) 2015-02-19
US10932868B2 (en) 2021-03-02
CN108992172A (zh) 2018-12-14
EP3033032A4 (en) 2017-09-06
EP3033032B1 (en) 2019-10-02

Similar Documents

Publication Publication Date Title
CN108784838B (zh) 器械无菌适配器驱动接口
CN109602495B (zh) 器械无菌适配器驱动特征
CN109247987B (zh) 预加载外科手术器械接口
CN109602496B (zh) 机器人器械从动元件
CN109512519B (zh) 通向器械无菌适配器的致动器接口
JP6659798B2 (ja) 可変器具予荷重機構コントローラ

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