CN109475384B - 自动插入装置 - Google Patents

自动插入装置 Download PDF

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Publication number
CN109475384B
CN109475384B CN201780045997.4A CN201780045997A CN109475384B CN 109475384 B CN109475384 B CN 109475384B CN 201780045997 A CN201780045997 A CN 201780045997A CN 109475384 B CN109475384 B CN 109475384B
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CN
China
Prior art keywords
piston
platform
coupled
cylinder
robotic device
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.)
Expired - Fee Related
Application number
CN201780045997.4A
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English (en)
Chinese (zh)
Other versions
CN109475384A (zh
Inventor
奥弗·阿诺德
爱德华·博罗德茨
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.)
Xact Robotics Ltd
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Xact Robotics Ltd
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Publication date
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Publication of CN109475384A publication Critical patent/CN109475384A/zh
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Expired - Fee Related legal-status Critical Current
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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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • 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
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/31—Details
    • A61M5/315—Pistons; Piston-rods; Guiding, blocking or restricting the movement of the rod or piston; Appliances on the rod for facilitating dosing ; Dosing mechanisms
    • A61M5/31501—Means for blocking or restricting the movement of the rod or piston
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/46—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests having means for controlling depth of insertion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Anesthesiology (AREA)
  • Vascular Medicine (AREA)
  • Hematology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Threshing Machine Elements (AREA)
  • Surgical Instruments (AREA)
CN201780045997.4A 2016-05-25 2017-05-25 自动插入装置 Expired - Fee Related CN109475384B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662341097P 2016-05-25 2016-05-25
US62/341,097 2016-05-25
PCT/IL2017/050584 WO2017203531A1 (en) 2016-05-25 2017-05-25 Automated insertion device

Publications (2)

Publication Number Publication Date
CN109475384A CN109475384A (zh) 2019-03-15
CN109475384B true CN109475384B (zh) 2022-02-18

Family

ID=60411252

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780045997.4A Expired - Fee Related CN109475384B (zh) 2016-05-25 2017-05-25 自动插入装置

Country Status (7)

Country Link
US (3) US11202684B2 (enExample)
EP (1) EP3463142A4 (enExample)
JP (1) JP7131834B2 (enExample)
CN (1) CN109475384B (enExample)
CA (1) CA3024963A1 (enExample)
IL (1) IL263144B2 (enExample)
WO (1) WO2017203531A1 (enExample)

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US11331163B2 (en) 2016-09-23 2022-05-17 Xact Robotics Ltd. Universal holder for an insertable medical tool
US10709340B2 (en) * 2016-12-30 2020-07-14 Higi Sh Llc Automated fitted cuff blood pressure and arm circumference measuring device
WO2018229773A1 (en) 2017-06-16 2018-12-20 Xact Robotics Ltd. Drape adaptor
IT201800000689A1 (it) * 2018-01-10 2019-07-10 Tecres Spa Struttura di supporto per un dispositivo chirurgico e relativo metodo di posizionamento
US20210228311A1 (en) * 2018-06-07 2021-07-29 Xact Robotics Ltd. Attachment apparatus for a body mountable medical device
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US20200297357A1 (en) 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
EP3733112A1 (en) * 2019-05-03 2020-11-04 Globus Medical, Inc. System for robotic trajectory guidance for navigated biopsy needle
CN110279470A (zh) * 2019-06-14 2019-09-27 北京罗森博特科技有限公司 动态调节装置、动态调节系统及其使用方法
EP4065014A4 (en) 2019-11-27 2023-04-19 Xact Robotics Ltd. PLANNING AND UPDATING IN REAL TIME OF A 3D TRAJECTORY OF A MEDICAL DEVICE
WO2021105993A1 (en) 2019-11-30 2021-06-03 Xact Robotics Ltd. Adjustable cover for an automated medical device
CN111643236B (zh) * 2020-06-15 2020-12-29 白延平 一种心脏支架输送释放装置
US12458533B2 (en) 2020-08-13 2025-11-04 Forsight Robotics Ltd. Capsulorhexis apparatus and method
US12357376B2 (en) * 2020-11-12 2025-07-15 Board Of Trustees Of The University Of Arkansas Respiratory compensated robot for liver cancer treatment
WO2022254335A1 (en) 2021-06-01 2022-12-08 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
US11903663B2 (en) 2021-08-24 2024-02-20 Hyperion Surgical, Inc. Robotic systems, devices, and methods for vascular access
US11678944B1 (en) 2022-08-23 2023-06-20 Hyperion Surgical, Inc. Manipulators and cartridges for robotic-assisted vascular access
DE102022106602B4 (de) * 2022-03-21 2024-08-22 Karl Storz Se & Co. Kg Medizinische Kinematik mit virtuellem Drehpunkt, medizinischer Roboter sowie Verwendung einer medizinischen Kinematik und eines medizinischen Roboters
CN115040756B (zh) * 2022-08-16 2022-11-04 生一科技(北京)有限公司 导管支撑装置和管腔介入系统
CN115590589B (zh) * 2022-10-12 2025-11-11 上海交通大学 一种并联六自由度穿刺机器人
CN116269783B (zh) * 2023-03-28 2023-12-19 北京维卓致远医疗科技发展有限责任公司 引导架和手术机器人
CN117338435B (zh) * 2023-12-05 2024-02-06 真健康(广东横琴)医疗科技有限公司 用于机器人穿刺手术的电动末端执行器及穿刺机器人

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CN201537120U (zh) * 2009-11-27 2010-08-04 王共先 一种带有持镜功能的经皮穿刺装置
CN101972159A (zh) * 2010-11-24 2011-02-16 哈尔滨工业大学 六自由度颈椎骨磨削并联机器人
CN104323861A (zh) * 2014-11-21 2015-02-04 山东科技大学 三自由度串并混联关节成形手术机器人
CN104739512A (zh) * 2015-02-28 2015-07-01 天津大学 基于ct或mri图像导航的胸腔穿刺手术机器人
US20150366546A1 (en) * 2014-06-18 2015-12-24 Siemens Medical Solutions Usa, Inc. System and method for real-time ultrasound guided prostate needle biopsies using a compliant robotic arm

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CN101972159A (zh) * 2010-11-24 2011-02-16 哈尔滨工业大学 六自由度颈椎骨磨削并联机器人
US20150366546A1 (en) * 2014-06-18 2015-12-24 Siemens Medical Solutions Usa, Inc. System and method for real-time ultrasound guided prostate needle biopsies using a compliant robotic arm
CN104323861A (zh) * 2014-11-21 2015-02-04 山东科技大学 三自由度串并混联关节成形手术机器人
CN104739512A (zh) * 2015-02-28 2015-07-01 天津大学 基于ct或mri图像导航的胸腔穿刺手术机器人

Also Published As

Publication number Publication date
EP3463142A1 (en) 2019-04-10
JP2019520183A (ja) 2019-07-18
CA3024963A1 (en) 2017-11-30
IL263144B (en) 2022-12-01
JP7131834B2 (ja) 2022-09-06
IL263144A (en) 2018-12-31
EP3463142A4 (en) 2020-02-26
US20230363839A1 (en) 2023-11-16
CN109475384A (zh) 2019-03-15
US11751956B2 (en) 2023-09-12
IL263144B2 (en) 2023-04-01
US20190290372A1 (en) 2019-09-26
US20220022983A1 (en) 2022-01-27
US11202684B2 (en) 2021-12-21
WO2017203531A1 (en) 2017-11-30

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