CN109561935B - 手术器械、机器人臂和用于机器人臂的控制系统 - Google Patents

手术器械、机器人臂和用于机器人臂的控制系统 Download PDF

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Publication number
CN109561935B
CN109561935B CN201780038949.2A CN201780038949A CN109561935B CN 109561935 B CN109561935 B CN 109561935B CN 201780038949 A CN201780038949 A CN 201780038949A CN 109561935 B CN109561935 B CN 109561935B
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China
Prior art keywords
surgical instrument
elbow
joint
joints
end effector
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CN201780038949.2A
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Chinese (zh)
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CN109561935A (zh
Inventor
杨广忠
皮亚马特·维萨努威
康拉德·马雷克·金特·莱布兰特
卡洛·阿尔贝托·塞内奇
商建忠
刘金东
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.)
Ip2 Ipo Innovation Co ltd
Ip2ipo Innovations Ltd
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Ip2 Ipo Innovation Co ltd
Imperial Innovations Ltd
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Priority claimed from GB1609002.9A external-priority patent/GB2550577B/en
Priority claimed from GB1608997.1A external-priority patent/GB2550575B/en
Priority claimed from GB1609030.0A external-priority patent/GB2554846A/en
Application filed by Ip2 Ipo Innovation Co ltd, Imperial Innovations Ltd filed Critical Ip2 Ipo Innovation Co ltd
Priority to CN202210667520.2A priority Critical patent/CN115089242A/zh
Priority to CN202210667526.XA priority patent/CN115089306B/zh
Priority to CN202210665882.8A priority patent/CN115089299A/zh
Publication of CN109561935A publication Critical patent/CN109561935A/zh
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/04—Surgical instruments, devices or methods for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • A61B17/0625—Needle manipulators the needle being specially adapted to interact with the manipulator, e.g. being ridged to snap fit in a hole of the manipulator
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    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
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    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
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    • A61B34/71—Manipulators operated by drive cable mechanisms
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    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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    • 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
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    • A—HUMAN NECESSITIES
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    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A61B2017/00123—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation and automatic shutdown
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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    • A61B2018/1405—Electrodes having a specific shape
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    • A61B2034/306—Wrists with multiple vertebrae
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B2218/00—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2218/001—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body having means for irrigation and/or aspiration of substances to and/or from the surgical site
    • A61B2218/002—Irrigation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2218/00—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2218/001—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body having means for irrigation and/or aspiration of substances to and/or from the surgical site
    • A61B2218/002—Irrigation
    • A61B2218/006—Irrigation for smoke evacuation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B2218/001—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body having means for irrigation and/or aspiration of substances to and/or from the surgical site
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    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Otolaryngology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN201780038949.2A 2016-05-23 2017-05-23 手术器械、机器人臂和用于机器人臂的控制系统 Active CN109561935B (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202210667520.2A CN115089242A (zh) 2016-05-23 2017-05-23 末端执行器和持针器
CN202210667526.XA CN115089306B (zh) 2016-05-23 2017-05-23 手术器械的保护套
CN202210665882.8A CN115089299A (zh) 2016-05-23 2017-05-23 机器人臂的安全装置、机器人臂和用于机器人手术系统的控制系统

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
GB1609030.0 2016-05-23
GB1609002.9A GB2550577B (en) 2016-05-23 2016-05-23 Control system
GB1608997.1A GB2550575B (en) 2016-05-23 2016-05-23 Surgical instrument
GB1609002.9 2016-05-23
GB1608997.1 2016-05-23
GB1609030.0A GB2554846A (en) 2016-05-23 2016-05-23 Safety Device
PCT/GB2017/051436 WO2017203231A1 (en) 2016-05-23 2017-05-23 Surgical instrument, robotic arm and control system for a robotic arm

Related Child Applications (3)

Application Number Title Priority Date Filing Date
CN202210667526.XA Division CN115089306B (zh) 2016-05-23 2017-05-23 手术器械的保护套
CN202210665882.8A Division CN115089299A (zh) 2016-05-23 2017-05-23 机器人臂的安全装置、机器人臂和用于机器人手术系统的控制系统
CN202210667520.2A Division CN115089242A (zh) 2016-05-23 2017-05-23 末端执行器和持针器

Publications (2)

Publication Number Publication Date
CN109561935A CN109561935A (zh) 2019-04-02
CN109561935B true CN109561935B (zh) 2022-07-22

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CN201780038949.2A Active CN109561935B (zh) 2016-05-23 2017-05-23 手术器械、机器人臂和用于机器人臂的控制系统
CN202210667520.2A Pending CN115089242A (zh) 2016-05-23 2017-05-23 末端执行器和持针器
CN202210667526.XA Active CN115089306B (zh) 2016-05-23 2017-05-23 手术器械的保护套
CN202210665882.8A Pending CN115089299A (zh) 2016-05-23 2017-05-23 机器人臂的安全装置、机器人臂和用于机器人手术系统的控制系统

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CN202210667520.2A Pending CN115089242A (zh) 2016-05-23 2017-05-23 末端执行器和持针器
CN202210667526.XA Active CN115089306B (zh) 2016-05-23 2017-05-23 手术器械的保护套
CN202210665882.8A Pending CN115089299A (zh) 2016-05-23 2017-05-23 机器人臂的安全装置、机器人臂和用于机器人手术系统的控制系统

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US (1) US20200038121A1 (enExample)
EP (1) EP3463155B1 (enExample)
JP (2) JP2019518580A (enExample)
CN (4) CN109561935B (enExample)
AU (1) AU2017270904A1 (enExample)
CA (1) CA3035415A1 (enExample)
WO (1) WO2017203231A1 (enExample)

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CN113208734B (zh) * 2021-05-13 2022-02-22 德智鸿(上海)机器人有限责任公司 手术机器人及定位方法
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CN113952036B (zh) * 2021-09-09 2022-09-02 杭州微引科技有限公司 一种手术机械手执行集成头及手术机械手装置
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