CN109688962B - 对接手术机器人臂与器械 - Google Patents

对接手术机器人臂与器械 Download PDF

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Publication number
CN109688962B
CN109688962B CN201780056182.6A CN201780056182A CN109688962B CN 109688962 B CN109688962 B CN 109688962B CN 201780056182 A CN201780056182 A CN 201780056182A CN 109688962 B CN109688962 B CN 109688962B
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China
Prior art keywords
surgical
interface structure
instrument
robotic arm
interface
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CN201780056182.6A
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English (en)
Chinese (zh)
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CN109688962A (zh
Inventor
K·马歇尔
N·P·S-L·霍尔成德
T·B·杰克森
J·P·维特勒
M·麦克布赖恩
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CMR Surgical Ltd
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CMR Surgical Ltd
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Priority to CN202210852846.2A priority Critical patent/CN115137488A/zh
Priority to CN202210845386.0A priority patent/CN115105214A/zh
Publication of CN109688962A publication Critical patent/CN109688962A/zh
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Publication of CN109688962B publication Critical patent/CN109688962B/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
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • 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
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • 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
    • A61B2017/00389—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
    • A61B2017/00393—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector with means for switching between functions
    • 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
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • 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
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2923—Toothed members, e.g. rack and pinion
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
CN201780056182.6A 2016-09-14 2017-09-14 对接手术机器人臂与器械 Active CN109688962B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202210852846.2A CN115137488A (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械
CN202210845386.0A CN115105214A (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
GBGB1615616.8A GB201615616D0 (en) 2016-09-14 2016-09-14 Interfacing a surgical robotic arm and instrument
GB1615616.8 2016-09-14
GB1709016.8 2017-06-06
GB1709016.8A GB2553879B (en) 2016-09-14 2017-06-06 Interfacing a surgical robotic arm and instrument
PCT/GB2017/052709 WO2018051093A1 (en) 2016-09-14 2017-09-14 Interfacing a surgical robotic arm and instrument

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CN202210852846.2A Division CN115137488A (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械
CN202210845386.0A Division CN115105214A (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械

Publications (2)

Publication Number Publication Date
CN109688962A CN109688962A (zh) 2019-04-26
CN109688962B true CN109688962B (zh) 2022-08-05

Family

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Application Number Title Priority Date Filing Date
CN201780056182.6A Active CN109688962B (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械
CN202210845386.0A Pending CN115105214A (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械
CN202210852846.2A Pending CN115137488A (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械

Family Applications After (2)

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CN202210845386.0A Pending CN115105214A (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械
CN202210852846.2A Pending CN115137488A (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械

Country Status (6)

Country Link
US (3) US11547501B2 (enExample)
EP (1) EP3512454A1 (enExample)
JP (2) JP7164848B2 (enExample)
CN (3) CN109688962B (enExample)
GB (4) GB201615616D0 (enExample)
WO (1) WO2018051093A1 (enExample)

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GB2585727B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
GB2570520B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
CN112105311A (zh) * 2018-04-06 2020-12-18 项目莫里股份有限公司 用于导管和其它用途的改进的流体驱动器、装置、方法和系统
USD910186S1 (en) 2019-02-28 2021-02-09 Cmr Surgical Limited Structure for interfacing a surgical robotic arm and instrument
KR102269772B1 (ko) * 2019-03-13 2021-06-28 큐렉소 주식회사 수술용 로봇의 엔드이펙터
US11523822B2 (en) * 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
WO2021124572A1 (ja) * 2019-12-20 2021-06-24 リバーフィールド株式会社 医療用ロボット、術具および装着部
JP6762592B1 (ja) * 2019-12-20 2020-09-30 リバーフィールド株式会社 医療用ロボットおよび医療用ロボットの装着部
WO2021199413A1 (ja) * 2020-04-02 2021-10-07 リバーフィールド株式会社 ベアリング構造、及び、ベアリング構造を備えたドレープユニット
KR102443789B1 (ko) * 2021-12-08 2022-09-19 주식회사 메디인테크 동력수용체에 의해 제어되는 내시경
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WO2018051093A1 (en) 2018-03-22
US11547501B2 (en) 2023-01-10
CN115137488A (zh) 2022-10-04
GB2553879A (en) 2018-03-21
EP3512454A1 (en) 2019-07-24
US20190269471A1 (en) 2019-09-05
JP7164848B2 (ja) 2022-11-02
US20230074346A1 (en) 2023-03-09
GB2601269B (en) 2022-10-12
CN115105214A (zh) 2022-09-27
GB201801210D0 (en) 2018-03-14
JP2022121642A (ja) 2022-08-19
GB2556554A (en) 2018-05-30
GB2556554B8 (en) 2023-11-29
US12193773B2 (en) 2025-01-14
GB201615616D0 (en) 2016-10-26
US12137994B2 (en) 2024-11-12
JP2019529020A (ja) 2019-10-17
CN109688962A (zh) 2019-04-26
GB2556554A8 (en) 2023-11-29
GB202202571D0 (en) 2022-04-13
GB2601269A (en) 2022-05-25
JP7571085B2 (ja) 2024-10-22
US20230072227A1 (en) 2023-03-09
GB2553879B (en) 2022-08-10
GB2556554B (en) 2022-04-06
GB201709016D0 (en) 2017-07-19

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Inventor after: K. Marshall

Inventor after: N.P.S-L. Holchende

Inventor after: T.B. Jackson

Inventor after: J.P. Witler

Inventor after: D. M. McBrien

Inventor before: K. Marshall

Inventor before: N.P.S-L. Holchende

Inventor before: T.B. Jackson

Inventor before: J.P. Witler

Inventor before: M. McBrian