CN109788990B - 医疗用臂组件 - Google Patents
医疗用臂组件 Download PDFInfo
- Publication number
- CN109788990B CN109788990B CN201880002557.5A CN201880002557A CN109788990B CN 109788990 B CN109788990 B CN 109788990B CN 201880002557 A CN201880002557 A CN 201880002557A CN 109788990 B CN109788990 B CN 109788990B
- Authority
- CN
- China
- Prior art keywords
- link
- remote
- joint
- rotation axis
- arm
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- 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
- A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (13)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2017-0111864 | 2017-09-01 | ||
KR20170111864 | 2017-09-01 | ||
PCT/KR2018/010180 WO2019045531A2 (ko) | 2017-09-01 | 2018-08-31 | 의료용 암 어셈블리 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109788990A CN109788990A (zh) | 2019-05-21 |
CN109788990B true CN109788990B (zh) | 2021-11-23 |
Family
ID=65525946
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201880002551.8A Active CN109757098B (zh) | 2017-09-01 | 2018-08-31 | 医疗用臂组件 |
CN201880002557.5A Active CN109788990B (zh) | 2017-09-01 | 2018-08-31 | 医疗用臂组件 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201880002551.8A Active CN109757098B (zh) | 2017-09-01 | 2018-08-31 | 医疗用臂组件 |
Country Status (6)
Country | Link |
---|---|
US (2) | US11116600B2 (zh) |
EP (2) | EP3476356A4 (zh) |
JP (2) | JP6634169B2 (zh) |
KR (2) | KR102224676B1 (zh) |
CN (2) | CN109757098B (zh) |
WO (2) | WO2019045530A2 (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113397710A (zh) | 2020-03-17 | 2021-09-17 | 上海奥朋医疗科技有限公司 | 适用于血管介入手术的双平面机械臂装置 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5817084A (en) * | 1993-05-14 | 1998-10-06 | Sri International | Remote center positioning device with flexible drive |
US6594552B1 (en) * | 1999-04-07 | 2003-07-15 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
CN104349742A (zh) * | 2012-06-01 | 2015-02-11 | 直观外科手术操作公司 | 硬件受限的远程中心机器人操纵器的冗余轴线和自由度 |
CN104622573A (zh) * | 2014-12-12 | 2015-05-20 | 北京航空航天大学 | 一种具有高刚性的四自由度远程运动中心机构 |
EP2959858A1 (en) * | 2013-02-19 | 2015-12-30 | Koh Young Technology Inc. | Lamp for medical optical device |
CN105832417A (zh) * | 2016-01-22 | 2016-08-10 | 中国科学院重庆绿色智能技术研究院 | 一种新的微创手术机器人机械臂rcm机构 |
CN106618736A (zh) * | 2016-12-16 | 2017-05-10 | 微创(上海)医疗机器人有限公司 | 具有双自由度的机械臂和手术机器人 |
WO2017077755A1 (ja) * | 2015-11-04 | 2017-05-11 | ソニー株式会社 | 支持アーム装置 |
WO2017120516A1 (en) * | 2016-01-06 | 2017-07-13 | Vanderbilt University | Snare tool manipulator system |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3273084B2 (ja) * | 1992-08-20 | 2002-04-08 | オリンパス光学工業株式会社 | 医療器具ホルダ装置 |
US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
JP2000354986A (ja) | 1999-06-10 | 2000-12-26 | Sankyo Kogyo Kk | ロボットアーム |
US9138129B2 (en) | 2007-06-13 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
WO2009151206A1 (ko) | 2008-06-09 | 2009-12-17 | (주)미래컴퍼니 | 수술용 로봇의 마스터 인터페이스 및 구동방법 |
GB0816324D0 (en) | 2008-09-06 | 2008-10-15 | Comis Orthopaedics Ltd | Targeting apparatus |
CN101548904B (zh) * | 2009-05-22 | 2010-11-17 | 四川大学 | 一种手术机器人手臂 |
US20110282357A1 (en) | 2010-05-14 | 2011-11-17 | Intuitive Surgical Operations, Inc. | Surgical system architecture |
KR101550451B1 (ko) | 2010-08-10 | 2015-09-07 | (주)미래컴퍼니 | 수술용 로봇 암의 rcm 구조 |
CN102218734B (zh) | 2011-05-31 | 2013-07-03 | 北京航空航天大学 | 具有虚拟运动中心的双平行四杆两维转动并联机构 |
KR101307951B1 (ko) * | 2012-04-25 | 2013-09-12 | 한양대학교 에리카산학협력단 | 수술용 로봇 |
CN107595392B (zh) | 2012-06-01 | 2020-11-27 | 直观外科手术操作公司 | 使用零空间回避操纵器臂与患者碰撞 |
US10353165B2 (en) | 2013-05-24 | 2019-07-16 | Koh Young Technology Inc. | Stand equipped with counterbalance unit |
KR101740699B1 (ko) * | 2013-05-24 | 2017-05-26 | 주식회사 고영테크놀러지 | 카운터 밸런스부를 구비한 스탠드 |
WO2014204930A2 (en) | 2013-06-17 | 2014-12-24 | Children's National Medical Center | Patient mounted mri and ct compatible robot for needle guidance in interventional procedures |
KR20160122558A (ko) | 2015-04-14 | 2016-10-24 | 한국전자통신연구원 | 모발 이식 장치 |
-
2018
- 2018-08-31 CN CN201880002551.8A patent/CN109757098B/zh active Active
- 2018-08-31 WO PCT/KR2018/010174 patent/WO2019045530A2/ko unknown
- 2018-08-31 JP JP2018567254A patent/JP6634169B2/ja active Active
- 2018-08-31 EP EP18818971.6A patent/EP3476356A4/en active Pending
- 2018-08-31 JP JP2018567049A patent/JP6634168B2/ja active Active
- 2018-08-31 US US16/313,276 patent/US11116600B2/en active Active
- 2018-08-31 CN CN201880002557.5A patent/CN109788990B/zh active Active
- 2018-08-31 WO PCT/KR2018/010180 patent/WO2019045531A2/ko unknown
- 2018-08-31 US US16/313,290 patent/US11253336B2/en active Active
- 2018-08-31 EP EP18818970.8A patent/EP3476355A4/en active Pending
- 2018-12-26 KR KR1020180169936A patent/KR102224676B1/ko active IP Right Grant
- 2018-12-26 KR KR1020180169939A patent/KR102224681B1/ko active IP Right Grant
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5817084A (en) * | 1993-05-14 | 1998-10-06 | Sri International | Remote center positioning device with flexible drive |
US6594552B1 (en) * | 1999-04-07 | 2003-07-15 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
CN104349742A (zh) * | 2012-06-01 | 2015-02-11 | 直观外科手术操作公司 | 硬件受限的远程中心机器人操纵器的冗余轴线和自由度 |
EP2959858A1 (en) * | 2013-02-19 | 2015-12-30 | Koh Young Technology Inc. | Lamp for medical optical device |
CN104622573A (zh) * | 2014-12-12 | 2015-05-20 | 北京航空航天大学 | 一种具有高刚性的四自由度远程运动中心机构 |
WO2017077755A1 (ja) * | 2015-11-04 | 2017-05-11 | ソニー株式会社 | 支持アーム装置 |
WO2017120516A1 (en) * | 2016-01-06 | 2017-07-13 | Vanderbilt University | Snare tool manipulator system |
CN105832417A (zh) * | 2016-01-22 | 2016-08-10 | 中国科学院重庆绿色智能技术研究院 | 一种新的微创手术机器人机械臂rcm机构 |
CN106618736A (zh) * | 2016-12-16 | 2017-05-10 | 微创(上海)医疗机器人有限公司 | 具有双自由度的机械臂和手术机器人 |
Also Published As
Publication number | Publication date |
---|---|
WO2019045531A2 (ko) | 2019-03-07 |
US11253336B2 (en) | 2022-02-22 |
EP3476355A4 (en) | 2019-10-16 |
JP2019534055A (ja) | 2019-11-28 |
US11116600B2 (en) | 2021-09-14 |
EP3476356A4 (en) | 2019-10-09 |
US20210220082A1 (en) | 2021-07-22 |
CN109788990A (zh) | 2019-05-21 |
WO2019045530A2 (ko) | 2019-03-07 |
KR20200025990A (ko) | 2020-03-10 |
JP6634168B2 (ja) | 2020-01-22 |
EP3476356A2 (en) | 2019-05-01 |
KR102224676B1 (ko) | 2021-03-08 |
EP3476355A2 (en) | 2019-05-01 |
WO2019045531A3 (ko) | 2019-04-18 |
KR102224681B1 (ko) | 2021-03-09 |
JP2019532679A (ja) | 2019-11-14 |
WO2019045530A3 (ko) | 2019-04-18 |
CN109757098A (zh) | 2019-05-14 |
KR20200025989A (ko) | 2020-03-10 |
US20210220083A1 (en) | 2021-07-22 |
JP6634169B2 (ja) | 2020-01-22 |
CN109757098B (zh) | 2021-07-13 |
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Legal Events
Date | Code | Title | Description |
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PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information |
Address after: 15 / F, 14 / F, No.53, Jiashan digital 2 Road, Jinchuan District, Seoul, Korea Applicant after: Gaoying Technology Co.,Ltd. Applicant after: Industry-University Cooperation Foundation Hanyang University ERICA Campus Address before: 15 / F, 14 / F, No.53, Jiashan digital 2 Road, Jinchuan District, Seoul, Korea Applicant before: KOH YOUNG TECHNOLOGY Inc. Applicant before: Industry-University Cooperation Foundation Hanyang University ERICA Campus |
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CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Address after: Han Guoshouershi Applicant after: Gaoying Technology Co.,Ltd. Applicant after: Industry-University Cooperation Foundation Hanyang University ERICA Campus Address before: 15 / F, 14 / F, No.53, Jiashan digital 2 Road, Jinchuan District, Seoul 08588, Korea Applicant before: Gaoying Technology Co.,Ltd. Applicant before: Industry-University Cooperation Foundation Hanyang University ERICA Campus |
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GR01 | Patent grant |