CN110121308B - 用于铰接手术器械的驱动装置 - Google Patents

用于铰接手术器械的驱动装置 Download PDF

Info

Publication number
CN110121308B
CN110121308B CN201780070720.7A CN201780070720A CN110121308B CN 110121308 B CN110121308 B CN 110121308B CN 201780070720 A CN201780070720 A CN 201780070720A CN 110121308 B CN110121308 B CN 110121308B
Authority
CN
China
Prior art keywords
end effector
drive
pair
drive elements
path
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
CN201780070720.7A
Other languages
English (en)
Chinese (zh)
Other versions
CN110121308A (zh
Inventor
本·罗伯特·卓别林
罗斯·汉密尔顿·亨利伍德
阿奇·约翰·拉尔夫·洛奇
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.)
CMR Surgical Ltd
Original Assignee
CMR Surgical Ltd
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 CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of CN110121308A publication Critical patent/CN110121308A/zh
Application granted granted Critical
Publication of CN110121308B publication Critical patent/CN110121308B/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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/02—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors
    • A61B17/0218—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors for minimally invasive surgery
    • 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
    • A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
    • A61B17/128—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
    • A61B17/1285—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips for minimally invasive surgery
    • 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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • 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
    • A61B2017/07271—Stapler heads characterised by its cartridge
    • 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
    • A61B2017/07285—Stapler heads characterised by its cutter
    • 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
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • 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
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Reproductive Health (AREA)
  • Vascular Medicine (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
CN201780070720.7A 2016-10-14 2017-10-06 用于铰接手术器械的驱动装置 Active CN110121308B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1617448.4 2016-10-14
GB1617448.4A GB2554915B (en) 2016-10-14 2016-10-14 Driving arrangement for articulating a surgical instrument
PCT/GB2017/053038 WO2018069679A1 (en) 2016-10-14 2017-10-06 Driving arrangement for articulating a surgical instrument

Publications (2)

Publication Number Publication Date
CN110121308A CN110121308A (zh) 2019-08-13
CN110121308B true CN110121308B (zh) 2022-08-26

Family

ID=57680676

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780070720.7A Active CN110121308B (zh) 2016-10-14 2017-10-06 用于铰接手术器械的驱动装置

Country Status (6)

Country Link
US (1) US11129686B2 (https=)
EP (3) EP3525710B1 (https=)
JP (1) JP7018441B2 (https=)
CN (1) CN110121308B (https=)
GB (1) GB2554915B (https=)
WO (1) WO2018069679A1 (https=)

Families Citing this family (76)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9232959B2 (en) 2007-01-02 2016-01-12 Aquabeam, Llc Multi fluid tissue resection methods and devices
US12290277B2 (en) 2007-01-02 2025-05-06 Aquabeam, Llc Tissue resection with pressure sensing
WO2009111736A1 (en) 2008-03-06 2009-09-11 Aquabeam Llc Tissue ablation and cautery with optical energy carried in fluid stream
WO2013130895A1 (en) 2012-02-29 2013-09-06 Aquabeam, Llc Automated image-guided tissue resection and treatment
US10231867B2 (en) 2013-01-18 2019-03-19 Auris Health, Inc. Method, apparatus and system for a water jet
WO2014201165A1 (en) 2013-06-11 2014-12-18 Auris Surgical Robotics, Inc. System for robotic assisted cataract surgery
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
US20160287279A1 (en) 2015-04-01 2016-10-06 Auris Surgical Robotics, Inc. Microsurgical tool for robotic applications
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US11207145B2 (en) 2016-07-14 2021-12-28 Intuitive Surgical Operations, Inc. Multi-cable medical instrument
WO2018094191A1 (en) 2016-11-21 2018-05-24 Intuitive Surgical Operations, Inc. Cable length conserving medical instrument
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
AU2018244318B2 (en) 2017-03-28 2023-11-16 Auris Health, Inc. Shaft actuating handle
US10285574B2 (en) 2017-04-07 2019-05-14 Auris Health, Inc. Superelastic medical instrument
CN110602976B (zh) 2017-04-07 2022-11-15 奥瑞斯健康公司 患者导引器对准
US11452572B2 (en) 2017-12-14 2022-09-27 Intuitive Surgical Operations, Inc. Medical tools having tension bands
WO2019173268A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US11992286B2 (en) * 2018-03-07 2024-05-28 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
EP3761897A4 (en) 2018-03-07 2021-11-24 Intuitive Surgical Operations, Inc. LOW-FRICTION MEDICAL TOOLS WITH SMALL PROFILE AND ASSEMBLY-FRIENDLY COMPONENTS
CN111936072B (zh) 2018-04-10 2024-08-02 直观外科手术操作公司 具有柔线布设的可关节运动的医疗装置
MX2020013241A (es) 2018-06-07 2021-02-22 Auris Health Inc Sistemas medicos roboticos con instrumentos de gran fuerza.
CN112367928A (zh) * 2018-06-28 2021-02-12 奥瑞斯健康公司 结合滑轮共享的医疗系统
US11259798B2 (en) 2018-07-16 2022-03-01 Intuitive Surgical Operations, Inc. Medical devices having tissue grasping surfaces and features for manipulating surgical needles
US11612447B2 (en) 2018-07-19 2023-03-28 Intuitive Surgical Operations, Inc. Medical devices having three tool members
EP3806772A4 (en) 2018-08-15 2022-03-30 Auris Health, Inc. Medical instruments for tissue cauterization
WO2020036686A1 (en) 2018-08-17 2020-02-20 Auris Health, Inc. Bipolar medical instrument
WO2020068303A1 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Systems and instruments for suction and irrigation
US11576738B2 (en) 2018-10-08 2023-02-14 Auris Health, Inc. Systems and instruments for tissue sealing
WO2020102776A1 (en) 2018-11-15 2020-05-22 Intuitive Surgical Operations, Inc. Surgical instrument with sensor aligned cable guide
US11291514B2 (en) 2018-11-15 2022-04-05 Intuitive Surgical Operations, Inc. Medical devices having multiple blades and methods of use
WO2020102780A1 (en) 2018-11-15 2020-05-22 Intuitive Surgical Operations, Inc. Cable drive limited slip capstan and shaft
CN109498096A (zh) * 2018-12-15 2019-03-22 苏州康多机器人有限公司 一种多自由度增大夹持力的结扎钳
US11950863B2 (en) 2018-12-20 2024-04-09 Auris Health, Inc Shielding for wristed instruments
CN113347938A (zh) 2019-01-25 2021-09-03 奥瑞斯健康公司 具有加热和冷却能力的血管密封器
CN113613566B (zh) 2019-03-25 2024-10-11 奥瑞斯健康公司 用于医疗缝合的系统和方法
CN110123420B (zh) * 2019-06-01 2020-12-08 青岛大学附属医院 一种消化内镜微创手术刀装置
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
CN114126529B (zh) 2019-06-25 2026-03-27 奥瑞斯健康公司 包括具有混合重定向表面的腕部的医疗器械
WO2020263629A1 (en) 2019-06-27 2020-12-30 Auris Health, Inc. Systems and methods for a medical clip applier
US11109928B2 (en) 2019-06-28 2021-09-07 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
US12324645B2 (en) 2019-09-26 2025-06-10 Auris Health, Inc. Systems and methods for collision avoidance using object models
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
US12357409B2 (en) 2019-11-21 2025-07-15 Auris Health, Inc. Systems and methods for draping a surgical system
KR20220123269A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 고급 바스켓 구동 모드
WO2021137104A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Dynamic pulley system
US12370002B2 (en) 2020-03-30 2025-07-29 Auris Health, Inc. Workspace optimization for robotic surgery
CN115697236A (zh) 2020-05-04 2023-02-03 直观外科手术操作公司 用于驱动多根缆线的具有单输入装置的医疗器械
CN115802975A (zh) 2020-06-29 2023-03-14 奥瑞斯健康公司 用于检测连杆与外部对象之间的接触的系统和方法
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
CN115734765A (zh) 2020-06-30 2023-03-03 奥瑞斯健康公司 具有碰撞接近度指示器的机器人医疗系统
GB2597084B (en) * 2020-07-14 2025-01-22 Cmr Surgical Ltd Geared instruments
US12458533B2 (en) 2020-08-13 2025-11-04 Forsight Robotics Ltd. Capsulorhexis apparatus and method
EP4193955B1 (en) * 2020-09-01 2024-12-18 RIVERFIELD Inc. Surgical tool
CN112741695B (zh) * 2020-12-19 2025-07-15 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
CN112807089B (zh) * 2021-02-10 2022-05-03 诺创智能医疗科技(杭州)有限公司 手术器械和手术机器人
WO2022177366A1 (ko) * 2021-02-20 2022-08-25 주식회사 리브스메드 수술용 인스트루먼트의 엔드 툴 및 이를 구비한 전기 소작 수술용 인스트루먼트
JP7672013B2 (ja) * 2021-04-23 2025-05-07 リブスメド インコーポレーテッド 手術用インストルメントのエンドツール及びそれを備えた手術用インストルメント
KR102695949B1 (ko) * 2021-04-23 2024-08-19 주식회사 리브스메드 수술용 인스트루먼트의 카트리지
WO2022255614A1 (ko) * 2021-05-29 2022-12-08 주식회사 리브스메드 수술용 인스트루먼트의 엔드 툴 및 이를 구비한 전기 소작 수술용 인스트루먼트
WO2022254335A1 (en) 2021-06-01 2022-12-08 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
CN117042714B (zh) * 2021-06-30 2024-05-28 瑞德医疗机器股份有限公司 手术器具
KR102717637B1 (ko) 2021-07-16 2024-10-16 주식회사 리브스메드 수술용 인스트루먼트의 엔드 툴 및 이를 구비한 전기 소작 수술용 인스트루먼트
EP4699550A3 (en) * 2021-07-16 2026-04-01 Livsmed Inc. End tool of surgical instrument, and surgical instrument comprising same
EP4280998A1 (en) 2021-10-17 2023-11-29 Forsight Robotics Ltd. One-sided robotic surgical procedure
US12390266B2 (en) * 2022-05-23 2025-08-19 Livsmed Inc. End tool of surgical instrument and electrocauterization surgical instrument comprising same
WO2023229353A1 (ko) * 2022-05-23 2023-11-30 주식회사 리브스메드 수술용 인스트루먼트의 엔드 툴 및 이를 구비한 전기 소작 수술용 인스트루먼트
GB2622802B (en) * 2022-09-28 2025-01-29 Cmr Surgical Ltd Securing a driving element in an instrument interface of a robotic surgical instrument
WO2024157183A1 (en) * 2023-01-25 2024-08-02 Auris Health, Inc. Relaxation tension monitoring and homing of medical instruments
CN119385690B (zh) * 2024-10-28 2025-12-02 中南大学 一种带力矩检测的从执行器

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2415418A1 (en) * 2010-08-04 2012-02-08 Surgica Robotica S.p.A. Robotic surgical utensil
CN102892373A (zh) * 2010-05-14 2013-01-23 直观外科手术操作公司 提供位置测量的医疗器械中的驱动力控制
CN104470450A (zh) * 2012-07-17 2015-03-25 理查德·沃尔夫有限公司 内窥镜器械
CN104958106A (zh) * 2009-11-13 2015-10-07 直观外科手术操作公司 具有紧凑腕部的手术工具
CN105163679A (zh) * 2013-03-14 2015-12-16 Sri国际公司 紧凑型机器人手腕
CN105979901A (zh) * 2014-02-12 2016-09-28 柯惠Lp公司 手术末端执行器及其滑轮组件

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5507773A (en) * 1994-02-18 1996-04-16 Ethicon Endo-Surgery Cable-actuated jaw assembly for surgical instruments
US5807376A (en) * 1994-06-24 1998-09-15 United States Surgical Corporation Apparatus and method for performing surgical tasks during laparoscopic 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
US6364888B1 (en) * 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
US6197017B1 (en) * 1998-02-24 2001-03-06 Brock Rogers Surgical, Inc. Articulated apparatus for telemanipulator system
US6554844B2 (en) * 1998-02-24 2003-04-29 Endovia Medical, Inc. Surgical instrument
US6394998B1 (en) * 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US6206903B1 (en) * 1999-10-08 2001-03-27 Intuitive Surgical, Inc. Surgical tool with mechanical advantage
US6902560B1 (en) * 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
US6840938B1 (en) * 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
US7699835B2 (en) * 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
US8398634B2 (en) * 2002-04-18 2013-03-19 Intuitive Surgical Operations, Inc. Wristed robotic surgical tool for pluggable end-effectors
US6676684B1 (en) * 2001-09-04 2004-01-13 Intuitive Surgical, Inc. Roll-pitch-roll-yaw surgical tool
US7331967B2 (en) * 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
WO2007075844A1 (en) * 2005-12-20 2007-07-05 Intuitive Surgical, Inc. Telescoping insertion axis of a robotic surgical system
US20070208375A1 (en) * 2006-02-23 2007-09-06 Kouji Nishizawa Surgical device
US8597182B2 (en) * 2006-04-28 2013-12-03 Intuitive Surgical Operations, Inc. Robotic endoscopic retractor for use in minimally invasive surgery
JP4829005B2 (ja) * 2006-05-12 2011-11-30 テルモ株式会社 マニピュレータ
US7935130B2 (en) * 2006-11-16 2011-05-03 Intuitive Surgical Operations, Inc. Two-piece end-effectors for robotic surgical tools
KR101056204B1 (ko) * 2008-06-27 2011-08-11 정창욱 최소 침습 수술 도구
US8821480B2 (en) * 2008-07-16 2014-09-02 Intuitive Surgical Operations, Inc. Four-cable wrist with solid surface cable channels
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
JP6150672B2 (ja) 2013-08-26 2017-06-21 オリンパス株式会社 医療用マニピュレータ
CN104116547B (zh) * 2014-07-25 2016-04-06 上海交通大学 用于微创手术机器人的低摩擦小惯量手术器械

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104958106A (zh) * 2009-11-13 2015-10-07 直观外科手术操作公司 具有紧凑腕部的手术工具
CN102892373A (zh) * 2010-05-14 2013-01-23 直观外科手术操作公司 提供位置测量的医疗器械中的驱动力控制
EP2415418A1 (en) * 2010-08-04 2012-02-08 Surgica Robotica S.p.A. Robotic surgical utensil
CN104470450A (zh) * 2012-07-17 2015-03-25 理查德·沃尔夫有限公司 内窥镜器械
CN105163679A (zh) * 2013-03-14 2015-12-16 Sri国际公司 紧凑型机器人手腕
CN105979901A (zh) * 2014-02-12 2016-09-28 柯惠Lp公司 手术末端执行器及其滑轮组件

Also Published As

Publication number Publication date
GB2554915B (en) 2022-03-02
US11129686B2 (en) 2021-09-28
US20200038127A1 (en) 2020-02-06
EP3525710A1 (en) 2019-08-21
WO2018069679A1 (en) 2018-04-19
JP2019530530A (ja) 2019-10-24
GB201617448D0 (en) 2016-11-30
EP4032495A1 (en) 2022-07-27
JP7018441B2 (ja) 2022-02-10
EP4032494B1 (en) 2024-09-11
EP4032495B1 (en) 2024-09-04
EP3525710B1 (en) 2022-04-13
EP4032494A1 (en) 2022-07-27
CN110121308A (zh) 2019-08-13
GB2554915A (en) 2018-04-18

Similar Documents

Publication Publication Date Title
CN110121308B (zh) 用于铰接手术器械的驱动装置
US11957371B2 (en) Robotically controlling mechanical advantage gripping
US11246614B2 (en) Robotically controlling mechanical advantage gripping
JP7200448B2 (ja) ロボット顕微手術アセンブリ
US20210401445A1 (en) Surgical device for grasping and shearing
US20240307085A1 (en) Surgical tools with occluded blades

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