CN111970987B - 将手术机械臂与器械对接 - Google Patents

将手术机械臂与器械对接 Download PDF

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Publication number
CN111970987B
CN111970987B CN201980021824.8A CN201980021824A CN111970987B CN 111970987 B CN111970987 B CN 111970987B CN 201980021824 A CN201980021824 A CN 201980021824A CN 111970987 B CN111970987 B CN 111970987B
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CN
China
Prior art keywords
drive
interface structure
interface
instrument
robotic arm
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Active
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CN201980021824.8A
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English (en)
Chinese (zh)
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CN111970987A (zh
Inventor
詹姆斯·奥利弗·格兰特
基思·马歇尔
多米尼克·马丁·麦克布莱恩
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CMR Surgical Ltd
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CMR Surgical Ltd
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Publication date
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Publication of CN111970987A publication Critical patent/CN111970987A/zh
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Classifications

    • 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
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • 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
    • 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
    • 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
    • A61B2034/742—Joysticks
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (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)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
CN201980021824.8A 2018-01-30 2019-01-29 将手术机械臂与器械对接 Active CN111970987B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1801531.3A GB2570518B8 (en) 2018-01-30 2018-01-30 Interfacing a surgical robotic arm and instrument
GB1801531.3 2018-01-30
PCT/GB2019/050232 WO2019150086A1 (en) 2018-01-30 2019-01-29 Interfacing a surgical robotic arm and instrument

Publications (2)

Publication Number Publication Date
CN111970987A CN111970987A (zh) 2020-11-20
CN111970987B true CN111970987B (zh) 2024-06-07

Family

ID=61558196

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980021824.8A Active CN111970987B (zh) 2018-01-30 2019-01-29 将手术机械臂与器械对接

Country Status (8)

Country Link
US (1) US20200360095A1 (https=)
EP (1) EP3745980A1 (https=)
JP (1) JP7482027B2 (https=)
CN (1) CN111970987B (https=)
AU (1) AU2019214497B2 (https=)
BR (1) BR112020015597A2 (https=)
GB (1) GB2570518B8 (https=)
WO (1) WO2019150086A1 (https=)

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US11096754B2 (en) 2017-10-04 2021-08-24 Mako Surgical Corp. Sterile drape assembly for surgical robot
IT202000002536A1 (it) 2020-02-10 2021-08-10 Medical Microinstruments Spa Adattatore sterile per un sistema di chirurgia robotica, assieme, sistema e metodo
US11806098B2 (en) * 2020-04-08 2023-11-07 DePuy Synthes Products, Inc. Surgical robotic systems including a sterile connector and related methods
GB2596647B (en) * 2020-07-02 2023-03-01 Prec Robotics Limited A barrier
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
GB2599665B (en) * 2020-10-07 2025-02-05 Cmr Surgical Ltd Interfacing a surgical robot arm and instrument
GB2599664B (en) * 2020-10-07 2024-12-18 Cmr Surgical Ltd Robotic surgical instrument chassis
EP4257071A4 (en) * 2020-12-05 2024-08-14 Noahtron Intelligence Medtech (Hangzhou) Co., Ltd. QUICK INSERTION AND REMOVAL DEVICE, ACTUATION MECHANISM AND SURGICAL ROBOT
US20220354596A1 (en) * 2021-03-23 2022-11-10 Levita Magnetics International Corp. Robotic surgery systems, devices, and methods of use
EP4203829A1 (en) * 2021-06-01 2023-07-05 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
US11903669B2 (en) 2021-07-30 2024-02-20 Corindus, Inc Sterile drape for robotic drive
WO2023062470A1 (en) 2021-10-17 2023-04-20 Forsight Robotics Ltd. One-sided robotic surgical procedure
US12484978B2 (en) 2022-03-02 2025-12-02 Mako Surgical Corp. Robotic system including a link tracker
GB2622628B (en) * 2022-09-23 2025-02-12 Cmr Surgical Ltd Drape interface structure
GB2622631B (en) * 2022-09-23 2025-01-01 Cmr Surgical Ltd Drape interface structure
CN118662236B (zh) * 2023-03-17 2025-09-16 北京术锐机器人股份有限公司 紧凑型手术工具及手术机器人系统
CN118680608A (zh) * 2023-03-24 2024-09-24 北京术锐机器人股份有限公司 紧凑型腕关节手术工具及手术机器人系统
CN118680607B (zh) * 2023-03-24 2025-09-16 北京术锐机器人股份有限公司 紧凑型蛇骨手术工具及手术机器人系统
DE102024103154A1 (de) * 2024-02-05 2025-08-07 Karl Storz Se & Co. Kg Schnittstelle zur Verbindung einer Antriebseinheit mit einem medizinischen Instrument
CN118340953A (zh) * 2024-04-19 2024-07-16 苏州康多机器人有限公司 吸引连接装置及手术机器人
GB2642175A (en) * 2024-05-15 2026-01-07 Cmr Surgical Ltd Ultrasonic robotically driven surgical instrument

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102892363A (zh) * 2010-05-14 2013-01-23 直观外科手术操作公司 手术系统器械架构
CN104411266A (zh) * 2012-04-27 2015-03-11 库卡实验仪器有限公司 机器人手术系统
CN105640647A (zh) * 2014-11-27 2016-06-08 阿瓦特拉医药有限公司 用于机械手辅助外科手术的设备
CN106102642A (zh) * 2014-03-17 2016-11-09 直观外科手术操作公司 外科手术套管安装件及相关的系统和方法
CN107635505A (zh) * 2015-05-07 2018-01-26 剑桥医疗机器人有限公司 用于传递驱动的手术单

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US7886743B2 (en) * 2008-03-31 2011-02-15 Intuitive Surgical Operations, Inc. Sterile drape interface for robotic surgical instrument
US9339342B2 (en) * 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
US8720448B2 (en) * 2008-11-07 2014-05-13 Hansen Medical, Inc. Sterile interface apparatus
WO2015023834A1 (en) * 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
JP6674377B2 (ja) * 2013-08-15 2020-04-01 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 近位駆動ディスクおよび遠位被駆動ディスクを有する装置
EP4049611B1 (en) * 2014-03-17 2023-12-13 Intuitive Surgical Operations, Inc. Surgical drape and systems including surgical drape and attachment sensor
JP6887392B2 (ja) * 2015-06-23 2021-06-16 コヴィディエン リミテッド パートナーシップ ロボット外科手術アセンブリ
CA2992948C (en) 2015-07-17 2026-02-17 Deka Products Limited Partnership Robotic surgery system, method, and apparatus
DE102016109601A1 (de) * 2016-05-25 2017-11-30 avateramedical GmBH Anordnung zur sterilen Handhabung von nicht sterilen Einheiten in einer sterilen Umgebung
ES2828955T3 (es) * 2016-06-14 2021-05-28 Renovacare Sciences Corp Aparato desechable y dispositivo con aparato reutilizable no esterilizado para aplicación esterilizada de un líquido
CN109561939B (zh) * 2016-07-14 2022-08-23 直观外科手术操作公司 外科手术盖布安装辅助工具
GB201615616D0 (en) * 2016-09-14 2016-10-26 Cambridge Medical Robotics Ltd Interfacing a surgical robotic arm and instrument
GB2552540B (en) * 2016-07-29 2021-11-24 Cmr Surgical Ltd Interface structure
US12193774B2 (en) * 2018-01-09 2025-01-14 Covidien Lp Sterile interface module for robotic surgical assemblies

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
CN102892363A (zh) * 2010-05-14 2013-01-23 直观外科手术操作公司 手术系统器械架构
CN104411266A (zh) * 2012-04-27 2015-03-11 库卡实验仪器有限公司 机器人手术系统
CN106102642A (zh) * 2014-03-17 2016-11-09 直观外科手术操作公司 外科手术套管安装件及相关的系统和方法
CN105640647A (zh) * 2014-11-27 2016-06-08 阿瓦特拉医药有限公司 用于机械手辅助外科手术的设备
CN107635505A (zh) * 2015-05-07 2018-01-26 剑桥医疗机器人有限公司 用于传递驱动的手术单

Also Published As

Publication number Publication date
WO2019150086A1 (en) 2019-08-08
GB2570518B (en) 2022-03-16
AU2019214497B2 (en) 2022-03-17
GB2570518A8 (en) 2023-05-24
BR112020015597A2 (pt) 2021-01-05
GB201801531D0 (en) 2018-03-14
GB2570518A (en) 2019-07-31
AU2019214497A1 (en) 2020-09-10
GB2570518B8 (en) 2023-05-24
EP3745980A1 (en) 2020-12-09
US20200360095A1 (en) 2020-11-19
CN111970987A (zh) 2020-11-20
JP7482027B2 (ja) 2024-05-13
JP2021511878A (ja) 2021-05-13

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Inventor after: Dominic Martin McBrien

Inventor after: Keith Marshall

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Inventor before: James Oliver Grant

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Inventor before: Martin mcbryan

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Inventor before: Martin mcbryan

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