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 PDFInfo
- 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
- Authority
- CN
- China
- Prior art keywords
- interface structure
- drive
- interface
- instrument
- robotic 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.)
- Active
Links
- 238000003032 molecular docking Methods 0.000 title claims description 9
- 239000000463 material Substances 0.000 claims abstract description 62
- 230000004888 barrier function Effects 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000011324 bead Substances 0.000 claims description 2
- 238000002432 robotic surgery Methods 0.000 claims description 2
- 239000012636 effector Substances 0.000 description 14
- 238000001356 surgical procedure Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 210000003414 extremity Anatomy 0.000 description 7
- 238000003466 welding Methods 0.000 description 7
- 238000005538 encapsulation Methods 0.000 description 6
- -1 polypropylene Polymers 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 229920003023 plastic Polymers 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 2
- 239000004810 polytetrafluoroethylene Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 229920006132 styrene block copolymer Polymers 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 229920002430 Fibre-reinforced plastic Polymers 0.000 description 1
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
- 239000004743 Polypropylene Substances 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000002316 cosmetic surgery Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000011151 fibre-reinforced plastic Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 229920006247 high-performance elastomer Polymers 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000012830 laparoscopic surgical procedure Methods 0.000 description 1
- 229910052749 magnesium Inorganic materials 0.000 description 1
- 239000011777 magnesium Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002985 plastic film Substances 0.000 description 1
- 229920000728 polyester Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 229920001155 polypropylene Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000005060 rubber Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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, e.g. tourniquets
- 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)
Abstract
Description
Claims (20)
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 (zh) |
EP (1) | EP3745980A1 (zh) |
JP (1) | JP7482027B2 (zh) |
CN (1) | CN111970987B (zh) |
AU (1) | AU2019214497B2 (zh) |
BR (1) | BR112020015597A2 (zh) |
GB (1) | GB2570518B8 (zh) |
WO (1) | WO2019150086A1 (zh) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
GB2599664A (en) * | 2020-10-07 | 2022-04-13 | Cmr Surgical Ltd | Robotic surgical instrument chassis |
GB2599665A (en) * | 2020-10-07 | 2022-04-13 | Cmr Surgical Ltd | Interfacing a surgical robot arm and instrument |
WO2022116214A1 (zh) * | 2020-12-05 | 2022-06-09 | 诺创智能医疗科技(杭州)有限公司 | 快速插拔装置、执行机构及手术机器人 |
US11903669B2 (en) | 2021-07-30 | 2024-02-20 | Corindus, Inc | Sterile drape for robotic drive |
GB2622628A (en) * | 2022-09-23 | 2024-03-27 | Cmr Surgical Ltd | Drape interface structure |
GB2622631A (en) * | 2022-09-23 | 2024-03-27 | Cmr Surgical Ltd | Drape interface structure |
Citations (5)
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 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
EP3119331B1 (en) * | 2014-03-17 | 2022-05-04 | Intuitive Surgical Operations, Inc. | Surgical drape and systems including surgical drape and attachment sensor |
CN107787208B (zh) * | 2015-06-23 | 2021-08-06 | 柯惠Lp公司 | 机器人手术组合件 |
CA2992948A1 (en) | 2015-07-17 | 2017-01-26 | 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 |
EP3257464B1 (en) * | 2016-06-14 | 2020-09-30 | RenovaCare Sciences Corp. | Disposable apparatus and device with unsterile reusable apparatus for sterile application of a liquid |
WO2018013236A1 (en) * | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Surgical drape installation aid |
GB2552540B (en) * | 2016-07-29 | 2021-11-24 | Cmr Surgical Ltd | Interface structure |
GB201615616D0 (en) * | 2016-09-14 | 2016-10-26 | Cambridge Medical Robotics Ltd | Interfacing a surgical robotic arm and instrument |
EP4115840A1 (en) * | 2018-01-09 | 2023-01-11 | Covidien LP | Sterile interface module for robotic surgical assemblies |
-
2018
- 2018-01-30 GB GB1801531.3A patent/GB2570518B8/en active Active
-
2019
- 2019-01-29 AU AU2019214497A patent/AU2019214497B2/en active Active
- 2019-01-29 US US16/966,363 patent/US20200360095A1/en active Pending
- 2019-01-29 CN CN201980021824.8A patent/CN111970987B/zh active Active
- 2019-01-29 EP EP19704386.2A patent/EP3745980A1/en active Pending
- 2019-01-29 JP JP2020541498A patent/JP7482027B2/ja active Active
- 2019-01-29 WO PCT/GB2019/050232 patent/WO2019150086A1/en unknown
- 2019-01-29 BR BR112020015597-7A patent/BR112020015597A2/pt unknown
Patent Citations (5)
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 |
---|---|
EP3745980A1 (en) | 2020-12-09 |
JP7482027B2 (ja) | 2024-05-13 |
JP2021511878A (ja) | 2021-05-13 |
GB2570518A (en) | 2019-07-31 |
GB201801531D0 (en) | 2018-03-14 |
GB2570518B (en) | 2022-03-16 |
AU2019214497A1 (en) | 2020-09-10 |
US20200360095A1 (en) | 2020-11-19 |
GB2570518A8 (en) | 2023-05-24 |
GB2570518B8 (en) | 2023-05-24 |
BR112020015597A2 (pt) | 2021-01-05 |
AU2019214497B2 (en) | 2022-03-17 |
CN111970987A (zh) | 2020-11-20 |
WO2019150086A1 (en) | 2019-08-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111970987B (zh) | 将手术机械臂与器械对接 | |
US20230072227A1 (en) | Interfacing a surgical robotic arm and instrument | |
AU2022204385B2 (en) | Interfacing a surgical robotic arm and instrument | |
CN114533278A (zh) | 接口结构 | |
US11241289B2 (en) | Packaging insert | |
US11369441B2 (en) | Drive transfer | |
GB2585727A (en) | Interfacing a surgical robotic arm and instrument |
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 | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Dominic Martin McBrien Inventor after: Keith Marshall Inventor after: Martin mcbryan Inventor before: James Oliver Grant Inventor before: Keith Marshall Inventor before: Martin mcbryan |
|
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: James Oliver Grant Inventor after: Keith Marshall Inventor after: Dominic Martin McBrien Inventor before: Dominic Martin McBrien Inventor before: Keith Marshall Inventor before: Martin mcbryan |
|
GR01 | Patent grant |