CN113081285B - 机器人手术器械及相关方法 - Google Patents

机器人手术器械及相关方法 Download PDF

Info

Publication number
CN113081285B
CN113081285B CN202110508789.1A CN202110508789A CN113081285B CN 113081285 B CN113081285 B CN 113081285B CN 202110508789 A CN202110508789 A CN 202110508789A CN 113081285 B CN113081285 B CN 113081285B
Authority
CN
China
Prior art keywords
pair
elements
drive
instrument
pulley
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
CN202110508789.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN113081285A (zh
Inventor
B·R·卓别林
K·马歇尔
N·P·S-L·霍尔成德
R·A·卡思伯森
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
Priority to CN202110508789.1A priority Critical patent/CN113081285B/zh
Publication of CN113081285A publication Critical patent/CN113081285A/zh
Application granted granted Critical
Publication of CN113081285B publication Critical patent/CN113081285B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • A61B34/30—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
    • 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
    • A61B17/00234—Surgical instruments, devices or methods for 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
    • A61B34/72—Micromanipulators
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
    • 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
    • A61B2034/305—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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw
    • Y10S901/36—Actuating means

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)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN202110508789.1A 2015-12-10 2016-12-09 机器人手术器械及相关方法 Active CN113081285B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110508789.1A CN113081285B (zh) 2015-12-10 2016-12-09 机器人手术器械及相关方法

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
GB1521806.8 2015-12-10
GBGB1521806.8A GB201521806D0 (en) 2015-12-10 2015-12-10 Independent tensioning and aligning mechanisms for a surgical instrument
CN202110508789.1A CN113081285B (zh) 2015-12-10 2016-12-09 机器人手术器械及相关方法
PCT/GB2016/053898 WO2017098271A1 (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument
CN201680071646.6A CN108430370B (zh) 2015-12-10 2016-12-09 用于手术器械的独立张紧和对齐机构

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201680071646.6A Division CN108430370B (zh) 2015-12-10 2016-12-09 用于手术器械的独立张紧和对齐机构

Publications (2)

Publication Number Publication Date
CN113081285A CN113081285A (zh) 2021-07-09
CN113081285B true CN113081285B (zh) 2024-03-12

Family

ID=55274527

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202110508789.1A Active CN113081285B (zh) 2015-12-10 2016-12-09 机器人手术器械及相关方法
CN201680071646.6A Active CN108430370B (zh) 2015-12-10 2016-12-09 用于手术器械的独立张紧和对齐机构

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201680071646.6A Active CN108430370B (zh) 2015-12-10 2016-12-09 用于手术器械的独立张紧和对齐机构

Country Status (6)

Country Link
US (2) US10463437B2 (https=)
EP (1) EP3386415B1 (https=)
JP (1) JP6811778B2 (https=)
CN (2) CN113081285B (https=)
GB (2) GB201521806D0 (https=)
WO (1) WO2017098271A1 (https=)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10743948B2 (en) * 2016-12-07 2020-08-18 Ethicon Llc Surgical tool wrists
EP3761897A4 (en) 2018-03-07 2021-11-24 Intuitive Surgical Operations, Inc. LOW-FRICTION MEDICAL TOOLS WITH SMALL PROFILE AND ASSEMBLY-FRIENDLY COMPONENTS
WO2019173268A1 (en) * 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
JP2022510406A (ja) * 2018-12-06 2022-01-26 コヴィディエン リミテッド パートナーシップ ケーブル駆動エンドエフェクタの制御方法
CN109452976B (zh) * 2018-12-28 2021-01-15 北京术锐技术有限公司 一种柔性手术工具系统
CN109481040A (zh) * 2019-01-17 2019-03-19 厦门市领汇医疗科技有限公司 一种机械手夹具
US11123146B2 (en) * 2019-05-30 2021-09-21 Titan Medical Inc. Surgical instrument apparatus, actuator, and drive
CN112754545B (zh) * 2020-12-19 2025-07-25 深圳市精锋医疗科技股份有限公司 张紧机构、手术器械、从操作设备及手术机器人
WO2023181629A1 (ja) * 2022-03-25 2023-09-28 ソニーグループ株式会社 ワイヤー調整装置、ワイヤー駆動装置、並びにマニピュレータ装置
CN116492057B (zh) * 2023-04-18 2026-03-24 核动医疗机器人(深圳)有限公司 末端执行器、手术器械和手术机器人
US20250152263A1 (en) * 2023-11-09 2025-05-15 Cilag Gmbh International Pulley supports for end effector wrists
CN118370609B (zh) * 2024-06-25 2024-10-11 杭州唯精医疗机器人有限公司 张力调节工装

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101044973A (zh) * 2006-03-31 2007-10-03 伊西康内外科公司 用于与内窥镜连接的连接装置
CN101292902A (zh) * 2008-06-13 2008-10-29 哈尔滨工程大学 微创外科手术用手动微机械手
CN103327922A (zh) * 2011-02-18 2013-09-25 直观外科手术操作公司 融合和切割用外科器械及相关方法

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060008494A1 (en) * 1997-02-21 2006-01-12 The Regents Of The University Of California Complete inactivation of infectious proteins
US20020087048A1 (en) * 1998-02-24 2002-07-04 Brock David L. Flexible instrument
US6394998B1 (en) * 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US7766894B2 (en) * 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US6969385B2 (en) * 2002-05-01 2005-11-29 Manuel Ricardo Moreyra Wrist with decoupled motion transmission
US7331967B2 (en) 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US7842028B2 (en) * 2005-04-14 2010-11-30 Cambridge Endoscopic Devices, Inc. Surgical instrument guide device
US8021326B2 (en) * 2004-03-05 2011-09-20 Hansen Medical, Inc. Instrument driver for robotic catheter system
WO2007005976A1 (en) * 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
JP4755047B2 (ja) * 2006-08-08 2011-08-24 テルモ株式会社 作業機構及びマニピュレータ
US8573465B2 (en) * 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
KR100975047B1 (ko) * 2008-02-15 2010-08-11 (주)미래컴퍼니 수술용 인스트루먼트의 커플링 구조
US9259274B2 (en) * 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US8245594B2 (en) * 2008-12-23 2012-08-21 Intuitive Surgical Operations, Inc. Roll joint and method for a surgical apparatus
KR20100099817A (ko) * 2009-03-04 2010-09-15 주식회사 로보멕 수술기구
EP2627278B1 (en) * 2010-10-11 2015-03-25 Ecole Polytechnique Fédérale de Lausanne (EPFL) Mechanical manipulator for surgical instruments
KR101064825B1 (ko) * 2010-11-18 2011-09-14 정창욱 최소 침습 수술 기구
WO2012078951A1 (en) * 2010-12-09 2012-06-14 Freehand Endoscopic Devices, Inc. Surgical instrument
US8578810B2 (en) * 2011-02-14 2013-11-12 Intuitive Surgical Operations, Inc. Jointed link structures exhibiting preferential bending, and related methods
WO2013009699A2 (en) * 2011-07-11 2013-01-17 Agile Endosurgery, Inc. Surgical tool
CN103732161B (zh) * 2011-08-15 2016-11-09 直观外科手术操作公司 带有软爪和/或柔性腕机构的医疗器械
WO2013077571A1 (ko) * 2011-11-23 2013-05-30 주식회사 리브스메드 수술용 인스트루먼트
US8984720B2 (en) * 2011-12-28 2015-03-24 Pioneer Surgical Technology, Inc. Tensioning instrument and method
US9364230B2 (en) * 2012-06-28 2016-06-14 Ethicon Endo-Surgery, Llc Surgical stapling instruments with rotary joint assemblies
GB2523224C2 (en) 2014-03-07 2021-06-02 Cambridge Medical Robotics Ltd Surgical arm
DE102014205036A1 (de) * 2014-03-18 2015-09-24 Richard Wolf Gmbh Endoskopisches Instrument zum Anschluss an einen Operationsroboter
US10314635B2 (en) * 2014-05-28 2019-06-11 A&E Advanced Closure Systems, Llc Tensioning instruments

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101044973A (zh) * 2006-03-31 2007-10-03 伊西康内外科公司 用于与内窥镜连接的连接装置
CN101292902A (zh) * 2008-06-13 2008-10-29 哈尔滨工程大学 微创外科手术用手动微机械手
CN103327922A (zh) * 2011-02-18 2013-09-25 直观外科手术操作公司 融合和切割用外科器械及相关方法

Also Published As

Publication number Publication date
CN108430370A (zh) 2018-08-21
EP3386415B1 (en) 2021-08-04
GB2546395A (en) 2017-07-19
US20170165010A1 (en) 2017-06-15
EP3386415A1 (en) 2018-10-17
GB201521806D0 (en) 2016-01-27
US20200100854A1 (en) 2020-04-02
WO2017098271A1 (en) 2017-06-15
GB201620996D0 (en) 2017-01-25
JP2019502439A (ja) 2019-01-31
US10463437B2 (en) 2019-11-05
CN108430370B (zh) 2021-05-28
JP6811778B2 (ja) 2021-01-13
CN113081285A (zh) 2021-07-09
US11382705B2 (en) 2022-07-12
GB2546395B (en) 2021-10-06

Similar Documents

Publication Publication Date Title
CN113243992B (zh) 用于铰接手术器械的滑轮装置
CN113262051B (zh) 手术器械铰接部
CN108472094B (zh) 机器人手术器械
CN113081285B (zh) 机器人手术器械及相关方法
CN108430371B (zh) 手术器械轴辐条
CN108366830B (zh) 机器人手术器械、手术机器人臂和手术机器人
US11033348B2 (en) Guiding engagement of a robot arm and surgical 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
GR01 Patent grant
GR01 Patent grant