CN113229942B - 手术器械装置操纵器 - Google Patents

手术器械装置操纵器 Download PDF

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Publication number
CN113229942B
CN113229942B CN202011138947.0A CN202011138947A CN113229942B CN 113229942 B CN113229942 B CN 113229942B CN 202011138947 A CN202011138947 A CN 202011138947A CN 113229942 B CN113229942 B CN 113229942B
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CN
China
Prior art keywords
surgical tool
tool holder
surgical
opening
instrument device
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
CN202011138947.0A
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English (en)
Chinese (zh)
Other versions
CN113229942A (zh
Inventor
特拉维斯·舒
马修·雷根·威廉斯
约瑟夫·丹尼尔·博古斯基
大卫·S·明茨
艾伦·于
格雷戈里·金茨
壇洋一郎
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Auris Health Inc
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Auris Surgical Robotics Inc
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Priority to CN202011138947.0A priority Critical patent/CN113229942B/zh
Publication of CN113229942A publication Critical patent/CN113229942A/zh
Application granted granted Critical
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • 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
    • 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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • 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
    • 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
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • 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
    • A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
CN202011138947.0A 2015-09-09 2016-09-09 手术器械装置操纵器 Active CN113229942B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011138947.0A CN113229942B (zh) 2015-09-09 2016-09-09 手术器械装置操纵器

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201562216239P 2015-09-09 2015-09-09
US62/216,239 2015-09-09
CN202011138947.0A CN113229942B (zh) 2015-09-09 2016-09-09 手术器械装置操纵器
CN201680060162.1A CN108348133B (zh) 2015-09-09 2016-09-09 用于手术机器人系统的器械装置操纵器
PCT/US2016/051154 WO2017044884A1 (en) 2015-09-09 2016-09-09 Instrument device manipulator for a surgical robotics system

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201680060162.1A Division CN108348133B (zh) 2015-09-09 2016-09-09 用于手术机器人系统的器械装置操纵器

Publications (2)

Publication Number Publication Date
CN113229942A CN113229942A (zh) 2021-08-10
CN113229942B true CN113229942B (zh) 2024-11-12

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Application Number Title Priority Date Filing Date
CN201680060162.1A Active CN108348133B (zh) 2015-09-09 2016-09-09 用于手术机器人系统的器械装置操纵器
CN202011138947.0A Active CN113229942B (zh) 2015-09-09 2016-09-09 手术器械装置操纵器
CN202011138920.1A Active CN113274140B (zh) 2015-09-09 2016-09-09 手术覆盖件

Family Applications Before (1)

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Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202011138920.1A Active CN113274140B (zh) 2015-09-09 2016-09-09 手术覆盖件

Country Status (7)

Country Link
US (4) US10631949B2 (enExample)
EP (2) EP4137034A1 (enExample)
JP (1) JP6938507B2 (enExample)
KR (4) KR102429651B1 (enExample)
CN (3) CN108348133B (enExample)
AU (2) AU2016321332B2 (enExample)
WO (1) WO2017044884A1 (enExample)

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* Cited by examiner, † Cited by third party
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