CN113616337B - 用于手术器械的近端控制的系统和方法 - Google Patents

用于手术器械的近端控制的系统和方法 Download PDF

Info

Publication number
CN113616337B
CN113616337B CN202111072669.8A CN202111072669A CN113616337B CN 113616337 B CN113616337 B CN 113616337B CN 202111072669 A CN202111072669 A CN 202111072669A CN 113616337 B CN113616337 B CN 113616337B
Authority
CN
China
Prior art keywords
instrument
surgical
chassis
interface
coupled
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
CN202111072669.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN113616337A (zh
Inventor
T·G·库珀
D·J·罗萨
D·Q·拉金
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.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
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 Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of CN113616337A publication Critical patent/CN113616337A/zh
Application granted granted Critical
Publication of CN113616337B publication Critical patent/CN113616337B/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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A61B2017/00327—Cables or rods with actuating members moving in opposite directions
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
CN202111072669.8A 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法 Active CN113616337B (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201361765482P 2013-02-15 2013-02-15
US61/765,482 2013-02-15
CN201480008846.8A CN105073055B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法
PCT/US2014/016552 WO2014127271A1 (en) 2013-02-15 2014-02-14 Systems and methods for proximal control of a surgical instrument

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201480008846.8A Division CN105073055B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法

Publications (2)

Publication Number Publication Date
CN113616337A CN113616337A (zh) 2021-11-09
CN113616337B true CN113616337B (zh) 2025-02-07

Family

ID=51351758

Family Applications (3)

Application Number Title Priority Date Filing Date
CN201810014321.5A Active CN108309453B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法
CN201480008846.8A Active CN105073055B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法
CN202111072669.8A Active CN113616337B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法

Family Applications Before (2)

Application Number Title Priority Date Filing Date
CN201810014321.5A Active CN108309453B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法
CN201480008846.8A Active CN105073055B (zh) 2013-02-15 2014-02-14 用于手术器械的近端控制的系统和方法

Country Status (6)

Country Link
US (4) US9662176B2 (enExample)
EP (1) EP2956080B1 (enExample)
JP (3) JP6321047B2 (enExample)
KR (1) KR102229337B1 (enExample)
CN (3) CN108309453B (enExample)
WO (1) WO2014127271A1 (enExample)

Families Citing this family (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2816089A1 (en) 2010-10-29 2012-05-03 Richard H. Feins Modular staged reality simulator
US9805625B2 (en) 2010-10-29 2017-10-31 KindHeart, Inc. Surgical simulation assembly
WO2014127271A1 (en) 2013-02-15 2014-08-21 Intuitive Surgical Operations, Inc. Systems and methods for proximal control of a surgical instrument
WO2015142947A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. System and method for aligning with a reference target
USD779678S1 (en) 2014-07-24 2017-02-21 KindHeart, Inc. Surgical tray
SI3188682T1 (sl) 2014-09-04 2021-03-31 Memic Innovative Surgery Ltd. Krmiljenje naprave, vključno z mehanskimi rokami
WO2016137612A1 (en) * 2015-02-26 2016-09-01 Covidien Lp Robotically controlling remote center of motion with software and guide tube
US20160314712A1 (en) 2015-04-27 2016-10-27 KindHeart, Inc. Telerobotic surgery system for remote surgeon training using robotic surgery station and remote surgeon station and associated methods
DK3190942T3 (da) 2015-09-04 2020-07-13 Memic Innovative Surgery Ltd Aktivering af en enhed, der omfatter mekaniske arme
US10198969B2 (en) 2015-09-16 2019-02-05 KindHeart, Inc. Surgical simulation system and associated methods
KR20250080909A (ko) * 2016-01-29 2025-06-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 가변 속도 수술 기기용 시스템 및 방법
US10463438B2 (en) 2016-03-09 2019-11-05 Memic Innovative Surgery Ltd. Modular device comprising mechanical arms
WO2017189317A1 (en) 2016-04-26 2017-11-02 KindHeart, Inc. Telerobotic surgery system for remote surgeon training using robotic surgery station and remote surgeon station and an animating device
CN109069215B (zh) * 2016-07-14 2022-07-15 直观外科手术操作公司 用于控制外科器械的系统和方法
JP6761482B2 (ja) 2016-12-28 2020-09-23 オリンパス株式会社 医療システム、医療用オーバーチューブ、及び医療デバイスアダプタ
US10813710B2 (en) 2017-03-02 2020-10-27 KindHeart, Inc. Telerobotic surgery system using minimally invasive surgical tool with variable force scaling and feedback and relayed communications between remote surgeon and surgery station
US11779410B2 (en) 2017-03-09 2023-10-10 Momentis Surgical Ltd Control console including an input arm for control of a surgical mechanical arm
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US10806532B2 (en) 2017-05-24 2020-10-20 KindHeart, Inc. Surgical simulation system using force sensing and optical tracking and robotic surgery system
WO2019050797A1 (en) * 2017-09-05 2019-03-14 Intuitive Surgical Operations, Inc. SYSTEMS AND METHODS FOR COMPUTER-AIDED REMOTE CONTROL SURGERY
CN109009449B (zh) * 2018-06-22 2020-08-11 深圳市精锋医疗科技有限公司 操作臂及从操作设备
CN109091240B (zh) * 2018-06-22 2020-08-25 深圳市精锋医疗科技有限公司 单切口手术机器人
CN109330697B (zh) * 2018-07-31 2023-09-22 深圳市精锋医疗科技股份有限公司 微创手术从操作设备组件及手术机器人
CN110870793B (zh) * 2018-08-31 2024-04-05 新加坡国立大学 机械臂、微创手术机器人及其制造方法
KR20250067945A (ko) 2018-09-17 2025-05-15 아우리스 헬스, 인코포레이티드 동시 의료 절차를 위한 시스템 및 방법
CN110772324B (zh) * 2018-12-20 2021-07-09 深圳市精锋医疗科技有限公司 连接组件、操作臂、从操作设备及手术机器人
EP3900661A1 (en) * 2020-04-23 2021-10-27 Microsure B.V. Surgical robotic system comprising strut assembly
CN116889430A (zh) * 2022-04-05 2023-10-17 直观外科手术操作公司 具有反枢转机构的器械

Family Cites Families (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5685821A (en) * 1992-10-19 1997-11-11 Arthrotek Method and apparatus for performing endoscopic surgical procedures
WO1994026167A1 (en) 1993-05-14 1994-11-24 Sri International Remote center positioner
JPH07254207A (ja) * 1994-01-25 1995-10-03 Sony Corp ディスクチェンジャ
US5814038A (en) * 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
EP2266467B1 (en) * 1995-06-07 2015-08-12 SRI International Surgical manipulator for a telerobotic system
US5595965A (en) * 1996-05-08 1997-01-21 The Lubrizol Corporation Biodegradable vegetable oil grease
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US7963913B2 (en) * 1996-12-12 2011-06-21 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
DE69940850D1 (de) 1998-08-04 2009-06-18 Intuitive Surgical Inc Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie
US6522906B1 (en) 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6645196B1 (en) 2000-06-16 2003-11-11 Intuitive Surgical, Inc. Guided tool change
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US20040243147A1 (en) 2001-07-03 2004-12-02 Lipow Kenneth I. Surgical robot and robotic controller
US8241271B2 (en) 2005-06-30 2012-08-14 Intuitive Surgical Operations, Inc. Robotic surgical instruments with a fluid flow control system for irrigation, aspiration, and blowing
US8182470B2 (en) 2005-12-20 2012-05-22 Intuitive Surgical Operations, Inc. Telescoping insertion axis of a robotic surgical system
US8469945B2 (en) * 2006-01-25 2013-06-25 Intuitive Surgical Operations, Inc. Center robotic arm with five-bar spherical linkage for endoscopic camera
CA2650474A1 (en) 2006-04-24 2007-11-08 Synecor, Llc Natural orifice surgical system
US8518024B2 (en) * 2006-04-24 2013-08-27 Transenterix, Inc. System and method for multi-instrument surgical access using a single access port
US9549663B2 (en) 2006-06-13 2017-01-24 Intuitive Surgical Operations, Inc. Teleoperated surgical retractor system
US9089256B2 (en) * 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
GB2451498A (en) 2007-07-31 2009-02-04 Prosurgics Ltd A motorised manipulator that accommodates manual movement of a surgical instrument
US7677129B2 (en) * 2007-09-28 2010-03-16 Intuitive Surgical, Inc. Multiaxis counterbalance and positioning system using a spatial linkage
US9895813B2 (en) * 2008-03-31 2018-02-20 Intuitive Surgical Operations, Inc. Force and torque sensing in a surgical robot setup arm
JP5219073B2 (ja) * 2008-05-19 2013-06-26 国立大学法人 名古屋工業大学 手術支援マニピュレータ
JP5435327B2 (ja) 2008-10-27 2014-03-05 国立大学法人 名古屋工業大学 ３軸を有する手術支援マニピュレータ
KR101075363B1 (ko) * 2008-10-31 2011-10-19 정창욱 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템
KR101180665B1 (ko) 2009-07-03 2012-09-07 주식회사 이턴 하이브리드 수술용 로봇 시스템 및 수술용 로봇 제어방법
JP5582561B2 (ja) 2009-07-03 2014-09-03 国立大学法人九州大学 鉗子支持装置
US8551115B2 (en) 2009-09-23 2013-10-08 Intuitive Surgical Operations, Inc. Curved cannula instrument
EP2467073B1 (en) * 2009-11-13 2017-01-11 Intuitive Surgical Operations, Inc. Curved cannula and robotic manipulator
US8603077B2 (en) * 2010-05-14 2013-12-10 Intuitive Surgical Operations, Inc. Force transmission for robotic surgical instrument
WO2012020386A1 (en) * 2010-08-11 2012-02-16 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical positioning system for surgical instruments
BR112014019193B1 (pt) 2012-02-02 2021-06-15 Great Belief International Limited Sistema cirúrgico motorizado
WO2014127271A1 (en) 2013-02-15 2014-08-21 Intuitive Surgical Operations, Inc. Systems and methods for proximal control of a surgical instrument

Also Published As

Publication number Publication date
US20140236175A1 (en) 2014-08-21
JP6615931B2 (ja) 2019-12-04
US10299872B2 (en) 2019-05-28
JP2016506859A (ja) 2016-03-07
CN105073055A (zh) 2015-11-18
CN105073055B (zh) 2018-02-06
US20170239009A1 (en) 2017-08-24
EP2956080B1 (en) 2020-08-05
JP6896047B2 (ja) 2021-06-30
EP2956080A1 (en) 2015-12-23
KR20150118586A (ko) 2015-10-22
CN113616337A (zh) 2021-11-09
US11000337B2 (en) 2021-05-11
US20210228294A1 (en) 2021-07-29
JP2018126549A (ja) 2018-08-16
CN108309453B (zh) 2021-10-08
US9662176B2 (en) 2017-05-30
JP2020036920A (ja) 2020-03-12
EP2956080A4 (en) 2016-07-27
JP6321047B2 (ja) 2018-05-09
WO2014127271A1 (en) 2014-08-21
US11484376B2 (en) 2022-11-01
US20190231462A1 (en) 2019-08-01
CN108309453A (zh) 2018-07-24
KR102229337B1 (ko) 2021-03-19

Similar Documents

Publication Publication Date Title
US11484376B2 (en) Systems and methods for proximal control of a surgical instrument
JP7522777B2 (ja) コンピュータ支援医療システム及び方法
US11564760B2 (en) Computer-assisted teleoperated surgery systems and methods
JP2019531134A (ja) コンピュータ支援遠隔操作手術システムおよび方法
US12343104B2 (en) Surgical platform supported and controlled by multiple arms
US11517383B2 (en) Computer-assisted tele-operated surgery systems and methods
US12042238B2 (en) Computer-assisted tele-operated surgery systems and methods
CN119947671A (zh) 用于计算机辅助系统的器械重新定位
CN120981208A (zh) 在手术工作空间中提供增强的灵活性的机器人手术操纵器

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