CN114098959A - 驱动传递 - Google Patents

驱动传递 Download PDF

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Publication number
CN114098959A
CN114098959A CN202111412309.8A CN202111412309A CN114098959A CN 114098959 A CN114098959 A CN 114098959A CN 202111412309 A CN202111412309 A CN 202111412309A CN 114098959 A CN114098959 A CN 114098959A
Authority
CN
China
Prior art keywords
drive
interface
drive assembly
instrument
surgical
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.)
Pending
Application number
CN202111412309.8A
Other languages
English (en)
Chinese (zh)
Inventor
B·R·卓别林
J·O·格兰特
K·马歇尔
N·P·S-L·霍尔成德
T·B·杰克森
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
Publication of CN114098959A publication Critical patent/CN114098959A/zh
Pending legal-status Critical Current

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    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in 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
    • A61B34/30—Surgical robots
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0023—Surgical instruments, devices or methods disposable
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (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)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
CN202111412309.8A 2016-07-29 2017-07-27 驱动传递 Pending CN114098959A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1613094.0A GB2552541B (en) 2016-07-29 2016-07-29 Drive transfer
GB1613094.0 2016-07-29
CN201780047076.1A CN109788993B (zh) 2016-07-29 2017-07-27 驱动传递

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201780047076.1A Division CN109788993B (zh) 2016-07-29 2017-07-27 驱动传递

Publications (1)

Publication Number Publication Date
CN114098959A true CN114098959A (zh) 2022-03-01

Family

ID=56936644

Family Applications (3)

Application Number Title Priority Date Filing Date
CN202111412309.8A Pending CN114098959A (zh) 2016-07-29 2017-07-27 驱动传递
CN201780047076.1A Active CN109788993B (zh) 2016-07-29 2017-07-27 驱动传递
CN202111414707.3A Pending CN114098983A (zh) 2016-07-29 2017-07-27 驱动传递

Family Applications After (2)

Application Number Title Priority Date Filing Date
CN201780047076.1A Active CN109788993B (zh) 2016-07-29 2017-07-27 驱动传递
CN202111414707.3A Pending CN114098983A (zh) 2016-07-29 2017-07-27 驱动传递

Country Status (6)

Country Link
US (3) US11369441B2 (https=)
EP (2) EP3490483B1 (https=)
JP (4) JP7018928B2 (https=)
CN (3) CN114098959A (https=)
GB (1) GB2552541B (https=)
WO (1) WO2018020250A1 (https=)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12594069B2 (en) 2015-10-02 2026-04-07 Livsmed, Inc. Handle assembly providing unlimited roll
US10959797B2 (en) 2015-10-05 2021-03-30 Flexdex, Inc. Medical devices having smoothly articulating multi-cluster joints
CN110522491B (zh) * 2018-05-24 2021-04-20 武汉联影智融医疗科技有限公司 医用设备
US11950966B2 (en) 2020-06-02 2024-04-09 Flexdex, Inc. Surgical tool and assembly
CN115517777A (zh) * 2022-01-29 2022-12-27 深圳市爱博医疗机器人有限公司 一种介入手术机器人的从端动力座
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
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
USD1105427S1 (en) 2023-04-14 2025-12-09 Flexdex, Inc. Handheld laparoscopic surgical instrument

Citations (10)

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CN101340848A (zh) * 2005-12-20 2009-01-07 直观外科手术公司 消毒手术转接器
US20100170519A1 (en) * 2008-11-07 2010-07-08 Hansen Medical, Inc. Sterile interface apparatus
DE102012013242A1 (de) * 2012-07-03 2014-01-09 Kuka Laboratories Gmbh Chirurgische Instrumentenanordnung
CN103932790A (zh) * 2014-03-11 2014-07-23 哈尔滨工程大学 具有快换接口功能的外科手术机器人用二自由度机构
US20150265355A1 (en) * 2014-03-18 2015-09-24 Richard Wolf Gmbh Endoscopic instrument for the connection to an operation robot
CN105611892A (zh) * 2013-08-15 2016-05-25 直观外科手术操作公司 机器人器械从动元件
WO2016081286A1 (en) * 2014-11-18 2016-05-26 Covidien Lp Sterile barrier assembly for use in robotic surgical system
US20160151115A1 (en) * 2014-11-27 2016-06-02 avateramedical GmBH Device for robot-assisted surgery
WO2016090459A1 (en) * 2014-12-11 2016-06-16 Titan Medical Inc. Actuator and drive for manipulating a tool
WO2016097861A1 (en) * 2014-12-19 2016-06-23 Distalmotion Sa Sterile interface for articulated surgical instruments

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8888688B2 (en) * 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US8684962B2 (en) * 2008-03-27 2014-04-01 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter device cartridge
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
US8716973B1 (en) * 2011-02-28 2014-05-06 Moog Inc. Haptic user interface
CN104546139B (zh) * 2012-04-27 2017-07-28 库卡实验仪器有限公司 机器人手术系统和手术器械
ITMI20130516A1 (it) * 2013-04-05 2014-10-06 Sofar Spa Sistema chirurgico con teli sterili
US9801626B2 (en) 2013-04-16 2017-10-31 Ethicon Llc Modular motor driven surgical instruments with alignment features for aligning rotary drive shafts with surgical end effector shafts
US10595836B2 (en) * 2014-03-17 2020-03-24 Intuitive Surgical Operations, Inc. Systems and methods for confirming disc engagement
CA2992948C (en) * 2015-07-17 2026-02-17 Deka Products Limited Partnership Robotic surgery system, method, and apparatus

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101340848A (zh) * 2005-12-20 2009-01-07 直观外科手术公司 消毒手术转接器
US20100170519A1 (en) * 2008-11-07 2010-07-08 Hansen Medical, Inc. Sterile interface apparatus
DE102012013242A1 (de) * 2012-07-03 2014-01-09 Kuka Laboratories Gmbh Chirurgische Instrumentenanordnung
CN105611892A (zh) * 2013-08-15 2016-05-25 直观外科手术操作公司 机器人器械从动元件
CN103932790A (zh) * 2014-03-11 2014-07-23 哈尔滨工程大学 具有快换接口功能的外科手术机器人用二自由度机构
US20150265355A1 (en) * 2014-03-18 2015-09-24 Richard Wolf Gmbh Endoscopic instrument for the connection to an operation robot
WO2016081286A1 (en) * 2014-11-18 2016-05-26 Covidien Lp Sterile barrier assembly for use in robotic surgical system
US20160151115A1 (en) * 2014-11-27 2016-06-02 avateramedical GmBH Device for robot-assisted surgery
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
WO2016090459A1 (en) * 2014-12-11 2016-06-16 Titan Medical Inc. Actuator and drive for manipulating a tool
WO2016097861A1 (en) * 2014-12-19 2016-06-23 Distalmotion Sa Sterile interface for articulated surgical instruments

Also Published As

Publication number Publication date
GB201613094D0 (en) 2016-09-14
EP3490483B1 (en) 2023-12-06
CN109788993B (zh) 2021-12-14
US12324638B2 (en) 2025-06-10
JP2019527111A (ja) 2019-09-26
JP2022048263A (ja) 2022-03-25
EP4275617A3 (en) 2024-05-15
CN109788993A (zh) 2019-05-21
GB2552541B (en) 2021-09-01
GB2552541A (en) 2018-01-31
JP2022048262A (ja) 2022-03-25
US20220331021A1 (en) 2022-10-20
EP3490483A1 (en) 2019-06-05
EP4275617A2 (en) 2023-11-15
JP2024045490A (ja) 2024-04-02
JP7018928B2 (ja) 2022-02-14
US20220331020A1 (en) 2022-10-20
WO2018020250A1 (en) 2018-02-01
US12329474B2 (en) 2025-06-17
US11369441B2 (en) 2022-06-28
CN114098983A (zh) 2022-03-01
US20190151035A1 (en) 2019-05-23

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