CN114340519B - 手术工具、手术支持系统和手术操作单元 - Google Patents

手术工具、手术支持系统和手术操作单元

Info

Publication number
CN114340519B
CN114340519B CN202080062525.1A CN202080062525A CN114340519B CN 114340519 B CN114340519 B CN 114340519B CN 202080062525 A CN202080062525 A CN 202080062525A CN 114340519 B CN114340519 B CN 114340519B
Authority
CN
China
Prior art keywords
axis
unit
cable
surgical tool
shaft
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
CN202080062525.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN114340519A (zh
Inventor
若菜和仁
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.)
Koli Co.
Original Assignee
Sony Group Corp
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 Sony Group Corp filed Critical Sony Group Corp
Publication of CN114340519A publication Critical patent/CN114340519A/zh
Application granted granted Critical
Publication of CN114340519B publication Critical patent/CN114340519B/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
    • A61B34/70—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
    • A61B17/28—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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (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)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
CN202080062525.1A 2019-09-13 2020-08-31 手术工具、手术支持系统和手术操作单元 Active CN114340519B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019-166764 2019-09-13
JP2019166764 2019-09-13
PCT/JP2020/032851 WO2021049345A1 (ja) 2019-09-13 2020-08-31 術具、手術支援システム、並びに手術用操作ユニット

Publications (2)

Publication Number Publication Date
CN114340519A CN114340519A (zh) 2022-04-12
CN114340519B true CN114340519B (zh) 2025-10-24

Family

ID=74865657

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080062525.1A Active CN114340519B (zh) 2019-09-13 2020-08-31 手术工具、手术支持系统和手术操作单元

Country Status (5)

Country Link
US (1) US12232839B2 (https=)
JP (2) JPWO2021049345A1 (https=)
CN (1) CN114340519B (https=)
DE (1) DE112020004335T5 (https=)
WO (1) WO2021049345A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220226058A1 (en) * 2021-01-21 2022-07-21 Ethicon Llc Robotic surgical instruments with drive belt shaft insertion
CN118555993A (zh) * 2022-01-25 2024-08-27 索尼集团公司 操作输入装置和操作控制台装置
CN116672162B (zh) * 2023-06-07 2025-09-05 中国人民解放军陆军特色医学中心 一种青光眼手术用光导纤维推注工具

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102274056A (zh) * 2006-10-05 2011-12-14 Tyco医疗健康集团 挠性内窥镜缝合装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009542671A (ja) 2006-06-28 2009-12-03 サーモディクス，インコーポレイティド 微粒子を含む活性剤溶出マトリックス
CN101522121B (zh) 2006-10-05 2011-09-14 Tyco医疗健康集团 挠性内窥镜缝合装置
KR101030371B1 (ko) * 2009-04-27 2011-04-20 국립암센터 최소 침습 수술을 위한 내시경 조정 장치
JP5883343B2 (ja) 2012-04-12 2016-03-15 株式会社スズキプレシオン 医療用マニピュレータ
DE102014009892B4 (de) 2014-07-04 2018-05-30 gomtec GmbH Antriebseinheit mit magnetischer Schnittstelle
ITUB20155057A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
GB201521812D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Driving a surgical instrument articulation
WO2018003925A1 (ja) * 2016-06-30 2018-01-04 国立大学法人宇都宮大学 鏡視下医療を支援可能なマニピュレータ、それを備えた医療用具、およびマニピュレータの作業性評価方法
EP3593749A4 (en) 2017-03-10 2020-12-23 Sony Corporation OPERATING SYSTEM, SURGICAL SYSTEM, CONTROL DEVICE, DISTORTION BODY, SURGICAL INSTRUMENT, AND EXTERNAL FORCE DETECTION SYSTEM
JP6762280B2 (ja) 2017-08-21 2020-09-30 地方独立行政法人神奈川県立産業技術総合研究所 鉗子システム
WO2019096939A1 (en) * 2017-11-15 2019-05-23 Steerable Instruments nv Controllable steerable instrument

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102274056A (zh) * 2006-10-05 2011-12-14 Tyco医疗健康集团 挠性内窥镜缝合装置

Also Published As

Publication number Publication date
JP2025113363A (ja) 2025-08-01
CN114340519A (zh) 2022-04-12
DE112020004335T5 (de) 2022-08-11
JPWO2021049345A1 (https=) 2021-03-18
US12232839B2 (en) 2025-02-25
US20220338946A1 (en) 2022-10-27
WO2021049345A1 (ja) 2021-03-18

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GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20260409

Address after: Tokyo, Japan

Patentee after: Koli Co.

Country or region after: Japan

Address before: Tokyo, Japan

Patentee before: Sony Group

Country or region before: Japan