CN114423366B - 混合、直接控制和机器人辅助的手术系统 - Google Patents

混合、直接控制和机器人辅助的手术系统 Download PDF

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Publication number
CN114423366B
CN114423366B CN202080063232.5A CN202080063232A CN114423366B CN 114423366 B CN114423366 B CN 114423366B CN 202080063232 A CN202080063232 A CN 202080063232A CN 114423366 B CN114423366 B CN 114423366B
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China
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attachment unit
surgical
axis
handle
device attachment
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Chinese (zh)
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CN114423366A (zh
Inventor
P·A·戈登
P·弗朗西斯
R·萨博
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Rotary Surgery Co ltd
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Rotary Surgery Co ltd
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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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • 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
    • A61B2034/2059—Mechanical position encoders
    • 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
    • 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
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • 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
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
CN202080063232.5A 2019-09-14 2020-09-14 混合、直接控制和机器人辅助的手术系统 Active CN114423366B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962900471P 2019-09-14 2019-09-14
US62/900,471 2019-09-14
PCT/CA2020/051237 WO2021046658A1 (en) 2019-09-14 2020-09-14 A hybrid, direct-control and robotic-assisted surgical system

Publications (2)

Publication Number Publication Date
CN114423366A CN114423366A (zh) 2022-04-29
CN114423366B true CN114423366B (zh) 2025-06-06

Family

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CN202080063232.5A Active CN114423366B (zh) 2019-09-14 2020-09-14 混合、直接控制和机器人辅助的手术系统

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Country Link
US (1) US20220395339A1 (https=)
EP (1) EP4013331A4 (https=)
JP (1) JP7600220B2 (https=)
CN (1) CN114423366B (https=)
AU (1) AU2020345667B2 (https=)
WO (2) WO2021046657A1 (https=)

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CN113100951A (zh) * 2021-04-08 2021-07-13 天津大学 一种全新的种植牙科机器人构型
JP7393383B2 (ja) * 2021-05-24 2023-12-06 川崎重工業株式会社 手術支援ロボットおよび多関節ロボットの作動方法
US20220378533A1 (en) * 2021-05-27 2022-12-01 Titan Medical, Inc. Control drive assemblies for robotic surgical systems
US12458454B2 (en) 2021-06-21 2025-11-04 Globus Medical, Inc. Gravity compensation of end effector arm for robotic surgical system
AU2022309140A1 (en) * 2021-07-05 2024-01-18 Moon Surgical Sas Co-manipulation surgical system having optical scanners for use with surgical instruments for performing laparoscopic surgery
KR102625436B1 (ko) * 2021-11-22 2024-01-16 주식회사 로엔서지컬 내시경 수술 로봇 시스템 및 그것의 이미지 보정 방법
US20230157777A1 (en) * 2021-11-22 2023-05-25 Roen Surgical, Inc. System and device for endoscope surgery robot
KR102701549B1 (ko) * 2021-12-07 2024-09-02 주식회사 로엔서지컬 내시경 수술 로봇 시스템
CN114533275B (zh) * 2022-02-22 2024-02-23 上海微创医疗机器人（集团）股份有限公司 末端关节臂、机械臂以及医疗台车
CN114521967B (zh) * 2022-02-22 2024-01-23 上海微创医疗机器人（集团）股份有限公司 机械臂以及医疗台车
EP4493094A4 (en) * 2022-03-15 2026-03-18 Revolve Surgical Inc CONTROL INTERFACES FOR MEDICAL DEVICES
US11717149B1 (en) * 2022-04-27 2023-08-08 Maciej J. Kieturakis Methods and systems for robotic single-port laparoscopic access
EP4483831A1 (en) * 2023-06-29 2025-01-01 Zentact Robotics Robotic assembly for a surgical system
WO2025226923A1 (en) * 2024-04-26 2025-10-30 Horizon Surgical Systems, Inc. Systems, methods and apparatuses for telemanipulation with remote center of motion in ocular surgery
GB2643759A (en) * 2024-09-02 2026-03-04 Univ Stellenbosch Laparoscope positioning apparatus
DE102024128836A1 (de) * 2024-10-07 2026-04-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Linearachsvorrichtung für einen Roboter, Roboter und Verfahren zur robotischen Linearbewegung eines Instruments
CN119344879A (zh) * 2024-12-04 2025-01-24 中南大学 一种四自由度力反馈主操作手
CN119257754A (zh) * 2024-12-04 2025-01-07 中南大学 一种带力反馈主从操作手术机器人系统

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Publication number Publication date
AU2020345667B2 (en) 2026-03-26
US20220395339A1 (en) 2022-12-15
CA3149254A1 (en) 2021-03-18
CN114423366A (zh) 2022-04-29
AU2020345667A1 (en) 2022-03-17
JP2022547715A (ja) 2022-11-15
WO2021046657A1 (en) 2021-03-18
WO2021046658A1 (en) 2021-03-18
EP4013331A4 (en) 2023-09-13
JP7600220B2 (ja) 2024-12-16
EP4013331A1 (en) 2022-06-22

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