CN114423369B - 用于机器人控制的手术器械的紧凑致动构型和可扩展器械接纳器 - Google Patents

用于机器人控制的手术器械的紧凑致动构型和可扩展器械接纳器

Info

Publication number
CN114423369B
CN114423369B CN202080065184.3A CN202080065184A CN114423369B CN 114423369 B CN114423369 B CN 114423369B CN 202080065184 A CN202080065184 A CN 202080065184A CN 114423369 B CN114423369 B CN 114423369B
Authority
CN
China
Prior art keywords
drive
instrument
arm segment
actuator assembly
robotic system
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
CN202080065184.3A
Other languages
English (en)
Chinese (zh)
Other versions
CN114423369A (zh
Inventor
马修·罗伯特·潘尼
凯文·安德鲁·赫弗德
保罗·威廉·施努尔
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.)
Asenses Usa Surgery Co
Original Assignee
Asenses Usa Surgery Co
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
Priority claimed from US16/732,307 external-priority patent/US11690688B2/en
Application filed by Asenses Usa Surgery Co filed Critical Asenses Usa Surgery Co
Publication of CN114423369A publication Critical patent/CN114423369A/zh
Application granted granted Critical
Publication of CN114423369B publication Critical patent/CN114423369B/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
    • 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
    • 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
    • A61B34/25—User interfaces for surgical systems
    • 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
    • A61B34/71—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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • 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
    • A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
    • 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
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN202080065184.3A 2019-07-17 2020-07-17 用于机器人控制的手术器械的紧凑致动构型和可扩展器械接纳器 Active CN114423369B (zh)

Applications Claiming Priority (11)

Application Number Priority Date Filing Date Title
US201962874985P 2019-07-17 2019-07-17
US201962875003P 2019-07-17 2019-07-17
US201962874988P 2019-07-17 2019-07-17
US201962874982P 2019-07-17 2019-07-17
US62/875,003 2019-07-17
US62/874,985 2019-07-17
US62/874,982 2019-07-17
US62/874,988 2019-07-17
US16/732,307 US11690688B2 (en) 2018-12-31 2019-12-31 Compact actuation configuration and expandable instrument receiver for robotically controlled surgical instruments
US16/732,307 2019-12-31
PCT/US2020/042671 WO2021011924A1 (en) 2019-07-17 2020-07-17 Compact actuation configuration and expandable instrument receiver for robotically controlled surgical instruments

Publications (2)

Publication Number Publication Date
CN114423369A CN114423369A (zh) 2022-04-29
CN114423369B true CN114423369B (zh) 2025-09-05

Family

ID=74210044

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080065184.3A Active CN114423369B (zh) 2019-07-17 2020-07-17 用于机器人控制的手术器械的紧凑致动构型和可扩展器械接纳器

Country Status (4)

Country Link
EP (1) EP3998980A4 (https=)
JP (2) JP7560537B2 (https=)
CN (1) CN114423369B (https=)
WO (1) WO2021011924A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118662234B (zh) * 2023-03-17 2025-09-16 北京术锐机器人股份有限公司 紧凑型连续体手术工具及手术机器人系统

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US8398634B2 (en) * 2002-04-18 2013-03-19 Intuitive Surgical Operations, Inc. Wristed robotic surgical tool for pluggable end-effectors
EP1815949A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
US20080064927A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasrive surgery guide tube
EP1915963A1 (en) 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Force estimation for a minimally invasive robotic surgery system
US9096033B2 (en) * 2007-06-13 2015-08-04 Intuitive Surgical Operations, Inc. Surgical system instrument sterile adapter
DE102008005901B4 (de) * 2008-01-24 2018-08-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Sterilbarriere für einen chirurgischen Roboter mit Drehmomentsensoren
EP3791822A1 (en) * 2012-11-02 2021-03-17 Intuitive Surgical Operations, Inc. Self-antagonistic drive for medical instruments
ITMI20130516A1 (it) 2013-04-05 2014-10-06 Sofar Spa Sistema chirurgico con teli sterili
WO2015052629A1 (en) * 2013-10-07 2015-04-16 Srivastava Sudhir Prem Modular interface for a robotic system
EP3142591B1 (en) * 2014-05-13 2020-06-24 Covidien LP Surgical robotic arm support systems and methods of use
JP6169049B2 (ja) * 2014-06-19 2017-07-26 オリンパス株式会社 マニピュレータの制御方法、マニピュレータ、およびマニピュレータシステム
WO2016025700A1 (en) * 2014-08-15 2016-02-18 Intuitive Surgical Operations, Inc. Force transmission mechanism for surgical instrument, and related systems and methods
GB201521808D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Interfacing a surgical robot and instrument
EP3463157A4 (en) * 2016-05-26 2020-01-22 Covidien LP ROBOTIC SURGICAL ARRANGEMENTS
JP6474366B2 (ja) 2016-08-05 2019-02-27 株式会社メディカロイド マニピュレータアーム、患者側システム、および、外科手術システム
US11717364B2 (en) 2018-12-31 2023-08-08 Asensus Surgical Us, Inc. Articulating surgical instrument

Also Published As

Publication number Publication date
JP7560537B2 (ja) 2024-10-02
JP2022541276A (ja) 2022-09-22
JP2025004024A (ja) 2025-01-14
EP3998980A1 (en) 2022-05-25
WO2021011924A1 (en) 2021-01-21
EP3998980A4 (en) 2023-08-09
CN114423369A (zh) 2022-04-29

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