CN115137488A - 对接手术机器人臂与器械 - Google Patents

对接手术机器人臂与器械 Download PDF

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Publication number
CN115137488A
CN115137488A CN202210852846.2A CN202210852846A CN115137488A CN 115137488 A CN115137488 A CN 115137488A CN 202210852846 A CN202210852846 A CN 202210852846A CN 115137488 A CN115137488 A CN 115137488A
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CN
China
Prior art keywords
instrument
interface
robotic arm
interface structure
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
CN202210852846.2A
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English (en)
Chinese (zh)
Inventor
K·马歇尔
N·P·S-L·霍尔成德
T·B·杰克森
J·P·维特勒
M·麦克布赖恩
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 CN115137488A publication Critical patent/CN115137488A/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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • 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
    • A61B34/70—Manipulators specially adapted for use in 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
    • A61B34/70—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
    • A61B34/70—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
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00389—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
    • A61B2017/00393—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector with means for switching between functions
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • 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
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2923—Toothed members, e.g. rack and pinion
    • 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

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)
CN202210852846.2A 2016-09-14 2017-09-14 对接手术机器人臂与器械 Pending CN115137488A (zh)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
GBGB1615616.8A GB201615616D0 (en) 2016-09-14 2016-09-14 Interfacing a surgical robotic arm and instrument
GB1615616.8 2016-09-14
GB1709016.8 2017-06-06
GB1709016.8A GB2553879B (en) 2016-09-14 2017-06-06 Interfacing a surgical robotic arm and instrument
CN201780056182.6A CN109688962B (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械
PCT/GB2017/052709 WO2018051093A1 (en) 2016-09-14 2017-09-14 Interfacing a surgical robotic arm and instrument

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201780056182.6A Division CN109688962B (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械

Publications (1)

Publication Number Publication Date
CN115137488A true CN115137488A (zh) 2022-10-04

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Family Applications (3)

Application Number Title Priority Date Filing Date
CN202210852846.2A Pending CN115137488A (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械
CN202210845386.0A Pending CN115105214A (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械
CN201780056182.6A Active CN109688962B (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械

Family Applications After (2)

Application Number Title Priority Date Filing Date
CN202210845386.0A Pending CN115105214A (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械
CN201780056182.6A Active CN109688962B (zh) 2016-09-14 2017-09-14 对接手术机器人臂与器械

Country Status (6)

Country Link
US (3) US11547501B2 (cg-RX-API-DMAC7.html)
EP (1) EP3512454A1 (cg-RX-API-DMAC7.html)
JP (2) JP7164848B2 (cg-RX-API-DMAC7.html)
CN (3) CN115137488A (cg-RX-API-DMAC7.html)
GB (4) GB201615616D0 (cg-RX-API-DMAC7.html)
WO (1) WO2018051093A1 (cg-RX-API-DMAC7.html)

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GB201615616D0 (en) * 2016-09-14 2016-10-26 Cambridge Medical Robotics Ltd Interfacing a surgical robotic arm and instrument
GB2570520B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
GB2570518B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
GB2585727B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
EP3773312A4 (en) * 2018-04-06 2022-04-13 Project Moray, Inc. Improved fluidic drivers, devices, methods, and systems for catheters and other uses
USD910186S1 (en) 2019-02-28 2021-02-09 Cmr Surgical Limited Structure for interfacing a surgical robotic arm and instrument
KR102269772B1 (ko) * 2019-03-13 2021-06-28 큐렉소 주식회사 수술용 로봇의 엔드이펙터
US11523822B2 (en) * 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
JP6762592B1 (ja) * 2019-12-20 2020-09-30 リバーフィールド株式会社 医療用ロボットおよび医療用ロボットの装着部
WO2021124572A1 (ja) * 2019-12-20 2021-06-24 リバーフィールド株式会社 医療用ロボット、術具および装着部
EP4108202B1 (en) * 2020-04-02 2025-02-12 RIVERFIELD Inc. Bearing structure and drape unit including bearing structure
KR102443789B1 (ko) * 2021-12-08 2022-09-19 주식회사 메디인테크 동력수용체에 의해 제어되는 내시경
CN118680606A (zh) * 2023-03-24 2024-09-24 北京术锐机器人股份有限公司 紧凑型弯曲手术工具及手术机器人系统
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JP7571085B2 (ja) 2024-10-22
JP2019529020A (ja) 2019-10-17
US20230072227A1 (en) 2023-03-09
GB2556554B (en) 2022-04-06
GB2553879A (en) 2018-03-21
CN109688962B (zh) 2022-08-05
GB2556554A (en) 2018-05-30
JP2022121642A (ja) 2022-08-19
US12193773B2 (en) 2025-01-14
US20230074346A1 (en) 2023-03-09
GB2553879B (en) 2022-08-10
WO2018051093A1 (en) 2018-03-22
GB2601269B (en) 2022-10-12
GB2556554B8 (en) 2023-11-29
EP3512454A1 (en) 2019-07-24
CN109688962A (zh) 2019-04-26
US12137994B2 (en) 2024-11-12
GB2601269A (en) 2022-05-25
GB2556554A8 (en) 2023-11-29
CN115105214A (zh) 2022-09-27
JP7164848B2 (ja) 2022-11-02
GB201709016D0 (en) 2017-07-19
US11547501B2 (en) 2023-01-10
GB201801210D0 (en) 2018-03-14
GB201615616D0 (en) 2016-10-26
GB202202571D0 (en) 2022-04-13
US20190269471A1 (en) 2019-09-05

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Inventor after: K. Marshall

Inventor after: N.P.S-L. Holchende

Inventor after: T.B. Jackson

Inventor after: J.P. Witler

Inventor after: D. M. McBrien

Inventor before: K. Marshall

Inventor before: N.P.S-L. Holchende

Inventor before: T.B. Jackson

Inventor before: J.P. Witler

Inventor before: M. McBrian

WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20221004