CN115151215B - 机器人显微手术组件、手术场所和方法 - Google Patents

机器人显微手术组件、手术场所和方法 Download PDF

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Publication number
CN115151215B
CN115151215B CN202180013881.9A CN202180013881A CN115151215B CN 115151215 B CN115151215 B CN 115151215B CN 202180013881 A CN202180013881 A CN 202180013881A CN 115151215 B CN115151215 B CN 115151215B
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motorized
robotic
robotic surgical
assembly
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Chinese (zh)
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CN115151215A (zh
Inventor
马迪奥·巴盖里·加维福克
尼古拉·派斯奇
马西米利亚诺·思米
朱塞佩·玛丽亚·普利斯科
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Medical Microinstruments SpA
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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
    • 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
    • A61B34/30—Surgical 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • 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
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • 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
    • A61B90/20—Surgical microscopes characterised by non-optical aspects
    • 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
    • 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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B21/00—Microscopes
    • G02B21/0004—Microscopes specially adapted for specific applications
    • G02B21/0012—Surgical microscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00345—Micromachines, nanomachines, microsystems
    • 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
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • 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
    • A61B2034/2051—Electromagnetic tracking 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking 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
    • 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)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
  • Tents Or Canopies (AREA)
  • External Artificial Organs (AREA)
  • Prostheses (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
CN202180013881.9A 2020-02-10 2021-02-09 机器人显微手术组件、手术场所和方法 Active CN115151215B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
IT102020000002548A IT202000002548A1 (it) 2020-02-10 2020-02-10 Assieme di chirurgia robotica, arena operatoria e metodo
IT102020000002548 2020-02-10
PCT/IB2021/051029 WO2021161162A1 (en) 2020-02-10 2021-02-09 Robotic microsurgery assembly, operating arena and method

Publications (2)

Publication Number Publication Date
CN115151215A CN115151215A (zh) 2022-10-04
CN115151215B true CN115151215B (zh) 2024-04-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180013881.9A Active CN115151215B (zh) 2020-02-10 2021-02-09 机器人显微手术组件、手术场所和方法

Country Status (10)

Country Link
US (2) US20230092748A1 (enExample)
EP (2) EP4295800A3 (enExample)
JP (1) JP7704443B2 (enExample)
KR (1) KR102753239B1 (enExample)
CN (1) CN115151215B (enExample)
AU (1) AU2021218253A1 (enExample)
BR (1) BR112022015775A2 (enExample)
ES (1) ES2971504T3 (enExample)
IT (1) IT202000002548A1 (enExample)
WO (1) WO2021161162A1 (enExample)

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KR20240152820A (ko) 2021-11-30 2024-10-22 엔도퀘스트 로보틱스 인코포레이티드 로봇 제어 의료 기기용 힘 전달 시스템
TWI876759B (zh) 2021-11-30 2025-03-11 美商安督奎斯特機器人公司 機器人手術系統及其控制模組
JP2024543764A (ja) * 2021-11-30 2024-11-26 エンドクエスト ロボティクス インコーポレイテッド 患者コンソールの５つの自由度での位置決めシステム
KR20260041932A (ko) 2021-11-30 2026-03-27 엔도퀘스트 로보틱스 인코포레이티드 일회용 엔드 이펙터
WO2023101971A1 (en) 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Barrier drape adapters for robotic surgical systems
KR20240152819A (ko) 2021-11-30 2024-10-22 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 컨트롤러 장치
TWI835436B (zh) 2021-11-30 2024-03-11 美商安督奎斯特機器人公司 用於機器人手術系統的可轉向套管組件、其控制組件及其方法
US12349991B2 (en) * 2022-02-02 2025-07-08 Mazor Robotics Ltd. Automatic robotic procedure for skin cutting, tissue pathway, and dilation creation
WO2023172759A1 (en) * 2022-03-10 2023-09-14 Covidien Lp Attn: Ip Legal Robotic surgical system with control drive assembly for single port surgical techniques
USD1056011S1 (en) * 2023-02-14 2024-12-31 Towardpi (Beijing) Medical Technology Ltd. Surgical microscope
JP2026508495A (ja) * 2023-03-02 2026-03-11 アルコン インコーポレイティド 眼科手術に最適化されたキネマティクスを有する視覚化ロボット
CN118924430B (zh) * 2023-05-12 2025-09-16 北京术锐机器人股份有限公司 分布式手术机器人系统
FR3149768A1 (fr) * 2023-06-13 2024-12-20 Cabinet Dentaire Européen Dispositif robotisé de taillage de dent en bouche du patient avec plateforme de base, fauteuil patient, structure-support pour bras porte-accessoires et bras porte-outil contrôlés par système informatique.
CN118642262B (zh) 2024-08-14 2024-12-13 浙江大学 一种用于显微操作系统的末端执行器尖端自动初始化定位装置及方法

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US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
DE102005031557A1 (de) * 2005-07-06 2007-01-11 Carl Zeiss Surgical Gmbh Trägersystem für medizinisch-optische Ausrüstung
CN101421080A (zh) * 2006-02-03 2009-04-29 欧洲原子能共同体由欧洲委员会代表 具有柱面坐标类型的操作器臂的医疗机器人系统
CN106175851A (zh) * 2016-08-31 2016-12-07 北京术锐技术有限公司 一种基于柔性臂体的单孔腹腔镜手术系统
CN206651871U (zh) * 2016-11-23 2017-11-21 中国人民解放军第二军医大学 经尿道的手术机器人系统
CN108366837A (zh) * 2015-10-16 2018-08-03 医疗显微器具股份公司 用于机器人手术的手术工具以及机器人手术组件
CN109788994A (zh) * 2016-10-18 2019-05-21 直观外科手术操作公司 计算机辅助的远程操作手术系统和方法

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US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
DE102005031557A1 (de) * 2005-07-06 2007-01-11 Carl Zeiss Surgical Gmbh Trägersystem für medizinisch-optische Ausrüstung
CN101421080A (zh) * 2006-02-03 2009-04-29 欧洲原子能共同体由欧洲委员会代表 具有柱面坐标类型的操作器臂的医疗机器人系统
CN108366837A (zh) * 2015-10-16 2018-08-03 医疗显微器具股份公司 用于机器人手术的手术工具以及机器人手术组件
CN106175851A (zh) * 2016-08-31 2016-12-07 北京术锐技术有限公司 一种基于柔性臂体的单孔腹腔镜手术系统
CN109788994A (zh) * 2016-10-18 2019-05-21 直观外科手术操作公司 计算机辅助的远程操作手术系统和方法
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Also Published As

Publication number Publication date
WO2021161162A1 (en) 2021-08-19
EP4295800A3 (en) 2024-03-13
IT202000002548A1 (it) 2021-08-10
US20230092748A1 (en) 2023-03-23
AU2021218253A1 (en) 2022-09-08
EP4103097B1 (en) 2023-11-22
EP4295800A2 (en) 2023-12-27
KR102753239B1 (ko) 2025-01-15
CA3166782A1 (en) 2021-08-19
CN115151215A (zh) 2022-10-04
KR20220140601A (ko) 2022-10-18
ES2971504T3 (es) 2024-06-05
JP2023514186A (ja) 2023-04-05
BR112022015775A2 (pt) 2022-10-11
JP7704443B2 (ja) 2025-07-08
EP4103097A1 (en) 2022-12-21
EP4103097C0 (en) 2023-11-22
US20240307140A1 (en) 2024-09-19

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