CN115256360A - 外科手术机械臂 - Google Patents

外科手术机械臂 Download PDF

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Publication number
CN115256360A
CN115256360A CN202211076918.5A CN202211076918A CN115256360A CN 115256360 A CN115256360 A CN 115256360A CN 202211076918 A CN202211076918 A CN 202211076918A CN 115256360 A CN115256360 A CN 115256360A
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CN
China
Prior art keywords
gear
axis
arm
rotation
driven gear
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
CN202211076918.5A
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English (en)
Chinese (zh)
Inventor
J·O·格兰特
K·马歇尔
T·B·杰克森
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
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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 CN115256360A publication Critical patent/CN115256360A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
CN202211076918.5A 2016-07-22 2017-07-19 外科手术机械臂 Pending CN115256360A (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB1612763.1A GB2552383B (en) 2016-07-22 2016-07-22 Gear packaging for robotic joints
GB1612763.1 2016-07-22
CN201780045091.2A CN109476020B (zh) 2016-07-22 2017-07-19 用于机器人关节的齿轮组件
PCT/GB2017/052121 WO2018015748A1 (en) 2016-07-22 2017-07-19 Gear packaging for robotic joints

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201780045091.2A Division CN109476020B (zh) 2016-07-22 2017-07-19 用于机器人关节的齿轮组件

Publications (1)

Publication Number Publication Date
CN115256360A true CN115256360A (zh) 2022-11-01

Family

ID=56894372

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201780045091.2A Active CN109476020B (zh) 2016-07-22 2017-07-19 用于机器人关节的齿轮组件
CN202211076918.5A Pending CN115256360A (zh) 2016-07-22 2017-07-19 外科手术机械臂

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201780045091.2A Active CN109476020B (zh) 2016-07-22 2017-07-19 用于机器人关节的齿轮组件

Country Status (6)

Country Link
US (2) US11597102B2 (enExample)
EP (2) EP4349548B1 (enExample)
JP (2) JP7077300B2 (enExample)
CN (2) CN109476020B (enExample)
GB (1) GB2552383B (enExample)
WO (1) WO2018015748A1 (enExample)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
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JP6443456B2 (ja) * 2014-11-26 2018-12-26 株式会社安川電機 ロボットアーム、ロボットシステム
JP7250758B2 (ja) 2017-08-10 2023-04-03 プロ－デツクス・インコーポレイテツド 締結具の内視鏡的留置のための関節動作ツール
CA3121399A1 (en) * 2018-11-30 2020-06-04 Bio-Medical Engineering (HK) Limited Robotic arm system with gear-driven end-effector assembly
CN109591047A (zh) * 2019-01-15 2019-04-09 珠海市海峰机器人系统有限公司 一种二轴关节装置
CN119214798A (zh) 2019-03-07 2024-12-31 普罗赛普特生物机器人公司 用于组织切除和成像的机器人臂和方法
JP7101134B2 (ja) * 2019-03-11 2022-07-14 ファナック株式会社 ロボット
US20220347868A1 (en) * 2019-10-03 2022-11-03 Abb Schweiz Ag Wrist Device, Industrial Robot And Method
US11071601B2 (en) 2019-11-11 2021-07-27 Procept Biorobotics Corporation Surgical probes for tissue resection with robotic arms
CN110840563A (zh) * 2019-12-24 2020-02-28 锐志微创医疗科技（常州）有限公司 一种开合机构及手术机器人
CN110840562A (zh) * 2019-12-24 2020-02-28 锐志微创医疗科技（常州）有限公司 一种手术机器人系统
CN110916802B (zh) * 2020-01-17 2020-07-28 金陵科技学院 一种多末端单孔微创手术机器人
US11877818B2 (en) * 2020-06-26 2024-01-23 Procept Biorobotics Corporation Integration of robotic arms with surgical probes
US11096753B1 (en) 2020-06-26 2021-08-24 Procept Biorobotics Corporation Systems and methods for defining and modifying range of motion of probe used in patient treatment
CN111872972B (zh) * 2020-07-23 2021-08-13 伯朗特机器人股份有限公司 一种焊接机器人嵌套式关节的齿轮间隙微调结构
CN112402017A (zh) * 2020-11-19 2021-02-26 锐志微创医疗科技（常州）有限公司 一种手术机器人末端执行装置和手术机器人末端驱动机构
CN112315584B (zh) * 2020-11-19 2022-07-08 锐志微创医疗科技（常州）有限公司 一种手术机器人末端俯仰装置和手术机器人末端
CN114848156B (zh) * 2020-11-30 2025-03-14 天津大学医疗机器人与智能系统研究院 一种前端执行器及其方法、机械手装置及外科手术器械
CN112773510A (zh) * 2021-03-01 2021-05-11 锐志微创医疗科技（常州）有限公司 一种手术机器人末端开合装置及手术机器人末端机构
CN112826594A (zh) * 2021-03-01 2021-05-25 锐志微创医疗科技（常州）有限公司 一种手术机器人末端自转装置及手术机器人末端机构
WO2022226103A1 (en) 2021-04-20 2022-10-27 Procept Biorobotics Corporation Surgical probe with independent energy sources
DE102021119526A1 (de) 2021-07-28 2023-02-02 Karl Storz Se & Co. Kg Chirurgisches Instrument und Lenkgetriebe dafür
CN113664804A (zh) * 2021-08-18 2021-11-19 伯朗特机器人股份有限公司 高精度焊接机器人的五轴传动机构
CN117072631B (zh) * 2023-10-16 2024-01-12 深圳康诺思腾科技有限公司 齿盘副和手术器械

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Publication number Publication date
EP4349548A2 (en) 2024-04-10
EP4349548B1 (en) 2025-07-30
CN109476020B (zh) 2022-09-23
US12036667B2 (en) 2024-07-16
JP2022122889A (ja) 2022-08-23
EP3487669A1 (en) 2019-05-29
US20180021960A1 (en) 2018-01-25
JP2019524259A (ja) 2019-09-05
GB2552383A (en) 2018-01-24
US11597102B2 (en) 2023-03-07
JP7077300B2 (ja) 2022-05-30
US20230173693A1 (en) 2023-06-08
GB2552383B (en) 2022-08-24
JP7325895B2 (ja) 2023-08-15
EP3487669B1 (en) 2024-04-03
GB201612763D0 (en) 2016-09-07
CN109476020A (zh) 2019-03-15
EP4349548A3 (en) 2024-07-24
WO2018015748A1 (en) 2018-01-25

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