CN115530984A - 手术器械轴辐条 - Google Patents

手术器械轴辐条 Download PDF

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Publication number
CN115530984A
CN115530984A CN202211271997.5A CN202211271997A CN115530984A CN 115530984 A CN115530984 A CN 115530984A CN 202211271997 A CN202211271997 A CN 202211271997A CN 115530984 A CN115530984 A CN 115530984A
Authority
CN
China
Prior art keywords
pulley
pair
drive
shaft
pulleys
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
CN202211271997.5A
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English (en)
Chinese (zh)
Inventor
B·R·卓别林
K·马歇尔
N·P·S-L·霍尔成德
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 CN115530984A publication Critical patent/CN115530984A/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
    • A61B34/70—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
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN202211271997.5A 2015-12-10 2016-12-09 手术器械轴辐条 Pending CN115530984A (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GBGB1521807.6A GB201521807D0 (en) 2015-12-10 2015-12-10 Surgical instrument shaft spokes
GB1521807.6 2015-12-10
PCT/GB2016/053895 WO2017098268A1 (en) 2015-12-10 2016-12-09 Surgical instrument shaft spokes
CN201680072005.2A CN108430371B (zh) 2015-12-10 2016-12-09 手术器械轴辐条

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201680072005.2A Division CN108430371B (zh) 2015-12-10 2016-12-09 手术器械轴辐条

Publications (1)

Publication Number Publication Date
CN115530984A true CN115530984A (zh) 2022-12-30

Family

ID=55274528

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201680072005.2A Active CN108430371B (zh) 2015-12-10 2016-12-09 手术器械轴辐条
CN202211271997.5A Pending CN115530984A (zh) 2015-12-10 2016-12-09 手术器械轴辐条

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201680072005.2A Active CN108430371B (zh) 2015-12-10 2016-12-09 手术器械轴辐条

Country Status (6)

Country Link
US (1) US10517685B2 (enExample)
EP (1) EP3386414B1 (enExample)
JP (1) JP6802844B2 (enExample)
CN (2) CN108430371B (enExample)
GB (2) GB201521807D0 (enExample)
WO (1) WO2017098268A1 (enExample)

Families Citing this family (21)

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WO2018075527A1 (en) * 2016-10-18 2018-04-26 Intuitive Surgical Operations, Inc. Computer-assisted teleoperated surgery systems and methods
US10743948B2 (en) * 2016-12-07 2020-08-18 Ethicon Llc Surgical tool wrists
CN107320178B (zh) * 2017-08-11 2023-10-27 宁波华科润生物科技有限公司 一种医学辅助操作装置
CN108498174A (zh) * 2018-03-12 2018-09-07 深圳市精锋医疗科技有限公司 驱动机构、操作臂、从操作设备及手术机器人
CN108338839A (zh) * 2018-03-12 2018-07-31 深圳市精锋医疗科技有限公司 驱动机构、操作臂、从操作设备及手术机器人
CN108498175A (zh) * 2018-03-12 2018-09-07 深圳市精锋医疗科技有限公司 从操作设备及手术机器人
GB2579380B (en) * 2018-11-29 2022-07-06 Cmr Surgical Ltd Internal structure of a robotic surgical instrument
CN112043394B (zh) * 2020-09-30 2025-05-09 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
US12349997B2 (en) * 2020-09-30 2025-07-08 Shenzhen Edge Medical Co., Ltd. Surgical instrument, slave operating device, and surgical robot
CN112754668B (zh) * 2020-09-30 2025-11-07 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
CN112043389B (zh) * 2020-09-30 2025-06-17 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
EP4223248A4 (en) * 2020-09-30 2024-10-16 Shenzhen Edge Medical Co., Ltd. Surgical instrument, slave operating equipment, and surgical robot
CN112043391B (zh) * 2020-09-30 2025-06-17 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
CN112274254B (zh) * 2020-09-30 2025-05-09 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
CN115040256B (zh) * 2020-11-30 2025-02-11 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
CN112690836B (zh) * 2020-12-24 2022-12-02 上海微创医疗机器人（集团）股份有限公司 器械末端、器械末端组件及手术器械
US12035984B2 (en) * 2021-01-21 2024-07-16 Cilag Gmbh International End effectors for surgical tools with split clevis articulable wrists
US20230049257A1 (en) * 2021-08-12 2023-02-16 Cmr Surgical Limited Surgical robot arm and instrument detachment
CN114617637B (zh) * 2021-11-29 2025-01-28 瑞龙诺赋(上海)医疗科技有限公司 一种腕转器械及医疗系统
CN116652993B (zh) * 2023-07-28 2023-10-13 哈尔滨工业大学 一种机械手指基关节、机械手指及机械手
CN119424202A (zh) * 2024-11-20 2025-02-14 上海交通大学 一种自动化艾灸理疗机器人

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020111621A1 (en) * 1999-01-22 2002-08-15 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
JP2010220786A (ja) * 2009-03-24 2010-10-07 Waseda Univ 手術用マニピュレータ及び手術用マニピュレータシステム
JP2011200593A (ja) * 2010-03-26 2011-10-13 Terumo Corp 医療器具
US20130304084A1 (en) * 2010-10-11 2013-11-14 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments

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US6840938B1 (en) * 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
JP3944108B2 (ja) * 2003-03-31 2007-07-11 株式会社東芝 医療用マニピュレータの動力伝達機構およびマニピュレータ
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
JP4125311B2 (ja) * 2005-08-30 2008-07-30 株式会社東芝 ロボットおよびマニピュレータ
US9549663B2 (en) * 2006-06-13 2017-01-24 Intuitive Surgical Operations, Inc. Teleoperated surgical retractor system
US8224484B2 (en) * 2007-09-30 2012-07-17 Intuitive Surgical Operations, Inc. Methods of user interface with alternate tool mode for robotic surgical tools
US20110264136A1 (en) * 2008-12-12 2011-10-27 Seung Wook Choi Surgical instrument
WO2010090292A2 (en) * 2009-02-03 2010-08-12 Terumo Kabushiki Kaisha Medical manipulator
US8888789B2 (en) 2009-09-23 2014-11-18 Intuitive Surgical Operations, Inc. Curved cannula surgical system control
CN104799890B (zh) * 2009-11-13 2017-03-22 直观外科手术操作公司 弯曲套管和机器人操纵器
KR20120115486A (ko) * 2009-11-13 2012-10-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 곡선형 캐뉼라 수술 시스템
US8403832B2 (en) * 2010-02-26 2013-03-26 Covidien Lp Drive mechanism for articulation of a surgical instrument
RU2675082C2 (ru) * 2013-03-12 2018-12-14 Этикон Эндо-Серджери, Инк. Механизированные хирургические инструменты с механизмами блокировки системы запуска
WO2014151952A1 (en) * 2013-03-14 2014-09-25 Sri International Compact robotic wrist
GB2523831B (en) 2014-03-07 2020-09-30 Cmr Surgical Ltd Surgical arm

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020111621A1 (en) * 1999-01-22 2002-08-15 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
JP2010220786A (ja) * 2009-03-24 2010-10-07 Waseda Univ 手術用マニピュレータ及び手術用マニピュレータシステム
JP2011200593A (ja) * 2010-03-26 2011-10-13 Terumo Corp 医療器具
US20130304084A1 (en) * 2010-10-11 2013-11-14 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments

Also Published As

Publication number Publication date
CN108430371A (zh) 2018-08-21
EP3386414B1 (en) 2025-01-29
EP3386414A1 (en) 2018-10-17
GB2546393B (en) 2021-08-18
US20170165016A1 (en) 2017-06-15
GB201620992D0 (en) 2017-01-25
JP6802844B2 (ja) 2020-12-23
WO2017098268A1 (en) 2017-06-15
GB201521807D0 (en) 2016-01-27
CN108430371B (zh) 2022-11-08
US10517685B2 (en) 2019-12-31
GB2546393A (en) 2017-07-19
JP2019500942A (ja) 2019-01-17

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