CN115551436A - 连续体器械及手术机器人 - Google Patents

连续体器械及手术机器人 Download PDF

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Publication number
CN115551436A
CN115551436A CN202180034410.6A CN202180034410A CN115551436A CN 115551436 A CN115551436 A CN 115551436A CN 202180034410 A CN202180034410 A CN 202180034410A CN 115551436 A CN115551436 A CN 115551436A
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CN
China
Prior art keywords
proximal
continuum
distal
sliding
instrument
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
CN202180034410.6A
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English (en)
Inventor
徐凯
刘旭
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.)
Beijing Surgerii Technology Co Ltd
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Beijing Surgerii Technology Co Ltd
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Filing date
Publication date
Priority claimed from CN202010618750.0A external-priority patent/CN113855106A/zh
Priority claimed from CN202010617370.5A external-priority patent/CN113855102A/zh
Priority claimed from CN202010623369.3A external-priority patent/CN113855109A/zh
Application filed by Beijing Surgerii Technology Co Ltd filed Critical Beijing Surgerii Technology Co Ltd
Publication of CN115551436A publication Critical patent/CN115551436A/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, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/0069—Aspects not otherwise provided for with universal joint, cardan joint
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • 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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

一种医疗器械领域的连续体器械(10，20,30,40)，包括：至少一个近端连续体(111)、至少一个远端连续体(112)、驱动连接部(120，220，320)和驱动传动机构(130，230，330)。近端连续体(111)包括近端止盘(1112)和多根近端结构骨(1113)，多根近端结构骨(1113)的近端与近端止盘(1112)固定连接。远端连续体(112)包括远端止盘(1122)和多根远端结构骨(1123)，多根远端结构骨(1123)的远端与远端止盘(1122)固定连接，多根远端结构骨(1123)与多根近端结构骨(1113)固定连接或一体成型。驱动传动机构(130，230，330)的输出端与驱动连接部(120，220，320)的输入端连接，用于驱动输入端带动近端止盘(1112)翻转，以驱动远端连续体(112)弯转。从而可以避免对柔性连续体(110)的结构骨(1113,1123)进行直接的推拉，在驱动数量较多的结构骨(1113,1123)时，可以不受限于驱动机构的数量，同时结构紧凑，原理简单，易于实现，具有很高的可靠性和灵活性。

Description

PCT国内申请，说明书已公开。

Claims (20)

  1. PCT国内申请，权利要求书已公开。
CN202180034410.6A 2020-06-30 2021-03-16 连续体器械及手术机器人 Pending CN115551436A (zh)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
CN202010618750.0A CN113855106A (zh) 2020-06-30 2020-06-30 一种手术工具驱动传动系统及包含该系统的手术机器人
CN202010617370.5A CN113855102A (zh) 2020-06-30 2020-06-30 基于平面运动机构的手术工具驱动传动系统及手术机器人
CN2020106187500 2020-06-30
CN202010623369.3A CN113855109A (zh) 2020-06-30 2020-06-30 柔性连续体驱动传动机构、手术工具驱动系统及机器人
CN2020106173705 2020-06-30
CN2020106233693 2020-06-30
PCT/CN2021/080948 WO2022001187A1 (zh) 2020-06-30 2021-03-16 连续体器械及手术机器人

Publications (1)

Publication Number Publication Date
CN115551436A true CN115551436A (zh) 2022-12-30

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ID=79315103

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180034410.6A Pending CN115551436A (zh) 2020-06-30 2021-03-16 连续体器械及手术机器人

Country Status (4)

Country Link
US (1) US20230225806A1 (zh)
EP (1) EP4173589A1 (zh)
CN (1) CN115551436A (zh)
WO (1) WO2022001187A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115605139A (zh) * 2020-06-30 2023-01-13 北京术锐技术有限公司（Cn） 连续体器械及手术机器人

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9962066B2 (en) * 2005-12-30 2018-05-08 Intuitive Surgical Operations, Inc. Methods and apparatus to shape flexible entry guides for minimally invasive surgery
CN103085083B (zh) * 2013-01-07 2015-06-24 汪雯 可弯转可伸缩的柔性连续体机械结构
CN103340731B (zh) * 2013-07-10 2015-04-08 上海交通大学 基于流体转换的外骨骼辅助康复治疗系统
CN104758060B (zh) * 2015-04-07 2017-01-11 哈尔滨工业大学 用于单孔腹腔微创手术的多自由度柔性机器人
CN106236270B (zh) * 2016-08-31 2019-04-23 北京术锐技术有限公司 一种结构骨冗余布置的柔性手术工具系统
JP6653044B2 (ja) * 2017-03-24 2020-02-26 株式会社メディカロイド 手術器具および手術システム
AU2018290914B2 (en) * 2017-06-29 2020-09-10 Endoquest Robotics, Inc. Surgical apparatus
CN109498154A (zh) * 2018-12-28 2019-03-22 北京术锐技术有限公司 一种双弯曲型柔性手术工具系统

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115605139A (zh) * 2020-06-30 2023-01-13 北京术锐技术有限公司（Cn） 连续体器械及手术机器人

Also Published As

Publication number Publication date
WO2022001187A1 (zh) 2022-01-06
EP4173589A1 (en) 2023-05-03
US20230225806A1 (en) 2023-07-20

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Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing

Applicant after: Beijing Shurui Robot Co.,Ltd.

Address before: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing

Applicant before: BEIJING SURGERII TECHNOLOGY Co.,Ltd.

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