CN117297787A - 用于铰接手术器械的滑轮装置和滑轮保护件 - Google Patents

用于铰接手术器械的滑轮装置和滑轮保护件 Download PDF

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Publication number
CN117297787A
CN117297787A CN202311290835.0A CN202311290835A CN117297787A CN 117297787 A CN117297787 A CN 117297787A CN 202311290835 A CN202311290835 A CN 202311290835A CN 117297787 A CN117297787 A CN 117297787A
Authority
CN
China
Prior art keywords
pulley
axis
drive element
joint
shaft
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
CN202311290835.0A
Other languages
English (en)
Chinese (zh)
Inventor
本·罗伯特·卓别林
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 CN117297787A publication Critical patent/CN117297787A/zh
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • A61B2017/2903—Details of shaft characterized by features of the actuating rod transferring rotary motion
    • 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
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • 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
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2938—Independently actuatable jaw members, e.g. two actuating rods
    • 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
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • 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)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (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)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Pulleys (AREA)
CN202311290835.0A 2017-06-06 2018-06-06 用于铰接手术器械的滑轮装置和滑轮保护件 Pending CN117297787A (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB1709014.3A GB2563233B (en) 2017-06-06 2017-06-06 Pulley arrangement and pulley guard for articulating a surgical instrument
GB1709014.3 2017-06-06
CN201880037974.3A CN110730637B (zh) 2017-06-06 2018-06-06 用于铰接手术器械的滑轮装置和滑轮保护件
PCT/GB2018/051541 WO2018224824A1 (en) 2017-06-06 2018-06-06 Pulley arrangement and pulley guard for articulating a surgical instrument

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201880037974.3A Division CN110730637B (zh) 2017-06-06 2018-06-06 用于铰接手术器械的滑轮装置和滑轮保护件

Publications (1)

Publication Number Publication Date
CN117297787A true CN117297787A (zh) 2023-12-29

Family

ID=59349727

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202311290835.0A Pending CN117297787A (zh) 2017-06-06 2018-06-06 用于铰接手术器械的滑轮装置和滑轮保护件
CN201880037974.3A Active CN110730637B (zh) 2017-06-06 2018-06-06 用于铰接手术器械的滑轮装置和滑轮保护件

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201880037974.3A Active CN110730637B (zh) 2017-06-06 2018-06-06 用于铰接手术器械的滑轮装置和滑轮保护件

Country Status (7)

Country Link
US (1) US11950862B2 (enExample)
EP (1) EP3634291A1 (enExample)
JP (1) JP7148554B2 (enExample)
CN (2) CN117297787A (enExample)
AU (2) AU2018280952B2 (enExample)
GB (1) GB2563233B (enExample)
WO (1) WO2018224824A1 (enExample)

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WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
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US11839969B2 (en) 2020-06-29 2023-12-12 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
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WO2022003493A1 (en) 2020-06-30 2022-01-06 Auris Health, Inc. Robotic medical system with collision proximity indicators
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
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GB2599664B (en) * 2020-10-07 2024-12-18 Cmr Surgical Ltd Robotic surgical instrument chassis
CN112914683B (zh) * 2021-03-10 2022-09-27 山东威高手术机器人有限公司 钳页独立运动的多自由度手术器械及末端执行器
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CN114795476A (zh) * 2021-08-04 2022-07-29 科弛医疗科技(北京)有限公司 手术执行装置和手术机器人
CN116370093A (zh) * 2021-12-24 2023-07-04 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
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Also Published As

Publication number Publication date
JP7148554B2 (ja) 2022-10-05
BR112019025814A2 (pt) 2020-07-07
CN110730637A (zh) 2020-01-24
JP2020522348A (ja) 2020-07-30
EP3634291A1 (en) 2020-04-15
US20200138531A1 (en) 2020-05-07
US11950862B2 (en) 2024-04-09
CN110730637B (zh) 2023-10-27
WO2018224824A1 (en) 2018-12-13
AU2022259747B2 (en) 2024-03-07
GB2563233B (en) 2022-09-14
AU2022259747A1 (en) 2022-12-01
GB2563233A (en) 2018-12-12
GB201709014D0 (en) 2017-07-19
AU2018280952A1 (en) 2020-01-16
AU2018280952B2 (en) 2022-07-28

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