CY1111710T1 - Ρομποτικο χειρουργικο συστημα για τη διενεργεια ιατρικων πραξεων ελαχιστης επεμβατικοτητας - Google Patents

Ρομποτικο χειρουργικο συστημα για τη διενεργεια ιατρικων πραξεων ελαχιστης επεμβατικοτητας

Info

Publication number
CY1111710T1
CY1111710T1 CY20111100705T CY111100705T CY1111710T1 CY 1111710 T1 CY1111710 T1 CY 1111710T1 CY 20111100705 T CY20111100705 T CY 20111100705T CY 111100705 T CY111100705 T CY 111100705T CY 1111710 T1 CY1111710 T1 CY 1111710T1
Authority
CY
Cyprus
Prior art keywords
joint
effector unit
lia
freedom
manipulator
Prior art date
Application number
CY20111100705T
Other languages
English (en)
Inventor
Morales Emilio Ruiz
Original Assignee
The European Atomic Energy Community (Euratom) Represented By The European Commission
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 The European Atomic Energy Community (Euratom) Represented By The European Commission filed Critical The European Atomic Energy Community (Euratom) Represented By The European Commission
Publication of CY1111710T1 publication Critical patent/CY1111710T1/el

Links

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
    • 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
    • B25J9/041—Cylindrical coordinate type
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • 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
    • A61B34/30—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
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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—Master-slave 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
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Landscapes

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

Abstract

Ένα ρομποτικό χειρουργικό σύστημα για τη διενέργεια ιατρικών πράξεων ελάχιστης επεμβατικότητας, το οποίο περιλαμβάνει ένα ρομποτικό χειριστή (robot manipulator) για το ρομποτικά υποβοηθούμενο χειρισμό ενός λαπαροσκοπικού οργάνου. Ο χειριστής περιλαμβάνει ένα βραχίονα (arm), έναν καρπό (wrist), συνδεδεμένο στο βραχίονα, και ένα στοιχείο δράσης (effector unit), συνδεδεμένο στον καρπό. Ο βραχίονας παρέχει τρεις βαθμούς ελευθερίας μέσω μιας πρώτης, μιας δεύτερης και μιας τρίτης άρθρωσης, κάθε μία εκ των οποίων διαθέτει ένα σχετικό κινητήριο στοιχείο ή επενεργητή (actuator), για τη ρομποτική τοποθέτηση του καρπού. Ο καρπός παρέχει δύο βαθμούς ελευθερίας μέσω μιας τέταρτης άρθρωσης και μιας πέμπτης, περιστροφικής, άρθρωσης, οι οποίες διαθέτουν ένα σχετικό επενεργητή για τη ρομποτική ρύθμιση της γωνίας στροφής (yaw angle) και της γωνίας ανύψωσης (pitch angle) του στοιχείου δράσης, αντίστοιχα. Το στοιχείο δράσης περιλαμβάνει έναν επενεργητή λαπαροσκοπικού οργάνου (LIA), και παρέχει ένα βαθμό ελευθερίας μέσω μιας περιστροφικής έκτης άρθρωσης, η οποία διαθέτει ένα σχετικό επενεργητή για τη ρομποτική ρύθμιση της γωνίας κύλισης (roll angle) του επενεργητή LIA. Ο επενεργητής LIA περιλαμβάνει έναν υποδοχέα, με σχετικό μηχανισμό ασφάλισης, για τη στερέωση ενός προσαρμοστήρα (adaptor) στελεχών οργάνων στο στοιχείο δράσης, και ένα γραμμικό μηχανισμό ενεργοποίησης/κίνησης, ο οποίος συνεργάζεται με τον προσαρμοστήρα στελεχών οργάνων, για την ενεργοποίηση/κίνηση ενός λαπαροσκοπικού οργάνου συνδεδεμένου στον προσαρμοστήρα. Το στοιχείο δράσης είναι διαμορφωμένο κατά τέτοιον τρόπο, ώστε ο άξονας περιστροφής της περιστροφικής έκτης άρθρωσης να συμπίπτει με το διαμήκη άξονα ενός λαπαροσκοπικού οργάνου στερεωμένου σε αυτό και περιλαμβάνει
CY20111100705T 2006-02-03 2011-07-20 Ρομποτικο χειρουργικο συστημα για τη διενεργεια ιατρικων πραξεων ελαχιστης επεμβατικοτητας CY1111710T1 (el)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP06101251A EP1815950A1 (en) 2006-02-03 2006-02-03 Robotic surgical system for performing minimally invasive medical procedures
EP07704334A EP1979136B1 (en) 2006-02-03 2007-02-02 Robotic surgical system for performing minimally invasive medical procedures

Publications (1)

Publication Number Publication Date
CY1111710T1 true CY1111710T1 (el) 2015-10-07

Family

ID=36686008

Family Applications (1)

Application Number Title Priority Date Filing Date
CY20111100705T CY1111710T1 (el) 2006-02-03 2011-07-20 Ρομποτικο χειρουργικο συστημα για τη διενεργεια ιατρικων πραξεων ελαχιστης επεμβατικοτητας

Country Status (17)

Country Link
US (1) US8506555B2 (el)
EP (2) EP1815950A1 (el)
JP (1) JP5130228B2 (el)
KR (1) KR101375206B1 (el)
CN (1) CN101443162B (el)
AT (1) ATE507942T1 (el)
BR (1) BRPI0707443B8 (el)
CA (1) CA2635136C (el)
CY (1) CY1111710T1 (el)
DE (1) DE602007014322D1 (el)
DK (1) DK1979136T3 (el)
ES (1) ES2365359T3 (el)
MX (1) MX2008010058A (el)
PL (1) PL1979136T3 (el)
PT (1) PT1979136E (el)
RU (1) RU2412800C2 (el)
WO (1) WO2007088208A1 (el)

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