DE102013004459A1 - Halterungs- und Positioniervorrichtung eines chirurgischen Instruments und/oder eines Endoskops für die minimal-invasive Chirurgie sowie ein chirurgisches Robotersystem - Google Patents

Halterungs- und Positioniervorrichtung eines chirurgischen Instruments und/oder eines Endoskops für die minimal-invasive Chirurgie sowie ein chirurgisches Robotersystem Download PDF

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Publication number
DE102013004459A1
DE102013004459A1 DE102013004459.6A DE102013004459A DE102013004459A1 DE 102013004459 A1 DE102013004459 A1 DE 102013004459A1 DE 102013004459 A DE102013004459 A DE 102013004459A DE 102013004459 A1 DE102013004459 A1 DE 102013004459A1
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Germany
Prior art keywords
instrument
holding
surgical
drive unit
surgical 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.)
Withdrawn
Application number
DE102013004459.6A
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German (de)
English (en)
Inventor
Marcel Seeber
Andreas Karguth
Christian Trommer
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.)
Avateramedical GmbH
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Avateramedical GmbH
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 Avateramedical GmbH filed Critical Avateramedical GmbH
Priority to DE102013004459.6A priority Critical patent/DE102013004459A1/de
Priority to PCT/DE2013/000803 priority patent/WO2014094716A1/de
Priority to HK15112847.3A priority patent/HK1211822B/xx
Priority to JP2015548199A priority patent/JP6342418B2/ja
Priority to EP13828769.3A priority patent/EP2934361B1/de
Priority to RU2015129335A priority patent/RU2644281C2/ru
Priority to CN201380066505.1A priority patent/CN104869935B/zh
Priority to BR112015014298-2A priority patent/BR112015014298B1/pt
Priority to US14/653,212 priority patent/US9795454B2/en
Publication of DE102013004459A1 publication Critical patent/DE102013004459A1/de
Withdrawn legal-status Critical Current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
    • 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
    • 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
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
DE102013004459.6A 2012-12-20 2013-03-14 Halterungs- und Positioniervorrichtung eines chirurgischen Instruments und/oder eines Endoskops für die minimal-invasive Chirurgie sowie ein chirurgisches Robotersystem Withdrawn DE102013004459A1 (de)

Priority Applications (9)

Application Number Priority Date Filing Date Title
DE102013004459.6A DE102013004459A1 (de) 2012-12-20 2013-03-14 Halterungs- und Positioniervorrichtung eines chirurgischen Instruments und/oder eines Endoskops für die minimal-invasive Chirurgie sowie ein chirurgisches Robotersystem
PCT/DE2013/000803 WO2014094716A1 (de) 2012-12-20 2013-12-12 Halterungs- und positioniervorrichtung eines chirurgischen instruments und/oder eines endoskops für die minimal-invasive chirurgie sowie ein chirurgisches robotersystem
HK15112847.3A HK1211822B (en) 2012-12-20 2013-12-12 Retaining and positioning device of a surgical instrument and/or an endoscope for minimally invasive surgery and surgical robot system
JP2015548199A JP6342418B2 (ja) 2012-12-20 2013-12-12 低侵襲外科手術のための外科手術用器具の保持及び位置決め装置及び／又は内視鏡及びロボット外科手術システム
EP13828769.3A EP2934361B1 (de) 2012-12-20 2013-12-12 Halterungs- und positioniervorrichtung eines chirurgischen instruments für die minimal-invasive chirurgie sowie ein chirurgisches robotersystem
RU2015129335A RU2644281C2 (ru) 2012-12-20 2013-12-12 Эндоскоп для минимально-инвазивной хирургии, а также хирургическая роботизированная система
CN201380066505.1A CN104869935B (zh) 2012-12-20 2013-12-12 用于微创外科手术的外科手术器械和/或内窥镜的保持和定位装置以及外科手术机器人系统
BR112015014298-2A BR112015014298B1 (pt) 2012-12-20 2013-12-12 Dispositivo de retenção e posicionamento de um instrumento para cirurgia minimamente invasiva e sistema robótico cirúrgic
US14/653,212 US9795454B2 (en) 2012-12-20 2013-12-12 Holding and positioning apparatus of a surgical instrument and/or an endoscope for minimally invasive surgery and a robotic surgical system

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102012025099.1 2012-12-20
DE102012025099 2012-12-20
DE102013004459.6A DE102013004459A1 (de) 2012-12-20 2013-03-14 Halterungs- und Positioniervorrichtung eines chirurgischen Instruments und/oder eines Endoskops für die minimal-invasive Chirurgie sowie ein chirurgisches Robotersystem

Publications (1)

Publication Number Publication Date
DE102013004459A1 true DE102013004459A1 (de) 2014-06-26

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ID=50878754

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102013004459.6A Withdrawn DE102013004459A1 (de) 2012-12-20 2013-03-14 Halterungs- und Positioniervorrichtung eines chirurgischen Instruments und/oder eines Endoskops für die minimal-invasive Chirurgie sowie ein chirurgisches Robotersystem

Country Status (8)

Country Link
US (2) US20150005784A2 (https=)
EP (1) EP2934361B1 (https=)
JP (1) JP6342418B2 (https=)
CN (1) CN104869935B (https=)
BR (1) BR112015014298B1 (https=)
DE (1) DE102013004459A1 (https=)
RU (1) RU2644281C2 (https=)
WO (1) WO2014094716A1 (https=)

Cited By (7)

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US20150136926A1 (en) * 2013-11-19 2015-05-21 National Taiwan University Of Science And Technology Surgical holder
DE102014012124A1 (de) * 2014-08-14 2016-02-18 Kuka Roboter Gmbh Positionierung eines Roboters
DE102016111737A1 (de) * 2016-06-27 2017-12-28 avateramedical GmBH Instrumententrägervorrichtung für einen Manipulator eines robotischen Operationssystems
DE102017118126A1 (de) 2017-08-09 2019-02-14 avateramedical GmBH Robotisches Operationssystem
CN110123250A (zh) * 2019-06-28 2019-08-16 陈龙 一种口腔科专用口腔科检查装置
US10391635B2 (en) 2014-08-14 2019-08-27 Kuka Deutschland Gmbh Positioning a robot
DE102022106602A1 (de) 2022-03-21 2023-09-21 Karl Storz Se & Co. Kg Medizinische Kinematik mit virtuellem Drehpunkt, medizinischer Roboter sowie Verwendung einer medizinischen Kinematik und eines medizinischen Roboters

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