DE69918569T2 - Chirurgischer manipulator - Google Patents

Chirurgischer manipulator Download PDF

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Publication number
DE69918569T2
DE69918569T2 DE69918569T DE69918569T DE69918569T2 DE 69918569 T2 DE69918569 T2 DE 69918569T2 DE 69918569 T DE69918569 T DE 69918569T DE 69918569 T DE69918569 T DE 69918569T DE 69918569 T2 DE69918569 T2 DE 69918569T2
Authority
DE
Germany
Prior art keywords
tool
shaft
axis
joint
parts
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.)
Expired - Lifetime
Application number
DE69918569T
Other languages
German (de)
English (en)
Other versions
DE69918569D1 (de
Inventor
T. Steve CHARLES
Robert Stoughton
Michael J. STUART
Larry Bronisz
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.)
Microdexterity Systems Inc
Original Assignee
Microdexterity Systems Inc
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 Microdexterity Systems Inc filed Critical Microdexterity Systems Inc
Publication of DE69918569D1 publication Critical patent/DE69918569D1/de
Application granted granted Critical
Publication of DE69918569T2 publication Critical patent/DE69918569T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • 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'
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
DE69918569T 1998-11-23 1999-11-22 Chirurgischer manipulator Expired - Lifetime DE69918569T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US10960898P 1998-11-23 1998-11-23
US109608P 1998-11-23
PCT/US1999/027560 WO2000030557A1 (en) 1998-11-23 1999-11-22 Surgical manipulator

Publications (2)

Publication Number Publication Date
DE69918569D1 DE69918569D1 (de) 2004-08-12
DE69918569T2 true DE69918569T2 (de) 2005-03-24

Family

ID=22328587

Family Applications (2)

Application Number Title Priority Date Filing Date
DE69918569T Expired - Lifetime DE69918569T2 (de) 1998-11-23 1999-11-22 Chirurgischer manipulator
DE69929481T Expired - Lifetime DE69929481T2 (de) 1998-11-23 1999-11-22 Chirurgischer Manipulator

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE69929481T Expired - Lifetime DE69929481T2 (de) 1998-11-23 1999-11-22 Chirurgischer Manipulator

Country Status (6)

Country Link
US (1) US6723106B1 (enExample)
EP (2) EP1133265B1 (enExample)
JP (2) JP4542710B2 (enExample)
AU (1) AU1825400A (enExample)
DE (2) DE69918569T2 (enExample)
WO (1) WO2000030557A1 (enExample)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005028215A1 (de) * 2005-06-17 2006-12-28 Siemens Ag Vorrichtung für die medizinische Versorgung
DE102012018533A1 (de) * 2012-09-19 2014-04-10 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Manipulator für die minimalinvasive Chirurgie
US8915940B2 (en) 2010-12-02 2014-12-23 Agile Endosurgery, Inc. Surgical tool
DE102019001402B3 (de) 2019-02-27 2020-06-18 Mrc Systems Gmbh Hand- oder fremdgehaltenes robotisches System zur räumlichen Führung eines Endeffektors

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* Cited by examiner, † Cited by third party
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