EP4777015A2 - Chirurgisches robotersystem und verfahren zur steuerung von handgelenkinstrumenten - Google Patents

Chirurgisches robotersystem und verfahren zur steuerung von handgelenkinstrumenten

Info

Publication number
EP4777015A2
EP4777015A2 EP24791487.2A EP24791487A EP4777015A2 EP 4777015 A2 EP4777015 A2 EP 4777015A2 EP 24791487 A EP24791487 A EP 24791487A EP 4777015 A2 EP4777015 A2 EP 4777015A2
Authority
EP
European Patent Office
Prior art keywords
motor
motors
jaw members
torque
angular position
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
EP24791487.2A
Other languages
English (en)
French (fr)
Inventor
Peter A. York
Brian A. Rockrohr
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.)
Covidien LP
Original Assignee
Covidien LP
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 Covidien LP filed Critical Covidien LP
Publication of EP4777015A2 publication Critical patent/EP4777015A2/de
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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (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)
EP24791487.2A 2023-09-15 2024-09-12 Chirurgisches robotersystem und verfahren zur steuerung von handgelenkinstrumenten Pending EP4777015A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202363582877P 2023-09-15 2023-09-15
PCT/IB2024/058885 WO2025057104A2 (en) 2023-09-15 2024-09-12 Surgical robotic system and method for control of wristed instruments

Publications (1)

Publication Number Publication Date
EP4777015A2 true EP4777015A2 (de) 2026-07-22

Family

ID=93154404

Family Applications (1)

Application Number Title Priority Date Filing Date
EP24791487.2A Pending EP4777015A2 (de) 2023-09-15 2024-09-12 Chirurgisches robotersystem und verfahren zur steuerung von handgelenkinstrumenten

Country Status (3)

Country Link
EP (1) EP4777015A2 (de)
CN (1) CN121793921A (de)
WO (1) WO2025057104A2 (de)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3022482B1 (fr) * 2014-06-23 2016-06-24 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Robot de co-manipulation comportant des moyens de commande du robot
WO2019221754A1 (en) * 2018-05-18 2019-11-21 Verb Surgical Inc. System and method for controlling a robotic wrist
EP3890640B1 (de) * 2018-12-06 2025-07-30 Covidien LP Steuerung für kabelgetriebene endeffektoren
US11696810B2 (en) * 2019-08-15 2023-07-11 Verb Surgical Inc. Engagement, homing, and control of robotics surgical instrument
CN116940296A (zh) * 2021-03-11 2023-10-24 柯惠Lp公司 用于重新对准腕式器械的外科机器人系统

Also Published As

Publication number Publication date
CN121793921A (zh) 2026-04-03
WO2025057104A3 (en) 2025-04-17
WO2025057104A2 (en) 2025-03-20

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