FR3103100B1 - Bras articule de suppport d’instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage - Google Patents
Bras articule de suppport d’instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage Download PDFInfo
- Publication number
- FR3103100B1 FR3103100B1 FR1912794A FR1912794A FR3103100B1 FR 3103100 B1 FR3103100 B1 FR 3103100B1 FR 1912794 A FR1912794 A FR 1912794A FR 1912794 A FR1912794 A FR 1912794A FR 3103100 B1 FR3103100 B1 FR 3103100B1
- Authority
- FR
- France
- Prior art keywords
- rotation
- locking
- axis
- gripping part
- actuator
- 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.)
- Active
Links
Classifications
-
- 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
-
- 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
- A61B34/74—Manipulators with manual electric input means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00371—Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00371—Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
- A61B2017/00384—Actuation of one tool by pushing two buttons simultaneously
-
- 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
- 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
- A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
-
- 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
- A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
L’invention concerne un bras articulé de support d’instrument médical souple allongé, comprenant : au moins un segment mobile (19) en rotation autour d’un axe de rotation (20), le segment mobile (19) pouvant être soit verrouillé en rotation autour de l’axe de rotation (20) soit déverrouillé en rotation autour de l’axe de rotation (20), une poignée (2) comprenant : une partie distale (4) de préhension, de forme allongée, destinée à être saisie par la main d’un utilisateur du bras articulé (3), une partie proximale (18) de support reliant la partie distale (4) de préhension au reste de la structure du bras articulé (3), un actionneur (5, 14, 15, 16) de verrouillage et de déverrouillage de la mobilité du segment en rotation (19) autour de l’axe de rotation (20), disposé sur la partie distale (4) de préhension, caractérisé en ce que l’actionneur (5, 14, 15, 16) de verrouillage et de déverrouillage s’étend sur la majeure partie de la longueur de la partie distale (4) de préhension, de sorte que : une simple pression de la main de l’utilisateur saisissant la partie distale (4) de préhension exerce directement un contact sur l’actionneur (5, 14, 15, 16) de verrouillage et de déverrouillage qui est suffisant pour déverrouiller automatiquement la mobilité du segment en rotation (19) autour de l’axe de rotation (20), un simple relâchement de la partie distale (4) de préhension par la main de l’utilisateur entraîne directement une absence de contact sur l’actionneur (5, 14, 15, 16) de verrouillage et de déverrouillage qui est suffisante pour verrouiller automatiquement la mobilité du segment en rotation (19) autour de l’axe de rotation (20). Figure pour l’abrégé : Figure 3
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1912794A FR3103100B1 (fr) | 2019-11-15 | 2019-11-15 | Bras articule de suppport d’instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage |
US17/776,550 US20220387132A1 (en) | 2019-11-15 | 2020-11-04 | Articulated arm with handgrip and locking and unlocking actuator for support of an extended flexible medical instrument |
CN202080091094.1A CN114901199A (zh) | 2019-11-15 | 2020-11-04 | 用于支撑延伸式柔性医疗仪器的具有手柄及锁定和解锁致动器的铰接臂 |
EP20817459.9A EP4057930A1 (fr) | 2019-11-15 | 2020-11-04 | Bras articule de suppport d'instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage |
PCT/FR2020/051994 WO2021094673A1 (fr) | 2019-11-15 | 2020-11-04 | Bras articule de suppport d'instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage |
TW109139737A TW202122050A (zh) | 2019-11-15 | 2020-11-13 | 用於支撐延長可撓醫療器材且具手柄與鎖定及解鎖用途致動器的關節臂 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1912794 | 2019-11-15 | ||
FR1912794A FR3103100B1 (fr) | 2019-11-15 | 2019-11-15 | Bras articule de suppport d’instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3103100A1 FR3103100A1 (fr) | 2021-05-21 |
FR3103100B1 true FR3103100B1 (fr) | 2021-12-10 |
Family
ID=69903304
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1912794A Active FR3103100B1 (fr) | 2019-11-15 | 2019-11-15 | Bras articule de suppport d’instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220387132A1 (fr) |
EP (1) | EP4057930A1 (fr) |
CN (1) | CN114901199A (fr) |
FR (1) | FR3103100B1 (fr) |
TW (1) | TW202122050A (fr) |
WO (1) | WO2021094673A1 (fr) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11906009B2 (en) | 2021-07-30 | 2024-02-20 | Corindus, Inc. | Rotational joint assembly for robotic medical system |
US11844732B2 (en) | 2021-07-30 | 2023-12-19 | Corindus, Inc. | Support for securing a robotic system to a patient table |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6569084B1 (en) * | 1999-03-31 | 2003-05-27 | Olympus Optical Co., Ltd. | Endoscope holder and endoscope device |
FR2820971A1 (fr) * | 2001-02-22 | 2002-08-23 | Alm | Dispositif de manutention d'un equipement medical supporte par une structure articulee |
JP2004209096A (ja) * | 2003-01-07 | 2004-07-29 | Olympus Corp | 医療用器具保持装置 |
JP4270889B2 (ja) * | 2003-01-15 | 2009-06-03 | オリンパス株式会社 | 医療用器具保持装置 |
US7789874B2 (en) * | 2005-05-03 | 2010-09-07 | Hansen Medical, Inc. | Support assembly for robotic catheter system |
US10973592B2 (en) * | 2017-03-09 | 2021-04-13 | Memie Innovative Surgery Ltd. | Control console for surgical device with mechanical arms |
JP6469304B1 (ja) * | 2018-10-23 | 2019-02-13 | 株式会社A−Traction | 手術支援装置、その制御方法及びプログラム |
-
2019
- 2019-11-15 FR FR1912794A patent/FR3103100B1/fr active Active
-
2020
- 2020-11-04 CN CN202080091094.1A patent/CN114901199A/zh active Pending
- 2020-11-04 US US17/776,550 patent/US20220387132A1/en active Pending
- 2020-11-04 EP EP20817459.9A patent/EP4057930A1/fr active Pending
- 2020-11-04 WO PCT/FR2020/051994 patent/WO2021094673A1/fr unknown
- 2020-11-13 TW TW109139737A patent/TW202122050A/zh unknown
Also Published As
Publication number | Publication date |
---|---|
TW202122050A (zh) | 2021-06-16 |
CN114901199A (zh) | 2022-08-12 |
WO2021094673A1 (fr) | 2021-05-20 |
FR3103100A1 (fr) | 2021-05-21 |
EP4057930A1 (fr) | 2022-09-21 |
US20220387132A1 (en) | 2022-12-08 |
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Year of fee payment: 2 |
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Effective date: 20210521 |
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