GB201521806D0 - Independent tensioning and aligning mechanisms for a surgical instrument - Google Patents

Independent tensioning and aligning mechanisms for a surgical instrument

Info

Publication number
GB201521806D0
GB201521806D0 GBGB1521806.8A GB201521806A GB201521806D0 GB 201521806 D0 GB201521806 D0 GB 201521806D0 GB 201521806 A GB201521806 A GB 201521806A GB 201521806 D0 GB201521806 D0 GB 201521806D0
Authority
GB
United Kingdom
Prior art keywords
surgical instrument
aligning mechanisms
independent tensioning
tensioning
independent
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.)
Ceased
Application number
GBGB1521806.8A
Other languages
English (en)
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.)
Cambridge Medical Robotics Ltd
Original Assignee
Cambridge Medical Robotics Ltd
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 Cambridge Medical Robotics Ltd filed Critical Cambridge Medical Robotics Ltd
Priority to GBGB1521806.8A priority Critical patent/GB201521806D0/en
Priority to GBGB1521922.3A priority patent/GB201521922D0/en
Publication of GB201521806D0 publication Critical patent/GB201521806D0/en
Priority to GB1614730.8A priority patent/GB2545291B/en
Priority to CN202110508789.1A priority patent/CN113081285B/zh
Priority to JP2018529939A priority patent/JP6811778B2/ja
Priority to EP16816337.6A priority patent/EP3386415B1/en
Priority to GB1620996.7A priority patent/GB2546395B/en
Priority to PCT/GB2016/053898 priority patent/WO2017098271A1/en
Priority to CN201680071646.6A priority patent/CN108430370B/zh
Priority to US15/374,150 priority patent/US10463437B2/en
Priority to US16/589,319 priority patent/US11382705B2/en
Ceased 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
    • 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
    • A61B34/72—Micromanipulators
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw
    • Y10S901/36—Actuating means

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (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)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
GBGB1521806.8A 2015-12-10 2015-12-10 Independent tensioning and aligning mechanisms for a surgical instrument Ceased GB201521806D0 (en)

Priority Applications (11)

Application Number Priority Date Filing Date Title
GBGB1521806.8A GB201521806D0 (en) 2015-12-10 2015-12-10 Independent tensioning and aligning mechanisms for a surgical instrument
GBGB1521922.3A GB201521922D0 (en) 2015-12-10 2015-12-11 User interface for a robot
GB1614730.8A GB2545291B (en) 2015-12-10 2016-08-31 Robotic system
US15/374,150 US10463437B2 (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument
JP2018529939A JP6811778B2 (ja) 2015-12-10 2016-12-09 手術器具用の互いに独立した張力付与機構及び位置合わせ機構
CN202110508789.1A CN113081285B (zh) 2015-12-10 2016-12-09 机器人手术器械及相关方法
EP16816337.6A EP3386415B1 (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument
GB1620996.7A GB2546395B (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument
PCT/GB2016/053898 WO2017098271A1 (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument
CN201680071646.6A CN108430370B (zh) 2015-12-10 2016-12-09 用于手术器械的独立张紧和对齐机构
US16/589,319 US11382705B2 (en) 2015-12-10 2019-10-01 Independent tensioning and aligning mechanisms for a surgical instrument

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GBGB1521806.8A GB201521806D0 (en) 2015-12-10 2015-12-10 Independent tensioning and aligning mechanisms for a surgical instrument

Publications (1)

Publication Number Publication Date
GB201521806D0 true GB201521806D0 (en) 2016-01-27

Family

ID=55274527

Family Applications (2)

Application Number Title Priority Date Filing Date
GBGB1521806.8A Ceased GB201521806D0 (en) 2015-12-10 2015-12-10 Independent tensioning and aligning mechanisms for a surgical instrument
GB1620996.7A Active GB2546395B (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument

Family Applications After (1)

Application Number Title Priority Date Filing Date
GB1620996.7A Active GB2546395B (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument

Country Status (6)

Country Link
US (2) US10463437B2 (https=)
EP (1) EP3386415B1 (https=)
JP (1) JP6811778B2 (https=)
CN (2) CN113081285B (https=)
GB (2) GB201521806D0 (https=)
WO (1) WO2017098271A1 (https=)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10743948B2 (en) * 2016-12-07 2020-08-18 Ethicon Llc Surgical tool wrists
EP3761897A4 (en) 2018-03-07 2021-11-24 Intuitive Surgical Operations, Inc. LOW-FRICTION MEDICAL TOOLS WITH SMALL PROFILE AND ASSEMBLY-FRIENDLY COMPONENTS
WO2019173268A1 (en) * 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
JP2022510406A (ja) * 2018-12-06 2022-01-26 コヴィディエン リミテッド パートナーシップ ケーブル駆動エンドエフェクタの制御方法
CN109452976B (zh) * 2018-12-28 2021-01-15 北京术锐技术有限公司 一种柔性手术工具系统
CN109481040A (zh) * 2019-01-17 2019-03-19 厦门市领汇医疗科技有限公司 一种机械手夹具
US11123146B2 (en) * 2019-05-30 2021-09-21 Titan Medical Inc. Surgical instrument apparatus, actuator, and drive
CN112754545B (zh) * 2020-12-19 2025-07-25 深圳市精锋医疗科技股份有限公司 张紧机构、手术器械、从操作设备及手术机器人
WO2023181629A1 (ja) * 2022-03-25 2023-09-28 ソニーグループ株式会社 ワイヤー調整装置、ワイヤー駆動装置、並びにマニピュレータ装置
CN116492057B (zh) * 2023-04-18 2026-03-24 核动医疗机器人(深圳)有限公司 末端执行器、手术器械和手术机器人
US20250152263A1 (en) * 2023-11-09 2025-05-15 Cilag Gmbh International Pulley supports for end effector wrists
CN118370609B (zh) * 2024-06-25 2024-10-11 杭州唯精医疗机器人有限公司 张力调节工装

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060008494A1 (en) * 1997-02-21 2006-01-12 The Regents Of The University Of California Complete inactivation of infectious proteins
US20020087048A1 (en) * 1998-02-24 2002-07-04 Brock David L. Flexible instrument
US6394998B1 (en) * 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US7766894B2 (en) * 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US6969385B2 (en) * 2002-05-01 2005-11-29 Manuel Ricardo Moreyra Wrist with decoupled motion transmission
US7331967B2 (en) 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US7842028B2 (en) * 2005-04-14 2010-11-30 Cambridge Endoscopic Devices, Inc. Surgical instrument guide device
US8021326B2 (en) * 2004-03-05 2011-09-20 Hansen Medical, Inc. Instrument driver for robotic catheter system
US8641728B2 (en) * 2005-06-13 2014-02-04 Ethicon Endo-Surgery, Inc. Attachment apparatus for coupling with an endoscope
WO2007005976A1 (en) * 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
JP4755047B2 (ja) * 2006-08-08 2011-08-24 テルモ株式会社 作業機構及びマニピュレータ
US8573465B2 (en) * 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
KR100975047B1 (ko) * 2008-02-15 2010-08-11 (주)미래컴퍼니 수술용 인스트루먼트의 커플링 구조
CN100553583C (zh) * 2008-06-13 2009-10-28 哈尔滨工程大学 微创外科手术用手动微机械手
US9259274B2 (en) * 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US8245594B2 (en) * 2008-12-23 2012-08-21 Intuitive Surgical Operations, Inc. Roll joint and method for a surgical apparatus
KR20100099817A (ko) * 2009-03-04 2010-09-15 주식회사 로보멕 수술기구
EP2627278B1 (en) * 2010-10-11 2015-03-25 Ecole Polytechnique Fédérale de Lausanne (EPFL) Mechanical manipulator for surgical instruments
KR101064825B1 (ko) * 2010-11-18 2011-09-14 정창욱 최소 침습 수술 기구
WO2012078951A1 (en) * 2010-12-09 2012-06-14 Freehand Endoscopic Devices, Inc. Surgical instrument
US8578810B2 (en) * 2011-02-14 2013-11-12 Intuitive Surgical Operations, Inc. Jointed link structures exhibiting preferential bending, and related methods
JP6518403B2 (ja) * 2011-02-18 2019-05-22 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 融合及び切断用外科用器具とこれに関連する方法
WO2013009699A2 (en) * 2011-07-11 2013-01-17 Agile Endosurgery, Inc. Surgical tool
CN103732161B (zh) * 2011-08-15 2016-11-09 直观外科手术操作公司 带有软爪和/或柔性腕机构的医疗器械
WO2013077571A1 (ko) * 2011-11-23 2013-05-30 주식회사 리브스메드 수술용 인스트루먼트
US8984720B2 (en) * 2011-12-28 2015-03-24 Pioneer Surgical Technology, Inc. Tensioning instrument and method
US9364230B2 (en) * 2012-06-28 2016-06-14 Ethicon Endo-Surgery, Llc Surgical stapling instruments with rotary joint assemblies
GB2523224C2 (en) 2014-03-07 2021-06-02 Cambridge Medical Robotics Ltd Surgical arm
DE102014205036A1 (de) * 2014-03-18 2015-09-24 Richard Wolf Gmbh Endoskopisches Instrument zum Anschluss an einen Operationsroboter
US10314635B2 (en) * 2014-05-28 2019-06-11 A&E Advanced Closure Systems, Llc Tensioning instruments

Also Published As

Publication number Publication date
CN108430370A (zh) 2018-08-21
EP3386415B1 (en) 2021-08-04
GB2546395A (en) 2017-07-19
CN113081285B (zh) 2024-03-12
US20170165010A1 (en) 2017-06-15
EP3386415A1 (en) 2018-10-17
US20200100854A1 (en) 2020-04-02
WO2017098271A1 (en) 2017-06-15
GB201620996D0 (en) 2017-01-25
JP2019502439A (ja) 2019-01-31
US10463437B2 (en) 2019-11-05
CN108430370B (zh) 2021-05-28
JP6811778B2 (ja) 2021-01-13
CN113081285A (zh) 2021-07-09
US11382705B2 (en) 2022-07-12
GB2546395B (en) 2021-10-06

Similar Documents

Publication Publication Date Title
GB2546395B (en) Independent tensioning and aligning mechanisms for a surgical instrument
GB2593404B (en) Pulley arrangement for articulating a surgical instrument
GB2553259B (en) Control device for a surgical instrument
AU2015253568B2 (en) Tensioning instrument and related bone fixation systems
ZA202001111B (en) Medical device for moving a medical instrument
PL3367954T3 (pl) Przyrządy do mocowania urządzenia medycznego i powiązane z nimi sposoby
PL3097839T3 (pl) Przyrząd mocujący laparoskopowe narzędzie medyczne
GB201514482D0 (en) A surgical instrument
PL3128942T3 (pl) Wspomaganie pozycjonowania do zabiegów chirurgicznych
PL3416575T3 (pl) Urządzenie do stabilizowania kości
GB201504122D0 (en) Patient-specific surgical guide
SG10201503458VA (en) Device for Demonstrating A Medical Procedure
IL265456A (en) device for analysis
GB201608997D0 (en) Surgical instrument
PL3294157T3 (pl) Narzędzie chirurgiczne z dystansowym elementem wychylania
GB2552682B (en) Surgical instrument
PL3370663T3 (pl) Bandaż do unieruchamiania lub utrzymywania stawu
GB201504854D0 (en) A attachment mechanism for a surgical instrument component
ZA201902983B (en) Surgical instrument
GB201308071D0 (en) A programmable alignment jig for orthopaedic surgery
GB2557981B (en) A fixation device
ITUA20162604A1 (it) Metodo per realizzare uno splint chirurgico
GB2571609B (en) Device for surgical assistance
GB2578513B (en) Surgical instrument
GB201604659D0 (en) Surgical instrument

Legal Events

Date Code Title Description
AT Applications terminated before publication under section 16(1)