GB2590881B - Surgical instrument articulation - Google Patents
Surgical instrument articulation Download PDFInfo
- Publication number
- GB2590881B GB2590881B GB2105106.5A GB202105106A GB2590881B GB 2590881 B GB2590881 B GB 2590881B GB 202105106 A GB202105106 A GB 202105106A GB 2590881 B GB2590881 B GB 2590881B
- Authority
- GB
- United Kingdom
- Prior art keywords
- surgical instrument
- instrument articulation
- articulation
- 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.)
- Active
Links
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
-
- 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
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
- A61B2017/00327—Cables or rods with actuating members moving in opposite directions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2939—Details of linkages or pivot points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2947—Pivots
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Ophthalmology & Optometry (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB2111139.8A GB2595985B (en) | 2015-12-10 | 2016-12-09 | Surgical instrument articulation |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GBGB1521809.2A GB201521809D0 (en) | 2015-12-10 | 2015-12-10 | Symmetrically arranged surgical instrument articulation |
GB1621013.0A GB2546399B (en) | 2015-12-10 | 2016-12-09 | Symmetrically arranged surgical instrument articulation |
Publications (3)
Publication Number | Publication Date |
---|---|
GB202105106D0 GB202105106D0 (en) | 2021-05-26 |
GB2590881A GB2590881A (en) | 2021-07-07 |
GB2590881B true GB2590881B (en) | 2022-02-16 |
Family
ID=75949485
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB2111139.8A Active GB2595985B (en) | 2015-12-10 | 2016-12-09 | Surgical instrument articulation |
GB2105106.5A Active GB2590881B (en) | 2015-12-10 | 2016-12-09 | Surgical instrument articulation |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB2111139.8A Active GB2595985B (en) | 2015-12-10 | 2016-12-09 | Surgical instrument articulation |
Country Status (2)
Country | Link |
---|---|
JP (2) | JP7230132B2 (en) |
GB (2) | GB2595985B (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019118336A1 (en) | 2017-12-14 | 2019-06-20 | Intuitive Surgical Operations, Inc. | Medical tools having tension bands |
WO2019173266A1 (en) * | 2018-03-07 | 2019-09-12 | Intuitive Surgical Operations, Inc. | Low-friction medical tools having roller-assisted tension members |
CN111970985A (en) | 2018-03-07 | 2020-11-20 | 直观外科手术操作公司 | Low friction small medical tool with easily assembled components |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010220786A (en) * | 2009-03-24 | 2010-10-07 | Waseda Univ | Surgical manipulator, and surgical manipulator system |
JP2011200593A (en) * | 2010-03-26 | 2011-10-13 | Terumo Corp | Medical instrument |
EP2415418A1 (en) * | 2010-08-04 | 2012-02-08 | Surgica Robotica S.p.A. | Robotic surgical utensil |
WO2014151952A1 (en) * | 2013-03-14 | 2014-09-25 | Sri International | Compact robotic wrist |
EP2783643A1 (en) * | 2011-11-23 | 2014-10-01 | Livsmed Inc. | Surgical instrument |
WO2015088647A1 (en) * | 2013-12-11 | 2015-06-18 | Covidien Lp | Wrist and jaw assemblies for robotic surgical systems |
WO2015163546A1 (en) * | 2014-04-24 | 2015-10-29 | 주식회사 리브스메드 | Surgical instrument |
US20180242991A1 (en) * | 2015-08-28 | 2018-08-30 | Distalmotion Sa | Surgical instrument with increased actuation force |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6394998B1 (en) * | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
DE102011011497A1 (en) | 2011-02-17 | 2012-08-23 | Kuka Roboter Gmbh | Surgical instrument |
GB201521809D0 (en) | 2015-12-10 | 2016-01-27 | Cambridge Medical Robotics Ltd | Symmetrically arranged surgical instrument articulation |
-
2016
- 2016-12-09 GB GB2111139.8A patent/GB2595985B/en active Active
- 2016-12-09 GB GB2105106.5A patent/GB2590881B/en active Active
-
2021
- 2021-08-17 JP JP2021132987A patent/JP7230132B2/en active Active
-
2023
- 2023-02-15 JP JP2023021439A patent/JP2023071742A/en active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010220786A (en) * | 2009-03-24 | 2010-10-07 | Waseda Univ | Surgical manipulator, and surgical manipulator system |
JP2011200593A (en) * | 2010-03-26 | 2011-10-13 | Terumo Corp | Medical instrument |
EP2415418A1 (en) * | 2010-08-04 | 2012-02-08 | Surgica Robotica S.p.A. | Robotic surgical utensil |
EP2783643A1 (en) * | 2011-11-23 | 2014-10-01 | Livsmed Inc. | Surgical instrument |
WO2014151952A1 (en) * | 2013-03-14 | 2014-09-25 | Sri International | Compact robotic wrist |
WO2015088647A1 (en) * | 2013-12-11 | 2015-06-18 | Covidien Lp | Wrist and jaw assemblies for robotic surgical systems |
WO2015163546A1 (en) * | 2014-04-24 | 2015-10-29 | 주식회사 리브스메드 | Surgical instrument |
US20180242991A1 (en) * | 2015-08-28 | 2018-08-30 | Distalmotion Sa | Surgical instrument with increased actuation force |
Also Published As
Publication number | Publication date |
---|---|
GB202105106D0 (en) | 2021-05-26 |
GB2595985B (en) | 2022-03-30 |
JP2023071742A (en) | 2023-05-23 |
JP2021192796A (en) | 2021-12-23 |
JP7230132B2 (en) | 2023-02-28 |
GB202111139D0 (en) | 2021-09-15 |
GB2590881A (en) | 2021-07-07 |
GB2595985A (en) | 2021-12-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
GB2546397B (en) | Surgical instrument articulation | |
GB2531994B (en) | Surgical articulation | |
PL2959854T3 (en) | Surgical instrument | |
EP3178411A4 (en) | Surgical instrument | |
EP3123948A4 (en) | Surgical instrument | |
GB201401194D0 (en) | Surgical instrument | |
HK1231362A1 (en) | Surgical instrument | |
EP3213692A4 (en) | Surgical instrument | |
GB201413344D0 (en) | Surgical instruments | |
EP3178410A4 (en) | Surgical instrument | |
GB2522951B (en) | Instrument articulation | |
GB201608997D0 (en) | Surgical instrument | |
GB201401241D0 (en) | Surgical instrument | |
GB2590881B (en) | Surgical instrument articulation | |
GB2552682B (en) | Surgical instrument | |
GB201517096D0 (en) | Surgical aid | |
ZA201902983B (en) | Surgical instrument | |
PT3122230T (en) | Endoscopic instrument | |
PL3150184T3 (en) | Medical instrument | |
GB201403020D0 (en) | Surgical instrument | |
GB2567495B (en) | Surgical instruments | |
GB2567494B (en) | Surgical instruments | |
GB2578513B (en) | Surgical instrument | |
GB201604659D0 (en) | Surgical instrument | |
GB201414900D0 (en) | Surgical instrument |