HRP20201017T1 - Pokretanje uređaja koji ima mehaničke ruke - Google Patents

Pokretanje uređaja koji ima mehaničke ruke Download PDF

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Publication number
HRP20201017T1
HRP20201017T1 HRP20201017TT HRP20201017T HRP20201017T1 HR P20201017 T1 HRP20201017 T1 HR P20201017T1 HR P20201017T T HRP20201017T T HR P20201017TT HR P20201017 T HRP20201017 T HR P20201017T HR P20201017 T1 HRP20201017 T1 HR P20201017T1
Authority
HR
Croatia
Prior art keywords
mechanism according
gear
shaft
screw
elements
Prior art date
Application number
HRP20201017TT
Other languages
English (en)
Inventor
Dvir Cohen
Yaron LEVINSON
Original Assignee
Memic Innovative Surgery 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
Priority claimed from PCT/IL2015/050892 external-priority patent/WO2016035085A2/en
Application filed by Memic Innovative Surgery Ltd. filed Critical Memic Innovative Surgery Ltd.
Publication of HRP20201017T1 publication Critical patent/HRP20201017T1/hr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
    • 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
    • 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
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • A61B2090/033—Abutting means, stops, e.g. abutting on tissue or skin
    • A61B2090/034—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself
    • A61B2090/035—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself preventing further rotation

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Mechanical Control Devices (AREA)
  • Thermistors And Varistors (AREA)

Claims (14)

1. Mehanizam pokretanja pokreta vratila koje ima dva stupnja slobode, obuhvaćajući: prvi zupčanik (802) konfiguriran za rotaciju navedenog vratila oko osi vratila; drugi zupčanik (806) operabilno spojen na navojni vijak (808), navedeni drugi zupčanik je konfiguriran za rotaciju navedenog navojnog vijka oko osi vijka; kućište (816) u koje se prima naveden navojni vijak, navedeno kućište se pruža od navedenog prvog zupčanika, naveden prvi zupčanik rotira navedeno kućište kad je navedeno vratilo rotirano; dva jahača elementa (810, 812) spojena na navoj navedenog navojnog vijka; pri čemu je prvi jahači element (810) spojen na prvi izduženi element (810ee) i drugi jahači element (812) je spojen na drugi izduženi element (812ee); navedeni prvi i drugi element su konfigurirani za spajanje na navedeno vratilo na točci krajnjoj u odnosu na fleksibilan dio navedenog vratila; pri čemu je rotacijski pokret navedenih jahačih elemenata oko navojnog vijka ograničen jednom ili više izbočina konfiguriranih na unutrašnjoj strani navedenog kućišta; pri čemu rotacija navedenog navojnog vijka pokreće navedene jahače elemente lateralno u suprotnim smjerovima, napinjući naveden prvi izduženi element i opuštajući napetost drugog izduženog elementa ili obrnuto i time savijajući ili poništavajući savijanje navedenog fleksibilnog dijela navedenog vratila.
2. Mehanizam prema zahtjevu 1, naznačen time da se navedeni izduženi dijelovi pružaju dalje od prvog zupčanika.
3. Mehanizam prema zahtjevu 1, naznačen time da se proksimalno produženje navedenog vratila pruža unutar navedenog navojnog vijka.
4. Mehanizam prema zahtjevu 1, naznačen time da fleksibilan dio vratila konfiguriran da se savija određuje zglob kirurške ruke.
5. Mehanizam prema zahtjevu 1, naznačen time da rotacija navedenog prvog zupčanika dok je naveden drugi zupčanik slobodan za rotaciju uzrokuje rotaciju navedenog vratila, kao jedinstvenog krutog tijela, oko osi vratila.
6. Mehanizam prema zahtjevu 1, naznačen time da svaki od navedenih produženih elemenata obuhvaća žicu, kabel ili traku.
7. Mehanizam prema zahtjevu 1, naznačen time da navedeni jahači elementi obuhvaćaju pola matice.
8. Mehanizam prema zahtjevu 1, naznačen time da su navedeni zupčanici okretni s različitim brzinama.
9. Mehanizam prema zahtjevu 1, naznačen time da su navedeni prvi i drugi zupčanik okretni oko slične osi, navedena os bivajući duga os navedenog vratila.
10. Mehanizam prema zahtjevu 1, naznačen time da je svaki od navedenih zupčanika pokretan od odgovarajućeg motornog zupčanika, smještenog da pokreće rotaciju navedenog zupčanika ili da se umiješa u rotaciju navedenog zupčanika.
11. Mehanizam prema zahtjevu 1, naznačen time da se održava konstantna poprečna udaljenost između navedenih jahaćih elemenata i time između navedenih izduženih elemenata.
12. Mehanizam prema zahtjevu 1, naznačen time da spajanje između navedenog drugog zupčanika i navedenog vijka obuhvaća spojku.
13. Mehanizam prema zahtjevu 12, naznačen time da navedena spojka obuhvaća oprugu spojenu na vijak na način da, kad zakretni moment i/ili napetost prouzrokovana rotacijom navedenog vijka prelazi prag, opruga propušta i daljnja rotacija vijka više nije učinkovita za poticanje pokreta navedenih izduženih elemenata.
14. Mehanizam prema zahtjevu 12, naznačen time da navedena spojka obuhvaća jednu ili više opruga učvršćenih između navedenih jahaćih elemenata i navedenih izduženih elemenata na način da, kad je izduženi element napet iznad praga, opruga propušta i daljnje kretanje jahaćeg elementa više nije učinkovito za poticanje pokreta navedenih izduženih elemenata.
HRP20201017TT 2015-09-04 2020-06-29 Pokretanje uređaja koji ima mehaničke ruke HRP20201017T1 (hr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
PCT/IL2015/050892 WO2016035085A2 (en) 2014-09-04 2015-09-04 Method and devices for hysterectomy
PCT/IL2015/050891 WO2016035084A2 (en) 2014-09-04 2015-09-04 Control of device including mechanical arms
PCT/IL2015/050893 WO2016035086A2 (en) 2014-09-04 2015-09-04 Device and system including mechanical arms
US201662305613P 2016-03-09 2016-03-09
PCT/IL2016/050976 WO2017037723A1 (en) 2015-09-04 2016-09-04 Actuation of a device comprising mechanical arms
EP16840991.0A EP3190942B1 (en) 2015-09-04 2016-09-04 Actuation of a device comprising mechanical arms

Publications (1)

Publication Number Publication Date
HRP20201017T1 true HRP20201017T1 (hr) 2020-10-16

Family

ID=58188705

Family Applications (1)

Application Number Title Priority Date Filing Date
HRP20201017TT HRP20201017T1 (hr) 2015-09-04 2020-06-29 Pokretanje uređaja koji ima mehaničke ruke

Country Status (10)

Country Link
US (4) US20170239005A1 (hr)
EP (2) EP3190942B1 (hr)
CA (1) CA2957362A1 (hr)
DK (1) DK3190942T3 (hr)
ES (1) ES2801149T3 (hr)
HR (1) HRP20201017T1 (hr)
IL (1) IL251293B (hr)
LT (1) LT3190942T (hr)
SI (1) SI3190942T1 (hr)
WO (1) WO2017037723A1 (hr)

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US20190167364A1 (en) 2019-06-06
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