HRP20210269T1 - Modularni kirurški uređaj koji obuhvaća mehaničke ruke - Google Patents

Modularni kirurški uređaj koji obuhvaća mehaničke ruke Download PDF

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Publication number
HRP20210269T1
HRP20210269T1 HRP20210269TT HRP20210269T HRP20210269T1 HR P20210269 T1 HRP20210269 T1 HR P20210269T1 HR P20210269T T HRP20210269T T HR P20210269TT HR P20210269 T HRP20210269 T HR P20210269T HR P20210269 T1 HRP20210269 T1 HR P20210269T1
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HR
Croatia
Prior art keywords
motor unit
unit
surgical
modular
surgical arm
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HRP20210269TT
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English (en)
Inventor
Dvir Cohen
Yaron LEVINSON
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Memic Innovative Surgery Ltd.
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Publication of HRP20210269T1 publication Critical patent/HRP20210269T1/hr

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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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—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
    • 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
    • A61B34/72—Micromanipulators
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • 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
    • 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
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
    • 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
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • 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
    • A61B2017/00982—General structural features
    • A61B2017/00991—Telescopic means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2906—Multiple forceps
    • 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
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A61B2090/0808—Indication means for indicating correct assembly of components, e.g. of the surgical apparatus
    • 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
    • A61B90/57—Accessory clamps
    • A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Claims (16)

1. Kirurški sustav koji obuhvaća: najmanje dvije modularne jedinice, koje obuhvaćaju prvu modularnu jedinicu i drugu modularnu jedinicu, od kojih svaka modularna jedinica obuhvaća: kiruršku ruku; i motornu jedinicu koja obuhvaća aktivirajuće elemente konfigurirane za aktiviranje pokreta navedene kirurške ruke, navedena motorna jedinica je konfigurirana da se može operativno pričvrstiti na navedenu kiruršku ruku, navedena motorna jedinica definira dugačku os; navedena motorna jedinica obuhvaća kućište; pri čemu je motorna jedinica navedene prve modularne jedinice konfigurirana za poravnanje uz motornu jedinicu navedene druge modularne jedinice, pri čemu uzdužna ploha navedenog kućišta motorne jedinice navedene prve modularne jedinice sadrži geometriju spoja pogodnu za spajanje navedene uzdužne plohe navedenog kućišta motorne jedinice na uzdužnu plohu navedenog kućišta motorne jedinice navedene druge modularne jedinice; naznačen time što je navedena motorna jedinica svake od navedene prve i druge modularne jedinice operativno pričvršćena na odgovarajuću kiruršku ruku preko izduženog udubljenja definiranog u uzdužnoj plohi navedenog kućišta motorne jedinice; navedeno izduženo udubljenje oblikovano i dimenzionirano tako da može uklonjivo primiti izduženi dio navedene kirurške ruke; pri čemu samo kada se navedeni dio kirurške ruke primi unutar navedenog udubljenja, navedeni aktivirajući elementi dodiruju navedenu kiruršku ruku kako bi se operativno pričvrstio na kiruršku ruku, pri čemu navedenu kiruršku ruku mehanički drži na mjestu jedna ili više komponenata za držanje i proteže se od distalne plohe kućišta motorne jedinice, paralelno s navedenom dugačkom osi navedene motorne jedinice.
2. Sustav u skladu s patentnim zahtjevom 1, naznačen time što navedena geometrija obuhvaća jedan ili oba izbočenja i udubljenja za angažiranje odgovarajućih udubljenja i izbočenja navedenog kućišta navedene motorne jedinice navedene druge modularne jedinice.
3. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-2, naznačen time što kada je navedena kirurška ruka primljena unutar navedenog udubljenja, dugačka os navedene kirurške ruke postavljena je na bočnoj udaljenosti manjoj od 5 mm od navedene uzdužne plohe navedenog kućišta koje sadrži navedenu geometriju spoja.
4. Kirurški sustav u skladu s bilo kojim od patentnih zahtjeva 1-3, naznačen time što je navedena dugačka os motorne jedinice paralelna dugačkoj osi navedene kirurške ruke koja se proteže od navedene motorne jedinice, motorna jedinica definira proksimalni produžetak navedene kirurške ruke.
5. Kirurški sustav u skladu s bilo kojim od patentnih zahtjeva 1-4, naznačen time što je navedena geometrija spoja konfigurirana tako da kada je navedena prva modularna jedinica spojena na navedenu drugu modularnu jedinicu, navedena uzdužna ploha navedenog kućišta prve motorne jedinice izravno dodiruje uzdužnu plohu navedenog kućišta druge motorne jedinice.
6. Kirurški sustav u skladu s patentnim zahtjevom 3, naznačen time što kada je navedena prva modularna jedinica pričvršćena na navedenu drugu modularnu jedinicu pri navedenoj geometriji spoja, udaljenost između dugačkih osi kirurških ruku koje se protežu od navedenih kućišta motornih jedinica manja je od 10 mm.
7. Kirurški sustav u skladu s bilo kojim od patentnih zahtjeva 1-6, naznačen time što navedeni aktivirajući elementi sadrže motorne zupčanike i pri čemu navedeni dio kirurške ruke sadrži zupčanike za kirurške ruke; navedeni motorni zupčanici operativno dodiruju navedene kirurške zupčanike.
8. Kirurški sustav u skladu s bilo kojim od patentnih zahtjeva 1-7, naznačen time što navedeno kućište motorne jedinice sadrži profil pravokutnog presjeka u smjeru okomitom na navedenu dugačku os navedene motorne jedinice; i pri čemu navedena kirurška ruka sadrži profil kružnog presjeka u smjeru okomitom na dugačku os navedene kirurške ruke.
9. Kirurški sustav u skladu s bilo kojim od patentnih zahtjeva 1-8, naznačen time što je svaka od navedenih modularnih jedinica konfigurirana da djeluje neovisno od druge modularne jedinice.
10. Kirurški sustav u skladu s bilo kojim od patentnih zahtjeva 1-9, naznačen time što navedena modularna jedinica sadrži senzor za otkrivanje je li navedena modularna jedinica spojena s dodatnom modularnom jedinicom ili jedinicama.
11. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-10, naznačen time što svaka od navedenih modularnih jedinica sadrži integralnu linearnu jedinicu, navedena linearna jedinica je konfigurirana za aktiviranje barem jednog od pomicanja i uvlačenja navedene modularne jedinice.
12. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-11, naznačen time što se navedeni dio kirurške ruke koji je primljen unutar navedenog izduženog udubljenja proteže između 60% -99% duljine navedene motorne jedinice mjereno duž navedene dugačke osi navedene motorne jedinice.
13. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-12, naznačen time što je navedena geometrija spoja konfigurirana da blokira navedeno kućište motorne jedinice navedene prve modularne jedinice s navedenim kućištem motorne jedinice navedene druge modularne jedinice.
14. Sustav prema bilo kojem od zahtjeva 1-13, naznačen time što je duljina navedene kirurške ruke duž dugačke osi navedene kirurške ruke između 500-1000 mm.
15. Sustav prema bilo kojem od zahtjeva 1-14, naznačen time što navedeno udubljenje uključuje jedno ili više izbočenja i / ili udubljenja koja sprječavaju da se kirurška ruka nepravilno umetne u navedeno udubljenje.
16. Sustav prema bilo kojem od zahtjeva 1-15, naznačen time što navedena motorna jedinica sadrži senzor koji otkriva je li navedena kirurška ruka bila pričvršćena.
HRP20210269TT 2016-03-09 2021-02-16 Modularni kirurški uređaj koji obuhvaća mehaničke ruke HRP20210269T1 (hr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662305613P 2016-03-09 2016-03-09
US201662305631P 2016-03-09 2016-03-09
EP17160061.2A EP3219283B1 (en) 2016-03-09 2017-03-09 Modular surgical device comprising mechanical arms

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HRP20210269T1 true HRP20210269T1 (hr) 2021-04-02

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US (5) US10617481B2 (hr)
EP (2) EP3219283B1 (hr)
CA (1) CA2960354A1 (hr)
DK (1) DK3219283T3 (hr)
ES (1) ES2856865T3 (hr)
HR (1) HRP20210269T1 (hr)
LT (1) LT3219283T (hr)
SI (1) SI3219283T1 (hr)

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