JP2008528130A - ロボット手術のためのモジュールマニピュレーター支持体 - Google Patents

ロボット手術のためのモジュールマニピュレーター支持体 Download PDF

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Publication number
JP2008528130A
JP2008528130A JP2007552394A JP2007552394A JP2008528130A JP 2008528130 A JP2008528130 A JP 2008528130A JP 2007552394 A JP2007552394 A JP 2007552394A JP 2007552394 A JP2007552394 A JP 2007552394A JP 2008528130 A JP2008528130 A JP 2008528130A
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JP
Japan
Prior art keywords
manipulator
joint
orientation platform
arm
base
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.)
Withdrawn
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JP2007552394A
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English (en)
Japanese (ja)
Inventor
トーマス クーパー，
スティーブン ジェイ ブルメンクランツ，
ゲーリー エス グタート，
デイビッド ローザ，
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インテュイティブ サージカル， インコーポレイテッド
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    • 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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower 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
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • 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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • 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
    • 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
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • 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
    • 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
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • 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
    • Y10S901/14—Arm movement, spatial
    • 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
    • Y10S901/14—Arm movement, spatial
    • Y10S901/15—Jointed arm
    • 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
    • Y10S901/14—Arm movement, spatial
    • Y10S901/16—Cartesian, three degrees of freedom
    • 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
    • Y10S901/14—Arm movement, spatial
    • Y10S901/17—Cylindrical
    • 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
    • Y10S901/14—Arm movement, spatial
    • Y10S901/18—Spherical

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
  • Surgical Instruments (AREA)
JP2007552394A 2005-01-24 2006-01-24 ロボット手術のためのモジュールマニピュレーター支持体 Withdrawn JP2008528130A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/043,688 US7763015B2 (en) 2005-01-24 2005-01-24 Modular manipulator support for robotic surgery
PCT/US2006/002628 WO2006079108A1 (en) 2005-01-24 2006-01-24 Modular manipulator support for robotic surgery

Related Child Applications (3)

Application Number Title Priority Date Filing Date
JP2011203739A Division JP5622694B2 (ja) 2005-01-24 2011-09-16 ロボット手術のためのモジュールマニピュレーター支持体
JP2011203738A Division JP5500734B2 (ja) 2005-01-24 2011-09-16 ロボット手術のためのモジュールマニピュレーター支持体
JP2012071972A Division JP5730233B2 (ja) 2005-01-24 2012-03-27 ロボット手術装置及びその作動方法

Publications (1)

Publication Number Publication Date
JP2008528130A true JP2008528130A (ja) 2008-07-31

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Family Applications (11)

Application Number Title Priority Date Filing Date
JP2007552394A Withdrawn JP2008528130A (ja) 2005-01-24 2006-01-24 ロボット手術のためのモジュールマニピュレーター支持体
JP2011203738A Expired - Lifetime JP5500734B2 (ja) 2005-01-24 2011-09-16 ロボット手術のためのモジュールマニピュレーター支持体
JP2011203739A Expired - Lifetime JP5622694B2 (ja) 2005-01-24 2011-09-16 ロボット手術のためのモジュールマニピュレーター支持体
JP2012071972A Expired - Fee Related JP5730233B2 (ja) 2005-01-24 2012-03-27 ロボット手術装置及びその作動方法
JP2013206099A Expired - Fee Related JP6170399B2 (ja) 2005-01-24 2013-10-01 ロボット手術のためのモジュールマニピュレーター支持体
JP2014097355A Expired - Lifetime JP6444055B2 (ja) 2005-01-24 2014-05-09 ロボット手術のためのモジュールマニピュレーター支持体
JP2014170133A Expired - Lifetime JP6185893B2 (ja) 2005-01-24 2014-08-25 ロボット手術のためのモジュールマニピュレーター支持体
JP2015196043A Expired - Lifetime JP6277165B2 (ja) 2005-01-24 2015-10-01 ロボット手術システム
JP2018171302A Expired - Lifetime JP6935376B2 (ja) 2005-01-24 2018-09-13 ロボット手術システム
JP2020085248A Pending JP2020124596A (ja) 2005-01-24 2020-05-14 ロボット手術システム
JP2021171954A Pending JP2022009321A (ja) 2005-01-24 2021-10-20 ロボット手術システム

Family Applications After (10)

Application Number Title Priority Date Filing Date
JP2011203738A Expired - Lifetime JP5500734B2 (ja) 2005-01-24 2011-09-16 ロボット手術のためのモジュールマニピュレーター支持体
JP2011203739A Expired - Lifetime JP5622694B2 (ja) 2005-01-24 2011-09-16 ロボット手術のためのモジュールマニピュレーター支持体
JP2012071972A Expired - Fee Related JP5730233B2 (ja) 2005-01-24 2012-03-27 ロボット手術装置及びその作動方法
JP2013206099A Expired - Fee Related JP6170399B2 (ja) 2005-01-24 2013-10-01 ロボット手術のためのモジュールマニピュレーター支持体
JP2014097355A Expired - Lifetime JP6444055B2 (ja) 2005-01-24 2014-05-09 ロボット手術のためのモジュールマニピュレーター支持体
JP2014170133A Expired - Lifetime JP6185893B2 (ja) 2005-01-24 2014-08-25 ロボット手術のためのモジュールマニピュレーター支持体
JP2015196043A Expired - Lifetime JP6277165B2 (ja) 2005-01-24 2015-10-01 ロボット手術システム
JP2018171302A Expired - Lifetime JP6935376B2 (ja) 2005-01-24 2018-09-13 ロボット手術システム
JP2020085248A Pending JP2020124596A (ja) 2005-01-24 2020-05-14 ロボット手術システム
JP2021171954A Pending JP2022009321A (ja) 2005-01-24 2021-10-20 ロボット手術システム

Country Status (5)

Country Link
US (7) US7763015B2 (enExample)
EP (6) EP2263591B1 (enExample)
JP (11) JP2008528130A (enExample)
CN (9) CN110432987B (enExample)
WO (1) WO2006079108A1 (enExample)

Cited By (45)

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JP2010516398A (ja) * 2007-01-26 2010-05-20 インテュイティブ サージカル インコーポレイテッド ロボット外科手術システムのための小型のカウンタバランス
JP2013510662A (ja) * 2009-11-13 2013-03-28 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 湾曲カニューレおよびロボットマニピュレーター
WO2014199413A1 (ja) * 2013-06-13 2014-12-18 テルモ株式会社 医療用マニピュレータおよびその制御方法
JP2015519146A (ja) * 2012-06-01 2015-07-09 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 手術器具マニピュレータの態様
JP2015525095A (ja) * 2012-06-01 2015-09-03 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 マルチポート手術ロボットシステム構造
JP2015530906A (ja) * 2012-08-15 2015-10-29 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 手動でのロボットアームの運動によって制御される可動な手術用装着プラットフォーム
JP2015531624A (ja) * 2012-08-15 2015-11-05 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 ゼロ空間を使用した関節運動の相殺のためのシステム及び方法
JP2016152906A (ja) * 2015-02-18 2016-08-25 ソニー株式会社 医療用支持アーム装置及び医療用観察装置
JP2017512534A (ja) * 2014-03-17 2017-05-25 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 多関節アームにおける分離クラッチ操作のためのシステム及び方法
JP2017514542A (ja) * 2014-03-17 2017-06-08 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 基準目標に合わせるシステム及び方法
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