JP2012527276A - 腹腔鏡手術用のロボットシステム - Google Patents
腹腔鏡手術用のロボットシステム Download PDFInfo
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- JP2012527276A JP2012527276A JP2012511310A JP2012511310A JP2012527276A JP 2012527276 A JP2012527276 A JP 2012527276A JP 2012511310 A JP2012511310 A JP 2012511310A JP 2012511310 A JP2012511310 A JP 2012511310A JP 2012527276 A JP2012527276 A JP 2012527276A
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- arm
- robot system
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- 238000002357 laparoscopic surgery Methods 0.000 title abstract description 6
- 230000007246 mechanism Effects 0.000 abstract description 8
- 238000001356 surgical procedure Methods 0.000 description 9
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 210000001015 abdomen Anatomy 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 238000002432 robotic surgery Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 238000007675 cardiac surgery Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Images
Classifications
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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
- A61B34/37—Master-slave robots
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- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
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- 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
- A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—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 for introducing through surgical openings, e.g. laparoscopes for laparoscopy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0218—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
- B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Endoscopes (AREA)
Abstract
Description
Claims (8)
- 少なくとも1つのアーム(210;220)が摺動式に装着された支持構造体(230)を備えた腹腔鏡手術用のロボットシステム(200)であって、前記アーム(210;220)が蝶番により互いに取り付けられた第1部材(300)と第2部材(400)とを備えており、前記第1部材(300)が前記支持構造体(230)に蝶番により回転可能に取り付けられているもので、前記第1部材(300)が長手軸(L1)を中心として回転するように構成されており、前記第2部材(400)が、器具(900)を装着するために少なくとも2の自由度を有する継手(550)を受けるように構成されていることを特徴とするロボットシステム(200)。
- 前記第1部材(300)の前記長手軸(L1)が、前記第1部材(300)と前記第2部材(400)とを互いに接続する接合軸(L2)に少なくとも概ね直交している、請求項1に記載のロボットシステム(200)。
- 前記支持構造体(230)が垂直の柱を備えており、前記垂直の柱の長手軸(L3)を中心として前記アーム(210、220)が回転できる、請求項1または2に記載のロボットシステム(200)。
- 器具(900)を装着するために少なくとも2の自由度を有する前記継手(550)がジンバル式継手である、請求項1に記載のロボットシステム(200)。
- 間接式の前記第2の要素(400)が2つの部品(410、420)からなっており、前記第2の要素に対して前記アームの第1部材(300)が蝶番により取り付けられている、請求項1ないし4のいずれか1項に記載のロボットシステム(200)。
- 前記支持構造体(230)に蝶番により取り付けられた少なくとも2つの前記アーム(210、220)を備えている、請求項1ないし5のいずれか1項に記載のロボットシステム(200)。
- 前記アーム(210、220)が、前記支持構造体(230)の前記長手軸(L3)を中心として互いに独立して回転することができる、請求項6に記載のロボットシステム(200)。
- 前記第1部材(300)が、前記支持構造体(230)と一体式の延長部(265;275)に回転可能に装着されている、請求項1ないし7のいずれか1項に記載のロボットシステム(200)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ESP200901313 | 2009-05-22 | ||
ES200901313A ES2388029B1 (es) | 2009-05-22 | 2009-05-22 | Sistema robótico para cirugia laparoscópica. |
PCT/ES2010/000224 WO2010133733A1 (es) | 2009-05-22 | 2010-05-20 | Sistema robótico para cirugía laparoscópica |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2012527276A true JP2012527276A (ja) | 2012-11-08 |
JP2012527276A5 JP2012527276A5 (ja) | 2013-06-20 |
JP5785538B2 JP5785538B2 (ja) | 2015-09-30 |
Family
ID=43125780
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012511310A Active JP5785538B2 (ja) | 2009-05-22 | 2010-05-20 | 腹腔鏡手術用のロボットシステム |
Country Status (16)
Country | Link |
---|---|
US (1) | US9119653B2 (ja) |
EP (1) | EP2433585B1 (ja) |
JP (1) | JP5785538B2 (ja) |
KR (1) | KR101665744B1 (ja) |
CN (1) | CN102458295B (ja) |
AU (1) | AU2010251107B2 (ja) |
BR (1) | BRPI1011053B8 (ja) |
CA (1) | CA2762780C (ja) |
ES (2) | ES2388029B1 (ja) |
IL (1) | IL216470A0 (ja) |
MX (1) | MX336487B (ja) |
PL (1) | PL2433585T3 (ja) |
RU (1) | RU2531469C2 (ja) |
SG (1) | SG176183A1 (ja) |
WO (1) | WO2010133733A1 (ja) |
ZA (1) | ZA201109443B (ja) |
Cited By (2)
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JP2019072520A (ja) * | 2014-03-07 | 2019-05-16 | シーエムアール サージカル リミテッドCmr Surgical Limited | 外科用アーム |
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BRPI1011053B8 (pt) | 2021-06-22 |
ES2388029A1 (es) | 2012-10-05 |
MX336487B (es) | 2016-01-21 |
SG176183A1 (en) | 2011-12-29 |
CA2762780A1 (en) | 2010-11-25 |
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BRPI1011053B1 (pt) | 2020-09-29 |
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CN102458295B (zh) | 2014-06-25 |
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RU2531469C2 (ru) | 2014-10-20 |
MX2011012295A (es) | 2011-12-16 |
EP2433585B1 (en) | 2017-09-13 |
CN102458295A (zh) | 2012-05-16 |
AU2010251107A1 (en) | 2012-01-19 |
EP2433585A4 (en) | 2015-11-04 |
ES2655029T3 (es) | 2018-02-16 |
KR20120068768A (ko) | 2012-06-27 |
AU2010251107B2 (en) | 2015-06-25 |
PL2433585T3 (pl) | 2018-02-28 |
JP5785538B2 (ja) | 2015-09-30 |
BRPI1011053A2 (pt) | 2016-03-15 |
IL216470A0 (en) | 2012-01-31 |
ES2388029B1 (es) | 2013-08-13 |
CA2762780C (en) | 2017-09-26 |
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