JP2018531694A - 円滑に関節屈曲するマルチクラスタジョイントを有する医療デバイス - Google Patents

円滑に関節屈曲するマルチクラスタジョイントを有する医療デバイス Download PDF

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Publication number
JP2018531694A
JP2018531694A JP2018517568A JP2018517568A JP2018531694A JP 2018531694 A JP2018531694 A JP 2018531694A JP 2018517568 A JP2018517568 A JP 2018517568A JP 2018517568 A JP2018517568 A JP 2018517568A JP 2018531694 A JP2018531694 A JP 2018531694A
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Japan
Prior art keywords
joint
cluster
gimbal
guide
end effector
Prior art date
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Pending
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JP2018517568A
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English (en)
Japanese (ja)
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JP2018531694A5 (enExample
Inventor
リクト，ジェームズ，マイケル
アウタール，ショーヤ
シャルマ，ディーパク
ジマーマン，ザッカリー
ジョンソン，ブルース
ホルメス，クリストファー，ケイ．
コスタ，ピーター，エフ．
ラローズ，ブライアン，ダグラス
スリヴァン，ランダール
ブロック ランク，ライアン
ブロック ランク，ライアン
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Flexdex inc
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Flexdex inc
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Application filed by Flexdex inc filed Critical Flexdex inc
Publication of JP2018531694A publication Critical patent/JP2018531694A/ja
Publication of JP2018531694A5 publication Critical patent/JP2018531694A5/ja
Pending legal-status Critical Current

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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
    • A61B34/70—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
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • 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
    • A61B1/005—Flexible endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods 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
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/0069—Aspects not otherwise provided for with universal joint, cardan joint
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • 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
    • 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
    • A61B2090/031—Automatic limiting or abutting means, e.g. for safety torque limiting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
JP2018517568A 2015-10-05 2016-10-05 円滑に関節屈曲するマルチクラスタジョイントを有する医療デバイス Pending JP2018531694A (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201562237483P 2015-10-05 2015-10-05
US201562237476P 2015-10-05 2015-10-05
US62/237,483 2015-10-05
US62/237,476 2015-10-05
PCT/US2016/055586 WO2017062516A1 (en) 2015-10-05 2016-10-05 Medical devices having smoothly articulating multi-cluster joints

Publications (2)

Publication Number Publication Date
JP2018531694A true JP2018531694A (ja) 2018-11-01
JP2018531694A5 JP2018531694A5 (enExample) 2019-11-07

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
JP2018517568A Pending JP2018531694A (ja) 2015-10-05 2016-10-05 円滑に関節屈曲するマルチクラスタジョイントを有する医療デバイス
JP2018517560A Active JP6886459B2 (ja) 2015-10-05 2016-10-05 遠隔アクセスツール用のエンドエフェクタ顎閉鎖伝達システム

Family Applications After (1)

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JP2018517560A Active JP6886459B2 (ja) 2015-10-05 2016-10-05 遠隔アクセスツール用のエンドエフェクタ顎閉鎖伝達システム

Country Status (6)

Country Link
US (4) US10959797B2 (enExample)
EP (2) EP3359054A4 (enExample)
JP (2) JP2018531694A (enExample)
CN (1) CN108472025A (enExample)
BR (1) BR112018006826A2 (enExample)
WO (2) WO2017062529A1 (enExample)

Cited By (5)

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Publication number Priority date Publication date Assignee Title
WO2021150001A1 (ko) * 2020-01-20 2021-07-29 신주니어데이비드승준 수술용 기구
US20220031345A1 (en) * 2020-07-28 2022-02-03 Cilag Gmbh International Surgical instruments with double spherical articulation joints with pivotable links
JP2022545667A (ja) * 2019-08-21 2022-10-28 シラグ・ゲーエムベーハー・インターナショナル 可撓性部材及びピボットガイドを備えた関節運動可能な手首部
WO2023085713A1 (ko) * 2021-11-09 2023-05-19 주식회사 로엔서지컬 로봇 수술도구용 관절 장치
JP2024510796A (ja) * 2021-03-24 2024-03-11 シラグ・ゲーエムベーハー・インターナショナル 外科用器具のための多軸枢動継手及びその製造方法

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JP7520960B2 (ja) 2019-08-21 2024-07-23 シラグ・ゲーエムベーハー・インターナショナル 可撓性部材及びピボットガイドを備えた関節運動可能な手首部
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US20180221045A1 (en) 2018-08-09
JP6886459B2 (ja) 2021-06-16
CN108472025A (zh) 2018-08-31
US20210212785A1 (en) 2021-07-15
US20250318889A1 (en) 2025-10-16
US12167903B2 (en) 2024-12-17
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