JP2020022923A - 機械的な関節並びに関連するシステム及び方法 - Google Patents
機械的な関節並びに関連するシステム及び方法 Download PDFInfo
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- JP2020022923A JP2020022923A JP2019213773A JP2019213773A JP2020022923A JP 2020022923 A JP2020022923 A JP 2020022923A JP 2019213773 A JP2019213773 A JP 2019213773A JP 2019213773 A JP2019213773 A JP 2019213773A JP 2020022923 A JP2020022923 A JP 2020022923A
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- wrist
- actuation element
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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
-
- 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
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B90/36—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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- 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
-
- 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
-
- 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
- A61B2017/2905—Details of shaft flexible
-
- 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
- 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
- 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
Abstract
Description
この出願は、2014年2月21日に出願された米国仮出願第61/943,084号の利益を主張し、その全文をここに参照として援用する。
Claims (8)
- シャフトと、リストと、エンドエフェクタと、作動要素とを含み、
前記シャフトは、端部分を含み、
前記リストは、第1の端部分と、該第1の端部分とは反対側の第2の端部分とを含み、
前記リストの前記第1の端部分は、前記シャフトの前記端部分に連結され、
前記リストは、第1のジョイントと、第2のジョイントとを含み、
前記第1のジョイントは、第1の方向に延びる第1の曲げ軸について前記リストを曲げ、
前記第2のジョイントは、前記第1の方向とは異なる第2の方向に延びる第2の曲げ軸について前記リストを曲げ、
前記リストの前記第1の端部分と前記第2の端部分との間の長さが、前記リストの全長を定め、
前記エンドエフェクタは、前記リストの前記第2の端部分に連結され、
前記作動要素は、前記シャフト及び前記リストに沿って延び、
前記作動要素は、前記リストの少なくとも一部分に沿って捩れ経路に従い、
該捩れ経路は、前記リストの前記全長に沿って360度未満の角度的な広がりを有する、
手術器具。 - 前記作動要素は、前記第1及び第2のジョイントが同時に曲がるときに、長さ維持的である、請求項1に記載の手術器具。
- 前記シャフトは、第2の端部分を含み、
当該手術器具は、前記シャフトの前記第2の端部分に連結される伝動機構を更に含み、
前記作動要素は、前記伝動機構が前記エンドエフェクタを作動させるように、前記伝動機構と前記エンドエフェクタとの間に連結される、
請求項1又は2に記載の手術器具。 - 前記シャフトは、第2の端部分を含み、
当該手術器具は、前記シャフトの前記第2の端部分に連結される伝動機構を更に含み、
前記作動要素は、前記伝動機構が前記リストを作動させるように、前記伝動機構と前記リストとの間に連結される、
請求項1又は2に記載の手術器具。 - 当該手術器具は、作動要素支持構造を更に含み、
該作動要素支持構造は、前記リストの前記第1及び第2のジョイントに亘って延在し、
前記作動要素支持構造は、前記捩れ経路を定める管腔を含み、
前記作動要素は、前記管腔を通じて延びる、
請求項1乃至4のうちのいずれか1項に記載の手術器具。 - 前記作動要素支持構造は、一体成形構造を有する、請求項5に記載の手術器具。
- 前記リストの長手方向の中心線が、前記リストの前記第1の端部分と前記第2の端部分との間に定められ、
前記捩れ経路の少なくとも一部分が、前記リストの前記長手方向の中心線から径方向にオフセットさせられる軸について捩れる、
請求項1乃至6のうちのいずれか1項に記載の手術器具。 - 当該手術器具は、前記シャフト及び前記リストに沿って延びる第2の作動要素を含み、
該第2の作動要素は、前記リストの前記第1の端部分と前記第2の端部分との間の中心線経路に沿って延びる、
請求項1乃至7のうちのいずれか1項に記載の手術器具。
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JP2021134996A JP2021191424A (ja) | 2014-02-21 | 2021-08-20 | 機械的な関節並びに関連するシステム及び方法 |
JP2023085201A JP2023111922A (ja) | 2014-02-21 | 2023-05-24 | 機械的な関節並びに関連するシステム及び方法 |
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US201461943084P | 2014-02-21 | 2014-02-21 | |
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JP2019213773A Active JP7153630B2 (ja) | 2014-02-21 | 2019-11-27 | 機械的な関節並びに関連するシステム及び方法 |
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US (2) | US10524870B2 (ja) |
EP (1) | EP3107479A4 (ja) |
JP (4) | JP6664331B2 (ja) |
KR (1) | KR102410823B1 (ja) |
CN (2) | CN106028995B (ja) |
WO (1) | WO2015127231A1 (ja) |
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JP7153630B2 (ja) | 2022-10-14 |
US20170215977A1 (en) | 2017-08-03 |
JP2017509391A (ja) | 2017-04-06 |
JP6664331B2 (ja) | 2020-03-13 |
US11272994B2 (en) | 2022-03-15 |
CN111938820A (zh) | 2020-11-17 |
CN106028995A (zh) | 2016-10-12 |
US20200170734A1 (en) | 2020-06-04 |
EP3107479A1 (en) | 2016-12-28 |
JP2023111922A (ja) | 2023-08-10 |
EP3107479A4 (en) | 2017-07-12 |
WO2015127231A1 (en) | 2015-08-27 |
JP2021191424A (ja) | 2021-12-16 |
US10524870B2 (en) | 2020-01-07 |
KR102410823B1 (ko) | 2022-06-21 |
KR20160124793A (ko) | 2016-10-28 |
CN106028995B (zh) | 2020-06-30 |
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