JP4077516B2 - 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構 - Google Patents

向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構 Download PDF

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JP4077516B2
JP4077516B2 JP54267197A JP54267197A JP4077516B2 JP 4077516 B2 JP4077516 B2 JP 4077516B2 JP 54267197 A JP54267197 A JP 54267197A JP 54267197 A JP54267197 A JP 54267197A JP 4077516 B2 JP4077516 B2 JP 4077516B2
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surgical
instrument
positioning mechanism
master device
force
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JP2002503976A (ja
JP2002503976A5 (https=
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ジェイ． マドハニ，アクヒル
ジェイ． サリスバリー，ケニス
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インチュイティブ 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
    • A61B34/70—Manipulators 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
    • A61B34/70—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
    • 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
    • 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
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
JP54267197A 1996-05-20 1997-05-20 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構 Expired - Lifetime JP4077516B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US1798196P 1996-05-20 1996-05-20
US60/017,981 1996-05-20
US08/858,048 US5807377A (en) 1996-05-20 1997-05-16 Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity
US08/858,048 1997-05-16
PCT/US1997/008584 WO1997043943A1 (en) 1996-05-20 1997-05-20 Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity

Related Child Applications (2)

Application Number Title Priority Date Filing Date
JP2006273077A Division JP4443548B2 (ja) 1996-05-20 2006-10-04 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2007161960A Division JP2007289726A (ja) 1996-05-20 2007-06-19 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構

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JP2002503976A JP2002503976A (ja) 2002-02-05
JP2002503976A5 JP2002503976A5 (https=) 2004-12-09
JP4077516B2 true JP4077516B2 (ja) 2008-04-16

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Family Applications (9)

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JP54267197A Expired - Lifetime JP4077516B2 (ja) 1996-05-20 1997-05-20 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2006273077A Expired - Lifetime JP4443548B2 (ja) 1996-05-20 2006-10-04 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2007161960A Withdrawn JP2007289726A (ja) 1996-05-20 2007-06-19 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2010224177A Expired - Lifetime JP5207558B2 (ja) 1996-05-20 2010-10-01 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2012060837A Expired - Lifetime JP5868746B2 (ja) 1996-05-20 2012-03-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2012060838A Withdrawn JP2012179363A (ja) 1996-05-20 2012-03-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2014102072A Withdrawn JP2014236969A (ja) 1996-05-20 2014-05-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2015002796A Withdrawn JP2015107340A (ja) 1996-05-20 2015-01-09 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2016112427A Withdrawn JP2016185335A (ja) 1996-05-20 2016-06-06 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構

Family Applications After (8)

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JP2006273077A Expired - Lifetime JP4443548B2 (ja) 1996-05-20 2006-10-04 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2007161960A Withdrawn JP2007289726A (ja) 1996-05-20 2007-06-19 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2010224177A Expired - Lifetime JP5207558B2 (ja) 1996-05-20 2010-10-01 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2012060837A Expired - Lifetime JP5868746B2 (ja) 1996-05-20 2012-03-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2012060838A Withdrawn JP2012179363A (ja) 1996-05-20 2012-03-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2014102072A Withdrawn JP2014236969A (ja) 1996-05-20 2014-05-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2015002796A Withdrawn JP2015107340A (ja) 1996-05-20 2015-01-09 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2016112427A Withdrawn JP2016185335A (ja) 1996-05-20 2016-06-06 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構

Country Status (4)

Country Link
US (1) US5807377A (https=)
JP (9) JP4077516B2 (https=)
CA (1) CA2255692C (https=)
WO (1) WO1997043943A1 (https=)

Cited By (1)

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JP2011025058A (ja) * 1996-05-20 2011-02-10 Intuitive Surgical Inc 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構

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