JP4416840B2 - 遠隔操縦ロボットシステム用の外科手術マニピュレーター - Google Patents

遠隔操縦ロボットシステム用の外科手術マニピュレーター Download PDF

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Publication number
JP4416840B2
JP4416840B2 JP50165097A JP50165097A JP4416840B2 JP 4416840 B2 JP4416840 B2 JP 4416840B2 JP 50165097 A JP50165097 A JP 50165097A JP 50165097 A JP50165097 A JP 50165097A JP 4416840 B2 JP4416840 B2 JP 4416840B2
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JP
Japan
Prior art keywords
tool
support
surgical
shaft
holder
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.)
Expired - Lifetime
Application number
JP50165097A
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English (en)
Japanese (ja)
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JPH11507252A (ja
JPH11507252A5 (2
Inventor
ジエンセン，ジヨエル，エフ．
ヒル，ジヨン，ダブリユー．
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SRI International Inc
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SRI International Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from US08/485,587 external-priority patent/US5649956A/en
Application filed by SRI International Inc filed Critical SRI International Inc
Publication of JPH11507252A publication Critical patent/JPH11507252A/ja
Publication of JPH11507252A5 publication Critical patent/JPH11507252A5/ja
Application granted granted Critical
Publication of JP4416840B2 publication Critical patent/JP4416840B2/ja
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
    • A61B2017/00464—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable for use with different instruments
    • 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
    • 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
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • 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
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2919—Handles transmission of forces to actuating rod or piston details of linkages or pivot points
    • A61B2017/292—Handles transmission of forces to actuating rod or piston details of linkages or pivot points connection of actuating rod to handle, e.g. ball end in recess
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Medical Informatics (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)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
JP50165097A 1995-06-07 1996-06-05 遠隔操縦ロボットシステム用の外科手術マニピュレーター Expired - Lifetime JP4416840B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US48702095A 1995-06-07 1995-06-07
US08/485,587 1995-06-07
US08/485,587 US5649956A (en) 1995-06-07 1995-06-07 System and method for releasably holding a surgical instrument
US08/487,020 1995-06-07
PCT/US1996/009297 WO1996039944A1 (en) 1995-06-07 1996-06-05 Surgical manipulator for a telerobotic system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2006276834A Division JP4444261B2 (ja) 1995-06-07 2006-10-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター

Publications (3)

Publication Number Publication Date
JPH11507252A JPH11507252A (ja) 1999-06-29
JPH11507252A5 JPH11507252A5 (2) 2004-07-22
JP4416840B2 true JP4416840B2 (ja) 2010-02-17

Family

ID=27048403

Family Applications (12)

Application Number Title Priority Date Filing Date
JP50165097A Expired - Lifetime JP4416840B2 (ja) 1995-06-07 1996-06-05 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2006276834A Expired - Lifetime JP4444261B2 (ja) 1995-06-07 2006-10-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2008178182A Expired - Lifetime JP4953321B2 (ja) 1995-06-07 2008-07-08 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2010173758A Expired - Lifetime JP5276065B2 (ja) 1995-06-07 2010-08-02 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002463A Expired - Lifetime JP5943481B2 (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002459A Expired - Lifetime JP5709027B2 (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002448A Expired - Lifetime JP5943480B2 (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002471A Expired - Lifetime JP5883401B2 (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002440A Pending JP2013135850A (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002441A Expired - Lifetime JP5852593B2 (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002454A Pending JP2013126712A (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2014162769A Expired - Lifetime JP5886388B2 (ja) 1995-06-07 2014-08-08 遠隔操縦ロボットシステム用の外科手術マニピュレーター

Family Applications After (11)

Application Number Title Priority Date Filing Date
JP2006276834A Expired - Lifetime JP4444261B2 (ja) 1995-06-07 2006-10-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2008178182A Expired - Lifetime JP4953321B2 (ja) 1995-06-07 2008-07-08 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2010173758A Expired - Lifetime JP5276065B2 (ja) 1995-06-07 2010-08-02 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002463A Expired - Lifetime JP5943481B2 (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002459A Expired - Lifetime JP5709027B2 (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002448A Expired - Lifetime JP5943480B2 (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002471A Expired - Lifetime JP5883401B2 (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002440A Pending JP2013135850A (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002441A Expired - Lifetime JP5852593B2 (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2013002454A Pending JP2013126712A (ja) 1995-06-07 2013-01-10 遠隔操縦ロボットシステム用の外科手術マニピュレーター
JP2014162769A Expired - Lifetime JP5886388B2 (ja) 1995-06-07 2014-08-08 遠隔操縦ロボットシステム用の外科手術マニピュレーター

Country Status (7)

Country Link
EP (11) EP2266466B1 (2)
JP (12) JP4416840B2 (2)
AT (4) ATE469603T1 (2)
CA (7) CA2809745C (2)
DE (3) DE69635050T2 (2)
ES (2) ES2443015T3 (2)
WO (1) WO1996039944A1 (2)

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