JP4542710B2 - 外科用マニプレータ - Google Patents

外科用マニプレータ Download PDF

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Publication number
JP4542710B2
JP4542710B2 JP2000583445A JP2000583445A JP4542710B2 JP 4542710 B2 JP4542710 B2 JP 4542710B2 JP 2000583445 A JP2000583445 A JP 2000583445A JP 2000583445 A JP2000583445 A JP 2000583445A JP 4542710 B2 JP4542710 B2 JP 4542710B2
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JP
Japan
Prior art keywords
link
tool
manipulator
actuator
axis
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 - Fee Related
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JP2000583445A
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English (en)
Japanese (ja)
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JP2002530209A (ja
JP2002530209A5 (enExample
Inventor
チャールズ，スティーヴ・ティー
ストウトン，ロバート
スチュアート，ジェイ・マイケル
ブロニス，ラリー
Original Assignee
マイクロデクステラティー・システムズ・インコーポレーテッド
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Publication of JP2002530209A publication Critical patent/JP2002530209A/ja
Publication of JP2002530209A5 publication Critical patent/JP2002530209A5/ja
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Classifications

    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-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
    • 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
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • 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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Manipulator (AREA)
JP2000583445A 1998-11-23 1999-11-22 外科用マニプレータ Expired - Fee Related JP4542710B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US10960898P 1998-11-23 1998-11-23
US60/109,608 1998-11-23
PCT/US1999/027560 WO2000030557A1 (en) 1998-11-23 1999-11-22 Surgical manipulator

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2010104689A Division JP5084865B2 (ja) 1998-11-23 2010-04-30 医学用ツールを患者の体内で操作する装置

Publications (3)

Publication Number Publication Date
JP2002530209A JP2002530209A (ja) 2002-09-17
JP2002530209A5 JP2002530209A5 (enExample) 2006-10-05
JP4542710B2 true JP4542710B2 (ja) 2010-09-15

Family

ID=22328587

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2000583445A Expired - Fee Related JP4542710B2 (ja) 1998-11-23 1999-11-22 外科用マニプレータ
JP2010104689A Expired - Fee Related JP5084865B2 (ja) 1998-11-23 2010-04-30 医学用ツールを患者の体内で操作する装置

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2010104689A Expired - Fee Related JP5084865B2 (ja) 1998-11-23 2010-04-30 医学用ツールを患者の体内で操作する装置

Country Status (6)

Country Link
US (1) US6723106B1 (enExample)
EP (2) EP1133265B1 (enExample)
JP (2) JP4542710B2 (enExample)
AU (1) AU1825400A (enExample)
DE (2) DE69929481T2 (enExample)
WO (1) WO2000030557A1 (enExample)

Families Citing this family (564)

* Cited by examiner, † Cited by third party
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JP5084865B2 (ja) 2012-11-28
AU1825400A (en) 2000-06-13
EP1133265A1 (en) 2001-09-19
DE69918569T2 (de) 2005-03-24
US6723106B1 (en) 2004-04-20
EP1433431A1 (en) 2004-06-30
WO2000030557A1 (en) 2000-06-02
EP1133265B1 (en) 2004-07-07
DE69929481D1 (de) 2006-04-06
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