JP4943338B2 - オフセット遠隔中心マニピュレーター - Google Patents

オフセット遠隔中心マニピュレーター Download PDF

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Publication number
JP4943338B2
JP4943338B2 JP2007534622A JP2007534622A JP4943338B2 JP 4943338 B2 JP4943338 B2 JP 4943338B2 JP 2007534622 A JP2007534622 A JP 2007534622A JP 2007534622 A JP2007534622 A JP 2007534622A JP 4943338 B2 JP4943338 B2 JP 4943338B2
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Japan
Prior art keywords
manipulator
axis
shaft
parallelogram
instrument
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Expired - Lifetime
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JP2007534622A
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Japanese (ja)
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JP2008514357A5 (enExample
JP2008514357A (ja
Inventor
トーマス クーパー，
トッド ソロモン，
Original Assignee
インテュイティブ 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for 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
    • A61B34/70—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
    • A61B34/30—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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • 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
    • 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
    • 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
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/15—Jointed 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

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (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)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
JP2007534622A 2004-09-30 2005-09-09 オフセット遠隔中心マニピュレーター Expired - Lifetime JP4943338B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US10/957,077 2004-09-30
US10/957,077 US7594912B2 (en) 2004-09-30 2004-09-30 Offset remote center manipulator for robotic surgery
PCT/US2005/032488 WO2006039092A2 (en) 2004-09-30 2005-09-09 Offset remote center manipulator

Related Child Applications (4)

Application Number Title Priority Date Filing Date
JP2011115141A Division JP5255670B2 (ja) 2004-09-30 2011-05-23 オフセット遠隔中心マニピュレーター
JP2011115139A Division JP5213993B2 (ja) 2004-09-30 2011-05-23 オフセット遠隔中心マニピュレーター
JP2011115140A Division JP5219226B2 (ja) 2004-09-30 2011-05-23 オフセット遠隔中心マニピュレーター
JP2012021597A Division JP5458122B2 (ja) 2004-09-30 2012-02-03 オフセット遠隔中心マニピュレーター

Publications (3)

Publication Number Publication Date
JP2008514357A JP2008514357A (ja) 2008-05-08
JP2008514357A5 JP2008514357A5 (enExample) 2008-10-02
JP4943338B2 true JP4943338B2 (ja) 2012-05-30

Family

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Family Applications (6)

Application Number Title Priority Date Filing Date
JP2007534622A Expired - Lifetime JP4943338B2 (ja) 2004-09-30 2005-09-09 オフセット遠隔中心マニピュレーター
JP2011115139A Expired - Lifetime JP5213993B2 (ja) 2004-09-30 2011-05-23 オフセット遠隔中心マニピュレーター
JP2011115140A Expired - Lifetime JP5219226B2 (ja) 2004-09-30 2011-05-23 オフセット遠隔中心マニピュレーター
JP2011115141A Expired - Fee Related JP5255670B2 (ja) 2004-09-30 2011-05-23 オフセット遠隔中心マニピュレーター
JP2012021597A Expired - Fee Related JP5458122B2 (ja) 2004-09-30 2012-02-03 オフセット遠隔中心マニピュレーター
JP2013020339A Expired - Lifetime JP5649143B2 (ja) 2004-09-30 2013-02-05 オフセット遠隔中心マニピュレーター

Family Applications After (5)

Application Number Title Priority Date Filing Date
JP2011115139A Expired - Lifetime JP5213993B2 (ja) 2004-09-30 2011-05-23 オフセット遠隔中心マニピュレーター
JP2011115140A Expired - Lifetime JP5219226B2 (ja) 2004-09-30 2011-05-23 オフセット遠隔中心マニピュレーター
JP2011115141A Expired - Fee Related JP5255670B2 (ja) 2004-09-30 2011-05-23 オフセット遠隔中心マニピュレーター
JP2012021597A Expired - Fee Related JP5458122B2 (ja) 2004-09-30 2012-02-03 オフセット遠隔中心マニピュレーター
JP2013020339A Expired - Lifetime JP5649143B2 (ja) 2004-09-30 2013-02-05 オフセット遠隔中心マニピュレーター

Country Status (5)

Country Link
US (7) US7594912B2 (enExample)
EP (6) EP1793761B1 (enExample)
JP (6) JP4943338B2 (enExample)
CN (5) CN101027010B (enExample)
WO (1) WO2006039092A2 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170041890A (ko) * 2014-08-14 2017-04-17 쿠카 로보테르 게엠베하 로봇의 포지셔닝

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* Cited by examiner, † Cited by third party
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