JP5542288B2 - 手術器具のための受動的事前負荷およびキャプスタン駆動 - Google Patents

手術器具のための受動的事前負荷およびキャプスタン駆動 Download PDF

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JP5542288B2
JP5542288B2 JP2011529066A JP2011529066A JP5542288B2 JP 5542288 B2 JP5542288 B2 JP 5542288B2 JP 2011529066 A JP2011529066 A JP 2011529066A JP 2011529066 A JP2011529066 A JP 2011529066A JP 5542288 B2 JP5542288 B2 JP 5542288B2
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capstan
tendon
attached
shaft
instrument
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JP2012504016A (ja
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ジュゼッペ プリスコ，
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インテュイティブ サージカル オペレーションズ， 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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/285—Surgical forceps combined with cutting implements
    • 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
    • A61B17/295—Forceps for use in minimally invasive surgery combined with cutting implements
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B25J1/08—Manipulators positioned in space by hand movably mounted in a wall
    • B25J1/10—Sleeve and pivot mountings therefor
    • 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
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
JP2011529066A 2008-09-30 2009-09-02 手術器具のための受動的事前負荷およびキャプスタン駆動 Active JP5542288B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US12/286,644 US9259274B2 (en) 2008-09-30 2008-09-30 Passive preload and capstan drive for surgical instruments
US12/286,644 2008-09-30
PCT/US2009/055727 WO2010039387A1 (en) 2008-09-30 2009-09-02 Passive preload and capstan drive for surgical instruments

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2014021913A Division JP5951658B2 (ja) 2008-09-30 2014-02-07 手術器具のための受動的事前負荷およびキャプスタン駆動

Publications (2)

Publication Number Publication Date
JP2012504016A JP2012504016A (ja) 2012-02-16
JP5542288B2 true JP5542288B2 (ja) 2014-07-09

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Family Applications (4)

Application Number Title Priority Date Filing Date
JP2011529066A Active JP5542288B2 (ja) 2008-09-30 2009-09-02 手術器具のための受動的事前負荷およびキャプスタン駆動
JP2014021913A Active JP5951658B2 (ja) 2008-09-30 2014-02-07 手術器具のための受動的事前負荷およびキャプスタン駆動
JP2014137651A Withdrawn JP2014193417A (ja) 2008-09-30 2014-07-03 手術器具のための受動的事前負荷およびキャプスタン駆動
JP2016177316A Active JP6556677B2 (ja) 2008-09-30 2016-09-12 手術器具のための受動的事前負荷およびキャプスタン駆動

Family Applications After (3)

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JP2014021913A Active JP5951658B2 (ja) 2008-09-30 2014-02-07 手術器具のための受動的事前負荷およびキャプスタン駆動
JP2014137651A Withdrawn JP2014193417A (ja) 2008-09-30 2014-07-03 手術器具のための受動的事前負荷およびキャプスタン駆動
JP2016177316A Active JP6556677B2 (ja) 2008-09-30 2016-09-12 手術器具のための受動的事前負荷およびキャプスタン駆動

Country Status (6)

Country Link
US (6) US9259274B2 (https=)
EP (2) EP2361170B1 (https=)
JP (4) JP5542288B2 (https=)
KR (4) KR101765094B1 (https=)
CN (2) CN102171006B (https=)
WO (1) WO2010039387A1 (https=)

Cited By (2)

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US11147643B2 (en) 2015-07-17 2021-10-19 Olympus Corporation Manipulator
US11805976B2 (en) 2020-01-09 2023-11-07 Riverfield Inc. Slider and surgical instrument

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