JP5764137B2 - 小型リストを有する手術ツール - Google Patents

小型リストを有する手術ツール Download PDF

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Publication number
JP5764137B2
JP5764137B2 JP2012539035A JP2012539035A JP5764137B2 JP 5764137 B2 JP5764137 B2 JP 5764137B2 JP 2012539035 A JP2012539035 A JP 2012539035A JP 2012539035 A JP2012539035 A JP 2012539035A JP 5764137 B2 JP5764137 B2 JP 5764137B2
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JP
Japan
Prior art keywords
shaft
axis
end effector
link
drive shaft
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.)
Active
Application number
JP2012539035A
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English (en)
Japanese (ja)
Other versions
JP2013510684A (ja
JP2013510684A5 (enExample
Inventor
ウィリアム バーバンク，
ウィリアム バーバンク，
グレゴリー ザ セカンド ダーカス，
グレゴリー ザ セカンド ダーカス，
トッド マーフィー，
トッド マーフィー，
Original Assignee
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
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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Application filed by 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, 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 filed Critical 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
Publication of JP2013510684A publication Critical patent/JP2013510684A/ja
Publication of JP2013510684A5 publication Critical patent/JP2013510684A5/ja
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Classifications

    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/18—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts the coupling parts (1) having slidably-interengaging teeth
    • F16D3/185—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts the coupling parts (1) having slidably-interengaging teeth radial teeth connecting concentric inner and outer coupling parts
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/064—Surgical staples, i.e. penetrating the tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • 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
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00526—Methods of manufacturing
    • 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
    • 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
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • Y10S901/29—Wrist
    • 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
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
JP2012539035A 2009-11-13 2010-11-12 小型リストを有する手術ツール Active JP5764137B2 (ja)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US26091509P 2009-11-13 2009-11-13
US26091009P 2009-11-13 2009-11-13
US26090309P 2009-11-13 2009-11-13
US61/260,910 2009-11-13
US61/260,915 2009-11-13
US61/260,903 2009-11-13
PCT/US2010/056607 WO2011060315A2 (en) 2009-11-13 2010-11-12 Surgical tool with a compact wrist

Related Child Applications (2)

Application Number Title Priority Date Filing Date
JP2013200054A Division JP5903418B2 (ja) 2009-11-13 2013-09-26 小型リストを有する手術ツール
JP2013200053A Division JP5868366B2 (ja) 2009-11-13 2013-09-26 小型リストを有する手術ツール

Publications (3)

Publication Number Publication Date
JP2013510684A JP2013510684A (ja) 2013-03-28
JP2013510684A5 JP2013510684A5 (enExample) 2013-11-14
JP5764137B2 true JP5764137B2 (ja) 2015-08-12

Family

ID=43608223

Family Applications (6)

Application Number Title Priority Date Filing Date
JP2012539035A Active JP5764137B2 (ja) 2009-11-13 2010-11-12 小型リストを有する手術ツール
JP2013200053A Active JP5868366B2 (ja) 2009-11-13 2013-09-26 小型リストを有する手術ツール
JP2013200054A Active JP5903418B2 (ja) 2009-11-13 2013-09-26 小型リストを有する手術ツール
JP2016051138A Active JP6297084B2 (ja) 2009-11-13 2016-03-15 小型リストを有する手術ツール
JP2018027859A Active JP6563053B2 (ja) 2009-11-13 2018-02-20 小型リストを有する手術ツール
JP2019135098A Active JP6804595B2 (ja) 2009-11-13 2019-07-23 小型リストを有する手術ツール

Family Applications After (5)

Application Number Title Priority Date Filing Date
JP2013200053A Active JP5868366B2 (ja) 2009-11-13 2013-09-26 小型リストを有する手術ツール
JP2013200054A Active JP5903418B2 (ja) 2009-11-13 2013-09-26 小型リストを有する手術ツール
JP2016051138A Active JP6297084B2 (ja) 2009-11-13 2016-03-15 小型リストを有する手術ツール
JP2018027859A Active JP6563053B2 (ja) 2009-11-13 2018-02-20 小型リストを有する手術ツール
JP2019135098A Active JP6804595B2 (ja) 2009-11-13 2019-07-23 小型リストを有する手術ツール

Country Status (6)

Country Link
US (7) US8852174B2 (enExample)
EP (8) EP2594222B1 (enExample)
JP (6) JP5764137B2 (enExample)
KR (6) KR101847990B1 (enExample)
CN (5) CN102596088B (enExample)
WO (1) WO2011060315A2 (enExample)

Families Citing this family (789)

* Cited by examiner, † Cited by third party
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