JP6114583B2 - 医療用マニピュレータ - Google Patents

医療用マニピュレータ Download PDF

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Publication number
JP6114583B2
JP6114583B2 JP2013051773A JP2013051773A JP6114583B2 JP 6114583 B2 JP6114583 B2 JP 6114583B2 JP 2013051773 A JP2013051773 A JP 2013051773A JP 2013051773 A JP2013051773 A JP 2013051773A JP 6114583 B2 JP6114583 B2 JP 6114583B2
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JP
Japan
Prior art keywords
support cylinder
rotation support
distal end
medical manipulator
end effector
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
JP2013051773A
Other languages
English (en)
Japanese (ja)
Other versions
JP2014176483A5 (enExample
JP2014176483A (ja
Inventor
石田　伸司
伸司 石田
佐野　弘明
弘明 佐野
鈴木　庸介
庸介 鈴木
純一 福田
純一 福田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Karl Storz SE and Co KG
Original Assignee
Karl Storz SE and Co KG
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
Application filed by Karl Storz SE and Co KG filed Critical Karl Storz SE and Co KG
Priority to JP2013051773A priority Critical patent/JP6114583B2/ja
Priority to EP14159021.6A priority patent/EP2777561B1/en
Priority to US14/212,324 priority patent/US9345503B2/en
Publication of JP2014176483A publication Critical patent/JP2014176483A/ja
Publication of JP2014176483A5 publication Critical patent/JP2014176483A5/ja
Application granted granted Critical
Publication of JP6114583B2 publication Critical patent/JP6114583B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • 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
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • 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
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • 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
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • A61B2017/293—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft with means preventing relative rotation between the shaft and the actuating rod
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Ophthalmology & Optometry (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
JP2013051773A 2013-03-14 2013-03-14 医療用マニピュレータ Active JP6114583B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2013051773A JP6114583B2 (ja) 2013-03-14 2013-03-14 医療用マニピュレータ
EP14159021.6A EP2777561B1 (en) 2013-03-14 2014-03-12 Medical manipulator
US14/212,324 US9345503B2 (en) 2013-03-14 2014-03-14 Medical manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2013051773A JP6114583B2 (ja) 2013-03-14 2013-03-14 医療用マニピュレータ

Publications (3)

Publication Number Publication Date
JP2014176483A JP2014176483A (ja) 2014-09-25
JP2014176483A5 JP2014176483A5 (enExample) 2016-02-25
JP6114583B2 true JP6114583B2 (ja) 2017-04-12

Family

ID=50241215

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2013051773A Active JP6114583B2 (ja) 2013-03-14 2013-03-14 医療用マニピュレータ

Country Status (3)

Country Link
US (1) US9345503B2 (enExample)
EP (1) EP2777561B1 (enExample)
JP (1) JP6114583B2 (enExample)

Families Citing this family (424)

* Cited by examiner, † Cited by third party
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