JP6209447B2 - マルチジョイント医療器具の作動における張力制御 - Google Patents

マルチジョイント医療器具の作動における張力制御 Download PDF

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Publication number
JP6209447B2
JP6209447B2 JP2013538772A JP2013538772A JP6209447B2 JP 6209447 B2 JP6209447 B2 JP 6209447B2 JP 2013538772 A JP2013538772 A JP 2013538772A JP 2013538772 A JP2013538772 A JP 2013538772A JP 6209447 B2 JP6209447 B2 JP 6209447B2
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joint
tension
torque
actuator
instrument
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JP2014504897A5 (enExample
JP2014504897A (ja
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ウォク ワイ オウ，サミュエル
ウォク ワイ オウ，サミュエル
マリア プリスコ，ギュセッペ
マリア プリスコ，ギュセッペ
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
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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
    • A61B34/70—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
    • 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
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • 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
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • 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)
  • 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)
  • Robotics (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ophthalmology & Optometry (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2013538772A 2010-11-12 2011-10-28 マルチジョイント医療器具の作動における張力制御 Active JP6209447B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US12/945,734 2010-11-12
US12/945,734 US9101379B2 (en) 2010-11-12 2010-11-12 Tension control in actuation of multi-joint medical instruments
PCT/US2011/058376 WO2012064528A1 (en) 2010-11-12 2011-10-28 Tension control in actuation of multi-joint medical instruments

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2017130050A Division JP6872994B2 (ja) 2010-11-12 2017-07-03 マルチジョイント医療器具の作動における張力制御

Publications (3)

Publication Number Publication Date
JP2014504897A JP2014504897A (ja) 2014-02-27
JP2014504897A5 JP2014504897A5 (enExample) 2014-12-11
JP6209447B2 true JP6209447B2 (ja) 2017-10-04

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JP2013538772A Active JP6209447B2 (ja) 2010-11-12 2011-10-28 マルチジョイント医療器具の作動における張力制御
JP2017130050A Active JP6872994B2 (ja) 2010-11-12 2017-07-03 マルチジョイント医療器具の作動における張力制御
JP2019219828A Active JP7517815B2 (ja) 2010-11-12 2019-12-04 マルチジョイント医療器具の作動における張力制御
JP2021159857A Active JP7403513B2 (ja) 2010-11-12 2021-09-29 マルチジョイント医療器具の作動における張力制御

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JP2017130050A Active JP6872994B2 (ja) 2010-11-12 2017-07-03 マルチジョイント医療器具の作動における張力制御
JP2019219828A Active JP7517815B2 (ja) 2010-11-12 2019-12-04 マルチジョイント医療器具の作動における張力制御
JP2021159857A Active JP7403513B2 (ja) 2010-11-12 2021-09-29 マルチジョイント医療器具の作動における張力制御

Country Status (6)

Country Link
US (5) US9101379B2 (enExample)
EP (1) EP2637592B1 (enExample)
JP (4) JP6209447B2 (enExample)
KR (2) KR101889432B1 (enExample)
CN (2) CN105342703B (enExample)
WO (1) WO2012064528A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023543931A (ja) * 2020-10-05 2023-10-18 バーブ サージカル インコーポレイテッド ロボット器具のエンドエフェクタ継手のための零空間制御

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