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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JP2014504897A (ja
JP2014504897A5 (https=
Inventor
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 (https=) 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

Family Applications After (3)

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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 (https=)
EP (1) EP2637592B1 (https=)
JP (4) JP6209447B2 (https=)
KR (2) KR101927749B1 (https=)
CN (2) CN105342703B (https=)
WO (1) WO2012064528A1 (https=)

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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