JP6426181B2 - 可変器具予荷重機構コントローラ - Google Patents

可変器具予荷重機構コントローラ Download PDF

Info

Publication number
JP6426181B2
JP6426181B2 JP2016534824A JP2016534824A JP6426181B2 JP 6426181 B2 JP6426181 B2 JP 6426181B2 JP 2016534824 A JP2016534824 A JP 2016534824A JP 2016534824 A JP2016534824 A JP 2016534824A JP 6426181 B2 JP6426181 B2 JP 6426181B2
Authority
JP
Japan
Prior art keywords
assembly
preload
force
drive
disc
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
JP2016534824A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016530003A5 (OSRAM
JP2016530003A (ja
Inventor
ソロモン，トッド，アール
マクグロガン，アンソニー，ケイ
クーパー，トーマス，ジー
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
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 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 JP2016530003A publication Critical patent/JP2016530003A/ja
Publication of JP2016530003A5 publication Critical patent/JP2016530003A5/ja
Application granted granted Critical
Publication of JP6426181B2 publication Critical patent/JP6426181B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2003—Screw mechanisms with arrangements for taking up backlash
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41032—Backlash

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Orthopedic Medicine & Surgery (AREA)
JP2016534824A 2013-08-15 2014-08-13 可変器具予荷重機構コントローラ Active JP6426181B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361866117P 2013-08-15 2013-08-15
US61/866,117 2013-08-15
PCT/US2014/050957 WO2015023793A1 (en) 2013-08-15 2014-08-13 Variable instrument preload mechanism controller

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2018199912A Division JP6659798B2 (ja) 2013-08-15 2018-10-24 可変器具予荷重機構コントローラ

Publications (3)

Publication Number Publication Date
JP2016530003A JP2016530003A (ja) 2016-09-29
JP2016530003A5 JP2016530003A5 (OSRAM) 2017-09-21
JP6426181B2 true JP6426181B2 (ja) 2018-11-21

Family

ID=52468671

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2016534824A Active JP6426181B2 (ja) 2013-08-15 2014-08-13 可変器具予荷重機構コントローラ
JP2018199912A Active JP6659798B2 (ja) 2013-08-15 2018-10-24 可変器具予荷重機構コントローラ

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2018199912A Active JP6659798B2 (ja) 2013-08-15 2018-10-24 可変器具予荷重機構コントローラ

Country Status (6)

Country Link
US (1) US10932868B2 (OSRAM)
EP (2) EP3597135B1 (OSRAM)
JP (2) JP6426181B2 (OSRAM)
KR (1) KR102312950B1 (OSRAM)
CN (2) CN108992172B (OSRAM)
WO (1) WO2015023793A1 (OSRAM)

Families Citing this family (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
KR102313228B1 (ko) 2013-08-15 2021-10-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기구 살균 어댑터에 대한 액추에이터 인터페이스
US10307213B2 (en) 2013-08-15 2019-06-04 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive interface
EP3033030B1 (en) 2013-08-15 2020-07-22 Intuitive Surgical Operations, Inc. Robotic instrument driven element
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
EP3033036B1 (en) 2013-08-15 2020-05-20 Intuitive Surgical Operations, Inc. Preloaded surgical instrument interface
US10271911B2 (en) 2013-08-15 2019-04-30 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
CN111658180B (zh) 2014-08-15 2024-05-31 直观外科手术操作公司 具有可变进入引导器配置的外科手术系统
ES2848100T3 (es) 2014-09-04 2021-08-05 Memic Innovative Surgery Ltd Control de dispositivo que incluye brazos mecánicos
US10357324B2 (en) 2015-02-20 2019-07-23 Stryker Corporation Sterile barrier assembly, mounting system, and method for coupling surgical components
WO2016205288A1 (en) * 2015-06-19 2016-12-22 Covidien Lp Robotic surgical assemblies
DK3190942T3 (da) * 2015-09-04 2020-07-13 Memic Innovative Surgery Ltd Aktivering af en enhed, der omfatter mekaniske arme
DK3219283T3 (da) 2016-03-09 2021-02-22 Memic Innovative Surgery Ltd Modulær kirurgisk indretning, der omfatter mekaniske arme
GB2578513B (en) * 2016-05-23 2020-11-18 Imperial Innovations Ltd Surgical instrument
CN114983575A (zh) 2016-07-14 2022-09-02 直观外科手术操作公司 包括具有机械封锁的无菌适配器的外科手术设备
WO2018013304A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Controller controlled instrument preload mechanism
CN109688960B (zh) 2016-07-14 2022-04-01 直观外科手术操作公司 多线缆医疗器械
US11007024B2 (en) 2016-07-14 2021-05-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
CN113995532B (zh) 2016-07-14 2024-11-01 直观外科手术操作公司 器械冲洗系统
WO2018013316A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
WO2018013187A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Instrument release
US11020190B2 (en) 2016-07-14 2021-06-01 Intuitive Surgical Operations, Inc. Automated instrument preload engage/disengage mechanism
EP4501265A3 (en) * 2016-10-14 2025-04-30 Intuitive Surgical Operations, Inc. SYSTEMS FOR APPLYING PRELOAD VOLTAGE FOR SURGICAL INSTRUMENTS AND RELATED METHODS
EP3541315A4 (en) 2016-11-21 2020-07-01 Intuitive Surgical Operations Inc. CABLE LENGTH PRESERVING MEDICAL INSTRUMENT
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US11779410B2 (en) 2017-03-09 2023-10-10 Momentis Surgical Ltd Control console including an input arm for control of a surgical mechanical arm
US11076926B2 (en) 2017-03-21 2021-08-03 Intuitive Surgical Operations, Inc. Manual release for medical device drive system
CN110799124B (zh) * 2017-06-28 2023-04-25 爱惜康有限责任公司 具有关节运动系统比率的外科器械
EP3678579A4 (en) * 2017-09-08 2021-06-16 Covidien LP ENERGY DISCONNECTION FOR ROBOTIC SURGICAL SETS
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
US11806096B2 (en) 2018-12-04 2023-11-07 Mako Surgical Corp. Mounting system with sterile barrier assembly for use in coupling surgical components
CN121041038A (zh) 2019-06-13 2025-12-02 直观外科手术操作公司 用于致动张力带的带有长度守恒机构的医疗工具
US11376082B2 (en) * 2019-06-27 2022-07-05 Cilag Gmbh International Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs
CN112472160B (zh) * 2020-12-19 2025-03-25 深圳市精锋医疗科技股份有限公司 手术器械以及手术机器人
WO2023283735A1 (en) * 2021-07-15 2023-01-19 Titan Medical Inc. Sterile adapter assemblies for robotic surgical systems
US11903669B2 (en) 2021-07-30 2024-02-20 Corindus, Inc Sterile drape for robotic drive
CN114533271B (zh) * 2021-09-13 2023-10-31 广西大学 一种单孔微创手术操控系统
US20230301737A1 (en) * 2022-03-24 2023-09-28 Titan Medical Inc. Emergency release and sterile barriers for robotic surgery systems

Family Cites Families (129)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US793510A (en) 1905-03-27 1905-06-27 Stuart W Cramer Machine for dyeing, &c.
US3596498A (en) * 1968-12-27 1971-08-03 Textron Inc Press
US4117359A (en) 1974-01-30 1978-09-26 Teldix Gmbh Bearing and drive structure for spinning turbine
FR2434685A1 (fr) 1978-09-04 1980-03-28 Commissariat Energie Atomique Manipulateur motorise
US4281447A (en) 1979-03-01 1981-08-04 Mcdonnell Douglas Corporation Detachable tool interface system for a robot
US4259876A (en) 1979-10-02 1981-04-07 Belyanin Petr N Mechanical arm
ES2014016B3 (es) 1986-09-24 1990-06-16 Siemens Ag Colocacion de funcionamiento, especialmente para mecanismo de elevacion de ventanas de un vehiculo.
US4911399A (en) * 1989-06-06 1990-03-27 Anglo-American, Inc. Cam valve for regulation of fluid flow through flexible tubing
JPH06114000A (ja) 1992-09-30 1994-04-26 Olympus Optical Co Ltd 医療用マニピュレータ
ES2114405B1 (es) 1994-08-11 1999-02-16 Daumal Castellon Melchor Sistema de fijacion rapido.
US5528955A (en) 1994-09-08 1996-06-25 Hannaford; Blake Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint
US5814038A (en) * 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
DE19541458C1 (de) 1995-11-07 1997-03-06 Siemens Ag Flexibler Aktor
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US7727244B2 (en) 1997-11-21 2010-06-01 Intuitive Surgical Operation, Inc. Sterile surgical drape
US7666191B2 (en) 1996-12-12 2010-02-23 Intuitive Surgical, Inc. Robotic surgical system with sterile surgical adaptor
US7699855B2 (en) 1996-12-12 2010-04-20 Intuitive Surgical Operations, Inc. Sterile surgical adaptor
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US8206406B2 (en) 1996-12-12 2012-06-26 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US8529582B2 (en) * 1996-12-12 2013-09-10 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
JP3578375B2 (ja) 1997-03-17 2004-10-20 技術研究組合医療福祉機器研究所 ロボットアーム駆動装置およびロボットハンド
US6139245A (en) 1997-07-11 2000-10-31 Brooks Automation Inc. Robot arm relocation system
US20020087048A1 (en) 1998-02-24 2002-07-04 Brock David L. Flexible instrument
US6459926B1 (en) 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
FR2792865B1 (fr) 1999-04-27 2001-06-15 Cie Generale De Participations Dispositif de telecommande de mouvement notamment d'organes de prehension
US6829455B2 (en) 2000-10-20 2004-12-07 Canon Kabushiki Kaisha Driving force transmission mechanism, image forming apparatus equipped with such a mechanism, and process unit of such an apparatus
JP2002200091A (ja) 2000-12-27 2002-07-16 Mizuho Co Ltd 手術器械操作における駆動ワイヤーの緩み補正機構
US20020096885A1 (en) 2001-01-22 2002-07-25 Benito Gomez Pinion assembly
US6994708B2 (en) 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
DE10119334C1 (de) 2001-04-20 2002-03-14 Porsche Ag Reibungskupplung
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
JP2003024336A (ja) 2001-07-16 2003-01-28 Hitachi Ltd 術具装置
JP4776823B2 (ja) 2001-07-23 2011-09-21 Ｈｏｙａ株式会社 ギヤバックラッシ除去機構及びモータ駆動装置
US7428855B2 (en) 2002-05-22 2008-09-30 Duval Eugene F Counter balance system and method with one or more mechanical arms
AT413420B (de) 2002-06-07 2006-02-15 Techmo Entw & Vertriebs Gmbh Verfahren und anordnung zum raschen verbinden und lösen von miteinander verbindbaren elementen
CN2573759Y (zh) 2002-08-20 2003-09-17 樊明月 皮带轮的离合装置
US7331967B2 (en) 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
JP3680050B2 (ja) 2002-09-18 2005-08-10 株式会社東芝 医療用マニピュレータ及びその制御方法
EP2589406B1 (en) 2003-05-21 2018-10-10 The Johns Hopkins University Devices and systems for minimally invasive surgery of the throat and other portions of mammalian body
US9002518B2 (en) 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
WO2005039835A1 (en) * 2003-10-24 2005-05-06 The University Of Western Ontario Force reflective robotic control system and minimally invasive surgical device
ITPI20030107A1 (it) 2003-11-14 2005-05-15 Massimo Bergamasco Dispositivo per l'esecuzione di operazioni
US8021326B2 (en) 2004-03-05 2011-09-20 Hansen Medical, Inc. Instrument driver for robotic catheter system
US8052636B2 (en) 2004-03-05 2011-11-08 Hansen Medical, Inc. Robotic catheter system and methods
JP2005288590A (ja) 2004-03-31 2005-10-20 Hiroshi Kinoshita 多関節型マニピュレータ
US7377906B2 (en) 2004-06-15 2008-05-27 Biosense Webster, Inc. Steering mechanism for bi-directional catheter
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
JP4373879B2 (ja) 2004-08-26 2009-11-25 株式会社日立製作所 手術器具
US7837674B2 (en) 2005-01-24 2010-11-23 Intuitive Surgical Operations, Inc. Compact counter balance for robotic surgical systems
US7763015B2 (en) 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
US8800838B2 (en) 2005-08-31 2014-08-12 Ethicon Endo-Surgery, Inc. Robotically-controlled cable-based surgical end effectors
US7357287B2 (en) * 2005-09-29 2008-04-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having preloaded firing assistance mechanism
CN101340852B (zh) 2005-12-20 2011-12-28 直观外科手术操作公司 机器人外科系统的器械对接装置
EP1987263B1 (en) 2006-01-13 2011-03-30 BorgWarner, Inc. Clutch assembly and friction plate
EP1815950A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Robotic surgical system for performing minimally invasive medical procedures
JP5124096B2 (ja) 2006-03-03 2013-01-23 川崎重工業株式会社 清潔空間用ロボットシステム
US7823330B2 (en) 2006-03-09 2010-11-02 Strattec Power Access Llc Apparatus and method for drums in a sliding door mechanism
US8236010B2 (en) 2006-03-23 2012-08-07 Ethicon Endo-Surgery, Inc. Surgical fastener and cutter with mimicking end effector
US20070232858A1 (en) 2006-03-31 2007-10-04 Boston Scientific Scimed, Inc. Steering system tension control devices
CN101500470B (zh) 2006-06-13 2015-03-25 直观外科手术操作公司 微创手术系统
US8784435B2 (en) 2006-06-13 2014-07-22 Intuitive Surgical Operations, Inc. Surgical system entry guide
KR20090051029A (ko) 2006-06-14 2009-05-20 맥도널드 디트윌러 앤드 어소시에이츠 인코포레이티드 직각풀리 구동기구를 갖는 수술조종장치
US8151661B2 (en) 2006-06-30 2012-04-10 Intuituve Surgical Operations, Inc. Compact capstan
US7736254B2 (en) 2006-10-12 2010-06-15 Intuitive Surgical Operations, Inc. Compact cable tension tender device
US8157793B2 (en) 2006-10-25 2012-04-17 Terumo Kabushiki Kaisha Manipulator for medical use
EP1915963A1 (en) 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Force estimation for a minimally invasive robotic surgery system
US7935130B2 (en) 2006-11-16 2011-05-03 Intuitive Surgical Operations, Inc. Two-piece end-effectors for robotic surgical tools
US8684253B2 (en) 2007-01-10 2014-04-01 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
US8444631B2 (en) 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US8224484B2 (en) 2007-09-30 2012-07-17 Intuitive Surgical Operations, Inc. Methods of user interface with alternate tool mode for robotic surgical tools
WO2009079781A1 (en) 2007-12-21 2009-07-02 Macdonald Dettwiler & Associates Inc. Surgical manipulator
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
KR100975047B1 (ko) 2008-02-15 2010-08-11 (주)미래컴퍼니 수술용 인스트루먼트의 커플링 구조
US8333755B2 (en) 2008-03-31 2012-12-18 Intuitive Surgical Operations, Inc. Coupler to transfer controller motion from a robotic manipulator to an attached instrument
US7886743B2 (en) 2008-03-31 2011-02-15 Intuitive Surgical Operations, Inc. Sterile drape interface for robotic surgical instrument
WO2009151205A1 (ko) 2008-06-11 2009-12-17 (주)미래컴퍼니 수술용 로봇 암의 인스트루먼트
US20140100558A1 (en) 2012-10-05 2014-04-10 Gregory P. Schmitz Micro-articulated surgical instruments using micro gear actuation
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US8771270B2 (en) 2008-07-16 2014-07-08 Intuitive Surgical Operations, Inc. Bipolar cautery instrument
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US9339342B2 (en) * 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
US9259274B2 (en) * 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US8720448B2 (en) 2008-11-07 2014-05-13 Hansen Medical, Inc. Sterile interface apparatus
US8161838B2 (en) 2008-12-22 2012-04-24 Intuitive Surgical Operations, Inc. Method and apparatus for reducing at least one friction force opposing an axial force exerted through an actuator element
US8602031B2 (en) 2009-01-12 2013-12-10 Hansen Medical, Inc. Modular interfaces and drive actuation through barrier
US8306656B1 (en) 2009-01-12 2012-11-06 Titan Medical Inc. Method and system for performing medical procedure
JP2010220955A (ja) 2009-03-25 2010-10-07 Fujifilm Corp 医療用マニピュレータ、及びその初期化方法
US10080482B2 (en) * 2009-06-30 2018-09-25 Intuitive Surgical Operations, Inc. Compliant surgical device
KR101037069B1 (ko) * 2009-09-23 2011-05-26 주식회사 이턴 멸균 어댑터
WO2011037394A2 (ko) 2009-09-23 2011-03-31 주식회사 이턴 멸균 어댑터, 휠의 체결 구조 및 수술용 인스트루먼트의 체결 구조
NL1037348C2 (en) 2009-10-02 2011-04-05 Univ Eindhoven Tech Surgical robot, instrument manipulator, combination of an operating table and a surgical robot, and master-slave operating system.
EP3616854B1 (en) 2009-11-13 2024-07-24 Intuitive Surgical Operations, Inc. Motor interface for parallel drive shafts within an independently rotating member
US7752937B1 (en) 2009-12-21 2010-07-13 Winzeler Gear, Inc Anti-backlash gear
US8887595B2 (en) 2009-12-22 2014-11-18 Intuitive Surgical Operations, Inc. Instrument wrist with cycloidal surfaces
US8449569B2 (en) 2009-12-30 2013-05-28 MiT Capital Partners, LLC Apparatus for manipulation of implantable medical device and associated method
US8644988B2 (en) 2010-05-14 2014-02-04 Intuitive Surgical Operations, Inc. Drive force control in medical instrument providing position measurements
AT508701B1 (de) 2010-06-23 2011-05-15 Miba Sinter Austria Gmbh Zahnradanordnung
US8512199B2 (en) 2010-07-26 2013-08-20 Rethink Robotics, Inc. Minimizing backlash utilizing series elastic elements
US8978511B2 (en) 2010-11-09 2015-03-17 Shimano Inc. Position control mechanism
US9101379B2 (en) 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
CN203711286U (zh) 2010-11-15 2014-07-16 密尔沃基电动工具公司 电动分配工具
US8578810B2 (en) 2011-02-14 2013-11-12 Intuitive Surgical Operations, Inc. Jointed link structures exhibiting preferential bending, and related methods
US9259277B2 (en) 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Instrument actuation interface
US8978497B2 (en) * 2011-05-26 2015-03-17 Tolomatic, Inc. Linear actuator with anti-rotation mechanism
US9913694B2 (en) * 2011-05-31 2018-03-13 Intuitive Surgical Operations, Inc. Grip force control in a robotic surgical instrument
JP5879773B2 (ja) 2011-06-30 2016-03-08 日産自動車株式会社 カップリング装置
FR2984979B1 (fr) 2011-12-22 2017-01-27 Valeo Materiaux De Friction Dispositif de friction pour un embrayage
EP2811932B1 (en) 2012-02-10 2019-06-26 Ethicon LLC Robotically controlled surgical instrument
US20140005678A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Rotary drive arrangements for surgical instruments
US9028494B2 (en) 2012-06-28 2015-05-12 Ethicon Endo-Surgery, Inc. Interchangeable end effector coupling arrangement
JP6038589B2 (ja) * 2012-10-17 2016-12-07 Ntn株式会社 直動案内装置
US9095367B2 (en) 2012-10-22 2015-08-04 Ethicon Endo-Surgery, Inc. Flexible harmonic waveguides/blades for surgical instruments
CN105163679B (zh) 2013-03-14 2018-04-06 Sri国际公司 紧凑型机器人手腕
EP3033036B1 (en) 2013-08-15 2020-05-20 Intuitive Surgical Operations, Inc. Preloaded surgical instrument interface
US10307213B2 (en) 2013-08-15 2019-06-04 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive interface
KR102313228B1 (ko) * 2013-08-15 2021-10-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기구 살균 어댑터에 대한 액추에이터 인터페이스
US10271911B2 (en) * 2013-08-15 2019-04-30 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
EP3033030B1 (en) 2013-08-15 2020-07-22 Intuitive Surgical Operations, Inc. Robotic instrument driven element
WO2015142889A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Detection pins to determine presence of surgical instrument and adapter on manipulator
EP3119263A4 (en) 2014-03-19 2018-06-27 Endomaster Pte Ltd Master slave flexible robotic endoscopy system
US20150272582A1 (en) 2014-03-26 2015-10-01 Ethicon Endo-Surgery, Inc. Power management control systems for surgical instruments
GB201521803D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Surgical instrument articulation
WO2018013304A1 (en) * 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Controller controlled instrument preload mechanism
CN114983575A (zh) * 2016-07-14 2022-09-02 直观外科手术操作公司 包括具有机械封锁的无菌适配器的外科手术设备
US11759224B2 (en) * 2017-10-30 2023-09-19 Cilag Gmbh International Surgical instrument systems comprising handle arrangements
US10531883B1 (en) * 2018-07-20 2020-01-14 Syntheon 2.0, LLC Aspiration thrombectomy system and methods for thrombus removal with aspiration catheter

Also Published As

Publication number Publication date
EP3597135A1 (en) 2020-01-22
EP3597135B1 (en) 2021-12-15
JP2019063536A (ja) 2019-04-25
EP3033032B1 (en) 2019-10-02
KR102312950B1 (ko) 2021-10-15
CN105611891A (zh) 2016-05-25
EP3033032A1 (en) 2016-06-22
US10932868B2 (en) 2021-03-02
JP6659798B2 (ja) 2020-03-04
CN108992172A (zh) 2018-12-14
CN108992172B (zh) 2021-11-09
WO2015023793A1 (en) 2015-02-19
KR20160043079A (ko) 2016-04-20
JP2016530003A (ja) 2016-09-29
EP3033032A4 (en) 2017-09-06
US20160184036A1 (en) 2016-06-30
CN105611891B (zh) 2018-09-21

Similar Documents

Publication Publication Date Title
JP6426181B2 (ja) 可変器具予荷重機構コントローラ
JP6513670B2 (ja) 器具減菌アダプタ駆動構成
JP6983951B2 (ja) ロボット器具の被駆動要素
JP6830940B2 (ja) 滅菌器具アダプタに対するアクチュエータ・インターフェイス
JP6776389B2 (ja) プリロードをかけられた手術器具インタフェース
CN108784838B (zh) 器械无菌适配器驱动接口

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170807

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20170807

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180525

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180605

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180903

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180904

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20180925

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20181024

R150 Certificate of patent or registration of utility model

Ref document number: 6426181

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250