JP6474424B2 - 可動域制限を回避するための自動押出し - Google Patents

可動域制限を回避するための自動押出し Download PDF

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Publication number
JP6474424B2
JP6474424B2 JP2016557990A JP2016557990A JP6474424B2 JP 6474424 B2 JP6474424 B2 JP 6474424B2 JP 2016557990 A JP2016557990 A JP 2016557990A JP 2016557990 A JP2016557990 A JP 2016557990A JP 6474424 B2 JP6474424 B2 JP 6474424B2
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motion
range
joint
setup
drive
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Japanese (ja)
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JP2017514547A (ja
JP2017514547A5 (enExample
Inventor
ジー グリフィス，ポール
ジー グリフィス，ポール
ダブリュ モーア，ポール
ダブリュ モーア，ポール
ディー イトコウィッツ，ブランドン
ディー イトコウィッツ，ブランドン
アール ニクソン，トーマス
アール ニクソン，トーマス
デヴェンゲンゾ，ロマン
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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    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0033—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Springs (AREA)
  • Surgical Instruments (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
JP2016557990A 2014-03-17 2015-03-17 可動域制限を回避するための自動押出し Active JP6474424B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201461954452P 2014-03-17 2014-03-17
US61/954,452 2014-03-17
US201462019311P 2014-06-30 2014-06-30
US62/019,311 2014-06-30
PCT/US2015/021047 WO2015142907A1 (en) 2014-03-17 2015-03-17 Automatic push-out to avoid range of motion limits

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2019012862A Division JP6691620B2 (ja) 2014-03-17 2019-01-29 可動域制限を回避するための自動押出し

Publications (3)

Publication Number Publication Date
JP2017514547A JP2017514547A (ja) 2017-06-08
JP2017514547A5 JP2017514547A5 (enExample) 2018-04-19
JP6474424B2 true JP6474424B2 (ja) 2019-02-27

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JP2016557990A Active JP6474424B2 (ja) 2014-03-17 2015-03-17 可動域制限を回避するための自動押出し
JP2016556011A Active JP6530422B2 (ja) 2014-03-17 2015-03-17 能動的な付勢を伴う定荷重ばね
JP2019012862A Active JP6691620B2 (ja) 2014-03-17 2019-01-29 可動域制限を回避するための自動押出し
JP2019092922A Active JP6722801B2 (ja) 2014-03-17 2019-05-16 能動的な付勢を伴う定荷重ばね

Family Applications After (3)

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JP2016556011A Active JP6530422B2 (ja) 2014-03-17 2015-03-17 能動的な付勢を伴う定荷重ばね
JP2019012862A Active JP6691620B2 (ja) 2014-03-17 2019-01-29 可動域制限を回避するための自動押出し
JP2019092922A Active JP6722801B2 (ja) 2014-03-17 2019-05-16 能動的な付勢を伴う定荷重ばね

Country Status (6)

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US (4) US10028793B2 (enExample)
EP (4) EP3119311B1 (enExample)
JP (4) JP6474424B2 (enExample)
KR (4) KR102412804B1 (enExample)
CN (3) CN109363774B (enExample)
WO (2) WO2015142786A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023543930A (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 外科用ツールの関節運動継手のハードストップの対処法

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