JP6530422B2 - 能動的な付勢を伴う定荷重ばね - Google Patents

能動的な付勢を伴う定荷重ばね Download PDF

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Publication number
JP6530422B2
JP6530422B2 JP2016556011A JP2016556011A JP6530422B2 JP 6530422 B2 JP6530422 B2 JP 6530422B2 JP 2016556011 A JP2016556011 A JP 2016556011A JP 2016556011 A JP2016556011 A JP 2016556011A JP 6530422 B2 JP6530422 B2 JP 6530422B2
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Prior art keywords
drum
coupled
motor
control module
bracket
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Japanese (ja)
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JP2017507728A (ja
JP2017507728A5 (https=
Inventor
エル デヴェンゲンゾ，ロマン
エル デヴェンゲンゾ，ロマン
ジー グリフィス，ポール
ジー グリフィス，ポール
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)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Springs (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
JP2016556011A 2014-03-17 2015-03-17 能動的な付勢を伴う定荷重ばね Active JP6530422B2 (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/US2015/020878 WO2015142786A1 (en) 2014-03-17 2015-03-17 Constant force spring with active bias

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2019092922A Division JP6722801B2 (ja) 2014-03-17 2019-05-16 能動的な付勢を伴う定荷重ばね

Publications (3)

Publication Number Publication Date
JP2017507728A JP2017507728A (ja) 2017-03-23
JP2017507728A5 JP2017507728A5 (https=) 2018-04-26
JP6530422B2 true JP6530422B2 (ja) 2019-06-12

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ID=54145188

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Application Number Title Priority Date Filing Date
JP2016556011A Active JP6530422B2 (ja) 2014-03-17 2015-03-17 能動的な付勢を伴う定荷重ばね
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
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)

Application Number Title Priority Date Filing Date
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
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)

Country Link
US (4) US10028793B2 (https=)
EP (4) EP3119311B1 (https=)
JP (4) JP6530422B2 (https=)
KR (4) KR102646014B1 (https=)
CN (3) CN110292441B (https=)
WO (2) WO2015142786A1 (https=)

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* Cited by examiner, † Cited by third party
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