JP6692301B2 - 低侵襲手術用の再構成可能なロボットアーキテクチャ - Google Patents

低侵襲手術用の再構成可能なロボットアーキテクチャ Download PDF

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Publication number
JP6692301B2
JP6692301B2 JP2016574956A JP2016574956A JP6692301B2 JP 6692301 B2 JP6692301 B2 JP 6692301B2 JP 2016574956 A JP2016574956 A JP 2016574956A JP 2016574956 A JP2016574956 A JP 2016574956A JP 6692301 B2 JP6692301 B2 JP 6692301B2
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Japan
Prior art keywords
instrument
actuator
end effector
arc
arm
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Expired - Fee Related
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JP2016574956A
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English (en)
Japanese (ja)
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JP2017525413A (ja
JP2017525413A5 (enExample
Inventor
アレクサンドラ ポポヴィック
アレクサンドラ ポポヴィック
ディヴィッド ポール ノーナン
ディヴィッド ポール ノーナン
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Koninklijke Philips NV
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Koninklijke Philips NV
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/005—Arms having a curved shape
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
JP2016574956A 2014-07-15 2015-07-06 低侵襲手術用の再構成可能なロボットアーキテクチャ Expired - Fee Related JP6692301B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462024527P 2014-07-15 2014-07-15
US62/024,527 2014-07-15
PCT/IB2015/055090 WO2016009301A2 (en) 2014-07-15 2015-07-06 Reconfigurable robot architecture for minimally invasive procedures

Publications (3)

Publication Number Publication Date
JP2017525413A JP2017525413A (ja) 2017-09-07
JP2017525413A5 JP2017525413A5 (enExample) 2018-08-02
JP6692301B2 true JP6692301B2 (ja) 2020-05-13

Family

ID=53969382

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016574956A Expired - Fee Related JP6692301B2 (ja) 2014-07-15 2015-07-06 低侵襲手術用の再構成可能なロボットアーキテクチャ

Country Status (5)

Country Link
US (1) US20170165847A1 (enExample)
EP (1) EP3169491A2 (enExample)
JP (1) JP6692301B2 (enExample)
CN (1) CN106536134A (enExample)
WO (1) WO2016009301A2 (enExample)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160135222A (ko) 2014-03-17 2016-11-25 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 액추에이터 제어식 수술 기기용 인디케이터 기구
KR102327948B1 (ko) 2014-03-17 2021-11-17 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격 조종 의료 시스템을 위한 구조적 조절 시스템 및 방법
WO2018067696A1 (en) * 2016-10-04 2018-04-12 Intuitive Surgical Operations, Inc. Computer-assisted teleoperated surgery systems and methods
EP3528736A4 (en) * 2016-10-18 2020-06-17 Intuitive Surgical Operations Inc. SYSTEMS AND METHODS FOR COMPUTER-ASSISTED TELE-OPERATED SURGERY
WO2018234320A1 (en) * 2017-06-19 2018-12-27 Koninklijke Philips N.V. Configurable parallel medical robot having a coaxial end-effector
JP7383489B2 (ja) * 2017-07-07 2023-11-20 コーニンクレッカ フィリップス エヌ ヴェ ロボット的装置ガイドと音響プローブの統合
US11998197B2 (en) 2020-04-02 2024-06-04 Intuitive Surgical Operations, Inc. Devices for instrument use recording, devices for recording instrument reprocessing events, and related systems and methods
WO2021258217A1 (en) 2020-06-25 2021-12-30 Rogue Research Inc. Articulated positioning system for a scientific or medical tool, robotized positioning assembly comprising same and corresponding method
CN113440262B (zh) * 2021-08-12 2023-02-17 吉林大学 一种腹腔微创手术机器人
CN114886562A (zh) * 2022-04-07 2022-08-12 吉林省金博弘智能科技有限责任公司 一种用于单孔胸腹腔微创手术的机器人
CN118924435A (zh) * 2023-05-12 2024-11-12 北京术锐机器人股份有限公司 包括多个手术台车的手术机器人系统
CN118924430B (zh) * 2023-05-12 2025-09-16 北京术锐机器人股份有限公司 分布式手术机器人系统
CN118924431B (zh) * 2023-05-12 2025-09-16 北京术锐机器人股份有限公司 集成式定位臂及手术机器人系统

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US5901936A (en) * 1997-08-25 1999-05-11 Sandia Corporation Six-degree-of-freedom multi-axes positioning apparatus
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US7763015B2 (en) * 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
GB0521281D0 (en) * 2005-10-19 2005-11-30 Acrobat Company The Ltd hybrid constrant mechanism
WO2007147232A1 (en) * 2006-06-19 2007-12-27 Robarts Research Institute Apparatus for guiding a medical tool
US8282653B2 (en) * 2008-03-24 2012-10-09 Board Of Regents Of The University Of Nebraska System and methods for controlling surgical tool elements
KR100944412B1 (ko) * 2008-10-13 2010-02-25 (주)미래컴퍼니 수술용 슬레이브 로봇
US20110257661A1 (en) * 2009-01-20 2011-10-20 Seung Wook Choi Surgical robot for liposuction
US9259289B2 (en) * 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Estimation of a position and orientation of a frame used in controlling movement of a tool
CN102225545B (zh) * 2011-05-31 2013-07-10 北京航空航天大学 一种具有虚拟运动中心的两维转动并联机构
GB201300490D0 (en) * 2013-01-11 2013-02-27 Univ Leuven Kath An apparatus and method for generating motion around a remote centre of motion
KR102188100B1 (ko) * 2013-03-15 2020-12-07 삼성전자주식회사 로봇 및 그 제어방법
EP2969405B1 (en) * 2013-03-15 2022-08-24 Intuitive Surgical Operations, Inc. Systems for facilitating access to edges of cartesian-coordinate space using the null space
CN103273479A (zh) * 2013-05-15 2013-09-04 西安电子科技大学 循环索驱动的索牵引并联机器人装置
TWI523743B (zh) * 2014-01-22 2016-03-01 Hiwin Tech Corp Spherical Linkage Robotic Arm
KR101485291B1 (ko) * 2014-04-07 2015-01-21 재단법인대구경북과학기술원 로봇

Also Published As

Publication number Publication date
EP3169491A2 (en) 2017-05-24
CN106536134A (zh) 2017-03-22
WO2016009301A2 (en) 2016-01-21
JP2017525413A (ja) 2017-09-07
WO2016009301A3 (en) 2016-03-10
US20170165847A1 (en) 2017-06-15

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