JP6802844B2 - 手術器具のシャフトのスポーク - Google Patents

手術器具のシャフトのスポーク Download PDF

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Publication number
JP6802844B2
JP6802844B2 JP2018529937A JP2018529937A JP6802844B2 JP 6802844 B2 JP6802844 B2 JP 6802844B2 JP 2018529937 A JP2018529937 A JP 2018529937A JP 2018529937 A JP2018529937 A JP 2018529937A JP 6802844 B2 JP6802844 B2 JP 6802844B2
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Japan
Prior art keywords
drive
pair
pulley
shaft
joint
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JP2018529937A
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Japanese (ja)
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JP2019500942A (ja
JP2019500942A5 (enExample
Inventor
チャップリン・ベン・ロバート
マーシャル・キース
フールチュン・ニッキ・プリヤム・スリン
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CMR Surgical Ltd
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CMR Surgical Ltd
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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
    • 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
    • A61B34/37—Leader-follower 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
JP2018529937A 2015-12-10 2016-12-09 手術器具のシャフトのスポーク Active JP6802844B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GBGB1521807.6A GB201521807D0 (en) 2015-12-10 2015-12-10 Surgical instrument shaft spokes
GB1521807.6 2015-12-10
PCT/GB2016/053895 WO2017098268A1 (en) 2015-12-10 2016-12-09 Surgical instrument shaft spokes

Publications (3)

Publication Number Publication Date
JP2019500942A JP2019500942A (ja) 2019-01-17
JP2019500942A5 JP2019500942A5 (enExample) 2020-01-23
JP6802844B2 true JP6802844B2 (ja) 2020-12-23

Family

ID=55274528

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018529937A Active JP6802844B2 (ja) 2015-12-10 2016-12-09 手術器具のシャフトのスポーク

Country Status (6)

Country Link
US (1) US10517685B2 (enExample)
EP (1) EP3386414B1 (enExample)
JP (1) JP6802844B2 (enExample)
CN (2) CN115530984A (enExample)
GB (2) GB201521807D0 (enExample)
WO (1) WO2017098268A1 (enExample)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3528736A4 (en) * 2016-10-18 2020-06-17 Intuitive Surgical Operations Inc. SYSTEMS AND METHODS FOR COMPUTER-ASSISTED TELE-OPERATED SURGERY
US10743948B2 (en) * 2016-12-07 2020-08-18 Ethicon Llc Surgical tool wrists
CN107320178B (zh) * 2017-08-11 2023-10-27 宁波华科润生物科技有限公司 一种医学辅助操作装置
CN108498174A (zh) * 2018-03-12 2018-09-07 深圳市精锋医疗科技有限公司 驱动机构、操作臂、从操作设备及手术机器人
CN108338839A (zh) * 2018-03-12 2018-07-31 深圳市精锋医疗科技有限公司 驱动机构、操作臂、从操作设备及手术机器人
CN108498175A (zh) * 2018-03-12 2018-09-07 深圳市精锋医疗科技有限公司 从操作设备及手术机器人
GB2579380B (en) * 2018-11-29 2022-07-06 Cmr Surgical Ltd Internal structure of a robotic surgical instrument
CN112043394B (zh) * 2020-09-30 2025-05-09 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
EP4223248A4 (en) * 2020-09-30 2024-10-16 Shenzhen Edge Medical Co., Ltd. Surgical instrument, slave operating equipment, and surgical robot
CN112754668B (zh) * 2020-09-30 2025-11-07 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
CN112043391B (zh) * 2020-09-30 2025-06-17 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
CN112043389B (zh) * 2020-09-30 2025-06-17 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
CN112274254B (zh) * 2020-09-30 2025-05-09 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
US12349997B2 (en) * 2020-09-30 2025-07-08 Shenzhen Edge Medical Co., Ltd. Surgical instrument, slave operating device, and surgical robot
CN115040251B (zh) * 2020-11-30 2025-02-11 天津大学医疗机器人与智能系统研究院 一种前端执行器及其方法、机械手装置及外科手术器械
CN112690836B (zh) * 2020-12-24 2022-12-02 上海微创医疗机器人（集团）股份有限公司 器械末端、器械末端组件及手术器械
US12035984B2 (en) * 2021-01-21 2024-07-16 Cilag Gmbh International End effectors for surgical tools with split clevis articulable wrists
US20230049257A1 (en) * 2021-08-12 2023-02-16 Cmr Surgical Limited Surgical robot arm and instrument detachment
CN114617637B (zh) * 2021-11-29 2025-01-28 瑞龙诺赋(上海)医疗科技有限公司 一种腕转器械及医疗系统
CN116652993B (zh) * 2023-07-28 2023-10-13 哈尔滨工业大学 一种机械手指基关节、机械手指及机械手
CN119424202A (zh) * 2024-11-20 2025-02-14 上海交通大学 一种自动化艾灸理疗机器人

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6394998B1 (en) * 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US6840938B1 (en) * 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
JP3944108B2 (ja) * 2003-03-31 2007-07-11 株式会社東芝 医療用マニピュレータの動力伝達機構およびマニピュレータ
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
JP4125311B2 (ja) * 2005-08-30 2008-07-30 株式会社東芝 ロボットおよびマニピュレータ
US7967813B2 (en) * 2006-06-13 2011-06-28 Intuitive Surgical Operations, Inc. Surgical instrument control and actuation
US8224484B2 (en) * 2007-09-30 2012-07-17 Intuitive Surgical Operations, Inc. Methods of user interface with alternate tool mode for robotic surgical tools
CN102264307A (zh) 2008-12-12 2011-11-30 伊顿株式会社 手术器械
US8523900B2 (en) * 2009-02-03 2013-09-03 Terumo Kabushiki Kaisha Medical manipulator
JP2010220786A (ja) * 2009-03-24 2010-10-07 Waseda Univ 手術用マニピュレータ及び手術用マニピュレータシステム
US8888789B2 (en) 2009-09-23 2014-11-18 Intuitive Surgical Operations, Inc. Curved cannula surgical system control
EP2470089B1 (en) * 2009-11-13 2018-08-01 Intuitive Surgical Operations, Inc. Curved cannula and robotic manipulator
KR101772426B1 (ko) * 2009-11-13 2017-08-30 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 곡선형 캐뉼라, 로봇 조작기 및 피동적 가요성 샤프트를 가진 수술 기구
US8403832B2 (en) * 2010-02-26 2013-03-26 Covidien Lp Drive mechanism for articulation of a surgical instrument
JP2011200593A (ja) * 2010-03-26 2011-10-13 Terumo Corp 医療器具
EP2627278B1 (en) * 2010-10-11 2015-03-25 Ecole Polytechnique Fédérale de Lausanne (EPFL) Mechanical manipulator for surgical instruments
EP2777524A3 (en) * 2013-03-12 2017-04-19 Ethicon Endo-Surgery, Inc. Powered surgical instruments with firing system lockout arrangements
CA2905048A1 (en) * 2013-03-14 2014-09-25 Sri International Compact robotic wrist
GB2523831B (en) 2014-03-07 2020-09-30 Cmr Surgical Ltd Surgical arm

Also Published As

Publication number Publication date
JP2019500942A (ja) 2019-01-17
CN108430371B (zh) 2022-11-08
US20170165016A1 (en) 2017-06-15
GB2546393B (en) 2021-08-18
CN108430371A (zh) 2018-08-21
EP3386414A1 (en) 2018-10-17
GB201521807D0 (en) 2016-01-27
US10517685B2 (en) 2019-12-31
WO2017098268A1 (en) 2017-06-15
GB2546393A (en) 2017-07-19
EP3386414B1 (en) 2025-01-29
GB201620992D0 (en) 2017-01-25
CN115530984A (zh) 2022-12-30

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