JP6894752B2 - 医療用処置具および手術用システム - Google Patents

医療用処置具および手術用システム Download PDF

Info

Publication number
JP6894752B2
JP6894752B2 JP2017091235A JP2017091235A JP6894752B2 JP 6894752 B2 JP6894752 B2 JP 6894752B2 JP 2017091235 A JP2017091235 A JP 2017091235A JP 2017091235 A JP2017091235 A JP 2017091235A JP 6894752 B2 JP6894752 B2 JP 6894752B2
Authority
JP
Japan
Prior art keywords
pulley
medical treatment
axis
elongated element
treatment tool
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.)
Expired - Fee Related
Application number
JP2017091235A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018187029A (ja
JP2018187029A5 (enExample
Inventor
一樹 石原
一樹 石原
吾郷　健二
健二 吾郷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Medicaroid Corp
Original Assignee
Medicaroid Corp
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 Medicaroid Corp filed Critical Medicaroid Corp
Priority to JP2017091235A priority Critical patent/JP6894752B2/ja
Priority to CN201810390248.1A priority patent/CN108836483B/zh
Priority to EP18169795.4A priority patent/EP3395279A1/en
Priority to US15/964,672 priority patent/US11071600B2/en
Publication of JP2018187029A publication Critical patent/JP2018187029A/ja
Publication of JP2018187029A5 publication Critical patent/JP2018187029A5/ja
Priority to JP2020013477A priority patent/JP6975273B2/ja
Priority to US16/782,070 priority patent/US20200170729A1/en
Priority to US16/782,061 priority patent/US20200170728A1/en
Application granted granted Critical
Publication of JP6894752B2 publication Critical patent/JP6894752B2/ja
Expired - Fee Related 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/2812—Surgical forceps with a single pivotal connection
    • 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
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B2034/306—Wrists with multiple vertebrae

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (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)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
JP2017091235A 2017-05-01 2017-05-01 医療用処置具および手術用システム Expired - Fee Related JP6894752B2 (ja)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP2017091235A JP6894752B2 (ja) 2017-05-01 2017-05-01 医療用処置具および手術用システム
EP18169795.4A EP3395279A1 (en) 2017-05-01 2018-04-27 Medical treatment tool and surgical system
US15/964,672 US11071600B2 (en) 2017-05-01 2018-04-27 Medical treatment tool and surgical system
CN201810390248.1A CN108836483B (zh) 2017-05-01 2018-04-27 医疗用处理工具以及手术用系统
JP2020013477A JP6975273B2 (ja) 2017-05-01 2020-01-30 手術用システムおよび医療用処置具
US16/782,070 US20200170729A1 (en) 2017-05-01 2020-02-05 Medical treatment tool and surgical system
US16/782,061 US20200170728A1 (en) 2017-05-01 2020-02-05 Medical treatment tool and surgical system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017091235A JP6894752B2 (ja) 2017-05-01 2017-05-01 医療用処置具および手術用システム

Related Child Applications (2)

Application Number Title Priority Date Filing Date
JP2020013480A Division JP2020062541A (ja) 2020-01-30 2020-01-30 医療用処置具および手術用システム
JP2020013477A Division JP6975273B2 (ja) 2017-05-01 2020-01-30 手術用システムおよび医療用処置具

Publications (3)

Publication Number Publication Date
JP2018187029A JP2018187029A (ja) 2018-11-29
JP2018187029A5 JP2018187029A5 (enExample) 2020-01-09
JP6894752B2 true JP6894752B2 (ja) 2021-06-30

Family

ID=62116222

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017091235A Expired - Fee Related JP6894752B2 (ja) 2017-05-01 2017-05-01 医療用処置具および手術用システム

Country Status (4)

Country Link
US (3) US11071600B2 (enExample)
EP (1) EP3395279A1 (enExample)
JP (1) JP6894752B2 (enExample)
CN (1) CN108836483B (enExample)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7009428B2 (ja) 2019-09-26 2022-01-25 株式会社メディカロイド 手術器具
JP7155093B2 (ja) * 2019-10-23 2022-10-18 株式会社メディカロイド 手術器具
JP7306225B2 (ja) * 2019-10-31 2023-07-11 株式会社アイシン 便座装置
JP6815679B2 (ja) * 2020-08-18 2021-01-20 リバーフィールド株式会社 術具
KR102308214B1 (ko) 2020-12-09 2021-10-05 주식회사 리브스메드 수술용 인스트루먼트의 엔드 툴 및 그 제조 방법
CN112617968B (zh) * 2020-12-31 2022-08-26 杭州康基医疗器械有限公司 可多向转动的手术钳头结构
JP7551185B2 (ja) * 2022-01-17 2024-09-17 リバーフィールド株式会社 鉗子装置

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS53105010U (enExample) * 1977-01-25 1978-08-24
US6398726B1 (en) * 1998-11-20 2002-06-04 Intuitive Surgical, Inc. Stabilizer for robotic beating-heart surgery
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US6902560B1 (en) * 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
JP3944172B2 (ja) * 2004-01-27 2007-07-11 オリンパス株式会社 外科用処置具
US7935130B2 (en) 2006-11-16 2011-05-03 Intuitive Surgical Operations, Inc. Two-piece end-effectors for robotic surgical tools
EP3375479B1 (en) 2007-05-18 2023-03-22 Boston Scientific Scimed, Inc. Medical drive systems
US8758342B2 (en) * 2007-11-28 2014-06-24 Covidien Ag Cordless power-assisted medical cauterization and cutting device
US8540748B2 (en) 2008-07-07 2013-09-24 Intuitive Surgical Operations, Inc. Surgical instrument wrist
US9204923B2 (en) * 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US8821480B2 (en) * 2008-07-16 2014-09-02 Intuitive Surgical Operations, Inc. Four-cable wrist with solid surface cable channels
US20100168721A1 (en) * 2008-12-30 2010-07-01 Intuitive Surgical, Inc. Lubricating tendons in a tendon-actuated surgical instrument
JP2011045500A (ja) 2009-08-26 2011-03-10 Terumo Corp 医療用マニピュレータ
JP2011200593A (ja) * 2010-03-26 2011-10-13 Terumo Corp 医療器具
CN202520781U (zh) 2012-02-29 2012-11-07 张亚军 一种设有非对称兜孔的轴承
JP5951345B2 (ja) * 2012-05-01 2016-07-13 Hoya株式会社 内視鏡用スネア
US9351754B2 (en) 2012-06-29 2016-05-31 Ethicon Endo-Surgery, Llc Ultrasonic surgical instruments with distally positioned jaw assemblies
US20150313676A1 (en) 2012-08-21 2015-11-05 Chinmay Deodhar Wristed surgical instrument capable of multiple functions, without requiring extra inputs
CN105163679B (zh) 2013-03-14 2018-04-06 Sri国际公司 紧凑型机器人手腕
JP6099837B2 (ja) 2014-11-18 2017-03-22 オリンパス株式会社 内視鏡用処置具
GB201521805D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Guiding engagement of a robot arm and surgical instrument
GB201521803D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Surgical instrument articulation

Also Published As

Publication number Publication date
JP2018187029A (ja) 2018-11-29
US11071600B2 (en) 2021-07-27
US20180311000A1 (en) 2018-11-01
US20200170728A1 (en) 2020-06-04
CN108836483A (zh) 2018-11-20
US20200170729A1 (en) 2020-06-04
EP3395279A1 (en) 2018-10-31
CN108836483B (zh) 2021-05-14

Similar Documents

Publication Publication Date Title
JP6894752B2 (ja) 医療用処置具および手術用システム
JP6961733B2 (ja) 改善された可動域を有する機械的なリストジョイント、関連装置、及び方法
US12256911B2 (en) Operating self-antagonistic drives of medical instruments
US11576735B2 (en) Controllable steerable instrument
KR102571618B1 (ko) 로봇 미세수술 조립체
US20180214220A1 (en) Surgical robot
US20180242991A1 (en) Surgical instrument with increased actuation force
WO2017006373A1 (ja) ロボットアームの関節及び外科機器
JP6811676B2 (ja) 駆動部材、駆動機構、および駆動機構の製造方法
JP6836649B2 (ja) 医療用処置具および手術システム
JP2008220972A (ja) 処置具
US11457904B2 (en) Reduced diameter steerable instrument
JP2008220971A (ja) 処置具
JP6975273B2 (ja) 手術用システムおよび医療用処置具
JPWO2020105616A1 (ja) 屈曲機構及び医療装置
EP4106636B1 (en) End-effector for endoscopic surgical instrument
JP4145309B2 (ja) 処置具
CN115957010B (zh) 一种柔性关节、手术器械及手术机器人
JP2020062541A (ja) 医療用処置具および手術用システム
JP6895007B2 (ja) 医療用処置具

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170519

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20191114

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20191114

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20200421

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200609

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200717

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20201201

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210127

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: 20210601

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210604

R150 Certificate of patent or registration of utility model

Ref document number: 6894752

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

LAPS Cancellation because of no payment of annual fees