JP7077300B2 - 外科用ロボットアーム - Google Patents

外科用ロボットアーム Download PDF

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Publication number
JP7077300B2
JP7077300B2 JP2019503254A JP2019503254A JP7077300B2 JP 7077300 B2 JP7077300 B2 JP 7077300B2 JP 2019503254 A JP2019503254 A JP 2019503254A JP 2019503254 A JP2019503254 A JP 2019503254A JP 7077300 B2 JP7077300 B2 JP 7077300B2
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JP
Japan
Prior art keywords
gear
axis
rotation
arm
around
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Active
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JP2019503254A
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English (en)
Japanese (ja)
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JP2019524259A (ja
JP2019524259A5 (enExample
Inventor
オリバー グラント，ジェームズ
マーシャル，キース
ベイツ ジャクソン，トーマス
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CMR Surgical Ltd
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CMR Surgical Ltd
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Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of JP2019524259A publication Critical patent/JP2019524259A/ja
Publication of JP2019524259A5 publication Critical patent/JP2019524259A5/ja
Priority to JP2022081469A priority Critical patent/JP7325895B2/ja
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Publication of JP7077300B2 publication Critical patent/JP7077300B2/ja
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
JP2019503254A 2016-07-22 2017-07-19 外科用ロボットアーム Active JP7077300B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022081469A JP7325895B2 (ja) 2016-07-22 2022-05-18 外科用ロボットアーム

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1612763.1A GB2552383B (en) 2016-07-22 2016-07-22 Gear packaging for robotic joints
GB1612763.1 2016-07-22
PCT/GB2017/052121 WO2018015748A1 (en) 2016-07-22 2017-07-19 Gear packaging for robotic joints

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2022081469A Division JP7325895B2 (ja) 2016-07-22 2022-05-18 外科用ロボットアーム

Publications (3)

Publication Number Publication Date
JP2019524259A JP2019524259A (ja) 2019-09-05
JP2019524259A5 JP2019524259A5 (enExample) 2020-08-27
JP7077300B2 true JP7077300B2 (ja) 2022-05-30

Family

ID=56894372

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2019503254A Active JP7077300B2 (ja) 2016-07-22 2017-07-19 外科用ロボットアーム
JP2022081469A Active JP7325895B2 (ja) 2016-07-22 2022-05-18 外科用ロボットアーム

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2022081469A Active JP7325895B2 (ja) 2016-07-22 2022-05-18 外科用ロボットアーム

Country Status (6)

Country Link
US (2) US11597102B2 (enExample)
EP (2) EP4349548B1 (enExample)
JP (2) JP7077300B2 (enExample)
CN (2) CN115256360A (enExample)
GB (1) GB2552383B (enExample)
WO (1) WO2018015748A1 (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016084178A1 (ja) * 2014-11-26 2016-06-02 株式会社安川電機 ロボットアーム、ロボットシステム
EP3664726B1 (en) 2017-08-10 2023-10-18 Pro-Dex, Inc. Articulating tool for endoscopic placement of fasteners
SG11202105684PA (en) 2018-11-30 2021-06-29 Bio Medical Eng Hk Ltd Robotic arm system with gear-driven end-effector assembly
CN109591047A (zh) * 2019-01-15 2019-04-09 珠海市海峰机器人系统有限公司 一种二轴关节装置
CN119214798A (zh) 2019-03-07 2024-12-31 普罗赛普特生物机器人公司 用于组织切除和成像的机器人臂和方法
JP7101134B2 (ja) * 2019-03-11 2022-07-14 ファナック株式会社 ロボット
US20220347868A1 (en) * 2019-10-03 2022-11-03 Abb Schweiz Ag Wrist Device, Industrial Robot And Method
US11071601B2 (en) 2019-11-11 2021-07-27 Procept Biorobotics Corporation Surgical probes for tissue resection with robotic arms
CN110840562A (zh) * 2019-12-24 2020-02-28 锐志微创医疗科技（常州）有限公司 一种手术机器人系统
CN110840563A (zh) * 2019-12-24 2020-02-28 锐志微创医疗科技（常州）有限公司 一种开合机构及手术机器人
CN110916802B (zh) * 2020-01-17 2020-07-28 金陵科技学院 一种多末端单孔微创手术机器人
US11096753B1 (en) 2020-06-26 2021-08-24 Procept Biorobotics Corporation Systems and methods for defining and modifying range of motion of probe used in patient treatment
US11877818B2 (en) * 2020-06-26 2024-01-23 Procept Biorobotics Corporation Integration of robotic arms with surgical probes
CN111872972B (zh) * 2020-07-23 2021-08-13 伯朗特机器人股份有限公司 一种焊接机器人嵌套式关节的齿轮间隙微调结构
CN112315584B (zh) * 2020-11-19 2022-07-08 锐志微创医疗科技（常州）有限公司 一种手术机器人末端俯仰装置和手术机器人末端
CN112402017A (zh) * 2020-11-19 2021-02-26 锐志微创医疗科技（常州）有限公司 一种手术机器人末端执行装置和手术机器人末端驱动机构
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
CN112826594A (zh) * 2021-03-01 2021-05-25 锐志微创医疗科技（常州）有限公司 一种手术机器人末端自转装置及手术机器人末端机构
CN112773510A (zh) * 2021-03-01 2021-05-11 锐志微创医疗科技（常州）有限公司 一种手术机器人末端开合装置及手术机器人末端机构
US12178498B2 (en) 2021-04-20 2024-12-31 Procept Biorobotics Corporation Surgical probe with independent energy sources
DE102021119526A1 (de) 2021-07-28 2023-02-02 Karl Storz Se & Co. Kg Chirurgisches Instrument und Lenkgetriebe dafür
CN113664804A (zh) * 2021-08-18 2021-11-19 伯朗特机器人股份有限公司 高精度焊接机器人的五轴传动机构
CN117072631B (zh) * 2023-10-16 2024-01-12 深圳康诺思腾科技有限公司 齿盘副和手术器械

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JP2010240834A (ja) 2009-04-09 2010-10-28 Disney Enterprises Inc 人間のような指を有するロボットハンド
JP2011026826A (ja) 2009-07-24 2011-02-10 Aisin Seiki Co Ltd 車両用ドアロック装置

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Also Published As

Publication number Publication date
EP4349548A3 (en) 2024-07-24
JP7325895B2 (ja) 2023-08-15
EP3487669A1 (en) 2019-05-29
GB2552383B (en) 2022-08-24
US20180021960A1 (en) 2018-01-25
CN115256360A (zh) 2022-11-01
US12036667B2 (en) 2024-07-16
JP2019524259A (ja) 2019-09-05
EP4349548A2 (en) 2024-04-10
WO2018015748A1 (en) 2018-01-25
EP3487669B1 (en) 2024-04-03
GB2552383A (en) 2018-01-24
CN109476020B (zh) 2022-09-23
US11597102B2 (en) 2023-03-07
CN109476020A (zh) 2019-03-15
US20230173693A1 (en) 2023-06-08
GB201612763D0 (en) 2016-09-07
JP2022122889A (ja) 2022-08-23
EP4349548B1 (en) 2025-07-30

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