JP7148554B2 - 外科用ロボット器具 - Google Patents

外科用ロボット器具 Download PDF

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Publication number
JP7148554B2
JP7148554B2 JP2019567378A JP2019567378A JP7148554B2 JP 7148554 B2 JP7148554 B2 JP 7148554B2 JP 2019567378 A JP2019567378 A JP 2019567378A JP 2019567378 A JP2019567378 A JP 2019567378A JP 7148554 B2 JP7148554 B2 JP 7148554B2
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JP
Japan
Prior art keywords
pulley
axis
drive element
joint
shaft
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.)
Active
Application number
JP2019567378A
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English (en)
Japanese (ja)
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JP2020522348A (ja
JP2020522348A5 (enExample
Inventor
ロバート チャップリン，ベン
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.)
CMR Surgical Ltd
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CMR Surgical Ltd
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 CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of JP2020522348A publication Critical patent/JP2020522348A/ja
Publication of JP2020522348A5 publication Critical patent/JP2020522348A5/ja
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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
    • A61B34/70—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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • A61B2017/2903—Details of shaft characterized by features of the actuating rod transferring rotary motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2938—Independently actuatable jaw members, e.g. two actuating rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • 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)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Pulleys (AREA)
JP2019567378A 2017-06-06 2018-06-06 外科用ロボット器具 Active JP7148554B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1709014.3 2017-06-06
GB1709014.3A GB2563233B (en) 2017-06-06 2017-06-06 Pulley arrangement and pulley guard for articulating a surgical instrument
PCT/GB2018/051541 WO2018224824A1 (en) 2017-06-06 2018-06-06 Pulley arrangement and pulley guard for articulating a surgical instrument

Publications (3)

Publication Number Publication Date
JP2020522348A JP2020522348A (ja) 2020-07-30
JP2020522348A5 JP2020522348A5 (enExample) 2021-05-06
JP7148554B2 true JP7148554B2 (ja) 2022-10-05

Family

ID=59349727

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019567378A Active JP7148554B2 (ja) 2017-06-06 2018-06-06 外科用ロボット器具

Country Status (7)

Country Link
US (1) US11950862B2 (enExample)
EP (1) EP3634291A1 (enExample)
JP (1) JP7148554B2 (enExample)
CN (2) CN117297787A (enExample)
AU (2) AU2018280952B2 (enExample)
GB (1) GB2563233B (enExample)
WO (1) WO2018224824A1 (enExample)

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US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US12127809B2 (en) 2017-12-14 2024-10-29 Intuitive Surgical Operations, Inc. Medical tools having tension bands
US12082900B2 (en) 2018-03-07 2024-09-10 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
WO2019173266A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
US11439376B2 (en) 2018-03-07 2022-09-13 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
EP3773302B1 (en) 2018-04-10 2025-06-04 Intuitive Surgical Operations, Inc. Articulable medical devices having flexible wire routing
US11259798B2 (en) 2018-07-16 2022-03-01 Intuitive Surgical Operations, Inc. Medical devices having tissue grasping surfaces and features for manipulating surgical needles
US11612447B2 (en) 2018-07-19 2023-03-28 Intuitive Surgical Operations, Inc. Medical devices having three tool members
US11213287B2 (en) 2018-11-15 2022-01-04 Intuitive Surgical Operations, Inc. Support apparatus for a medical retractor device
US11291514B2 (en) 2018-11-15 2022-04-05 Intuitive Surgical Operations, Inc. Medical devices having multiple blades and methods of use
WO2020263827A1 (en) 2019-06-25 2020-12-30 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
WO2020263629A1 (en) 2019-06-27 2020-12-30 Auris Health, Inc. Systems and methods for a medical clip applier
EP3989863A4 (en) 2019-06-28 2023-10-11 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
EP4034350A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
CN114727850A (zh) 2019-11-21 2022-07-08 奥瑞斯健康公司 用于覆盖外科系统的系统和方法
KR20220123269A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 고급 바스켓 구동 모드
US11950872B2 (en) 2019-12-31 2024-04-09 Auris Health, Inc. Dynamic pulley system
EP4125689A4 (en) 2020-03-30 2024-04-17 Auris Health, Inc. WORKSPACE OPTIMIZATION FOR ROBOTIC SURGERY
WO2022003485A1 (en) 2020-06-29 2022-01-06 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
EP4171428A4 (en) 2020-06-30 2024-10-30 Auris Health, Inc. ROBOTIC MEDICAL SYSTEM WITH COLLISION PROXIMITY INDICATORS
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
GB2599665B (en) * 2020-10-07 2025-02-05 Cmr Surgical Ltd Interfacing a surgical robot arm and instrument
GB2599664B (en) 2020-10-07 2024-12-18 Cmr Surgical Ltd Robotic surgical instrument chassis
CN112914683B (zh) * 2021-03-10 2022-09-27 山东威高手术机器人有限公司 钳页独立运动的多自由度手术器械及末端执行器
GB2609032B (en) * 2021-07-19 2025-01-29 Cmr Surgical Ltd A robotic surgical instrument
GB2609033B (en) * 2021-07-19 2025-05-21 Cmr Surgical Ltd A robotic surgical instrument
CN114795476A (zh) * 2021-08-04 2022-07-29 科弛医疗科技(北京)有限公司 手术执行装置和手术机器人
CN116370093A (zh) * 2021-12-24 2023-07-04 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
CN114699171B (zh) * 2022-04-25 2025-09-30 北京亿康泰医疗科技有限公司 微创穿刺执行模组及多自由度微创穿刺手术机器人
JP2024123745A (ja) * 2023-03-01 2024-09-12 オムロン株式会社 動力伝達機構、関節機構及び多関節ロボット

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US20080046122A1 (en) 2003-06-30 2008-02-21 Intuitive Surgical, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
JP2011200593A (ja) 2010-03-26 2011-10-13 Terumo Corp 医療器具
US20140350570A1 (en) 2011-11-23 2014-11-27 Livsmed Inc. Surgical instrument
US20150127045A1 (en) 2012-07-17 2015-05-07 Richard Wolf Gmbh Endoscopic instrument
US20150209965A1 (en) 2013-03-14 2015-07-30 Sri International Compact robotic wrist
WO2016161449A1 (en) 2015-04-03 2016-10-06 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission

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WO2014030110A1 (en) * 2012-08-21 2014-02-27 Chinmay Deodhar Wristed surgical instrument capable of multiple functions, without requiring extra inputs
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Publication number Priority date Publication date Assignee Title
US20080046122A1 (en) 2003-06-30 2008-02-21 Intuitive Surgical, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
JP2011200593A (ja) 2010-03-26 2011-10-13 Terumo Corp 医療器具
US20140350570A1 (en) 2011-11-23 2014-11-27 Livsmed Inc. Surgical instrument
JP2015501697A (ja) 2011-11-23 2015-01-19 リブスメド インコーポレーテッド 手術用インストルメント
US20150127045A1 (en) 2012-07-17 2015-05-07 Richard Wolf Gmbh Endoscopic instrument
US20150209965A1 (en) 2013-03-14 2015-07-30 Sri International Compact robotic wrist
JP2016518160A (ja) 2013-03-14 2016-06-23 エスアールアイ インターナショナルＳＲＩ Ｉｎｔｅｒｎａｔｉｏｎａｌ コンパクトなロボット手首部
WO2016161449A1 (en) 2015-04-03 2016-10-06 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission

Also Published As

Publication number Publication date
AU2022259747B2 (en) 2024-03-07
US20200138531A1 (en) 2020-05-07
JP2020522348A (ja) 2020-07-30
CN110730637A (zh) 2020-01-24
BR112019025814A2 (pt) 2020-07-07
AU2018280952A1 (en) 2020-01-16
AU2018280952B2 (en) 2022-07-28
GB201709014D0 (en) 2017-07-19
EP3634291A1 (en) 2020-04-15
CN110730637B (zh) 2023-10-27
WO2018224824A1 (en) 2018-12-13
US11950862B2 (en) 2024-04-09
GB2563233B (en) 2022-09-14
AU2022259747A1 (en) 2022-12-01
CN117297787A (zh) 2023-12-29
GB2563233A (en) 2018-12-12

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