JP7164848B2 - 手術ロボットアームと器具とのインターフェース接続 - Google Patents

手術ロボットアームと器具とのインターフェース接続 Download PDF

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Publication number
JP7164848B2
JP7164848B2 JP2019535990A JP2019535990A JP7164848B2 JP 7164848 B2 JP7164848 B2 JP 7164848B2 JP 2019535990 A JP2019535990 A JP 2019535990A JP 2019535990 A JP2019535990 A JP 2019535990A JP 7164848 B2 JP7164848 B2 JP 7164848B2
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surgical
instrument
interface structure
robotic arm
interface
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Japanese (ja)
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JP2019529020A5 (enExample
JP2019529020A (ja
Inventor
マーシャル・キース
フールチュン・ニッキ・プリヤム・スリン
ジャクソン・トーマス・ベイツ
ウィットル・ジョナサン・ピーター
マクブレイン・ドミニック・マーティン
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CMR Surgical Ltd
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CMR Surgical Ltd
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Priority to JP2022106488A priority Critical patent/JP7571085B2/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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • 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
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00389—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
    • A61B2017/00393—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector with means for switching between functions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • 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
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2923—Toothed members, e.g. rack and pinion
    • 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

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)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
JP2019535990A 2016-09-14 2017-09-14 手術ロボットアームと器具とのインターフェース接続 Active JP7164848B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022106488A JP7571085B2 (ja) 2016-09-14 2022-06-30 手術ロボットアームと器具とのインターフェース接続

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
GBGB1615616.8A GB201615616D0 (en) 2016-09-14 2016-09-14 Interfacing a surgical robotic arm and instrument
GB1615616.8 2016-09-14
GB1709016.8 2017-06-06
GB1709016.8A GB2553879B (en) 2016-09-14 2017-06-06 Interfacing a surgical robotic arm and instrument
PCT/GB2017/052709 WO2018051093A1 (en) 2016-09-14 2017-09-14 Interfacing a surgical robotic arm and instrument

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2022106488A Division JP7571085B2 (ja) 2016-09-14 2022-06-30 手術ロボットアームと器具とのインターフェース接続

Publications (3)

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JP2019529020A JP2019529020A (ja) 2019-10-17
JP2019529020A5 JP2019529020A5 (enExample) 2020-10-22
JP7164848B2 true JP7164848B2 (ja) 2022-11-02

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JP2019535990A Active JP7164848B2 (ja) 2016-09-14 2017-09-14 手術ロボットアームと器具とのインターフェース接続
JP2022106488A Active JP7571085B2 (ja) 2016-09-14 2022-06-30 手術ロボットアームと器具とのインターフェース接続

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US (3) US11547501B2 (enExample)
EP (1) EP3512454A1 (enExample)
JP (2) JP7164848B2 (enExample)
CN (3) CN109688962B (enExample)
GB (4) GB201615616D0 (enExample)
WO (1) WO2018051093A1 (enExample)

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GB201615616D0 (en) * 2016-09-14 2016-10-26 Cambridge Medical Robotics Ltd Interfacing a surgical robotic arm and instrument
GB2570518B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
GB2585727B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
GB2570520B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
CN112105311A (zh) * 2018-04-06 2020-12-18 项目莫里股份有限公司 用于导管和其它用途的改进的流体驱动器、装置、方法和系统
USD910186S1 (en) 2019-02-28 2021-02-09 Cmr Surgical Limited Structure for interfacing a surgical robotic arm and instrument
KR102269772B1 (ko) * 2019-03-13 2021-06-28 큐렉소 주식회사 수술용 로봇의 엔드이펙터
US11523822B2 (en) * 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US12102405B2 (en) 2019-12-20 2024-10-01 Riverfield Inc. Medical robot, surgical tool and attachment portion
JP6762592B1 (ja) * 2019-12-20 2020-09-30 リバーフィールド株式会社 医療用ロボットおよび医療用ロボットの装着部
JP6806407B1 (ja) * 2020-04-02 2021-01-06 リバーフィールド株式会社 ベアリング構造、及び、ベアリング構造を備えたドレープユニット
KR102443789B1 (ko) * 2021-12-08 2022-09-19 주식회사 메디인테크 동력수용체에 의해 제어되는 내시경
CN118680606A (zh) * 2023-03-24 2024-09-24 北京术锐机器人股份有限公司 紧凑型弯曲手术工具及手术机器人系统
DE102024103154A1 (de) * 2024-02-05 2025-08-07 Karl Storz Se & Co. Kg Schnittstelle zur Verbindung einer Antriebseinheit mit einem medizinischen Instrument

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US20040049205A1 (en) 2002-09-09 2004-03-11 Endo Via Medical, Inc. Surgical instrument coupling mechanism
JP2007167643A (ja) 2005-12-20 2007-07-05 Intuitive Surgical Inc 無菌外科手術アダプタ
JP2009525097A (ja) 2006-02-03 2009-07-09 ザ ヨーロピアン アトミック エナジー コミュニティ（ユーラトム）、リプリゼンテッド バイ ザ ヨーロピアン コミッション 医療ロボットシステム
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JP2016120277A (ja) 2014-11-27 2016-07-07 アヴァテラメディカル ゲーエムベーハー ロボット支援手術のための機器

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EP3512454A1 (en) 2019-07-24
US20230072227A1 (en) 2023-03-09
US12137994B2 (en) 2024-11-12
GB2556554B (en) 2022-04-06
CN109688962A (zh) 2019-04-26
GB2553879A (en) 2018-03-21
CN115137488A (zh) 2022-10-04
US20190269471A1 (en) 2019-09-05
US20230074346A1 (en) 2023-03-09
JP2019529020A (ja) 2019-10-17
GB2601269A (en) 2022-05-25
GB2556554A8 (en) 2023-11-29
JP7571085B2 (ja) 2024-10-22
US11547501B2 (en) 2023-01-10
GB2553879B (en) 2022-08-10
GB201709016D0 (en) 2017-07-19
CN109688962B (zh) 2022-08-05
GB201615616D0 (en) 2016-10-26
CN115105214A (zh) 2022-09-27
GB201801210D0 (en) 2018-03-14
GB2601269B (en) 2022-10-12
JP2022121642A (ja) 2022-08-19
WO2018051093A1 (en) 2018-03-22
GB2556554A (en) 2018-05-30
US12193773B2 (en) 2025-01-14
GB202202571D0 (en) 2022-04-13
GB2556554B8 (en) 2023-11-29

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