JP7330543B2 - 着用可能な手術用ロボットアーム - Google Patents
着用可能な手術用ロボットアーム Download PDFInfo
- Publication number
- JP7330543B2 JP7330543B2 JP2021548484A JP2021548484A JP7330543B2 JP 7330543 B2 JP7330543 B2 JP 7330543B2 JP 2021548484 A JP2021548484 A JP 2021548484A JP 2021548484 A JP2021548484 A JP 2021548484A JP 7330543 B2 JP7330543 B2 JP 7330543B2
- Authority
- JP
- Japan
- Prior art keywords
- driving
- surgical
- surgical instrument
- arm
- unit
- 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
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated 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
-
- 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—Master-slave 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
- A61B34/25—User interfaces for surgical systems
-
- 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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/53—Supports for surgical instruments, e.g. articulated arms connected to the surgeon's body, e.g. by a belt
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/04—Constructional details of apparatus
- A61B2560/0487—Special user inputs or interfaces
- A61B2560/0493—Special user inputs or interfaces controlled by voice
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L17/00—Speaker identification or verification
- G10L17/22—Interactive procedures; Man-machine interfaces
Description
Claims (3)
- 施術者の腕に固定されて前記施術者の前記腕と共に動くことができるベースと、
手術器具が装着される収容孔が多数形成され、多数の収容孔のうちのいずれか一つの収容孔が第1位置に位置することができるように前記ベースに移動可能に設置される移動部と、
前記移動部の後方で前記第1位置に位置した収容孔を選択的に貫通するように前後進可能に配置されるシャフトと、
多数の収容孔に装着された手術器具のうちから選択されたいずれか一つの手術器具が第1位置に移動するように前記移動部を移動させる第1駆動部と、
前記第1位置に位置した手術器具を第1位置の前方に位置した第2位置に移動させるように前記シャフトを移動させる第2駆動部と、
前記第2位置に移動した手術器具に動力を提供する第3駆動部と、を含み、
前記第3駆動部は、シャフトに備えられ、
前記シャフトの先端には、前記第3駆動部から提供される動力を伝達することができる駆動ホイールが備えられ、前記手術器具の後端には、前記駆動ホイールに対応する位置に備えられて、駆動ホイールとかみ合う従動ホイールが備えられ、
前記ベースには、前記施術者が制御信号を入力することができる入力部が備えられ、前記入力部は、前記手術器具の動作制御のために前記第3駆動部を駆動するための制御信号を入力することができる第1入力部と、前記手術器具を交換するために前記第1駆動部及び前記第2駆動部を駆動するための制御信号を入力することができる第2入力部とを含み、
前記第2入力部は、前記施術者の音声を認識する音声入力部と、前記手術器具の交換が前記施術者の前記音声のみによって行われるように、前記音声入力部を介して入力された音声に応じて、前記第1駆動部及び前記第2駆動部の駆動のための前記制御信号を生成する音声認識部を含むことを特徴とする着用可能な手術用ロボットアーム。 - 前記移動部は、前記ベースに回転可能な形態に配置されることを特徴とする請求項1に記載の着用可能な手術用ロボットアーム。
- 前記ベースを移動可能な状態で支持する多関節支持アームをさらに含むことを特徴とする請求項1に記載の着用可能な手術用ロボットアーム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020180129218A KR102168567B1 (ko) | 2018-10-26 | 2018-10-26 | 착용 가능한 수술용 로봇 암 |
KR10-2018-0129218 | 2018-10-26 | ||
PCT/KR2019/009569 WO2020085624A1 (ko) | 2018-10-26 | 2019-07-31 | 착용 가능한 수술용 로봇 암 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022513393A JP2022513393A (ja) | 2022-02-07 |
JP7330543B2 true JP7330543B2 (ja) | 2023-08-22 |
Family
ID=70330329
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021548484A Active JP7330543B2 (ja) | 2018-10-26 | 2019-07-31 | 着用可能な手術用ロボットアーム |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220241030A1 (ja) |
EP (1) | EP3871629A4 (ja) |
JP (1) | JP7330543B2 (ja) |
KR (1) | KR102168567B1 (ja) |
CN (1) | CN113164217A (ja) |
WO (1) | WO2020085624A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019099346A2 (en) * | 2017-11-16 | 2019-05-23 | Intuitive Surgical Operations, Inc. | Master/slave registration and control for teleoperation |
CN117400228B (zh) * | 2023-12-04 | 2024-04-02 | 广东东软学院 | 一种用于工业流水线快速装配的穿戴式机械臂 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140222023A1 (en) | 2013-02-04 | 2014-08-07 | Children's National Medical Center | Hybrid control surgical robotic system |
JP2016041377A (ja) | 2005-06-06 | 2016-03-31 | インテュイティブ サージカル インコーポレイテッド | 腹腔鏡超音波ロボット外科手術システム |
JP2018143426A (ja) | 2017-03-03 | 2018-09-20 | リバーフィールド株式会社 | 動力伝達アダプタおよび医療用マニピュレータシステム |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4979949A (en) * | 1988-04-26 | 1990-12-25 | The Board Of Regents Of The University Of Washington | Robot-aided system for surgery |
US6860878B2 (en) * | 1998-02-24 | 2005-03-01 | Endovia Medical Inc. | Interchangeable instrument |
US8088062B2 (en) * | 2007-06-28 | 2012-01-03 | Ethicon Endo-Surgery, Inc. | Interchangeable endoscopic end effectors |
KR101004690B1 (ko) | 2008-07-17 | 2011-01-04 | (주)미래컴퍼니 | 수술용 로봇 시스템 및 그 구동 방법 |
US20130066304A1 (en) * | 2009-02-27 | 2013-03-14 | Modular Surgical, Inc. | Apparatus and methods for hybrid endoscopic and laparoscopic surgery |
KR101180665B1 (ko) * | 2009-07-03 | 2012-09-07 | 주식회사 이턴 | 하이브리드 수술용 로봇 시스템 및 수술용 로봇 제어방법 |
KR20120068097A (ko) * | 2010-11-15 | 2012-06-27 | 엘지전자 주식회사 | 수술기구, 로봇 암 및 이를 포함하는 수술용 로봇 시스템 |
CN104812321B (zh) * | 2012-08-30 | 2018-04-13 | 人类拓展有限公司 | 在用户及腹腔镜工具之间的介面 |
GB201315030D0 (en) * | 2013-08-22 | 2013-10-02 | Knight Martin | Magazine |
CN107820412B (zh) * | 2015-06-23 | 2021-01-15 | 柯惠Lp公司 | 机器人手术组合件 |
CN105105850B (zh) * | 2015-08-14 | 2017-11-03 | 福州环亚众志计算机有限公司 | 一种用于医疗器械工程的智能辅助机器人 |
CN107951564A (zh) * | 2017-12-15 | 2018-04-24 | 长沙志唯电子科技有限公司 | 一种可自动换刀医疗手术机器人手臂 |
CN108113757B (zh) * | 2017-12-20 | 2020-05-22 | 深圳先进技术研究院 | 穿戴式血管介入手术机器人装置 |
-
2018
- 2018-10-26 KR KR1020180129218A patent/KR102168567B1/ko active IP Right Grant
-
2019
- 2019-07-31 EP EP19876996.0A patent/EP3871629A4/en active Pending
- 2019-07-31 JP JP2021548484A patent/JP7330543B2/ja active Active
- 2019-07-31 US US17/288,580 patent/US20220241030A1/en active Pending
- 2019-07-31 WO PCT/KR2019/009569 patent/WO2020085624A1/ko unknown
- 2019-07-31 CN CN201980077595.1A patent/CN113164217A/zh active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016041377A (ja) | 2005-06-06 | 2016-03-31 | インテュイティブ サージカル インコーポレイテッド | 腹腔鏡超音波ロボット外科手術システム |
US20140222023A1 (en) | 2013-02-04 | 2014-08-07 | Children's National Medical Center | Hybrid control surgical robotic system |
JP2018143426A (ja) | 2017-03-03 | 2018-09-20 | リバーフィールド株式会社 | 動力伝達アダプタおよび医療用マニピュレータシステム |
Also Published As
Publication number | Publication date |
---|---|
JP2022513393A (ja) | 2022-02-07 |
KR20200047137A (ko) | 2020-05-07 |
EP3871629A1 (en) | 2021-09-01 |
EP3871629A4 (en) | 2022-09-21 |
CN113164217A (zh) | 2021-07-23 |
US20220241030A1 (en) | 2022-08-04 |
KR102168567B1 (ko) | 2020-10-21 |
WO2020085624A1 (ko) | 2020-04-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6896047B2 (ja) | 手術器具の近位制御のためのシステム及び方法 | |
US20210153924A1 (en) | Modular surgical robotic tool | |
JP2021006270A (ja) | 手首機構を有する医療デバイスアダプター | |
JP4058113B2 (ja) | 多構成テレプレゼンスシステム | |
EP2052675B1 (en) | A control assembly | |
KR100936928B1 (ko) | 수술용 로봇 | |
US20180049795A1 (en) | Modular surgical robotic tool | |
KR20080085138A (ko) | 살균 수술 어댑터 | |
JP7411804B2 (ja) | 外科手術器具の制御 | |
US11832911B2 (en) | Surgical platform supported by multiple arms | |
JP7330543B2 (ja) | 着用可能な手術用ロボットアーム | |
WO2006016390A1 (en) | Robotized system for the control and micrometric actuation of an endoscope | |
KR101063281B1 (ko) | 싱글 포트 수술용 어댑터 | |
EP3924151B1 (en) | Surgical robotic systems | |
KR101241809B1 (ko) | 수술용 로봇 | |
Li et al. | Single-port multichannel multi-degree-of-freedom robot with variable stiffness for natural orifice transluminal endoscopic surgery | |
KR20230046569A (ko) | 멀티 툴을 탑재한 웨어러블 수술로봇 | |
KR100994373B1 (ko) | 수술용 인스트루먼트 | |
KR20120039281A (ko) | 수술기구 및 이를 포함하는 수술용 로봇 시스템 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210622 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210622 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20220428 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220524 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220824 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230104 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230404 |
|
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: 20230704 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20230802 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7330543 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |