KR101654031B1 - 수술 장치용 수동 프리로드 및 캡스턴 드라이브 - Google Patents

수술 장치용 수동 프리로드 및 캡스턴 드라이브 Download PDF

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Publication number
KR101654031B1
KR101654031B1 KR1020117008998A KR20117008998A KR101654031B1 KR 101654031 B1 KR101654031 B1 KR 101654031B1 KR 1020117008998 A KR1020117008998 A KR 1020117008998A KR 20117008998 A KR20117008998 A KR 20117008998A KR 101654031 B1 KR101654031 B1 KR 101654031B1
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South Korea
Prior art keywords
capstan
tendon
shaft
attached
spring
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Korean (ko)
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KR20110069114A (ko
Inventor
쥬세페 프리스코
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인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
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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
    • A61B17/28—Surgical forceps
    • A61B17/285—Surgical forceps combined with cutting implements
    • 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
    • A61B17/295—Forceps for use in minimally invasive surgery combined with cutting implements
    • 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—Leader-follower 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B25J1/08—Manipulators positioned in space by hand movably mounted in a wall
    • B25J1/10—Sleeve and pivot mountings therefor
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • 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
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
KR1020117008998A 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브 Active KR101654031B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/286,644 US9259274B2 (en) 2008-09-30 2008-09-30 Passive preload and capstan drive for surgical instruments
US12/286,644 2008-09-30

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020167023836A Division KR101730455B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브

Publications (2)

Publication Number Publication Date
KR20110069114A KR20110069114A (ko) 2011-06-22
KR101654031B1 true KR101654031B1 (ko) 2016-09-05

Family

ID=41479144

Family Applications (4)

Application Number Title Priority Date Filing Date
KR1020177021326A Active KR101801297B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브
KR1020177010718A Active KR101765094B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브
KR1020167023836A Active KR101730455B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브
KR1020117008998A Active KR101654031B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브

Family Applications Before (3)

Application Number Title Priority Date Filing Date
KR1020177021326A Active KR101801297B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브
KR1020177010718A Active KR101765094B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브
KR1020167023836A Active KR101730455B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브

Country Status (6)

Country Link
US (6) US9259274B2 (enExample)
EP (2) EP2361170B1 (enExample)
JP (4) JP5542288B2 (enExample)
KR (4) KR101801297B1 (enExample)
CN (2) CN102171006B (enExample)
WO (1) WO2010039387A1 (enExample)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023085900A1 (ko) * 2021-11-15 2023-05-19 주식회사 로엔서지컬 와이어 장력 보상 조절 장치
KR20230071083A (ko) * 2021-11-15 2023-05-23 주식회사 로엔서지컬 와이어 장력 보상 조절 장치
KR20230172155A (ko) 2022-06-15 2023-12-22 주식회사 로엔서지컬 구름 관절 장치의 강성 증강 방법

Families Citing this family (744)

* Cited by examiner, † Cited by third party
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