KR101889432B1 - 멀티-조인트 의료 기구의 가동에서 텐션 제어 - Google Patents

멀티-조인트 의료 기구의 가동에서 텐션 제어 Download PDF

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KR101889432B1
KR101889432B1 KR1020137014272A KR20137014272A KR101889432B1 KR 101889432 B1 KR101889432 B1 KR 101889432B1 KR 1020137014272 A KR1020137014272 A KR 1020137014272A KR 20137014272 A KR20137014272 A KR 20137014272A KR 101889432 B1 KR101889432 B1 KR 101889432B1
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joint
determining
tip
tensions
difference
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KR20130103765A (ko
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사뮤엘 곽 웨이 오
쥐세페 마리아 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
    • A61B34/70—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
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • 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
    • A61B2017/2908—Multiple segments connected by articulations
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • 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

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
KR1020137014272A 2010-11-12 2011-10-28 멀티-조인트 의료 기구의 가동에서 텐션 제어 Active KR101889432B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US12/945,734 US9101379B2 (en) 2010-11-12 2010-11-12 Tension control in actuation of multi-joint medical instruments
US12/945,734 2010-11-12
PCT/US2011/058376 WO2012064528A1 (en) 2010-11-12 2011-10-28 Tension control in actuation of multi-joint medical instruments

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020187023148A Division KR101927749B1 (ko) 2010-11-12 2011-10-28 멀티-조인트 의료 기구의 가동에서 텐션 제어

Publications (2)

Publication Number Publication Date
KR20130103765A KR20130103765A (ko) 2013-09-24
KR101889432B1 true KR101889432B1 (ko) 2018-08-17

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KR1020137014272A Active KR101889432B1 (ko) 2010-11-12 2011-10-28 멀티-조인트 의료 기구의 가동에서 텐션 제어
KR1020187023148A Active KR101927749B1 (ko) 2010-11-12 2011-10-28 멀티-조인트 의료 기구의 가동에서 텐션 제어

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Country Status (6)

Country Link
US (5) US9101379B2 (enExample)
EP (1) EP2637592B1 (enExample)
JP (4) JP6209447B2 (enExample)
KR (2) KR101889432B1 (enExample)
CN (2) CN105342703B (enExample)
WO (1) WO2012064528A1 (enExample)

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