KR102289645B9 - 굴곡 모듈, 이를 포함하는 수술용 말단장치 및 수술용 말단장치를 포함하는 내시경 로봇 - Google Patents

굴곡 모듈, 이를 포함하는 수술용 말단장치 및 수술용 말단장치를 포함하는 내시경 로봇

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Publication number
KR102289645B9
KR102289645B9 KR20190041636A KR20190041636A KR102289645B9 KR 102289645 B9 KR102289645 B9 KR 102289645B9 KR 20190041636 A KR20190041636 A KR 20190041636A KR 20190041636 A KR20190041636 A KR 20190041636A KR 102289645 B9 KR102289645 B9 KR 102289645B9
Authority
KR
South Korea
Prior art keywords
end device
surgical end
same
bending module
endoscope robot
Prior art date
Application number
KR20190041636A
Other languages
English (en)
Other versions
KR20200119457A (ko
KR102289645B1 (ko
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 filed Critical
Priority to KR1020190041636A priority Critical patent/KR102289645B1/ko
Publication of KR20200119457A publication Critical patent/KR20200119457A/ko
Application granted granted Critical
Publication of KR102289645B1 publication Critical patent/KR102289645B1/ko
Publication of KR102289645B9 publication Critical patent/KR102289645B9/ko

Links

Classifications

    • 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, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • 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
    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
KR1020190041636A 2019-04-09 2019-04-09 굴곡 모듈, 이를 포함하는 수술용 말단장치 및 수술용 말단장치를 포함하는 내시경 로봇 KR102289645B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020190041636A KR102289645B1 (ko) 2019-04-09 2019-04-09 굴곡 모듈, 이를 포함하는 수술용 말단장치 및 수술용 말단장치를 포함하는 내시경 로봇

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020190041636A KR102289645B1 (ko) 2019-04-09 2019-04-09 굴곡 모듈, 이를 포함하는 수술용 말단장치 및 수술용 말단장치를 포함하는 내시경 로봇

Publications (3)

Publication Number Publication Date
KR20200119457A KR20200119457A (ko) 2020-10-20
KR102289645B1 KR102289645B1 (ko) 2021-08-18
KR102289645B9 true KR102289645B9 (ko) 2021-10-27

Family

ID=73025389

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020190041636A KR102289645B1 (ko) 2019-04-09 2019-04-09 굴곡 모듈, 이를 포함하는 수술용 말단장치 및 수술용 말단장치를 포함하는 내시경 로봇

Country Status (1)

Country Link
KR (1) KR102289645B1 (ko)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102501616B1 (ko) * 2021-03-29 2023-02-17 남상엽 운송 수단용 광커넥터
KR102495658B1 (ko) * 2021-06-22 2023-02-06 한국과학기술원 스프링 타입 광섬유 센서를 이용하여 관절 각도 측정이 가능한 수술 장치
US11787069B2 (en) * 2021-11-01 2023-10-17 Oliver Crispin Robotics Limited Insertion tool with flexible spine
KR102626370B1 (ko) * 2021-11-29 2024-01-17 주식회사 밀알 복강경 장치
EP4201602A1 (en) * 2021-12-21 2023-06-28 Rolls-Royce plc Continuum arm robot
KR102636818B1 (ko) * 2021-12-30 2024-02-16 주식회사 에어스 직경 크기가 감소된 구조의 의료용 엔드 이펙터

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4580973B2 (ja) * 2007-11-29 2010-11-17 オリンパスメディカルシステムズ株式会社 処置具システム
US20100168721A1 (en) 2008-12-30 2010-07-01 Intuitive Surgical, Inc. Lubricating tendons in a tendon-actuated surgical instrument
US8887595B2 (en) * 2009-12-22 2014-11-18 Intuitive Surgical Operations, Inc. Instrument wrist with cycloidal surfaces
WO2014201538A1 (en) * 2013-06-19 2014-12-24 Titan Medical Inc. Articulated tool positioner and system employing same
JP6655078B2 (ja) * 2015-07-09 2020-02-26 川崎重工業株式会社 ロボットアームの関節及び外科機器
CA3048492C (en) * 2017-06-29 2021-09-07 Board Of Regents Of The University Of Texas System Surgical apparatus

Also Published As

Publication number Publication date
KR20200119457A (ko) 2020-10-20
KR102289645B1 (ko) 2021-08-18

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