KR102456414B1 - 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동 - Google Patents

가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동 Download PDF

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Publication number
KR102456414B1
KR102456414B1 KR1020197007097A KR20197007097A KR102456414B1 KR 102456414 B1 KR102456414 B1 KR 102456414B1 KR 1020197007097 A KR1020197007097 A KR 1020197007097A KR 20197007097 A KR20197007097 A KR 20197007097A KR 102456414 B1 KR102456414 B1 KR 102456414B1
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Prior art keywords
instrument shaft
rod assembly
actuation rod
end effector
capstan
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Korean (ko)
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KR20190040496A (ko
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니콜라스 라고스타
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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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, 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
    • 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
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • 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

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (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)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
KR1020197007097A 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동 Active KR102456414B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020227035598A KR102660671B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662385642P 2016-09-09 2016-09-09
US62/385,642 2016-09-09
PCT/US2017/050760 WO2018049217A1 (en) 2016-09-09 2017-09-08 Push-pull surgical instrument end effector actuation using flexible tension member

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020227035598A Division KR102660671B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동

Publications (2)

Publication Number Publication Date
KR20190040496A KR20190040496A (ko) 2019-04-18
KR102456414B1 true KR102456414B1 (ko) 2022-10-19

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KR1020197007097A Active KR102456414B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동
KR1020247013256A Active KR102871113B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동
KR1020227035598A Active KR102660671B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동

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KR1020247013256A Active KR102871113B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동
KR1020227035598A Active KR102660671B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동

Country Status (6)

Country Link
US (2) US11020138B2 (https=)
EP (3) EP3509523B1 (https=)
JP (3) JP7044760B2 (https=)
KR (3) KR102456414B1 (https=)
CN (2) CN109688959B (https=)
WO (1) WO2018049217A1 (https=)

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