KR102499270B1 - 향상된 운동 범위를 가진 기계적인 손목부 조인트, 그리고 관련 장치 - Google Patents

향상된 운동 범위를 가진 기계적인 손목부 조인트, 그리고 관련 장치 Download PDF

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KR102499270B1
KR102499270B1 KR1020227005573A KR20227005573A KR102499270B1 KR 102499270 B1 KR102499270 B1 KR 102499270B1 KR 1020227005573 A KR1020227005573 A KR 1020227005573A KR 20227005573 A KR20227005573 A KR 20227005573A KR 102499270 B1 KR102499270 B1 KR 102499270B1
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joint
disk
protrusion
teeth
pins
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KR20220029754A (ko
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다니엘 피 사랄리브
가브리엘 에프 브리슨
매튜 알 윌리엄스
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인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • 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
    • B25J9/10—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
    • 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
    • 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
    • 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
    • A61B2034/305—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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • Y10S901/29—Wrist

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Gears, Cams (AREA)
  • Transmission Devices (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
KR1020227005573A 2014-02-21 2015-02-20 향상된 운동 범위를 가진 기계적인 손목부 조인트, 그리고 관련 장치 Active KR102499270B1 (ko)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201461943068P 2014-02-21 2014-02-21
US61/943,068 2014-02-21
PCT/US2015/016879 WO2015127250A1 (en) 2014-02-21 2015-02-20 Mechanical wrist joints with enhanced range of motion, and related devices and methods
KR1020167024391A KR102366672B1 (ko) 2014-02-21 2015-02-20 향상된 운동 범위를 가진 기계적인 손목부 조인트, 그리고 관련 장치 및 방법

Related Parent Applications (1)

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KR1020167024391A Division KR102366672B1 (ko) 2014-02-21 2015-02-20 향상된 운동 범위를 가진 기계적인 손목부 조인트, 그리고 관련 장치 및 방법

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Publication Number Publication Date
KR20220029754A KR20220029754A (ko) 2022-03-08
KR102499270B1 true KR102499270B1 (ko) 2023-02-13

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KR1020227005573A Active KR102499270B1 (ko) 2014-02-21 2015-02-20 향상된 운동 범위를 가진 기계적인 손목부 조인트, 그리고 관련 장치
KR1020167024391A Active KR102366672B1 (ko) 2014-02-21 2015-02-20 향상된 운동 범위를 가진 기계적인 손목부 조인트, 그리고 관련 장치 및 방법

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Country Status (6)

Country Link
US (3) US10639805B2 (OSRAM)
EP (3) EP3107697B1 (OSRAM)
JP (3) JP2017513720A (OSRAM)
KR (2) KR102499270B1 (OSRAM)
CN (3) CN106061425B (OSRAM)
WO (1) WO2015127250A1 (OSRAM)

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CN111938812B (zh) 2024-06-21
CN111938812A (zh) 2020-11-17
KR102366672B1 (ko) 2022-02-23
EP4512581A3 (en) 2025-04-09
US20230173692A1 (en) 2023-06-08
US11518048B2 (en) 2022-12-06
CN106061425A (zh) 2016-10-26
US12370700B2 (en) 2025-07-29
WO2015127250A1 (en) 2015-08-27
US20200290215A1 (en) 2020-09-17
EP4059461A1 (en) 2022-09-21
JP2020078867A (ja) 2020-05-28
KR20220029754A (ko) 2022-03-08
EP3107697B1 (en) 2022-05-11
CN118593136A (zh) 2024-09-06
JP6961733B2 (ja) 2021-11-05
US20170120457A1 (en) 2017-05-04
EP4059461B1 (en) 2025-04-30
CN106061425B (zh) 2020-07-24
EP3107697A1 (en) 2016-12-28
EP3107697A4 (en) 2017-11-22
KR20160124789A (ko) 2016-10-28
JP2017513720A (ja) 2017-06-01
US10639805B2 (en) 2020-05-05
JP2022002759A (ja) 2022-01-11
EP4512581A2 (en) 2025-02-26

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