RU2010121772A - Медицинский манипулятор - Google Patents
Медицинский манипулятор Download PDFInfo
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- RU2010121772A RU2010121772A RU2010121772/14A RU2010121772A RU2010121772A RU 2010121772 A RU2010121772 A RU 2010121772A RU 2010121772/14 A RU2010121772/14 A RU 2010121772/14A RU 2010121772 A RU2010121772 A RU 2010121772A RU 2010121772 A RU2010121772 A RU 2010121772A
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- distal end
- medical manipulator
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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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
-
- 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, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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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)
- Manipulator (AREA)
- Endoscopes (AREA)
Abstract
1. Медицинский манипулятор, содержащий: ! рабочий блок (14) дистального конца, включающий в себя конечное исполнительное звено (22); ! функциональный блок (16) для управления рабочим блоком (14) дистального конца; ! соединительное звено (12), соединяющее между собой рабочий блок (14) дистального конца и функциональный блок (16); а также ! механизм (26) изменения пространственного положения для изменения пространственного положения рабочего блока (14) дистального конца, в котором ! конечное исполнительное звено (22) выполнено с возможностью механического управления передающим звеном (18), когда функциональный блок (16) управляется хирургом, ! механизм (26) изменения пространственного положения выполнен с возможностью управления приводным механизмом (90, 140, 142), управление которым осуществляется тогда, когда функциональный блок (16) управляется хирургом. !2. Медицинский манипулятор по п.1, в котором механизм (26) изменения пространственного положения содержит: ! механизм сгибания для изгибания участка упомянутого соединительного звена (12); а также ! механизм вращения для поворота рабочего блока (14) дистального конца вокруг оси, ! причем механизм вращения выполнен с возможностью поворота рабочего блока (14) дистального конца вокруг отклоненной оси, когда рабочий блок (14) дистального конца отклонен от параллели с осью соединительного звена (12) механизмом сгибания. ! 3. Медицинский манипулятор по п.1, в котором соединительное звено (12) разъемно установлено на функциональном блоке (16). ! 4. Медицинский манипулятор по п.1, в котором функциональный блок (16) включает в себя рукоятку, выполненную с возможностью осуществления угловых перемещений под �
Claims (8)
1. Медицинский манипулятор, содержащий:
рабочий блок (14) дистального конца, включающий в себя конечное исполнительное звено (22);
функциональный блок (16) для управления рабочим блоком (14) дистального конца;
соединительное звено (12), соединяющее между собой рабочий блок (14) дистального конца и функциональный блок (16); а также
механизм (26) изменения пространственного положения для изменения пространственного положения рабочего блока (14) дистального конца, в котором
конечное исполнительное звено (22) выполнено с возможностью механического управления передающим звеном (18), когда функциональный блок (16) управляется хирургом,
механизм (26) изменения пространственного положения выполнен с возможностью управления приводным механизмом (90, 140, 142), управление которым осуществляется тогда, когда функциональный блок (16) управляется хирургом.
2. Медицинский манипулятор по п.1, в котором механизм (26) изменения пространственного положения содержит:
механизм сгибания для изгибания участка упомянутого соединительного звена (12); а также
механизм вращения для поворота рабочего блока (14) дистального конца вокруг оси,
причем механизм вращения выполнен с возможностью поворота рабочего блока (14) дистального конца вокруг отклоненной оси, когда рабочий блок (14) дистального конца отклонен от параллели с осью соединительного звена (12) механизмом сгибания.
3. Медицинский манипулятор по п.1, в котором соединительное звено (12) разъемно установлено на функциональном блоке (16).
4. Медицинский манипулятор по п.1, в котором функциональный блок (16) включает в себя рукоятку, выполненную с возможностью осуществления угловых перемещений под действием хирурга для возвратно-поступательного перемещения передающего звена (18).
5. Медицинский манипулятор по п.2, в котором приводной механизм (90, 140, 142) механизма сгибания перемещает проволоку, которая продолжается через соединительное звено (12), возвратно-поступательно, когда осуществляется упомянутым функциональным блоком (16).
6. Медицинский манипулятор по п.2, в котором передающее звено (18) продолжается через соединительное звено (12) и включает в себя, по меньшей мере, один гибкий участок, соответствующий участку соединительного звена (12), который поддается сгибанию с помощью механизма сгибания, при этом приводной механизм (90, 140, 142) механизма вращения поворачивает рабочий блок (14) дистального конца посредством передающего звена (16), управляемого функциональным блоком (16).
7. Медицинский манипулятор по п.1, в котором передающее звено (18) содержит гибкое звено и цилиндрическое звено, вокруг которого наматывается гибкое звено.
8. Медицинский манипулятор по п.1, в котором механизм (26) изменения пространственного положения включает в себя вращательный вал, содержащий цилиндрическое звено, при этом передающее звено (18) включает в себя гибкое звено, имеющее участок, намотанный вокруг цилиндрического звена, посредством чего передающее звено (18) управляет конечным исполнительным звеном (22) через гибкое звено.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007-283313 | 2007-10-31 | ||
JP2007283313A JP5364255B2 (ja) | 2007-10-31 | 2007-10-31 | 医療用マニピュレータ |
Publications (2)
Publication Number | Publication Date |
---|---|
RU2010121772A true RU2010121772A (ru) | 2011-12-10 |
RU2445933C2 RU2445933C2 (ru) | 2012-03-27 |
Family
ID=39711103
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
RU2010121772/14A RU2445933C2 (ru) | 2007-10-31 | 2008-06-16 | Медицинский манипулятор |
Country Status (9)
Country | Link |
---|---|
US (1) | US9662131B2 (ru) |
EP (1) | EP2211733B1 (ru) |
JP (1) | JP5364255B2 (ru) |
KR (1) | KR101509275B1 (ru) |
CN (1) | CN101820824B (ru) |
BR (1) | BRPI0818311A2 (ru) |
CA (1) | CA2703920C (ru) |
RU (1) | RU2445933C2 (ru) |
WO (1) | WO2009057347A1 (ru) |
Families Citing this family (762)
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2008
- 2008-06-16 CN CN200880110972.9A patent/CN101820824B/zh active Active
- 2008-06-16 WO PCT/JP2008/061374 patent/WO2009057347A1/en active Application Filing
- 2008-06-16 KR KR1020107009484A patent/KR101509275B1/ko active IP Right Grant
- 2008-06-16 CA CA2703920A patent/CA2703920C/en active Active
- 2008-06-16 EP EP08777494.9A patent/EP2211733B1/en active Active
- 2008-06-16 BR BRPI0818311A patent/BRPI0818311A2/pt not_active IP Right Cessation
- 2008-06-16 RU RU2010121772/14A patent/RU2445933C2/ru active
Also Published As
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KR20100091952A (ko) | 2010-08-19 |
JP2009106606A (ja) | 2009-05-21 |
CA2703920C (en) | 2014-10-28 |
KR101509275B1 (ko) | 2015-04-07 |
CA2703920A1 (en) | 2009-05-07 |
JP5364255B2 (ja) | 2013-12-11 |
RU2445933C2 (ru) | 2012-03-27 |
CN101820824B (zh) | 2014-03-12 |
US9662131B2 (en) | 2017-05-30 |
EP2211733B1 (en) | 2018-08-01 |
BRPI0818311A2 (pt) | 2018-10-16 |
US20090112229A1 (en) | 2009-04-30 |
CN101820824A (zh) | 2010-09-01 |
EP2211733A1 (en) | 2010-08-04 |
WO2009057347A1 (en) | 2009-05-07 |
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