SG11201805714YA - Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions - Google Patents

Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions

Info

Publication number
SG11201805714YA
SG11201805714YA SG11201805714YA SG11201805714YA SG11201805714YA SG 11201805714Y A SG11201805714Y A SG 11201805714YA SG 11201805714Y A SG11201805714Y A SG 11201805714YA SG 11201805714Y A SG11201805714Y A SG 11201805714YA SG 11201805714Y A SG11201805714Y A SG 11201805714YA
Authority
SG
Singapore
Prior art keywords
instrument
assembly
international
surgical
hong kong
Prior art date
Application number
SG11201805714YA
Inventor
Chung Kwong Yeung
Wing Fai Lam
Wai Lik Alik Chan
Original Assignee
Bio Medical Eng Hk Ltd
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 by Bio Medical Eng Hk Ltd filed Critical Bio Medical Eng Hk Ltd
Publication of SG11201805714YA publication Critical patent/SG11201805714YA/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • 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
    • A61B34/37—Master-slave 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • 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
    • A61B2017/2901—Details of shaft
    • A61B2017/2906—Multiple forceps
    • 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
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Otolaryngology (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)

Abstract

230 142,242 140,240 142a,242a 146,246 148,248 132,232 138,238 131,231 Of' 144,244 142b,242b 146a,246a 144a,244a 134,234 136,236 FIG. 4A 1-1 1-1 1-1 00 O 00 1-1 O C PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) 0111111010 0111 °nolo III m Imo oimIE (10) International Publication Number WO 2018/081931 Al WIPO I PCT (12) INTERNATIONAL APPLICATION (19) World Intellectual Property Organization International Bureau (43) International Publication Date 11 May 2018 (11.05.2018) (51) International Patent Classification: A61B 34/30 (2016.01) A61B 17/00 (2006.01) A61B 18/14 (2006.01) (21) International Application Number: PCT/CN2016/104270 (22) International Filing Date: 01 November 2016 (01.11.2016) (25) Filing Language: English (26) Publication Language: English (71) Applicant: BIO-MEDICAL ENGINEERING (HK) LIMITED [CN/CN]; Units 401-404, Level 4, Core C, Cy- berport 3, 100 Cyberport Road, Hong Kong (CN). (72) Inventors: YEUNG, Chung Kwong; Flat 2275, 22/F, BLK 13, Hong Kong Parkview, 88 Tai Tam Reservoir Road, Hong Kong (CN). LAM, Wing Fai; Flat 4, 12/F, Block A, Bo Fung Gardens, 1090 King's Road, Quarry Bay, Hong Kong (CN). CHAN, Wai Lik Alik; Flat 1402, Choi Lau House, Choi Ming Court, Tseung Kwan 0, Hong Kong (CN). (74) Agent: BEIJING ARETE INTELLECTUAL PROPER- TY AGENCY; Suite 1201, Building 3, Zhubang 2000 Busi- ness Center, No. 98 Ba Li Zhuang Xi Li, Chaoyang District, Beijing 100025 (CN). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (54) Title: SURGICAL ROBOTIC DEVICES AND SYSTEMS FOR USE IN PERFORMING MINIMALLY INVASIVE AND NAT- URAL ORIFICE TRANSLUMINAL ENDOSCOPIC SURGICAL ACTIONS (57) : Surgical devices (100, 200), systems, and methods are disclosed. The system may include an end-effector assembly (140, 240). The end-effector assembly (140, 240) may comprise an instrument assembly and a wrist assembly. ( instrument assembly may comprise an instrument (142, 242, 144, 244) for performing a surgical action. The instrument assembly may further comprise an instrument driven portion (142a, 242a, 144a, 244a) configurable to be driven in such a way as to move the instrument (142, 242, 144, 244) relative to a first axis (A). The instrument assembly may further comprise an instrument insulative portion (142b, 242b, 144b, 244b) providable between the instrument (142, 242, 144, 244) and the instrument driven portion (142a, 242a, 144a, 244a). The instrument insulative portion (142b, 242b, 144b, 244b) may be configurable to electrically isolate the instrument (142, 242, 144, 244) from at least the instrument driven portion (142a, 242a, 144a, 244a) when the instrument insulative portion (142b, 242b, 144b, 244b) is provided between the instrument (142, 242, 144, 244) and the instrument driven portion (142a, 242a, 144a, 244a). The wrist assembly may include a wrist driven portion (146a, 246a) configurable to be driven in such a way as to move the instrument (142, 242, 144, 244) relative to a second axis (B). [Continued on next page] WO 2018/081931 Al MIDEDIMOMOIDEIREIDIONIMHOHMINIMEMEIS (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: — with international search report (Art. 21(3))
SG11201805714YA 2016-11-01 2016-11-01 Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions SG11201805714YA (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/104270 WO2018081931A1 (en) 2016-11-01 2016-11-01 Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions

Publications (1)

Publication Number Publication Date
SG11201805714YA true SG11201805714YA (en) 2018-07-30

Family

ID=59431851

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201805714YA SG11201805714YA (en) 2016-11-01 2016-11-01 Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions

Country Status (4)

Country Link
CN (3) CN109567902B (en)
GB (1) GB2568616B (en)
SG (1) SG11201805714YA (en)
WO (1) WO2018081931A1 (en)

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US11090123B2 (en) 2014-04-22 2021-08-17 Bio-Medical Engineering (HK) Limited Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems
US10500008B2 (en) 2014-04-22 2019-12-10 Bio-Medical Engineering (HK) Limited Surgical arm system with internally driven gear assemblies
US9895200B2 (en) 2014-04-22 2018-02-20 Bio-Medical Engineering (HK) Limited Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems
US11154183B2 (en) 2014-04-22 2021-10-26 Bio-Medical Engineering (HK) Limited Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems
EP3886721B1 (en) * 2018-11-30 2023-11-15 iEMIS (HK) Limited Robotic arm system with gear-driven end-effector assembly
CN110547876B (en) * 2019-06-28 2020-10-09 香港生物医学工程有限公司 Surgical arm system with internally driven gear assembly
US11246668B1 (en) 2021-07-16 2022-02-15 Yijiahe (Singapore) Pte. Ltd. Minimally invasive surgical tool with asymmetric gear assembly

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Also Published As

Publication number Publication date
CN109567902A (en) 2019-04-05
CN106999251A (en) 2017-08-01
CN110074865B (en) 2021-07-30
GB2568616A (en) 2019-05-22
CN109567902B (en) 2022-04-08
CN106999251B (en) 2019-07-09
GB2568616B (en) 2019-12-25
CN110074865A (en) 2019-08-02
GB201901850D0 (en) 2019-04-03
WO2018081931A1 (en) 2018-05-11

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