WO2010123231A3 - Coupling structure for a surgical instrument - Google Patents
Coupling structure for a surgical instrument Download PDFInfo
- Publication number
- WO2010123231A3 WO2010123231A3 PCT/KR2010/002405 KR2010002405W WO2010123231A3 WO 2010123231 A3 WO2010123231 A3 WO 2010123231A3 KR 2010002405 W KR2010002405 W KR 2010002405W WO 2010123231 A3 WO2010123231 A3 WO 2010123231A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- housing
- coupling structure
- surgical instrument
- drivers
- interface unit
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- 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
- A61B2017/00477—Coupling
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Disclosed is a coupling structure for a surgical instrument. The coupling structure for mounting a surgical instrument onto an adapter arranged at the front end of a robot arm comprises: a housing formed into a tablet shape with a predetermined thickness and mounted on the front end of the robot arm; an interface unit formed in the thickness portion of the housing and coupled to the adapter; a plurality of drivers mounted on the interface unit to be actuated by the driving force transmitted by the adapter; a shaft coupled to the housing and accommodating a power transmission means, which is connected to the drivers, therein; and an effector coupled to the end of the shaft and connected to the power transmission means to perform operations required for surgery in accordance with the operation of the drivers. The housing of the instrument is formed into a slim tablet shape and the interface unit is formed in the thickness portion of the housing, to thereby minimize collisions or interference among instruments even when the instruments are mounted on the respective robot arms.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201080017258.2A CN102405021B (en) | 2009-04-21 | 2010-04-19 | Coupling structure for a surgical instrument |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2009-0034586 | 2009-04-21 | ||
KR20090034586 | 2009-04-21 | ||
KR1020090060893A KR100974464B1 (en) | 2009-04-21 | 2009-07-03 | Coupling structure of surgical instrument |
KR10-2009-0060893 | 2009-07-03 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2010123231A2 WO2010123231A2 (en) | 2010-10-28 |
WO2010123231A3 true WO2010123231A3 (en) | 2011-03-10 |
Family
ID=42759378
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2010/002405 WO2010123231A2 (en) | 2009-04-21 | 2010-04-19 | Coupling structure for a surgical instrument |
Country Status (3)
Country | Link |
---|---|
KR (1) | KR100974464B1 (en) |
CN (1) | CN102405021B (en) |
WO (1) | WO2010123231A2 (en) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101550451B1 (en) * | 2010-08-10 | 2015-09-07 | (주)미래컴퍼니 | RCM structure of surgical robot arm |
KR102497776B1 (en) * | 2012-06-01 | 2023-02-09 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Multiport surgical robotic system architecture |
KR101723721B1 (en) | 2012-07-03 | 2017-04-05 | 쿠카 레보라토리즈 게엠베하 | Surgical instrument arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument |
CN105188590B (en) * | 2012-12-10 | 2019-04-26 | 直观外科手术操作公司 | Image collecting device and can the collision during manipulation device lever arm controlled motion avoid |
KR101475665B1 (en) * | 2013-05-24 | 2014-12-23 | 주식회사 고영테크놀러지 | Surgical instruments for nasal cavities and surgical instrument assembly |
KR101548646B1 (en) * | 2014-01-21 | 2015-09-01 | 가톨릭관동대학교산학협력단 | Trans-Platform Apparatus and Their Uses |
GB2552540B (en) * | 2016-07-29 | 2021-11-24 | Cmr Surgical Ltd | Interface structure |
GB2563234B (en) | 2017-06-06 | 2021-12-08 | Cmr Surgical Ltd | Securing an interface element rail of a robotic surgical instrument interface |
CN107260309B (en) * | 2017-07-31 | 2021-05-07 | 成都博恩思医学机器人有限公司 | Surgical instrument of surgical robot and surgical robot |
CN111712174A (en) | 2018-02-15 | 2020-09-25 | 柯惠Lp公司 | Sheath assembly for rigid endoscope |
CN108309456A (en) * | 2018-03-02 | 2018-07-24 | 山东大学齐鲁医院 | A kind of quick-changing mechanism of control decoupling for single hole operating robot |
CN108498173A (en) * | 2018-03-09 | 2018-09-07 | 深圳市精锋医疗科技有限公司 | Motion arm with rotatable end instrument, from operation equipment and operating robot |
CN112401944A (en) * | 2020-10-14 | 2021-02-26 | 极限人工智能有限公司 | Minimally invasive surgery device |
KR102472766B1 (en) | 2020-12-14 | 2022-12-01 | 주식회사 로엔서지컬 | Wire tention adjuster for surgical instrument |
CN114098996B (en) * | 2021-11-29 | 2023-12-22 | 天津大学医疗机器人与智能系统研究院 | Instrument driving device, instrument arm, slave hand end and robot auxiliary operation system |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003061969A (en) * | 2001-08-22 | 2003-03-04 | Toshiba Corp | Manipulator |
US20030125753A1 (en) * | 1999-02-26 | 2003-07-03 | Cartesian Research, Inc. | Stereotaxic holders, stereotaxic alignment systems comprising same, and methods for using same |
JP2005211683A (en) * | 2005-04-01 | 2005-08-11 | Olympus Corp | Treatment tool |
US20070239170A1 (en) * | 1998-02-24 | 2007-10-11 | Brock David L | Flexible instrument |
KR20080047318A (en) * | 2005-05-19 | 2008-05-28 | 인튜어티브 서지컬 인코포레이티드 | Software center and highly configurable robotic systems for surgery and other uses |
JP2009050288A (en) * | 2007-08-23 | 2009-03-12 | Terumo Corp | Work mechanism of medical manipulator |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7666191B2 (en) * | 1996-12-12 | 2010-02-23 | Intuitive Surgical, Inc. | Robotic surgical system with sterile surgical adaptor |
US6331181B1 (en) * | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
US7699855B2 (en) * | 1996-12-12 | 2010-04-20 | Intuitive Surgical Operations, Inc. | Sterile surgical adaptor |
US6394998B1 (en) | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
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2009
- 2009-07-03 KR KR1020090060893A patent/KR100974464B1/en active IP Right Grant
-
2010
- 2010-04-19 WO PCT/KR2010/002405 patent/WO2010123231A2/en active Application Filing
- 2010-04-19 CN CN201080017258.2A patent/CN102405021B/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070239170A1 (en) * | 1998-02-24 | 2007-10-11 | Brock David L | Flexible instrument |
US20030125753A1 (en) * | 1999-02-26 | 2003-07-03 | Cartesian Research, Inc. | Stereotaxic holders, stereotaxic alignment systems comprising same, and methods for using same |
JP2003061969A (en) * | 2001-08-22 | 2003-03-04 | Toshiba Corp | Manipulator |
JP2005211683A (en) * | 2005-04-01 | 2005-08-11 | Olympus Corp | Treatment tool |
KR20080047318A (en) * | 2005-05-19 | 2008-05-28 | 인튜어티브 서지컬 인코포레이티드 | Software center and highly configurable robotic systems for surgery and other uses |
JP2009050288A (en) * | 2007-08-23 | 2009-03-12 | Terumo Corp | Work mechanism of medical manipulator |
Also Published As
Publication number | Publication date |
---|---|
WO2010123231A2 (en) | 2010-10-28 |
CN102405021A (en) | 2012-04-04 |
KR100974464B1 (en) | 2010-08-10 |
CN102405021B (en) | 2014-07-23 |
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