WO2012144875A3 - 모터로 구현되는 최소 침습 수술 기구 - Google Patents

모터로 구현되는 최소 침습 수술 기구 Download PDF

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Publication number
WO2012144875A3
WO2012144875A3 PCT/KR2012/003124 KR2012003124W WO2012144875A3 WO 2012144875 A3 WO2012144875 A3 WO 2012144875A3 KR 2012003124 W KR2012003124 W KR 2012003124W WO 2012144875 A3 WO2012144875 A3 WO 2012144875A3
Authority
WO
WIPO (PCT)
Prior art keywords
surgical instrument
minimally invasive
invasive surgical
motor
pair
Prior art date
Application number
PCT/KR2012/003124
Other languages
English (en)
French (fr)
Other versions
WO2012144875A2 (ko
Inventor
정창욱
신준철
김성렬
김형태
Original Assignee
주식회사 모바수
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
Priority claimed from KR1020110077110A external-priority patent/KR101300404B1/ko
Application filed by 주식회사 모바수 filed Critical 주식회사 모바수
Priority to US14/113,212 priority Critical patent/US10166075B2/en
Priority to EP12774712.9A priority patent/EP2700369B1/en
Publication of WO2012144875A2 publication Critical patent/WO2012144875A2/ko
Publication of WO2012144875A3 publication Critical patent/WO2012144875A3/ko

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Classifications

    • 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
    • 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
    • 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
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2925—Pistol grips
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

본 발명은 모터로 구현되는 최소 침습 수술 기구에 관한 것이다. 본 발명의 일 태양에 따르면, 최소 침습 수술 기구로서, 샤프트, 상기 샤프트의 일단 쪽에 연결되는 엔드 이펙터, 및 상기 샤프트의 타단에 연결되는 핸들부를 포함하고, 상기 핸들부는, 한 쌍의 직선 운동 부재, 상기 한 쌍의 직선 운동 부재가 서로 반대 방향으로 운동하도록 하기 위한 적어도 하나의 회전 부재, 및 상기 적어도 하나의 회전 부재를 구동시키기 위한 구동 요소를 포함하며, 상기 한 쌍의 직선 운동 부재는 상기 엔드 이펙터를 피치 방향이나 요 방향으로 동작시키는 최소 침습 수술 기구가 제공된다.
PCT/KR2012/003124 2011-04-21 2012-04-23 모터로 구현되는 최소 침습 수술 기구 WO2012144875A2 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US14/113,212 US10166075B2 (en) 2011-04-21 2012-04-23 Minimally invasive surgical instrument implementing a motor
EP12774712.9A EP2700369B1 (en) 2011-04-21 2012-04-23 Minimally invasive surgical instrument with a motor

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2011-0037442 2011-04-21
KR20110037442 2011-04-21
KR10-2011-0077110 2011-08-02
KR1020110077110A KR101300404B1 (ko) 2011-08-02 2011-08-02 모터로 구현되는 최소 침습 수술 기구

Publications (2)

Publication Number Publication Date
WO2012144875A2 WO2012144875A2 (ko) 2012-10-26
WO2012144875A3 true WO2012144875A3 (ko) 2013-03-07

Family

ID=47042085

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/003124 WO2012144875A2 (ko) 2011-04-21 2012-04-23 모터로 구현되는 최소 침습 수술 기구

Country Status (3)

Country Link
US (1) US10166075B2 (ko)
EP (1) EP2700369B1 (ko)
WO (1) WO2012144875A2 (ko)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106073897B (zh) * 2016-07-12 2018-06-19 天津大学 一种用于单孔微创机器人的蛇形关节及其机构
CN106828652B (zh) * 2016-12-30 2023-10-10 深圳市优必选科技有限公司 腰部旋转结构以及机器人
CN115040199B (zh) * 2021-11-05 2023-02-03 河北医科大学第二医院 外科手术微创手术器械

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US20100087818A1 (en) * 2008-10-03 2010-04-08 Tyco Healthcare Group Lp Method of Transferring Rotational Motion in an Articulating Surgical Instrument

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Also Published As

Publication number Publication date
EP2700369A4 (en) 2014-11-05
WO2012144875A2 (ko) 2012-10-26
EP2700369B1 (en) 2017-07-12
EP2700369A2 (en) 2014-02-26
US20140350569A1 (en) 2014-11-27
US10166075B2 (en) 2019-01-01

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