WO2014067804A1 - Instrument d'endoscopie - Google Patents
Instrument d'endoscopie Download PDFInfo
- Publication number
- WO2014067804A1 WO2014067804A1 PCT/EP2013/071959 EP2013071959W WO2014067804A1 WO 2014067804 A1 WO2014067804 A1 WO 2014067804A1 EP 2013071959 W EP2013071959 W EP 2013071959W WO 2014067804 A1 WO2014067804 A1 WO 2014067804A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- instrument
- shaft
- traction means
- rollers
- guided
- Prior art date
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 abstract description 2
- 210000002414 leg Anatomy 0.000 description 19
- 230000007935 neutral effect Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 3
- 210000000689 upper leg Anatomy 0.000 description 2
- 229910001208 Crucible steel Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
-
- 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
- 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
- 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
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2938—Independently actuatable jaw members, e.g. two actuating rods
-
- 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
Definitions
- the invention relates to an endoscopic instrument having the features specified in the preamble of claim 1.
- Such endoscopic instruments typically have an elongated shaft and an instrument head arranged at the distal shaft end, which carries a tool with two jaw parts which can be pivoted relative to one another.
- the instrument head is pivotable about an axis transversely to the longitudinal direction of the shaft, wherein the pivotal movement of the instrument head and the pivoting movement of the jaw parts can be controlled via the traction means guided in the shaft from the proximal end of the instrument.
- a corresponding handle is provided at the proximal end of the instrument, which allows a direct control by the surgeon or it is provided at the proximal end of a connection part, which allows the electromotive control of the individual functions, as in robotic surgery systems of the prior art.
- US Pat. No. 6,312,435 Bl where such a system is shown, which carries and controls a generic endoscopic instrument.
- the invention has the object, a generic endoscopic instrument in such a way that on the one hand as slim as possible outer contour of the distal instrument part and the shaft is achieved and on the other hand given a high level of functionality.
- a cost-effective production and assembly should be possible.
- the distal bending should be possible on both sides by at least 90 ° with high rigidity of the instrument in two directions.
- the endoscopic instrument has an elongate shaft with an instrument head arranged on the distal shaft end, which carries a tool with two jaw parts which can be pivoted relative to one another.
- the instrument head is pivotable about an axis transverse to the longitudinal direction of the shaft, typically transversely to the central axis of the shaft, wherein the pivoting movement of the instrument head and the jaw parts guided in the shaft traction means of proximal end of the instrument is controllable.
- the traction means for controlling the pivoting movement of the jaw members are guided by rollers which are mounted rotatably about the axis about which the instrument head is pivotable, wherein a traction means comprises a roller in the extended position of the instrument in full.
- a jaw part in the installed position has outer discs and a jaw member in the installed position therebetween and inner discs, wherein the inner discs have a larger diameter than the outer discs.
- the traction means which are provided for controlling the pivoting movement of the jaw parts, are guided in the region of the joint, with which the instrument head is mounted on the distal shaft end, via rollers which are freely rotatably mounted about the hinge axis, wherein the traction means are guided so that a role is advantageously provided for each traction means and the traction means comprises the associated role fully, d. H. in the neutral position of the instrument, which is typically the elongated position, wraps around 360 °. Depending on the pivoting movement of the head relative to the shaft, the wrap angle varies and, depending on the pivoting direction, is approximately 360 ° plus / minus the swivel angle.
- the neutral position of the instrument is the elongated position, d. H. out of this neutral position, the instrument head can be pivoted about the pivot axis to each side by at least 90 ° relative to the instrument shaft, resulting in corresponding wrap around the rollers of 270 ° - 450 °.
- the wrap is in this case, either 375 ° or 345 ° and be increased or decreased by the swing angle from this neutral position.
- each jaw part has a disk arranged externally in the installed position and a disk arranged inside in the installation position, the traction means acting in the opening direction and the disk arranged internally acting in the closing direction according to an advantageous development of the invention Traction means is guided.
- the internally arranged disc according to the invention has a larger diameter than the externally arranged disc, whereby higher closing forces in the closing direction than in the opening direction with a comparatively small instrument diameter can be realized.
- a corresponding arrangement is advantageously carried out in the region of the joint between the shaft end and the instrument head by the larger diameter rollers between the smaller diameter rollers are arranged so as to optimally use the typically circular in cross-sectional shape.
- the pivot axis of the instrument head is arranged transversely and at a distance from the preferably common pivot axis of the jaw parts.
- the jaw parts which is suitably the case, are provided in the opening and closing direction with a separate traction means, a pivotal movement of the tool, so the jaw pair to realize about the pivot axis of the jaws.
- This is particularly useful with motor-controlled traction means, since depending on the control of the traction means the jaws can not only be opened and closed to each other, but also in the respective opening or closing Position can be pivoted about the axis.
- an energetically operated, in particular electromotive control is particularly useful for the present invention, since it can also be compensated for the movement of the jaws, by the pivoting movement of the instrument head in the inventive arrangement due to the changing angle of wrap around the rollers and thus changing free Switzerlandstoff Kunststoffen done.
- the instrument head on a joint piece which has at least one proximally directed projection on which the rollers for the traction means are rotatably mounted on a rotatably connected to the joint shaft, wherein on the shaft a disc is arranged rotationally fixed, at which the traction means are fixed for controlling the pivoting movement of the instrument head.
- the axis of rotation of this shaft thus also forms the pivot axis of the instrument head and the axis of rotation for the rollers. It is particularly simple in construction if two legs pointing proximally are provided on the joint piece, between which the rollers for the traction means are rotatably arranged on the shaft and between which the disk is preferably arranged centrally for fixing the traction means.
- the arrangement of two legs is structurally simple and forms a stable construction.
- the distal shaft end has at least one distally directed projection on which the joint piece is pivotally mounted. It is structurally simpler and more favorable, instead of a single projection, to provide two distally directed legs on the distal shaft end, between which the joint piece is received and in which the shaft of the joint piece is rotatably mounted. These legs can, for example, by appropriate cutouts be formed of a reinforced hollow cylindrical end portion of the shaft.
- the joint piece itself advantageously has at least one distally downward directed projection on which the jaw parts are rotatably mounted. It is structurally advantageous to provide instead of a single projection two distally directed legs on the joint piece, between which the jaws are rotatably mounted and preferably arranged relative to the longitudinal axis offset by 90 ° to the distally directed legs on the shaft end or the pivot axis of the instrument head are. Such an arrangement is advantageous because it can be used to realize a pivotal movement of the jaw parts in virtually any direction to the shaft axis.
- two discs are arranged on each jaw part, on each of which a traction means is fixed and whose main extension extends transversely to the axis of rotation of the jaw part.
- discs serve as a guide for the traction means and ensure that the traction means are guided with sufficient lever arms around the pivot axes, and that over as large a pivoting range. This can be achieved if, for each jaw part, two discs, ie for each traction means, a separate disc is provided. If what is advantageous according to the invention, the traction means are fixed to the end of the discs, so comparatively high forces can be applied to the jaw parts, in both pivot directions. By varying the diameter of the discs beyond a different power development can be realized in the closing direction and opening direction.
- the diameter-large discs near the central axis of the instrument (in extended position) can be arranged, whereas the discs for guiding the traction means, which are effective in the opening direction of the jaws , can be further out, where the space is less.
- the embodiment of the invention makes it possible, with a suitable design of the jaw parts, to form them from the same components, as a result of which the number of parts is reduced.
- the jaw parts can then be inexpensively produced as injection-molded components, cast steel components or by other shaping methods.
- FIG. 1 is a simplified schematic perspective view of the distal end of an endoscopic instrument according to the invention
- Fig. 2 is the illustration of Figure 1 without the shaft end.
- FIG. 3 shows the representation according to FIG. 2 without a joint piece
- FIG. 5 shows the control means for the upper jaw part in FIG. 3,
- FIG. 6 shows the control means for the lower jaw part in FIG. 3,
- Fig. 8 is a side view of the central disc for controlling the pivotal movement of the instrument head
- FIG. 9 is a view rotated by 90 ° according to FIG. 8.
- the endoscopic instrument illustrated with reference to the figures has an elongate shaft 1, of which only the distal end is shown in FIG.
- cables 2, 3 and 4 are circumferentially guided, which are provided to control the described below instrument head 5 with the tools 6 located thereon in the form of a pair of pliers.
- These cables 2 - 4 extend over the entire length of the shaft to the proximal end of the instrument, where they are guided depending on the design of the instrument either in a handle with which the surgeon can hold and control the instrument or in a proximal receiving device, the is provided and designed for connection to a robot-like system, in which the cables 2 - 4 are connected to electric motors.
- a connection provided for a robotic system is known, for example, from US Pat. No. 6,312,435 B1, to which reference is made in this respect by way of example.
- the cables 2 - 4 are drawn circumferentially in the figures on the proximal side, alternatively they can not end circumferentially, d. H. be provided as six individual cables 2 a and 2 b, 3 a and 3 b and 4 a and 4 b, as indicated in the figures accordingly.
- the cable pair consisting of the individual cables 2 a and 2 b is guided on the proximal side around a circular disc 7 and fixed there at the end, as shown in detail with reference to FIGS. 8 and 9.
- the disc 7 is circular and has on its outer circumference on a circumferential groove in which the cables 2 a and 2 b are performed, each ending in a lateral groove 8 a and 8 b and are fixed there by means of bolts 9 positively.
- the disc 7 is rotatably mounted on a shaft 12 which is rotatably mounted in bearings 13 which are received in legs 14 at the distal end of the shaft. These legs 14 are formed by corresponding cutouts in the shaft end and offset by 180 ° with respect to the longitudinal axis 11.
- two pairs of rollers are freely rotatably mounted on the shaft 12, namely a pair of rollers 19 of comparatively small diameter and a pair of rollers 20 of larger diameter.
- the rollers 19 of smaller diameter sit further out on the shaft 12 than the rollers 20 of larger diameter.
- the rollers 20 thus each sit between the centrally arranged on the shaft 12 disc 7 and a small roller 19, which sits adjacent to a leg 15.
- the rollers 19 and 20 serve to guide and deflect the traction means which control the tool 6.
- the cables 3 a and 3 b are guided over the large rollers 20 and the cables 4 a and 4 b on the small rollers 19, in such a way that they in the extended position of the instrument (Fig.
- the rollers 19, 20th wrap around 360 °.
- the wrap angle may be greater or less, ie greater than or less than 360 ° by the angle of the pivot position to the extended position.
- the angle of wrap about the rollers 19 and 20 is 270 ° or 450 °.
- two jaw parts forming the tool 6 are pivotally mounted, namely a jaw part 21 in FIG. 1 and a jaw part 22 in FIG. 1.
- These jaw parts 21 and 22 are designed in their tool-side area in that they form a forceps jaw. They each have two discs 23 and 24, which are provided for the circumferential guidance and lateral fixing of the ends of the cables 3 a and 3 b and 4 a and 4 b.
- These discs 23 and 24 are integrally formed with the jaws 21 and 22, wherein the discs 24 are arranged at a distance from each other, while the discs 23 of the lower jaw part 21 form part of a cylindrical body and are arranged in the installed position between the discs 24.
- the discs 23 and 24 also have a lateral groove in which the respective cable end is fixed by means of a bolt, as shown in detail with reference to FIG. 8 in the case of the disk 7.
- the jaws 21 and 22 sit freely rotatable with their discs 23 and 24 on an axis 25 between the legs 18 of the joint piece 1 6.
- the axis 25 is received in the legs 18 of the joint piece 16.
- the discs 23 of the lower jaw part 21 have a larger one Accordingly, the rollers 19 have a smaller diameter than the rollers 20, wherein the small rollers 19 which guide the cables 4 a and 4 b, the larger discs 23 are assigned and the larger rollers 20th , which guide the cables 3 a and 3 b, the smaller discs 24 are assigned.
- This arrangement which can be seen in its entirety, in particular from FIG. 4, optimally utilizes the typically circular cross-section of the instrument, ie the small rollers or discs are arranged farther outward than the large ones, ie where the latter, relative to the longitudinal central axis of the instrument in the circular cross-section remaining space is smaller.
- an endoscopic instrument can be created which has a very small diameter, not only in the shaft, but also in the head area.
- the instrument can, as the above description illustrates, be constructed with only a few simple components and has on the one hand a high mobility of the tool and on the other hand a high stability. Due to the arrangement of the pivot axes 10 and 26, which are offset relative to the longitudinal central axis 1 1 offset by 90 ° to each other, a two-way pivoting movable tool 6 is also provided, which can reach the area in front and adjacent.
- jaw parts 21 and 22 are pivotable independently of each other in the opening and closing direction, a pivoting of the entire tool 6 is given about the axis of rotation 26, which in particular in connection with a robotic control is feasible.
- the jaws 21 and 22 can also be pivoted from the elongated position shown in Fig. 1 by at least 90 ° to both directions. LIST OF REFERENCE NUMBERS
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ophthalmology & Optometry (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Abstract
L'invention concerne un instrument d'endoscopie qui comporte une tige munie d'une tête d'instrument qui est agencée à l'extrémité distale de la tige et porte un outil muni de deux parties de mâchoire (21, 22) pouvant pivoter l'une vers l'autre. La tête d'instrument peut pivoter autour d'un axe transversal au sens de la longueur de la tige, le mouvement de pivotement de la tête d'instrument et celui des parties de mâchoire (21, 22) pouvant être commandés à partir de l'extrémité proximale de l'instrument par l'intermédiaire de moyens de traction (2‑4) guidés dans la tige. Les moyens de traction (2-4) servant au mouvement de pivotement des parties de mâchoire (21, 22) sont guidés par des rouleaux qui sont montés de manière à pouvoir tourner autour de l'axe (10) autour duquel la tête d'instrument (5) peut pivoter. Les moyens de traction sont agencés autour des rouleaux de telle manière que, lorsque l'instrument est en position d'extension, ils entourent le rouleau concerné sur la totalité de sa circonférence. Une partie de mâchoire (22) comporte des disques (24) se trouvant à l'extérieur en position de montage, et une partie de mâchoire (21) comporte des disques (23) se trouvant entre ces derniers et à l'extérieur en position de montage, les disques (23) se trouvant à l'intérieur présentant un diamètre plus grand que celui des disques (24) se trouvant à l'extérieur.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012219881.4A DE102012219881B4 (de) | 2012-10-30 | 2012-10-30 | Endoskopisches Instrument |
DE102012219881.4 | 2012-10-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014067804A1 true WO2014067804A1 (fr) | 2014-05-08 |
Family
ID=49447557
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2013/071959 WO2014067804A1 (fr) | 2012-10-30 | 2013-10-21 | Instrument d'endoscopie |
Country Status (2)
Country | Link |
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DE (1) | DE102012219881B4 (fr) |
WO (1) | WO2014067804A1 (fr) |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10092359B2 (en) | 2010-10-11 | 2018-10-09 | Ecole Polytechnique Federale De Lausanne | Mechanical manipulator for surgical instruments |
US10265129B2 (en) | 2014-02-03 | 2019-04-23 | Distalmotion Sa | Mechanical teleoperated device comprising an interchangeable distal instrument |
US10325072B2 (en) | 2011-07-27 | 2019-06-18 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical teleoperated device for remote manipulation |
US10357320B2 (en) | 2014-08-27 | 2019-07-23 | Distalmotion Sa | Surgical system for microsurgical techniques |
US10363055B2 (en) | 2015-04-09 | 2019-07-30 | Distalmotion Sa | Articulated hand-held instrument |
US10413374B2 (en) | 2018-02-07 | 2019-09-17 | Distalmotion Sa | Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy |
US10548680B2 (en) | 2014-12-19 | 2020-02-04 | Distalmotion Sa | Articulated handle for mechanical telemanipulator |
US10568709B2 (en) | 2015-04-09 | 2020-02-25 | Distalmotion Sa | Mechanical teleoperated device for remote manipulation |
US10646294B2 (en) | 2014-12-19 | 2020-05-12 | Distalmotion Sa | Reusable surgical instrument for minimally invasive procedures |
US10786272B2 (en) | 2015-08-28 | 2020-09-29 | Distalmotion Sa | Surgical instrument with increased actuation force |
US10864049B2 (en) | 2014-12-19 | 2020-12-15 | Distalmotion Sa | Docking system for mechanical telemanipulator |
US10864052B2 (en) | 2014-12-19 | 2020-12-15 | Distalmotion Sa | Surgical instrument with articulated end-effector |
US11039820B2 (en) | 2014-12-19 | 2021-06-22 | Distalmotion Sa | Sterile interface for articulated surgical instruments |
US11058503B2 (en) | 2017-05-11 | 2021-07-13 | Distalmotion Sa | Translational instrument interface for surgical robot and surgical robot systems comprising the same |
WO2022135356A1 (fr) * | 2020-12-24 | 2022-06-30 | 上海微创医疗机器人(集团)股份有限公司 | Effecteur d'instrument, ensemble effecteur d'instrument et instrument chirurgical |
US11844585B1 (en) | 2023-02-10 | 2023-12-19 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014217796A1 (de) | 2014-09-05 | 2016-03-10 | Richard Wolf Gmbh | Instrument, insbesondere medizinisch-endoskopisches Instrument oder Technoskop |
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Cited By (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10092359B2 (en) | 2010-10-11 | 2018-10-09 | Ecole Polytechnique Federale De Lausanne | Mechanical manipulator for surgical instruments |
US11076922B2 (en) | 2010-10-11 | 2021-08-03 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical manipulator for surgical instruments |
US10325072B2 (en) | 2011-07-27 | 2019-06-18 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical teleoperated device for remote manipulation |
US11200980B2 (en) | 2011-07-27 | 2021-12-14 | Ecole Polytechnique Federale De Lausanne (Epfl) | Surgical teleoperated device for remote manipulation |
US10510447B2 (en) | 2011-07-27 | 2019-12-17 | Ecole Polytechnique Federale De Lausanne (Epfl) | Surgical teleoperated device for remote manipulation |
US10265129B2 (en) | 2014-02-03 | 2019-04-23 | Distalmotion Sa | Mechanical teleoperated device comprising an interchangeable distal instrument |
US10357320B2 (en) | 2014-08-27 | 2019-07-23 | Distalmotion Sa | Surgical system for microsurgical techniques |
US10864052B2 (en) | 2014-12-19 | 2020-12-15 | Distalmotion Sa | Surgical instrument with articulated end-effector |
US11478315B2 (en) | 2014-12-19 | 2022-10-25 | Distalmotion Sa | Reusable surgical instrument for minimally invasive procedures |
US10646294B2 (en) | 2014-12-19 | 2020-05-12 | Distalmotion Sa | Reusable surgical instrument for minimally invasive procedures |
US11571195B2 (en) | 2014-12-19 | 2023-02-07 | Distalmotion Sa | Sterile interface for articulated surgical instruments |
US10864049B2 (en) | 2014-12-19 | 2020-12-15 | Distalmotion Sa | Docking system for mechanical telemanipulator |
US10548680B2 (en) | 2014-12-19 | 2020-02-04 | Distalmotion Sa | Articulated handle for mechanical telemanipulator |
US11039820B2 (en) | 2014-12-19 | 2021-06-22 | Distalmotion Sa | Sterile interface for articulated surgical instruments |
US10363055B2 (en) | 2015-04-09 | 2019-07-30 | Distalmotion Sa | Articulated hand-held instrument |
US10568709B2 (en) | 2015-04-09 | 2020-02-25 | Distalmotion Sa | Mechanical teleoperated device for remote manipulation |
US11337716B2 (en) | 2015-08-28 | 2022-05-24 | Distalmotion Sa | Surgical instrument with increased actuation force |
US10786272B2 (en) | 2015-08-28 | 2020-09-29 | Distalmotion Sa | Surgical instrument with increased actuation force |
US11944337B2 (en) | 2015-08-28 | 2024-04-02 | Distalmotion Sa | Surgical instrument with increased actuation force |
US11058503B2 (en) | 2017-05-11 | 2021-07-13 | Distalmotion Sa | Translational instrument interface for surgical robot and surgical robot systems comprising the same |
US10413374B2 (en) | 2018-02-07 | 2019-09-17 | Distalmotion Sa | Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy |
US11510745B2 (en) | 2018-02-07 | 2022-11-29 | Distalmotion Sa | Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy |
WO2022135356A1 (fr) * | 2020-12-24 | 2022-06-30 | 上海微创医疗机器人(集团)股份有限公司 | Effecteur d'instrument, ensemble effecteur d'instrument et instrument chirurgical |
US11844585B1 (en) | 2023-02-10 | 2023-12-19 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
US12082899B2 (en) | 2023-02-10 | 2024-09-10 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
US12089908B2 (en) | 2023-02-10 | 2024-09-17 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
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DE102012219881B4 (de) | 2022-03-24 |
DE102012219881A1 (de) | 2014-04-30 |
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