WO2014067804A1 - Instrument d'endoscopie - Google Patents

Instrument d'endoscopie Download PDF

Info

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
Application number
PCT/EP2013/071959
Other languages
German (de)
English (en)
Inventor
Stephan Prestel
Eberhard Körner
Original Assignee
Richard Wolf Gmbh
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 Richard Wolf Gmbh filed Critical Richard Wolf Gmbh
Publication of WO2014067804A1 publication Critical patent/WO2014067804A1/fr

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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • 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.
PCT/EP2013/071959 2012-10-30 2013-10-21 Instrument d'endoscopie WO2014067804A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012219881.4 2012-10-30
DE102012219881.4A DE102012219881B4 (de) 2012-10-30 2012-10-30 Endoskopisches Instrument

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
DE (1) DE102012219881B4 (fr)
WO (1) WO2014067804A1 (fr)

Cited By (16)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6312435B1 (en) 1999-10-08 2001-11-06 Intuitive Surgical, Inc. Surgical instrument with extended reach for use in minimally invasive surgery
US6371952B1 (en) 1996-05-20 2002-04-16 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US20040199147A1 (en) * 2002-10-02 2004-10-07 Kouji Nishizawa Manipulator
US20090088774A1 (en) * 2007-09-30 2009-04-02 Nitish Swarup Apparatus and method of user interface with alternate tool mode for robotic surgical tools
US20100004663A1 (en) * 2008-07-07 2010-01-07 Intuitive Surgical, Inc. Surgical instrument wrist
WO2010030114A2 (fr) * 2008-09-12 2010-03-18 Chang Wook Jeong Outil destiné à une chirurgie minimalement invasive et son procédé d'utilisation
US20110106145A1 (en) 2008-06-27 2011-05-05 Chang Wook Jeong Tool for minimally invasive surgery

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6676684B1 (en) 2001-09-04 2004-01-13 Intuitive Surgical, Inc. Roll-pitch-roll-yaw surgical tool
US9002518B2 (en) 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
JP4287354B2 (ja) 2004-10-25 2009-07-01 株式会社日立製作所 手術器具
JP4755047B2 (ja) 2006-08-08 2011-08-24 テルモ株式会社 作業機構及びマニピュレータ
JP5400444B2 (ja) 2009-03-27 2014-01-29 テルモ株式会社 医療用器具の製造方法及び医療用器具
US10092359B2 (en) 2010-10-11 2018-10-09 Ecole Polytechnique Federale De Lausanne Mechanical manipulator for surgical instruments
DE102011011497A1 (de) 2011-02-17 2012-08-23 Kuka Roboter Gmbh Chirurgisches Instrument

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6371952B1 (en) 1996-05-20 2002-04-16 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6312435B1 (en) 1999-10-08 2001-11-06 Intuitive Surgical, Inc. Surgical instrument with extended reach for use in minimally invasive surgery
US20040199147A1 (en) * 2002-10-02 2004-10-07 Kouji Nishizawa Manipulator
US20090088774A1 (en) * 2007-09-30 2009-04-02 Nitish Swarup Apparatus and method of user interface with alternate tool mode for robotic surgical tools
US20110106145A1 (en) 2008-06-27 2011-05-05 Chang Wook Jeong Tool for minimally invasive surgery
US20100004663A1 (en) * 2008-07-07 2010-01-07 Intuitive Surgical, Inc. Surgical instrument wrist
WO2010030114A2 (fr) * 2008-09-12 2010-03-18 Chang Wook Jeong Outil destiné à une chirurgie minimalement invasive et son procédé d'utilisation

Cited By (24)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
DE102012219881A1 (de) 2014-04-30
DE102012219881B4 (de) 2022-03-24

Similar Documents

Publication Publication Date Title
DE102012219881B4 (de) Endoskopisches Instrument
DE102012212510B4 (de) Endoskopisches Instrument
EP2877100B1 (fr) Tige pour instrument médical comprenant des sections mobiles
EP3012924B1 (fr) Pince de pression
DE69731096T2 (de) Pinzette, insbesondere zur biopsie
WO2015139674A1 (fr) Système robotisé
EP3122520A1 (fr) Bras de robot et kit de montage
DE102010023970B4 (de) Vorrichtung zum federunterstützten Verschwenken einer Klappe oder Tür, sowie Verfahren zur Herstellung einer derartigen Vorrichtung
EP2397279A1 (fr) Bras robot articulé avec entraînement motorisé du bras
DE102014104870A1 (de) Mechanik für einen Bürostuhl
WO2014124846A1 (fr) Instrument, en particulier instrument médical d'endoscopie ou technoscope
EP3454769A1 (fr) Instrument, en particulier instrument d'endoscopie médicale
WO2016034173A1 (fr) Instrument, en particulier instrument endoscopique à usage médical, ou technoscope
EP3443926A1 (fr) Système de fonctionnement robotique
DE102006018472A1 (de) Hand bzw. Finger für einen Roboter
DE102014206930B4 (de) Instrument, insbesondere medizinisch-endoskopisches Instrument
DE102021119527B3 (de) Chirurgisches Instrument und Lenkgetriebe dafür
EP3420167B1 (fr) Entraînement de bras d'actionnement
EP2853284B1 (fr) Dispositif de cathétérisation doté d'un cathéter présentant une extrémité articulée extensible
EP1520952A1 (fr) Dispositif d'entrainement d'un hayon de véhicule
DE102015117625A1 (de) Einrichtung zur Realisierung einer Verschwenkkraftkomponente
DE102013204984A1 (de) Medizinisches Instrument
DE102013204677B4 (de) Endoskopisches Instrument
DE102021119522A1 (de) Chirurgisches Instrument und Lenkgetriebe dafür
AT503312B1 (de) Kinematische vorrichtung mit aktuator und fusspunktverschiebung

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13779589

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 13779589

Country of ref document: EP

Kind code of ref document: A1