WO2021259846A3 - Robotic surgical tool with motor mounted to translating carriage - Google Patents

Robotic surgical tool with motor mounted to translating carriage Download PDF

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Publication number
WO2021259846A3
WO2021259846A3 PCT/EP2021/066795 EP2021066795W WO2021259846A3 WO 2021259846 A3 WO2021259846 A3 WO 2021259846A3 EP 2021066795 W EP2021066795 W EP 2021066795W WO 2021259846 A3 WO2021259846 A3 WO 2021259846A3
Authority
WO
WIPO (PCT)
Prior art keywords
surgical tool
robotic surgical
carriage
motor mounted
translating carriage
Prior art date
Application number
PCT/EP2021/066795
Other languages
French (fr)
Other versions
WO2021259846A2 (en
Inventor
Andrew T. Beckman
Charles J. Scheib
Travis Michael Schuh
Benjamin D. Dickerson
Original Assignee
Cilag Gmbh International
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 US16/946,432 external-priority patent/US11766302B2/en
Priority claimed from US16/946,431 external-priority patent/US11832908B2/en
Application filed by Cilag Gmbh International filed Critical Cilag Gmbh International
Priority to EP21737351.3A priority Critical patent/EP4138700A2/en
Publication of WO2021259846A2 publication Critical patent/WO2021259846A2/en
Publication of WO2021259846A3 publication Critical patent/WO2021259846A3/en

Links

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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • A61B34/30—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
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (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)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

A robotic surgical tool includes a drive housing having a first end, a second end, and a lead screw extending between the first and second ends, a carriage movably mounted to the lead screw, and an activating mechanism coupled to the carriage. The activating mechanism includes a motor mounted to the carriage and operable to rotate a drive gear, and a driven gear engageable with the drive gear such that rotation of the drive gear causes the driven gear to rotate and thereby actuate the activating mechanism.
PCT/EP2021/066795 2020-06-22 2021-06-21 Robotic surgical tool with motor mounted to translating carriage WO2021259846A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21737351.3A EP4138700A2 (en) 2020-06-22 2021-06-21 Robotic surgical tool with motor mounted to translating carriage

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US16/946,432 US11766302B2 (en) 2020-06-22 2020-06-22 Robotic surgical tool with pivotable transmission linkage on translating carriage
US16/946,431 2020-06-22
US16/946,432 2020-06-22
US16/946,431 US11832908B2 (en) 2020-06-22 2020-06-22 Robotic surgical tool with motor mounted to translating carriage

Publications (2)

Publication Number Publication Date
WO2021259846A2 WO2021259846A2 (en) 2021-12-30
WO2021259846A3 true WO2021259846A3 (en) 2022-02-03

Family

ID=76765105

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2021/066795 WO2021259846A2 (en) 2020-06-22 2021-06-21 Robotic surgical tool with motor mounted to translating carriage

Country Status (2)

Country Link
EP (1) EP4138700A2 (en)
WO (1) WO2021259846A2 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230338103A1 (en) * 2022-04-26 2023-10-26 Cilag Gmbh International Insertion coupled inserting surgical instruments
CN114931439B (en) * 2022-05-12 2024-02-13 重庆金山医疗机器人有限公司 Surgical robot and main hand mechanical arm for maintaining pose form

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0512867A2 (en) * 1991-05-10 1992-11-11 University Of Bristol Removing material from a workpiece
EP1871265A1 (en) * 2005-02-28 2008-01-02 Institut National Des Sciences Appliquees Device for supporting an elongated body and for the controlled translational movement of same
US10189157B2 (en) * 2015-09-15 2019-01-29 Karl Storz Se & Co. Kg Manipulating system and manipulating apparatus for surgical instruments

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0512867A2 (en) * 1991-05-10 1992-11-11 University Of Bristol Removing material from a workpiece
EP1871265A1 (en) * 2005-02-28 2008-01-02 Institut National Des Sciences Appliquees Device for supporting an elongated body and for the controlled translational movement of same
US10189157B2 (en) * 2015-09-15 2019-01-29 Karl Storz Se & Co. Kg Manipulating system and manipulating apparatus for surgical instruments

Also Published As

Publication number Publication date
WO2021259846A2 (en) 2021-12-30
EP4138700A2 (en) 2023-03-01

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