WO2024038265A1 - Désolidarisation d'instrument chirurgical - Google Patents
Désolidarisation d'instrument chirurgical Download PDFInfo
- Publication number
- WO2024038265A1 WO2024038265A1 PCT/GB2023/052144 GB2023052144W WO2024038265A1 WO 2024038265 A1 WO2024038265 A1 WO 2024038265A1 GB 2023052144 W GB2023052144 W GB 2023052144W WO 2024038265 A1 WO2024038265 A1 WO 2024038265A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- instrument
- end effector
- drive assembly
- control unit
- effector element
- Prior art date
Links
- 239000012636 effector Substances 0.000 claims abstract description 243
- 230000004044 response Effects 0.000 claims abstract description 33
- 230000004913 activation Effects 0.000 claims abstract description 7
- 238000001356 surgical procedure Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000001419 dependent effect Effects 0.000 claims 1
- 210000001503 joint Anatomy 0.000 description 48
- 210000003414 extremity Anatomy 0.000 description 33
- 230000008859 change Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 7
- 230000007704 transition Effects 0.000 description 7
- 238000012360 testing method Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 239000011295 pitch Substances 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
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
- A61B34/30—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
- A61B34/30—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
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
-
- 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
- A61B34/32—Surgical robots operating autonomously
-
- 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
Abstract
Unité de commande pour un système robotique chirurgical, le système robotique chirurgical comprenant un bras robotique comprenant un ensemble d'entraînement ayant un premier élément d'interface d'ensemble d'entraînement conçu pour fournir un entraînement mécanique pour actionner une première articulation d'un instrument lorsque le bras robotique vient en prise avec l'instrument, l'instrument ayant un effecteur d'extrémité comprenant un premier élément effecteur d'extrémité et un second élément effecteur d'extrémité, le premier élément effecteur d'extrémité étant mobile par rapport au second autour de la première articulation, l'unité de commande étant conçue pour commander l'ensemble d'entraînement et comprenant un ou plusieurs processeurs conçus pour : recevoir un signal provenant d'un dispositif d'entrée en réponse à l'un des éléments suivants : une demande d'utilisateur pour désengager l'instrument du bras robotique ; une activation d'un mode de retrait d'instrument du système robotique chirurgical ; et l'instrument étant déplacé au-delà d'un point de référence tandis que le système robotique chirurgical est dans un mode de retrait d'instrument ; et, en réponse à la réception du signal, amener le premier élément d'interface d'ensemble d'entraînement à se déplacer d'une première position dans laquelle le premier élément effecteur d'extrémité exerce une force de préhension sur le second élément effecteur d'extrémité à une seconde position dans laquelle le premier élément effecteur d'extrémité n'exerce pas de force de préhension sur le second élément effecteur d'extrémité.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB2211914.3A GB2621588A (en) | 2022-08-15 | 2022-08-15 | Surgical instrument disengagement |
| GB2211914.3 | 2022-08-15 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2024038265A1 true WO2024038265A1 (fr) | 2024-02-22 |
Family
ID=84546367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/GB2023/052144 WO2024038265A1 (fr) | 2022-08-15 | 2023-08-15 | Désolidarisation d'instrument chirurgical |
Country Status (2)
| Country | Link |
|---|---|
| GB (1) | GB2621588A (fr) |
| WO (1) | WO2024038265A1 (fr) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090163948A1 (en) * | 2007-12-21 | 2009-06-25 | Kabushiki Kaisha Toshiba | Manipulator system and method of controlling manipulator |
| US20130317519A1 (en) * | 2012-05-25 | 2013-11-28 | Hansen Medical, Inc. | Low friction instrument driver interface for robotic systems |
| US20150352715A1 (en) * | 2013-02-27 | 2015-12-10 | Olympus Corporation | Manipulator |
| US20180132957A1 (en) * | 2011-05-13 | 2018-05-17 | Intuitive Surgical Operations, Inc. | Construction and use of low tension medical instrument |
| US20210038243A1 (en) * | 2019-08-05 | 2021-02-11 | Karl Storz Se & Co. Kg | Medical instrument |
| GB2589380A (en) * | 2019-11-29 | 2021-06-02 | Cmr Surgical Ltd | Controlling a surgical instrument |
| WO2022026168A1 (fr) * | 2020-07-27 | 2022-02-03 | Covidien Lp | Procédés et applications pour retourner un instrument dans un système robotique chirurgical télécommandé |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11974742B2 (en) * | 2017-08-03 | 2024-05-07 | Cilag Gmbh International | Surgical system comprising an articulation bailout |
| US11045270B2 (en) * | 2017-12-19 | 2021-06-29 | Cilag Gmbh International | Robotic attachment comprising exterior drive actuator |
-
2022
- 2022-08-15 GB GB2211914.3A patent/GB2621588A/en active Pending
-
2023
- 2023-08-15 WO PCT/GB2023/052144 patent/WO2024038265A1/fr unknown
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090163948A1 (en) * | 2007-12-21 | 2009-06-25 | Kabushiki Kaisha Toshiba | Manipulator system and method of controlling manipulator |
| US20180132957A1 (en) * | 2011-05-13 | 2018-05-17 | Intuitive Surgical Operations, Inc. | Construction and use of low tension medical instrument |
| US20130317519A1 (en) * | 2012-05-25 | 2013-11-28 | Hansen Medical, Inc. | Low friction instrument driver interface for robotic systems |
| US20150352715A1 (en) * | 2013-02-27 | 2015-12-10 | Olympus Corporation | Manipulator |
| US20210038243A1 (en) * | 2019-08-05 | 2021-02-11 | Karl Storz Se & Co. Kg | Medical instrument |
| GB2589380A (en) * | 2019-11-29 | 2021-06-02 | Cmr Surgical Ltd | Controlling a surgical instrument |
| WO2022026168A1 (fr) * | 2020-07-27 | 2022-02-03 | Covidien Lp | Procédés et applications pour retourner un instrument dans un système robotique chirurgical télécommandé |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2621588A (en) | 2024-02-21 |
| GB202211914D0 (en) | 2022-09-28 |
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