CN113473938A - 包括机器人远程操纵器和集成的腹腔镜检查的外科手术机器人系统 - Google Patents

包括机器人远程操纵器和集成的腹腔镜检查的外科手术机器人系统 Download PDF

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Publication number
CN113473938A
CN113473938A CN202080016335.6A CN202080016335A CN113473938A CN 113473938 A CN113473938 A CN 113473938A CN 202080016335 A CN202080016335 A CN 202080016335A CN 113473938 A CN113473938 A CN 113473938A
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CN
China
Prior art keywords
console
slave
surgical
patient
handle
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN202080016335.6A
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English (en)
Chinese (zh)
Inventor
J·查索特
M·弗里德里希
P·舍尼希
M·萨利安
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Distalmotion SA
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Distalmotion SA
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 PCT/IB2019/050961 external-priority patent/WO2019155383A1/fr
Application filed by Distalmotion SA filed Critical Distalmotion SA
Publication of CN113473938A publication Critical patent/CN113473938A/zh
Pending legal-status Critical Current

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    • 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—Leader-follower 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
    • 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
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0804—Counting number of instruments used; Instrument detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (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)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN202080016335.6A 2019-01-05 2020-01-04 包括机器人远程操纵器和集成的腹腔镜检查的外科手术机器人系统 Pending CN113473938A (zh)

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
US201962788781P 2019-01-05 2019-01-05
US62/788,781 2019-01-05
PCT/IB2019/050961 WO2019155383A1 (fr) 2018-02-07 2019-02-06 Systèmes robotiques chirurgicaux comportant des télémanipulateurs robotisés et une laparoscopie intégrée
US16/269,383 US10413374B2 (en) 2018-02-07 2019-02-06 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US16/269,383 2019-02-06
WOPCT/IB2019/050961 2019-02-06
US16/505,585 2019-07-08
US16/505,585 US11510745B2 (en) 2018-02-07 2019-07-08 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
PCT/IB2020/050039 WO2020141487A2 (fr) 2019-01-05 2020-01-04 Systèmes robotiques chirurgicaux comportant des télémanipulateurs robotisés et une laparoscopie intégrée

Publications (1)

Publication Number Publication Date
CN113473938A true CN113473938A (zh) 2021-10-01

Family

ID=71407192

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080016335.6A Pending CN113473938A (zh) 2019-01-05 2020-01-04 包括机器人远程操纵器和集成的腹腔镜检查的外科手术机器人系统

Country Status (6)

Country Link
EP (1) EP3905980A2 (fr)
JP (2) JP7726787B2 (fr)
CN (1) CN113473938A (fr)
AU (2) AU2020204810B2 (fr)
CA (1) CA3125391A1 (fr)
WO (1) WO2020141487A2 (fr)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
JP6220085B2 (ja) 2014-02-03 2017-10-25 ディスタルモーション エスエーＤｉｓｔａｌｍｏｔｉｏｎ Ｓａ 交換可能な遠位装置を備える機械的遠隔操作デバイス
WO2016097868A1 (fr) 2014-12-19 2016-06-23 Distalmotion Sa Instrument chirurgical réutilisable pour interventions non effractives
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
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
CA3089681A1 (fr) 2018-02-07 2019-08-15 Distalmotion Sa Systemes robotiques chirurgicaux comportant des telemanipulateurs robotises et une laparoscopie integree
WO2022034488A1 (fr) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Appareil et procédé de capsulorhexis
WO2022179638A1 (fr) * 2021-02-26 2022-09-01 武汉联影智融医疗科技有限公司 Dispositif de commande de main maître pour robot, et robot
EP4203829A1 (fr) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Structures cinématiques et champs stériles pour interventions microchirurgicales robotiques
EP4401666A1 (fr) 2021-09-13 2024-07-24 DistalMotion SA Instruments pour système robotique chirurgical et interfaces pour ceux-ci
WO2023062470A1 (fr) 2021-10-17 2023-04-20 Forsight Robotics Ltd. Acte chirurgical robotique unilatéral
CN118076314A (zh) * 2021-12-27 2024-05-24 瑞德医疗机器股份有限公司 手术辅助装置
WO2024084422A1 (fr) 2022-10-19 2024-04-25 Distalmotion Sa Articulations pivotantes pour dispositifs de coupe chirurgicaux, et systèmes associés
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
CN120751999A (zh) * 2023-02-21 2025-10-03 弗塞特机器人有限公司 用于机器人显微外科手术的控制部件
USD1109872S1 (en) 2023-02-23 2026-01-20 Distalmotion Sa Surgical robotic device
IT202400004405A1 (it) * 2024-02-29 2025-08-29 Medical Microinstruments Inc Dispositivo di comando master per chirurgia robotica con interfaccia di manipolazione sterile per l’azionamento di una funzionalita’ del dispositivo slave

Citations (5)

* Cited by examiner, † Cited by third party
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US20100234857A1 (en) * 1998-11-20 2010-09-16 Intuitve Surgical Operations, Inc. Medical robotic system with operatively couplable simulator unit for surgeon training
CN104334110A (zh) * 2012-06-01 2015-02-04 直观外科手术操作公司 使用零空间回避操纵器臂与患者碰撞
US20180125592A1 (en) * 2015-04-09 2018-05-10 Distalmotion Sa Mechanical teleoperated device for remote manipulation
CN108309454A (zh) * 2013-03-15 2018-07-24 直观外科手术操作公司 用于通过在零垂直空间内进行咬合同时发生零空间移动而定位操纵器臂的系统和方法
US20180296286A1 (en) * 2015-10-22 2018-10-18 Covidien Lp Variable sweeping for input devices

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US6063095A (en) * 1996-02-20 2000-05-16 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
KR100961428B1 (ko) * 2008-02-20 2010-06-09 (주)미래컴퍼니 침대 일체형 수술용 로봇
US9186221B2 (en) 2008-07-16 2015-11-17 Intuitive Surgical Operations Inc. Backend mechanism for four-cable wrist
US8521331B2 (en) * 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
JP5537204B2 (ja) 2010-03-23 2014-07-02 オリンパス株式会社 医療用マニピュレータシステム
JP5715304B2 (ja) 2011-07-27 2015-05-07 エコール ポリテクニーク フェデラル デ ローザンヌ （イーピーエフエル） 遠隔操作のための機械的遠隔操作装置
EP2854690B1 (fr) 2012-06-01 2020-04-01 Intuitive Surgical Operations, Inc. Systèmes de reconfiguration ordonnée d'un manipulateur chirurgical par utilisation de la zone non sensible
JP6396987B2 (ja) 2013-03-15 2018-09-26 エスアールアイ インターナショナルＳＲＩ Ｉｎｔｅｒｎａｔｉｏｎａｌ 超精巧外科システム
JP6164964B2 (ja) 2013-07-26 2017-07-19 オリンパス株式会社 医療用システムおよびその制御方法
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
EP3185808B1 (fr) 2014-08-27 2022-02-23 DistalMotion SA Système chirurgical pour techniques de microchirurgie
WO2017134077A1 (fr) * 2016-02-04 2017-08-10 Preceyes B.V. Robot chirurgical maître-esclave
EP3512449A4 (fr) 2016-09-16 2020-05-20 Verb Surgical Inc. Adaptateurs de table pour montage de bras robotiques sur une table chirurgicale
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100234857A1 (en) * 1998-11-20 2010-09-16 Intuitve Surgical Operations, Inc. Medical robotic system with operatively couplable simulator unit for surgeon training
CN104334110A (zh) * 2012-06-01 2015-02-04 直观外科手术操作公司 使用零空间回避操纵器臂与患者碰撞
CN108309454A (zh) * 2013-03-15 2018-07-24 直观外科手术操作公司 用于通过在零垂直空间内进行咬合同时发生零空间移动而定位操纵器臂的系统和方法
US20180125592A1 (en) * 2015-04-09 2018-05-10 Distalmotion Sa Mechanical teleoperated device for remote manipulation
US20180296286A1 (en) * 2015-10-22 2018-10-18 Covidien Lp Variable sweeping for input devices

Also Published As

Publication number Publication date
WO2020141487A3 (fr) 2020-08-20
JP2022516321A (ja) 2022-02-25
EP3905980A2 (fr) 2021-11-10
JP2025166085A (ja) 2025-11-05
AU2020204810B2 (en) 2025-05-08
JP7726787B2 (ja) 2025-08-20
AU2025213582A1 (en) 2025-09-11
WO2020141487A8 (fr) 2021-10-07
CA3125391A1 (fr) 2020-07-09
AU2020204810A1 (en) 2021-07-15
WO2020141487A2 (fr) 2020-07-09

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Country or region after: Switzerland

Address after: Rui Shi

Applicant after: DISTALMOTION S.A.

Address before: Eparings, Switzerland

Applicant before: DISTALMOTION S.A.

Country or region before: Switzerland