FR3103100B1 - Bras articule de suppport d’instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage - Google Patents

Bras articule de suppport d’instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage Download PDF

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Publication number
FR3103100B1
FR3103100B1 FR1912794A FR1912794A FR3103100B1 FR 3103100 B1 FR3103100 B1 FR 3103100B1 FR 1912794 A FR1912794 A FR 1912794A FR 1912794 A FR1912794 A FR 1912794A FR 3103100 B1 FR3103100 B1 FR 3103100B1
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FR
France
Prior art keywords
rotation
locking
axis
gripping part
actuator
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.)
Active
Application number
FR1912794A
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English (en)
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FR3103100A1 (fr
Inventor
Bruno Fournier
Philippe Bencteux
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.)
Robocath
Original Assignee
Robocath
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 Robocath filed Critical Robocath
Priority to FR1912794A priority Critical patent/FR3103100B1/fr
Priority to PCT/FR2020/051994 priority patent/WO2021094673A1/fr
Priority to EP20817459.9A priority patent/EP4057930A1/fr
Priority to CN202080091094.1A priority patent/CN114901199A/zh
Priority to US17/776,550 priority patent/US20220387132A1/en
Priority to TW109139737A priority patent/TWI849258B/zh
Publication of FR3103100A1 publication Critical patent/FR3103100A1/fr
Application granted granted Critical
Publication of FR3103100B1 publication Critical patent/FR3103100B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated 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
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00371—Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00371—Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
    • A61B2017/00384—Actuation of one tool by pushing two buttons simultaneously
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

L’invention concerne un bras articulé de support d’instrument médical souple allongé, comprenant : au moins un segment mobile (19) en rotation autour d’un axe de rotation (20), le segment mobile (19) pouvant être soit verrouillé en rotation autour de l’axe de rotation (20) soit déverrouillé en rotation autour de l’axe de rotation (20), une poignée (2) comprenant : une partie distale (4) de préhension, de forme allongée, destinée à être saisie par la main d’un utilisateur du bras articulé (3), une partie proximale (18) de support reliant la partie distale (4) de préhension au reste de la structure du bras articulé (3), un actionneur (5, 14, 15, 16) de verrouillage et de déverrouillage de la mobilité du segment en rotation (19) autour de l’axe de rotation (20), disposé sur la partie distale (4) de préhension, caractérisé en ce que l’actionneur (5, 14, 15, 16) de verrouillage et de déverrouillage s’étend sur la majeure partie de la longueur de la partie distale (4) de préhension, de sorte que : une simple pression de la main de l’utilisateur saisissant la partie distale (4) de préhension exerce directement un contact sur l’actionneur (5, 14, 15, 16) de verrouillage et de déverrouillage qui est suffisant pour déverrouiller automatiquement la mobilité du segment en rotation (19) autour de l’axe de rotation (20), un simple relâchement de la partie distale (4) de préhension par la main de l’utilisateur entraîne directement une absence de contact sur l’actionneur (5, 14, 15, 16) de verrouillage et de déverrouillage qui est suffisante pour verrouiller automatiquement la mobilité du segment en rotation (19) autour de l’axe de rotation (20). Figure pour l’abrégé : Figure 3
FR1912794A 2019-11-15 2019-11-15 Bras articule de suppport d’instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage Active FR3103100B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
FR1912794A FR3103100B1 (fr) 2019-11-15 2019-11-15 Bras articule de suppport d’instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage
PCT/FR2020/051994 WO2021094673A1 (fr) 2019-11-15 2020-11-04 Bras articule de suppport d'instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage
EP20817459.9A EP4057930A1 (fr) 2019-11-15 2020-11-04 Bras articule de suppport d'instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage
CN202080091094.1A CN114901199A (zh) 2019-11-15 2020-11-04 用于支撑延伸式柔性医疗仪器的具有手柄及锁定和解锁致动器的铰接臂
US17/776,550 US20220387132A1 (en) 2019-11-15 2020-11-04 Articulated arm with handgrip and locking and unlocking actuator for support of an extended flexible medical instrument
TW109139737A TWI849258B (zh) 2019-11-15 2020-11-13 用於支撐延長可撓醫療器材且具手柄與鎖定及解鎖用途致動器的關節臂

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1912794 2019-11-15
FR1912794A FR3103100B1 (fr) 2019-11-15 2019-11-15 Bras articule de suppport d’instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage

Publications (2)

Publication Number Publication Date
FR3103100A1 FR3103100A1 (fr) 2021-05-21
FR3103100B1 true FR3103100B1 (fr) 2021-12-10

Family

ID=69903304

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1912794A Active FR3103100B1 (fr) 2019-11-15 2019-11-15 Bras articule de suppport d’instrument medical souple allonge avec poignee et actionneur de verrouillage et de deverrouillage

Country Status (6)

Country Link
US (1) US20220387132A1 (fr)
EP (1) EP4057930A1 (fr)
CN (1) CN114901199A (fr)
FR (1) FR3103100B1 (fr)
TW (1) TWI849258B (fr)
WO (1) WO2021094673A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11906009B2 (en) 2021-07-30 2024-02-20 Corindus, Inc. Rotational joint assembly for robotic medical system
US11844732B2 (en) 2021-07-30 2023-12-19 Corindus, Inc. Support for securing a robotic system to a patient table

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6569084B1 (en) * 1999-03-31 2003-05-27 Olympus Optical Co., Ltd. Endoscope holder and endoscope device
FR2820971A1 (fr) * 2001-02-22 2002-08-23 Alm Dispositif de manutention d'un equipement medical supporte par une structure articulee
JP2004209096A (ja) * 2003-01-07 2004-07-29 Olympus Corp 医療用器具保持装置
JP4270889B2 (ja) * 2003-01-15 2009-06-03 オリンパス株式会社 医療用器具保持装置
JP4472365B2 (ja) * 2004-01-23 2010-06-02 オリンパス株式会社 医療器具保持装置
US7789874B2 (en) * 2005-05-03 2010-09-07 Hansen Medical, Inc. Support assembly for robotic catheter system
FR2948595B1 (fr) * 2009-07-31 2012-07-20 Dexterite Surgical Manipulateur a tenue manuelle et articulation de confort
WO2016160272A1 (fr) * 2015-03-27 2016-10-06 Sonitrack Systems, Inc. Bras de support alimenté rapidement repositionnable
US10973592B2 (en) * 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
WO2018217951A1 (fr) * 2017-05-24 2018-11-29 Camplex, Inc. Systèmes de visualisation chirurgicale et dispositifs d'affichage
JP6469304B1 (ja) * 2018-10-23 2019-02-13 株式会社A−Traction 手術支援装置、その制御方法及びプログラム
KR20200076172A (ko) * 2018-12-19 2020-06-29 (주) 엠아이원 의료기기 거치장치 및 이의 움직임 제어방법

Also Published As

Publication number Publication date
CN114901199A (zh) 2022-08-12
TW202122050A (zh) 2021-06-16
EP4057930A1 (fr) 2022-09-21
WO2021094673A1 (fr) 2021-05-20
TWI849258B (zh) 2024-07-21
US20220387132A1 (en) 2022-12-08
FR3103100A1 (fr) 2021-05-21

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