WO2010068005A3 - Robot chirurgical - Google Patents

Robot chirurgical Download PDF

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Publication number
WO2010068005A3
WO2010068005A3 PCT/KR2009/007291 KR2009007291W WO2010068005A3 WO 2010068005 A3 WO2010068005 A3 WO 2010068005A3 KR 2009007291 W KR2009007291 W KR 2009007291W WO 2010068005 A3 WO2010068005 A3 WO 2010068005A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
bed
joined
surgical
robot arms
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.)
Ceased
Application number
PCT/KR2009/007291
Other languages
English (en)
Other versions
WO2010068005A2 (fr
Inventor
Seung Wook Choi
Jong Seok Won
Dong Myung Min
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.)
ETERNE Inc
Original Assignee
ETERNE Inc
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 KR1020080126419A external-priority patent/KR101061987B1/ko
Priority claimed from KR1020090087963A external-priority patent/KR20110030034A/ko
Application filed by ETERNE Inc filed Critical ETERNE Inc
Publication of WO2010068005A2 publication Critical patent/WO2010068005A2/fr
Publication of WO2010068005A3 publication Critical patent/WO2010068005A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • A61B34/30—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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B90/57—Accessory clamps
    • A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports

Landscapes

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

Abstract

L'invention concerne un robot chirurgical. Un robot chirurgical monté sur une table, pour pratiquer une intervention chirurgicale sur un patient étendu sur une table d'opération au moyen d'un instrument chirurgical monté sur une partie d'extrémité du bras d'un robot, peut comprendre : une unité principale assemblée à la table d'opération, un bras de support assemblé rotatif à l'unité principale, et un ou plusieurs bras de robot assemblés rotatifs au bras de support. Étant donné que plusieurs bras de robot peuvent être assemblés à un bras de support, lequel peut être assemblé à une unité principale montée sur la table d'opération, le robot chirurgical esclave peut présenter une forme mince, compacte ainsi qu'une meilleure stabilité. Le montage des bras de robot sur la table d'opération permet également d'identifier de manière plus précise les positions relatives des bras du robot par rapport à la table d'opération sans avoir à entrer séparément des informations de position de la table lors de l'installation des bras du robot.
PCT/KR2009/007291 2008-12-12 2009-12-08 Robot chirurgical Ceased WO2010068005A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2008-0126419 2008-12-12
KR1020080126419A KR101061987B1 (ko) 2008-12-12 2008-12-12 침대 장착식 수술용 로봇
KR10-2009-0087963 2009-09-17
KR1020090087963A KR20110030034A (ko) 2009-09-17 2009-09-17 수술용 로봇

Publications (2)

Publication Number Publication Date
WO2010068005A2 WO2010068005A2 (fr) 2010-06-17
WO2010068005A3 true WO2010068005A3 (fr) 2010-09-30

Family

ID=42243192

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2009/007291 Ceased WO2010068005A2 (fr) 2008-12-12 2009-12-08 Robot chirurgical

Country Status (1)

Country Link
WO (1) WO2010068005A2 (fr)

Families Citing this family (58)

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CN103511520A (zh) * 2012-06-19 2014-01-15 北京白象新技术有限公司 一种应用于医用吊塔的断气刹车装置
JP6010225B2 (ja) 2013-06-13 2016-10-19 テルモ株式会社 医療用マニピュレータ
US9980785B2 (en) 2013-10-24 2018-05-29 Auris Health, Inc. Instrument device manipulator with surgical tool de-articulation
EP3689284B1 (fr) 2013-10-24 2025-02-26 Auris Health, Inc. Système pour chirurgie endoluminale robot-assistée
KR102356213B1 (ko) 2014-03-17 2022-01-28 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격조정 의료 장치를 위한 안내 설정
WO2015142955A1 (fr) * 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Structure automatique avec positions des bras prédéfinies dans un système médical commandé à distance
CN106456257B (zh) 2014-05-13 2019-11-05 柯惠Lp公司 手术机器人手臂支撑系统及使用方法
EP3142591B1 (fr) 2014-05-13 2020-06-24 Covidien LP Systèmes de support de bras robotisé chirurgical et procédés d'utilisation
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
JP6682512B2 (ja) 2014-10-27 2020-04-15 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 一体化された手術台のシステム及び方法
KR102655083B1 (ko) 2014-10-27 2024-04-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 브레이크 해제가 능동적으로 제어되는 의료 장치
CN110584789B (zh) 2014-10-27 2022-09-20 直观外科手术操作公司 用于器械干扰补偿的系统和方法
EP3212150B1 (fr) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. Système pour enregistrer une table chirurgicale
WO2016069660A1 (fr) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. Système et procédé de surveillance de points de commande pendant un mouvement réactif
JP6676061B2 (ja) 2014-10-27 2020-04-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 統合された手術台運動のためのシステム及び方法
DE202015101621U1 (de) 2015-03-31 2016-07-04 Kuka Systems Gmbh Arbeitsvorrichtung
WO2016164824A1 (fr) 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Système chirurgical doté de bras mécaniques configurables montés sur rail
US9622827B2 (en) 2015-05-15 2017-04-18 Auris Surgical Robotics, Inc. Surgical robotics system
WO2017002143A1 (fr) * 2015-06-29 2017-01-05 川崎重工業株式会社 Robot chirurgical
CN113274140B (zh) 2015-09-09 2022-09-02 奥瑞斯健康公司 手术覆盖件
PL3146930T3 (pl) 2015-09-22 2018-10-31 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi Zespół ramion narzędziowych robota chirurgicznego
US10219871B2 (en) 2015-11-23 2019-03-05 Alireza Mirbagheri Robotic system for tele-surgery
JP6654883B2 (ja) * 2015-12-11 2020-02-26 川崎重工業株式会社 外科手術システム、マニピュレータアーム、及びマニピュレータアーム支持体
WO2017205576A1 (fr) 2016-05-26 2017-11-30 Covidien Lp Unité de commande d'instruments
JP2019519280A (ja) 2016-05-26 2019-07-11 コヴィディエン リミテッド パートナーシップ ロボット外科手術アセンブリおよびその器具駆動部
US11272992B2 (en) 2016-06-03 2022-03-15 Covidien Lp Robotic surgical assemblies and instrument drive units thereof
KR101861176B1 (ko) 2016-08-16 2018-05-28 주식회사 고영테크놀러지 정위수술용 수술로봇 및 정위수술용 수술로봇의 제어방법
US11389360B2 (en) 2016-09-16 2022-07-19 Verb Surgical Inc. Linkage mechanisms for mounting robotic arms to a surgical table
EP3512449A4 (fr) 2016-09-16 2020-05-20 Verb Surgical Inc. Adaptateurs de table pour montage de bras robotiques sur une table chirurgicale
US10792119B2 (en) 2017-05-22 2020-10-06 Ethicon Llc Robotic arm cart and uses therefor
CN107255922B (zh) * 2017-05-27 2020-10-16 燕山大学 一种基于自适应双层滑模的遥操作系统快速力估计方法
US10856948B2 (en) 2017-05-31 2020-12-08 Verb Surgical Inc. Cart for robotic arms and method and apparatus for registering cart to surgical table
US10913145B2 (en) 2017-06-20 2021-02-09 Verb Surgical Inc. Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms
CN111973280B (zh) * 2017-12-27 2022-02-22 上海微创医疗机器人（集团）股份有限公司 手术机器人终端
CN108186120B (zh) * 2017-12-27 2020-12-04 微创（上海）医疗机器人有限公司 手术机器人终端
KR102264368B1 (ko) * 2018-01-17 2021-06-17 아우리스 헬스, 인코포레이티드 조절가능 아암 지지부를 갖는 수술 플랫폼
US11547281B2 (en) 2018-02-15 2023-01-10 Covidien Lp Sheath assembly for a rigid endoscope
US11648067B2 (en) 2018-10-05 2023-05-16 Kawasaki Jukogyo Kabushiki Kaisha Medical manipulator and surgical system including the same
CN112839608B (zh) 2018-10-15 2025-07-04 马佐尔机器人有限公司 多功能多臂机器人手术系统
US11202683B2 (en) 2019-02-22 2021-12-21 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
WO2020185516A1 (fr) 2019-03-08 2020-09-17 Auris Health, Inc. Mécanismes d'inclinaison pour applications et systèmes médicaux
US12274525B2 (en) 2020-09-29 2025-04-15 Mazor Robotics Ltd. Systems and methods for tracking anatomical motion
CN111920522B (zh) 2020-10-15 2021-01-08 京东方科技集团股份有限公司 手术监控方法及装置
ES3001129T3 (es) * 2020-11-23 2025-03-04 The Board Of Trustees Of The Univ Illinois Estación quirúrgica robótica
US12465441B2 (en) 2021-02-01 2025-11-11 Mazor Robotics Ltd. Multi-arm robotic systems and methods for identifying a target
US12508085B2 (en) 2021-02-04 2025-12-30 Mazor Robotics Ltd. Systems, methods, and devices for verifying mechanical coupling between anatomical elements
JP7393383B2 (ja) * 2021-05-24 2023-12-06 川崎重工業株式会社 手術支援ロボットおよび多関節ロボットの作動方法
US12426962B2 (en) * 2021-06-18 2025-09-30 Mazor Robotics Ltd. Robotic surgical system with rigid bed mount
CN113440257A (zh) * 2021-06-28 2021-09-28 哈尔滨工业大学 一种手持式脊柱手术高精度定位机械臂
CN113662643B (zh) * 2021-08-20 2022-08-30 苏州大学 多自由度串并联骨盆骨折复位机器人及骨盆骨折复位系统
US12419692B2 (en) 2022-05-03 2025-09-23 Mazor Robotics Ltd. Robotic arm navigation using virtual bone mount
US12440291B2 (en) 2022-12-27 2025-10-14 Conavi Medical Inc. Systems and methods for unpowered release and retraction of robotic tools in a robotic surgical system
CN118178146B (zh) * 2023-08-31 2024-10-29 浙江飞曼医疗科技有限公司 一种手术床及其电气控制系统
WO2025073031A1 (fr) * 2023-10-03 2025-04-10 Klein Neto Henrique Table chirurgicale avec panneau de tête automatisé et robotisé
DE102023128961A1 (de) 2023-10-20 2025-04-24 IGZ Ingenieurgesellschaft für logistische Informationssysteme mbH Robotersystem mit einem Roboter und einer Bodenplatte
CN117547362A (zh) * 2023-12-20 2024-02-13 上海术济客医疗科技有限公司 辅助支撑装置

Citations (5)

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WO1999023934A2 (fr) * 1997-11-12 1999-05-20 Stereotaxis, Inc. Systemes et dispositifs de guidage magnetiques articules et techniques correspondantes d'utilisation en chirurgie a assistance magnetique
WO1999037220A1 (fr) * 1998-01-23 1999-07-29 Sm Scienzia Machinale S.R.L. Appareil de chirurgie orthopedique de guidage d'un outil et de maintien d'un membre
JP2003299674A (ja) * 2002-04-12 2003-10-21 Masasuke Shiraishi 手術台装置
US20060142881A1 (en) * 1992-08-10 2006-06-29 Intuitive Surgical Inc. Method and apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input device
US20070293734A1 (en) * 2001-06-07 2007-12-20 Intuitive Surgical, Inc. Methods and apparatus for surgical planning

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
US20060142881A1 (en) * 1992-08-10 2006-06-29 Intuitive Surgical Inc. Method and apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input device
WO1999023934A2 (fr) * 1997-11-12 1999-05-20 Stereotaxis, Inc. Systemes et dispositifs de guidage magnetiques articules et techniques correspondantes d'utilisation en chirurgie a assistance magnetique
WO1999037220A1 (fr) * 1998-01-23 1999-07-29 Sm Scienzia Machinale S.R.L. Appareil de chirurgie orthopedique de guidage d'un outil et de maintien d'un membre
US20070293734A1 (en) * 2001-06-07 2007-12-20 Intuitive Surgical, Inc. Methods and apparatus for surgical planning
JP2003299674A (ja) * 2002-04-12 2003-10-21 Masasuke Shiraishi 手術台装置

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