WO2026065962A1 - Robot chirurgical et procédé de commande - Google Patents

Robot chirurgical et procédé de commande

Info

Publication number
WO2026065962A1
WO2026065962A1 PCT/CN2025/082247 CN2025082247W WO2026065962A1 WO 2026065962 A1 WO2026065962 A1 WO 2026065962A1 CN 2025082247 W CN2025082247 W CN 2025082247W WO 2026065962 A1 WO2026065962 A1 WO 2026065962A1
Authority
WO
WIPO (PCT)
Prior art keywords
endoscope
biopsy forceps
assembly
biopsy
surgical robot
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
PCT/CN2025/082247
Other languages
English (en)
Chinese (zh)
Inventor
韩龙
尹文楚
阳志雄
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.)
China Merchants Advanced Technology Development Shenzhen Co Ltd
Chinese University of Hong Kong Shenzhen
Original Assignee
China Merchants Advanced Technology Development Shenzhen Co Ltd
Chinese University of Hong Kong Shenzhen
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 China Merchants Advanced Technology Development Shenzhen Co Ltd, Chinese University of Hong Kong Shenzhen filed Critical China Merchants Advanced Technology Development Shenzhen Co Ltd
Publication of WO2026065962A1 publication Critical patent/WO2026065962A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments, e.g. catheter-type instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/06—Biopsy forceps, e.g. with cup-shaped jaws
    • 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

Landscapes

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

Abstract

L'invention concerne un robot chirurgical et un procédé de commande. Le robot chirurgical comprend un bras d'actionnement, un ensemble endoscope, un ensemble pince de biopsie, un premier ensemble de poussée et un second ensemble de poussée. Le bras d'actionnement est pourvu d'un rail de guidage coulissant, et une direction d'extension du rail de guidage coulissant est une première direction ; l'ensemble endoscope et l'ensemble pince de biopsie sont tous deux disposés sur le rail de guidage coulissant de manière coulissante, et l'ensemble endoscope est formé avec un trou d'instrument pénétrant à travers dans la première direction ; l'ensemble pince de biopsie s'étend au moins partiellement dans le trou d'instrument ; le premier ensemble de poussée et le second ensemble de poussée sont tous deux disposés sur le bras d'actionnement, le premier ensemble de poussée est configuré pour entraîner l'ensemble endoscope à se déplacer en va-et-vient dans la première direction, et le second ensemble de poussée est configuré pour entraîner l'ensemble pince de biopsie à se déplacer en va-et-vient dans la première direction. En guidant séparément l'ensemble endoscope et l'ensemble pince de biopsie pour effectuer un travail indépendant, au lieu d'une opération manuelle, le niveau de fonctionnement automatique du robot chirurgical pendant un processus d'échantillonnage de biopsie est amélioré, et la sécurité de l'intervention chirurgicale est augmentée.
PCT/CN2025/082247 2024-09-24 2025-03-13 Robot chirurgical et procédé de commande Pending WO2026065962A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202411331164.2 2024-09-24
CN202411331164.2A CN119257748A (zh) 2024-09-24 2024-09-24 一种手术机器人以及控制方法

Publications (1)

Publication Number Publication Date
WO2026065962A1 true WO2026065962A1 (fr) 2026-04-02

Family

ID=94116350

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2025/082247 Pending WO2026065962A1 (fr) 2024-09-24 2025-03-13 Robot chirurgical et procédé de commande

Country Status (2)

Country Link
CN (1) CN119257748A (fr)
WO (1) WO2026065962A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119257748A (zh) * 2024-09-24 2025-01-07 深圳市人工智能与机器人研究院 一种手术机器人以及控制方法

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200281666A1 (en) * 2017-10-02 2020-09-10 The Regents Of The University Of California Steerable catheter flexible robotic system for use with endoscopes
KR20200109056A (ko) * 2019-03-12 2020-09-22 재단법인 아산사회복지재단 수술용 로봇, 수술용 로봇 시스템 및 핸드헬드 의료기구
CN112353496A (zh) * 2020-11-30 2021-02-12 中国科学院沈阳自动化研究所 一种软式内窥镜操控机器人
CN115105213A (zh) * 2022-06-20 2022-09-27 江苏唯德康医疗科技有限公司 一种用于辅助内窥镜下手术的柔性机器人装置
CN115211977A (zh) * 2022-08-09 2022-10-21 哈尔滨工业大学 一种面向单孔手术的模块化绳驱动的连续体机器人系统
CN116492056A (zh) * 2023-03-31 2023-07-28 天津大学 用于微创手术系统的可伸缩弯曲的多自由度手术器械
CN117357261A (zh) * 2023-11-07 2024-01-09 天津理工大学 一种变刚度单孔柔性手术机器人
CN117695014A (zh) * 2024-01-29 2024-03-15 深圳阿斯克医疗有限公司 一种内窥镜手术机器人
CN119257748A (zh) * 2024-09-24 2025-01-07 深圳市人工智能与机器人研究院 一种手术机器人以及控制方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN217548101U (zh) * 2022-05-10 2022-10-11 苏州欧畅医疗科技有限公司 一种医用电动末端角度可调的突刺活检钳及内窥镜机器人
WO2023236056A1 (fr) * 2022-06-07 2023-12-14 上海诺英医疗器械有限公司 Système et procédé de traction auxiliaire de chirurgie endoscopique
CN115715702B (zh) * 2023-01-09 2023-04-18 北京云力境安科技有限公司 一种软式内窥镜手术机器人系统
CN116172716A (zh) * 2023-03-09 2023-05-30 哈尔滨思哲睿智能医疗设备股份有限公司 一种单臂单孔微创腔镜手术机器人

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200281666A1 (en) * 2017-10-02 2020-09-10 The Regents Of The University Of California Steerable catheter flexible robotic system for use with endoscopes
KR20200109056A (ko) * 2019-03-12 2020-09-22 재단법인 아산사회복지재단 수술용 로봇, 수술용 로봇 시스템 및 핸드헬드 의료기구
CN112353496A (zh) * 2020-11-30 2021-02-12 中国科学院沈阳自动化研究所 一种软式内窥镜操控机器人
CN115105213A (zh) * 2022-06-20 2022-09-27 江苏唯德康医疗科技有限公司 一种用于辅助内窥镜下手术的柔性机器人装置
CN115211977A (zh) * 2022-08-09 2022-10-21 哈尔滨工业大学 一种面向单孔手术的模块化绳驱动的连续体机器人系统
CN116492056A (zh) * 2023-03-31 2023-07-28 天津大学 用于微创手术系统的可伸缩弯曲的多自由度手术器械
CN117357261A (zh) * 2023-11-07 2024-01-09 天津理工大学 一种变刚度单孔柔性手术机器人
CN117695014A (zh) * 2024-01-29 2024-03-15 深圳阿斯克医疗有限公司 一种内窥镜手术机器人
CN119257748A (zh) * 2024-09-24 2025-01-07 深圳市人工智能与机器人研究院 一种手术机器人以及控制方法

Also Published As

Publication number Publication date
CN119257748A (zh) 2025-01-07

Similar Documents

Publication Publication Date Title
US12465198B2 (en) Side-looking minimally invasive surgery instrument assembly
US10695136B2 (en) Preventing instrument/tissue collisions
WO2026065962A1 (fr) Robot chirurgical et procédé de commande
US20200229882A1 (en) Surgical system and support device
CN121910472A (zh) 带灵巧关节的穿刺机器人、应用其的诊疗系统及使用方法