ATE502592T1 - Werkzeug-haltemechanismus - Google Patents
Werkzeug-haltemechanismusInfo
- Publication number
- ATE502592T1 ATE502592T1 AT06765307T AT06765307T ATE502592T1 AT E502592 T1 ATE502592 T1 AT E502592T1 AT 06765307 T AT06765307 T AT 06765307T AT 06765307 T AT06765307 T AT 06765307T AT E502592 T1 ATE502592 T1 AT E502592T1
- Authority
- AT
- Austria
- Prior art keywords
- remote center
- manipulator
- tool
- holding mechanism
- tool holding
- Prior art date
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
- A61B34/70—Manipulators 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
-
- 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
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00212—Electrical control of surgical instruments using remote controls
-
- 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
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Gripping On Spindles (AREA)
- Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
- Paper (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GBGB0521281.6A GB0521281D0 (en) | 2005-10-19 | 2005-10-19 | hybrid constrant mechanism |
PCT/GB2006/003107 WO2007045810A2 (en) | 2005-10-19 | 2006-08-18 | A tool constraint mechanism |
Publications (1)
Publication Number | Publication Date |
---|---|
ATE502592T1 true ATE502592T1 (de) | 2011-04-15 |
Family
ID=35458296
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
AT06765307T ATE502592T1 (de) | 2005-10-19 | 2006-08-18 | Werkzeug-haltemechanismus |
Country Status (12)
Country | Link |
---|---|
US (1) | US8303575B2 (de) |
EP (1) | EP1951139B1 (de) |
JP (1) | JP5122469B2 (de) |
KR (1) | KR101334759B1 (de) |
CN (2) | CN101919736B (de) |
AT (1) | ATE502592T1 (de) |
AU (1) | AU2006303175B2 (de) |
CA (1) | CA2626255C (de) |
DE (1) | DE602006020905D1 (de) |
ES (1) | ES2362304T3 (de) |
GB (1) | GB0521281D0 (de) |
WO (1) | WO2007045810A2 (de) |
Families Citing this family (57)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7856130B2 (en) | 2007-03-28 | 2010-12-21 | Eigen, Inc. | Object recognition system for medical imaging |
US7832114B2 (en) * | 2007-04-04 | 2010-11-16 | Eigen, Llc | Tracker holder assembly |
GB2454017A (en) * | 2007-10-26 | 2009-04-29 | Prosurgics Ltd | A control assembly |
KR20090089928A (ko) * | 2008-02-20 | 2009-08-25 | (주)미래컴퍼니 | 수술용 로봇 암의 링크구조 |
US9037295B2 (en) | 2008-03-07 | 2015-05-19 | Perception Raisonnement Action En Medecine | Dynamic physical constraint for hard surface emulation |
KR100944412B1 (ko) * | 2008-10-13 | 2010-02-25 | (주)미래컴퍼니 | 수술용 슬레이브 로봇 |
KR200451737Y1 (ko) * | 2010-04-13 | 2011-01-10 | (주)미래컴퍼니 | 수술용 로봇 암의 링크구조 |
US8746252B2 (en) * | 2010-05-14 | 2014-06-10 | Intuitive Surgical Operations, Inc. | Surgical system sterile drape |
FR2968191B1 (fr) | 2010-12-01 | 2012-12-14 | Univ Paris Curie | Effecteur equipe d'un dispositif pour la localisation d'une partie utile d'un outil |
US8961537B2 (en) * | 2011-08-24 | 2015-02-24 | The Chinese University Of Hong Kong | Surgical robot with hybrid passive/active control |
WO2013033566A1 (en) | 2011-09-02 | 2013-03-07 | Stryker Corporation | Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing |
US20130096573A1 (en) * | 2011-10-18 | 2013-04-18 | Hyosig Kang | System and method for surgical tool tracking |
WO2013063674A1 (en) | 2011-11-04 | 2013-05-10 | Titan Medical Inc. | Apparatus and method for controlling an end-effector assembly |
WO2013078529A1 (en) | 2011-11-30 | 2013-06-06 | Titan Medical Inc. | Apparatus and method for supporting a robotic arm |
US10363102B2 (en) | 2011-12-30 | 2019-07-30 | Mako Surgical Corp. | Integrated surgery method |
EP2854686B1 (de) | 2012-06-01 | 2021-08-25 | Intuitive Surgical Operations, Inc. | Manipulator für chirurgisches instrument |
EP2854687B1 (de) * | 2012-06-01 | 2022-08-24 | Intuitive Surgical Operations, Inc. | Systeme zur vermeidung von kollisionen zwischen manipulatorarmen mit einem nullraum |
CN108113755B (zh) * | 2012-06-01 | 2020-11-27 | 直观外科手术操作公司 | 多端口手术机器人***架构 |
JP6272841B2 (ja) * | 2012-06-01 | 2018-01-31 | 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 | ハードウェア拘束リモートセンタロボットマニピュレータのための冗長な軸及び自由度 |
CN107595392B (zh) | 2012-06-01 | 2020-11-27 | 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 |
US10292887B2 (en) | 2012-12-31 | 2019-05-21 | Mako Surgical Corp. | Motorized joint positioner |
KR101403787B1 (ko) * | 2014-04-07 | 2014-06-03 | 재단법인대구경북과학기술원 | 의료용 로봇 |
KR101526115B1 (ko) * | 2014-04-07 | 2015-06-04 | 재단법인대구경북과학기술원 | 3차원 조사 장치 |
KR101485292B1 (ko) | 2014-04-07 | 2015-01-28 | 재단법인대구경북과학기술원 | 로봇 |
KR101485291B1 (ko) * | 2014-04-07 | 2015-01-21 | 재단법인대구경북과학기술원 | 로봇 |
DE102014107071A1 (de) * | 2014-05-20 | 2015-11-26 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Gelenkanordnung mit zumindest einer angetriebenen Achse |
US20170165847A1 (en) * | 2014-07-15 | 2017-06-15 | Koninklijke Philips N.V. | Reconfigurable robot architecture for minimally invasive procedures |
KR20170042754A (ko) * | 2014-09-30 | 2017-04-19 | 세이코 엡슨 가부시키가이샤 | 로봇 및 로봇 시스템 |
WO2016164824A1 (en) * | 2015-04-09 | 2016-10-13 | Auris Surgical Robotics, Inc. | Surgical system with configurable rail-mounted mechanical arms |
US10849650B2 (en) | 2015-07-07 | 2020-12-01 | Eigen Health Services, Llc | Transperineal needle guidance |
US10716544B2 (en) | 2015-10-08 | 2020-07-21 | Zmk Medical Technologies Inc. | System for 3D multi-parametric ultrasound imaging |
CN105832419A (zh) * | 2016-05-06 | 2016-08-10 | 济南创泽生物医药科技有限公司 | 一种微操精准手术机器人 |
US20190175293A1 (en) * | 2016-06-22 | 2019-06-13 | Koninklijke Philips N.V. | Image guidance for a decoupled kinematic control of a remote-center-of-motion |
GB201615438D0 (en) | 2016-09-12 | 2016-10-26 | Imp Innovations Ltd | Apparatus and method for assisting tool use |
EP3512449A4 (de) * | 2016-09-16 | 2020-05-20 | Verb Surgical Inc. | Tischadapter zur montage von roboterarmen an einem operationstisch |
US11389360B2 (en) * | 2016-09-16 | 2022-07-19 | Verb Surgical Inc. | Linkage mechanisms for mounting robotic arms to a surgical table |
WO2018067696A1 (en) | 2016-10-04 | 2018-04-12 | Intuitive Surgical Operations, Inc. | Computer-assisted teleoperated surgery systems and methods |
CN109788994B (zh) * | 2016-10-18 | 2022-07-19 | 直观外科手术操作公司 | 计算机辅助的远程操作手术***和方法 |
US11357595B2 (en) * | 2016-11-22 | 2022-06-14 | Board Of Regents Of The University Of Nebraska | Gross positioning device and related systems and methods |
US11607229B2 (en) | 2016-12-08 | 2023-03-21 | Orthotaxy S.A.S. | Surgical system for cutting an anatomical structure according to at least one target plane |
US11633233B2 (en) | 2016-12-08 | 2023-04-25 | Orthotaxy S.A.S. | Surgical system for cutting an anatomical structure according to at least one target cutting plane |
CN110114019B (zh) * | 2016-12-08 | 2022-04-12 | 安托踏实公司 | 用于根据至少一个目标平面切割解剖结构的外科*** |
CN108261243A (zh) * | 2017-01-03 | 2018-07-10 | 上银科技股份有限公司 | 具有远端运动中心特性的机械手臂 |
WO2018178150A1 (en) * | 2017-03-31 | 2018-10-04 | Koninklijke Philips N.V. | Markerless robot tracking systems, controllers and methods |
EP3648674A1 (de) * | 2017-07-07 | 2020-05-13 | Koninklijke Philips N.V. | Robotische instrumentenführungsintegration mit einer akustischen sonde |
US10517692B2 (en) | 2018-01-17 | 2019-12-31 | Auris Health, Inc. | Surgical platform with adjustable arm supports |
CN110226966A (zh) * | 2018-05-14 | 2019-09-13 | 安托踏实公司 | 用于根据至少一个目标平面切割解剖结构的外科*** |
US11000950B2 (en) | 2018-06-01 | 2021-05-11 | X Development Llc | Robotic motion planning |
FR3100970B1 (fr) * | 2019-09-24 | 2021-08-27 | Collin | Dispositif robotisé d’intervention chirurgicale à bras articulé porteur d’un instrument |
US11864857B2 (en) | 2019-09-27 | 2024-01-09 | Globus Medical, Inc. | Surgical robot with passive end effector |
US11426178B2 (en) | 2019-09-27 | 2022-08-30 | Globus Medical Inc. | Systems and methods for navigating a pin guide driver |
US11890066B2 (en) | 2019-09-30 | 2024-02-06 | Globus Medical, Inc | Surgical robot with passive end effector |
EP4025152A4 (de) * | 2019-10-11 | 2023-09-20 | Endoquest Robotics, Inc. | Positionierungsvorrichtung mit sieben freiheitsgraden für die robotische chirurgie |
RU2753118C2 (ru) * | 2020-01-09 | 2021-08-11 | Федеральное государственное автономное образовательное учреждение высшего образования "Севастопольский государственный университет" | Роботизированная система для удержания и перемещения хирургического инструмента при проведении лапароскопических операций |
US11911120B2 (en) | 2020-03-27 | 2024-02-27 | Verb Surgical Inc. | Training and feedback for a controller workspace boundary |
US20230248451A1 (en) * | 2020-06-25 | 2023-08-10 | Rogue Research Inc. | Articulated positioning system for a scientific or medical tool, robotized positioning assembly comprising same and corresponding method |
GB202203245D0 (en) * | 2022-03-09 | 2022-04-20 | Queens Univ Of Belfast | Apparatus for positioning a tool |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3427001C1 (de) * | 1984-07-21 | 1986-02-06 | Dornier System Gmbh, 7990 Friedrichshafen | Ortungs- und Positioniervorrichtung |
JPS63296742A (ja) * | 1987-05-29 | 1988-12-02 | Mitaka Koki Kk | 医療用光学機器のスタンド装置 |
JPH03114460A (ja) * | 1989-09-29 | 1991-05-15 | Mitaka Koki Kk | 医療用三次元定位装置 |
US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
JP3537155B2 (ja) * | 1993-05-07 | 2004-06-14 | オリンパス株式会社 | 手術用顕微鏡 |
CN1155833A (zh) * | 1995-06-20 | 1997-07-30 | 伍云升 | 用于医疗处理的活节机械手 |
CN1100516C (zh) * | 1997-08-27 | 2003-02-05 | 北京航空航天大学 | 机器人脑外科设备***及其所采用的图象和坐标处理方法 |
EP2362284B1 (de) * | 1997-09-19 | 2015-05-20 | Massachusetts Institute Of Technology | Robotergerät |
US7125403B2 (en) * | 1998-12-08 | 2006-10-24 | Intuitive Surgical | In vivo accessories for minimally invasive robotic surgery |
US6493608B1 (en) * | 1999-04-07 | 2002-12-10 | Intuitive Surgical, Inc. | Aspects of a control system of a minimally invasive surgical apparatus |
US7594912B2 (en) * | 2004-09-30 | 2009-09-29 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
JP3759393B2 (ja) * | 2000-09-29 | 2006-03-22 | 株式会社東芝 | マニピュレータの支持装置 |
WO2003067341A2 (en) | 2002-02-06 | 2003-08-14 | The Johns Hopkins University | Remote center of motion robotic system and method |
EP1681029A1 (de) * | 2005-01-18 | 2006-07-19 | Technische Universität München | Vorichtung und Verfahren zur Manipulation von medizinischen Instrumenten |
JP4131731B2 (ja) * | 2005-04-25 | 2008-08-13 | 株式会社東芝 | マニピュレータの支持装置 |
-
2005
- 2005-10-19 GB GBGB0521281.6A patent/GB0521281D0/en not_active Ceased
-
2006
- 2006-08-18 WO PCT/GB2006/003107 patent/WO2007045810A2/en active Application Filing
- 2006-08-18 AU AU2006303175A patent/AU2006303175B2/en not_active Ceased
- 2006-08-18 KR KR1020087011821A patent/KR101334759B1/ko active IP Right Grant
- 2006-08-18 EP EP06765307A patent/EP1951139B1/de not_active Not-in-force
- 2006-08-18 CN CN2010102131625A patent/CN101919736B/zh not_active Expired - Fee Related
- 2006-08-18 AT AT06765307T patent/ATE502592T1/de not_active IP Right Cessation
- 2006-08-18 DE DE602006020905T patent/DE602006020905D1/de active Active
- 2006-08-18 CA CA2626255A patent/CA2626255C/en not_active Expired - Fee Related
- 2006-08-18 US US12/090,578 patent/US8303575B2/en active Active
- 2006-08-18 ES ES06765307T patent/ES2362304T3/es active Active
- 2006-08-18 CN CNA2006800415018A patent/CN101304701A/zh active Pending
- 2006-08-18 JP JP2008536105A patent/JP5122469B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
JP5122469B2 (ja) | 2013-01-16 |
ES2362304T3 (es) | 2011-07-01 |
JP2009512473A (ja) | 2009-03-26 |
WO2007045810A3 (en) | 2007-07-12 |
KR101334759B1 (ko) | 2013-11-29 |
GB0521281D0 (en) | 2005-11-30 |
US20090041565A1 (en) | 2009-02-12 |
CA2626255A1 (en) | 2007-04-26 |
CN101919736A (zh) | 2010-12-22 |
EP1951139A2 (de) | 2008-08-06 |
KR20080072667A (ko) | 2008-08-06 |
CN101304701A (zh) | 2008-11-12 |
DE602006020905D1 (de) | 2011-05-05 |
WO2007045810A2 (en) | 2007-04-26 |
CN101919736B (zh) | 2012-11-28 |
AU2006303175B2 (en) | 2012-06-14 |
US8303575B2 (en) | 2012-11-06 |
EP1951139B1 (de) | 2011-03-23 |
CA2626255C (en) | 2014-07-29 |
AU2006303175A1 (en) | 2007-04-26 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
RER | Ceased as to paragraph 5 lit. 3 law introducing patent treaties |