CN115551434A - 连续体器械及手术机器人 - Google Patents

连续体器械及手术机器人 Download PDF

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Publication number
CN115551434A
CN115551434A CN202180034324.5A CN202180034324A CN115551434A CN 115551434 A CN115551434 A CN 115551434A CN 202180034324 A CN202180034324 A CN 202180034324A CN 115551434 A CN115551434 A CN 115551434A
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CN
China
Prior art keywords
proximal
continuum
distal
driving
instrument
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Pending
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CN202180034324.5A
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English (en)
Inventor
徐凯
刘旭
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Beijing Surgerii Technology Co Ltd
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Beijing Surgerii Technology Co Ltd
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Publication date
Priority claimed from CN202010618753.4A external-priority patent/CN113855108A/zh
Priority claimed from CN202010617383.2A external-priority patent/CN113855103A/zh
Application filed by Beijing Surgerii Technology Co Ltd filed Critical Beijing Surgerii Technology Co Ltd
Publication of CN115551434A publication Critical patent/CN115551434A/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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (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)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

本公开涉及医疗器械领域，公开一种连续体器械，包括至少一个近端连续体、至少一个远端连续体、驱动连接部和驱动传动机构。近端连续体包括近端基盘、第一、第二近端止盘、多根近端结构骨及驱动骨，驱动骨分别与第二近端止盘、近端基盘固定连接。远端连续体包括远端止盘和多根远端结构骨，远端结构骨与近端结构骨连接或一体成型。驱动传动机构的输出端与驱动连接部的输入端连接，用于驱动输入端带动第二近端止盘和第一近端止盘翻转，以通过近端、远端结构骨驱动远端连续体弯转。从而可以避免对结构骨进行直接的推拉，在驱动数量较多的结构骨时，可以不受限于驱动机构的数量，同时结构紧凑，原理简单，易于实现，具有很高的可靠性和灵活性。

Description

PCT国内申请，说明书已公开。

Claims (20)

  1. PCT国内申请，权利要求书已公开。
CN202180034324.5A 2020-06-30 2021-03-16 连续体器械及手术机器人 Pending CN115551434A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
CN2020106187534 2020-06-30
CN202010618753.4A CN113855108A (zh) 2020-06-30 2020-06-30 一种手术工具驱动传动***以及含其的手术机器人
CN2020106173832 2020-06-30
CN202010617383.2A CN113855103A (zh) 2020-06-30 2020-06-30 基于回转-直线驱动的手术工具驱动传动***及手术机器人
PCT/CN2021/080945 WO2022001185A1 (zh) 2020-06-30 2021-03-16 连续体器械及手术机器人

Publications (1)

Publication Number Publication Date
CN115551434A true CN115551434A (zh) 2022-12-30

Family

ID=79315102

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180034324.5A Pending CN115551434A (zh) 2020-06-30 2021-03-16 连续体器械及手术机器人

Country Status (4)

Country Link
US (1) US20230329808A1 (zh)
EP (1) EP4173588A1 (zh)
CN (1) CN115551434A (zh)
WO (1) WO2022001185A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115605139A (zh) * 2020-06-30 2023-01-13 北京术锐技术有限公司（Cn） 连续体器械及手术机器人

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060058582A1 (en) * 2002-06-13 2006-03-16 Usgi Medical Inc. Disposable shapelocking system
CN103707322B (zh) * 2013-12-31 2016-04-20 汪雯 可弯转可伸缩的柔性连续体机械结构
CN106236269B (zh) * 2016-08-31 2018-09-04 北京术锐技术有限公司 一种多自由度的柔性手术工具
CN106175850B (zh) * 2016-08-31 2019-03-19 北京术锐技术有限公司 一种直线驱动机构驱动的柔性手术工具***
CN106236272B (zh) * 2016-08-31 2019-04-23 北京术锐技术有限公司 一种采用约束结构骨的柔性手术工具***
CN106562806B (zh) * 2016-08-31 2018-10-26 北京术锐技术有限公司 一种采用结构骨的柔性手术工具***
CN106308936B (zh) * 2016-08-31 2018-12-07 北京术锐技术有限公司 一种包含驱动骨的柔性手术工具***
CN106420059B (zh) * 2016-08-31 2019-03-15 北京术锐技术有限公司 一种驱动输入前置的柔性手术工具***
CN107997824B (zh) * 2018-01-10 2019-12-13 北京术锐技术有限公司 一种可混合驱动远端结构体的柔性手术工具***
CN108481307B (zh) * 2018-03-29 2021-01-08 燕山大学 一种面向大承载的连续型机器人
CN109431602A (zh) * 2018-10-09 2019-03-08 北京术锐技术有限公司 一种基于柔性手术臂的多孔微创机器人***及其使用方法
CN109431603A (zh) * 2018-10-09 2019-03-08 北京术锐技术有限公司 用于内窥镜治疗术式的柔性机器人手术***及其使用方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115605139A (zh) * 2020-06-30 2023-01-13 北京术锐技术有限公司（Cn） 连续体器械及手术机器人
CN115605139B (zh) * 2020-06-30 2024-07-05 北京术锐机器人股份有限公司 连续体器械及手术机器人

Also Published As

Publication number Publication date
EP4173588A1 (en) 2023-05-03
US20230329808A1 (en) 2023-10-19
WO2022001185A1 (zh) 2022-01-06

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Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing

Applicant after: Beijing Shurui Robot Co.,Ltd.

Address before: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing

Applicant before: BEIJING SURGERII TECHNOLOGY Co.,Ltd.