SG11201805323UA - Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems - Google Patents

Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems

Info

Publication number
SG11201805323UA
SG11201805323UA SG11201805323UA SG11201805323UA SG11201805323UA SG 11201805323U A SG11201805323U A SG 11201805323UA SG 11201805323U A SG11201805323U A SG 11201805323UA SG 11201805323U A SG11201805323U A SG 11201805323UA SG 11201805323U A SG11201805323U A SG 11201805323UA
Authority
SG
Singapore
Prior art keywords
arm assembly
instrument
assembly
systems
drive
Prior art date
Application number
SG11201805323UA
Inventor
Chung Kwong Yeung
Original Assignee
Bio Medical Eng Hk Ltd
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 US15/340,660 external-priority patent/US9724168B2/en
Application filed by Bio Medical Eng Hk Ltd filed Critical Bio Medical Eng Hk Ltd
Publication of SG11201805323UA publication Critical patent/SG11201805323UA/en

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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • 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
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00283—Type of minimally invasive operation with a device releasably connected to an inner wall of the abdomen during surgery, e.g. an illumination source
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
    • 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
    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/309—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using white LEDs

Landscapes

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

Abstract

INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 11 May 2018 (11.05.2018) WIPO I PCT (10) International Publication Number WO 2018/082296 A1 (51) International Patent Classification: A61B 34/30 (2016.01) A61B 17/00 (2006.01) (21) International Application Number: PCT/CN2017/086204 (22) International Filing Date: 26 May 2017 (26.05.2017) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 15/340,660 01 November2016 (01.11.2016) US (71) Applicant: BIO-MEDICAL ENGINEERING(HK) LIMITED [CN/CN]; Units 401-404, Level 4, Core C, Cy- berport 3, 100 Cyberport Road, Hong Kong (CN). (72) Inventor: YEUNG, Chung Kwong; Flat 2275, 22/F, Blk 13, Hong Kong Parkview, 88 Tai Tam Reservoir Road, Hong Kong (CN). (74) Agent: BEIJING ARETE INTELLECTUAL PROPER­ TY AGENCY; Suite 1201, Building 3, Zhubang 2000 Busi­ ness Center, No. 98 Ba Li Zhuang Xi Li, Chaoyang District, Beijing 100025 (CN). (81) Designated States (unless otherwise indicated, for every kind of national protection available)'. AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, (54) Title: ROBOTIC DEVICES AND SYSTEMS FOR PERFORMING SINGLE INCISION PROCEDURES AND NATURAL ORIFICE TRANSLUMENAL ENDOSCOPIC SURGICAL PROCEDURES, AND METHODS OF CONFIGURING ROBOTIC DE­ VICES AND SYSTEMS 330b X/i / f 350,(234) FIG. 5C 0\ CJ CJ 00 © 00 i-H o CJ O £ (57) : A surgical device or system (200), and a method are provided. The surgical system (200) may include an end-effector assembly (340) and an arm assembly (235, 330, 233, 360). The end-effector assembly (340) may include a first instrument assembly having a first instrument (342) and a first instrument driven portion (342a) configurable to be driven to move the first instrument (342) relative to a first axis (A). The arm assembly (330, 360) may include a first arm assembly body (330') and a second arm assembly body (360'), a first arm assembly joint portion (350) for joining the first and second arm assembly bodies (330', 360'), a first instrument drive assembly, and a first arm assembly drive assembly. The first instrument drive assembly may include a first integrated motor (332) and a first instrument drive portion (332a) controllable by the first integrated motor (332) to drive the first instrument driven portion [Continued on next page] WO 2018/082296 A1 llll II II11 III III III 11IIIIIII III II III SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available)'. ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: — with international search report (Art. 21(3)) (342a). The first arm assembly drive assembly may include a second integrated motor (339) and a first arm assembly drive portion (339a) controllable by the second integrated motor (339) to drive the first arm assembly body (330') to move relative to the second arm assembly body (360').
SG11201805323UA 2016-11-01 2017-05-26 Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems SG11201805323UA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/340,660 US9724168B2 (en) 2014-04-22 2016-11-01 Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems
PCT/CN2017/086204 WO2018082296A1 (en) 2016-11-01 2017-05-26 Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems

Publications (1)

Publication Number Publication Date
SG11201805323UA true SG11201805323UA (en) 2018-07-30

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
SG11201805323UA SG11201805323UA (en) 2016-11-01 2017-05-26 Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems
SG10201809831PA SG10201809831PA (en) 2016-11-01 2017-05-26 Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems

Family Applications After (1)

Application Number Title Priority Date Filing Date
SG10201809831PA SG10201809831PA (en) 2016-11-01 2017-05-26 Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems

Country Status (3)

Country Link
CA (1) CA3022502A1 (en)
SG (2) SG11201805323UA (en)
WO (1) WO2018082296A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114098996B (en) * 2021-11-29 2023-12-22 天津大学医疗机器人与智能***研究院 Instrument driving device, instrument arm, slave hand end and robot auxiliary operation system
CN114098995B (en) * 2021-11-29 2023-12-22 天津大学医疗机器人与智能***研究院 Instrument driving device, instrument arm, slave hand end and robot auxiliary operation system

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6840938B1 (en) * 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
US8784404B2 (en) * 2009-06-29 2014-07-22 Carefusion 2200, Inc. Flexible wrist-type element and methods of manufacture and use thereof
US8891924B2 (en) * 2012-04-26 2014-11-18 Bio-Medical Engineering (HK) Limited Magnetic-anchored robotic system
CN103431913B (en) * 2013-09-12 2015-04-29 哈尔滨工业大学 Robotic surgery micro-device for minimally invasive surgery
GB2531994B (en) * 2014-10-15 2020-06-24 Cmr Surgical Ltd Surgical articulation
WO2016169361A1 (en) * 2015-04-22 2016-10-27 Bio-Medical Engineering (HK) Limited Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems

Also Published As

Publication number Publication date
SG10201809831PA (en) 2018-12-28
WO2018082296A1 (en) 2018-05-11
CA3022502A1 (en) 2018-05-11

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