CN115551436A - 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 PDFInfo
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- CN115551436A CN115551436A CN202180034410.6A CN202180034410A CN115551436A CN 115551436 A CN115551436 A CN 115551436A CN 202180034410 A CN202180034410 A CN 202180034410A CN 115551436 A CN115551436 A CN 115551436A
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- 210000000988 bone and bone Anatomy 0.000 claims abstract description 93
- 230000005540 biological transmission Effects 0.000 claims abstract description 71
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 230000033001 locomotion Effects 0.000 claims description 24
- 230000007306 turnover Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000005452 bending Methods 0.000 description 31
- 230000000694 effects Effects 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 4
- 230000014759 maintenance of location Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000003071 parasitic effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- HLXZNVUGXRDIFK-UHFFFAOYSA-N nickel titanium Chemical compound [Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni] HLXZNVUGXRDIFK-UHFFFAOYSA-N 0.000 description 1
- 229910001000 nickel titanium Inorganic materials 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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- 230000000007 visual effect Effects 0.000 description 1
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Images
Classifications
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/0069—Aspects not otherwise provided for with universal joint, cardan joint
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (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
一种医疗器械领域的连续体器械(10，20,30,40)，包括：至少一个近端连续体(111)、至少一个远端连续体(112)、驱动连接部(120，220，320)和驱动传动机构(130，230，330)。近端连续体(111)包括近端止盘(1112)和多根近端结构骨(1113)，多根近端结构骨(1113)的近端与近端止盘(1112)固定连接。远端连续体(112)包括远端止盘(1122)和多根远端结构骨(1123)，多根远端结构骨(1123)的远端与远端止盘(1122)固定连接，多根远端结构骨(1123)与多根近端结构骨(1113)固定连接或一体成型。驱动传动机构(130，230，330)的输出端与驱动连接部(120，220，320)的输入端连接，用于驱动输入端带动近端止盘(1112)翻转，以驱动远端连续体(112)弯转。从而可以避免对柔性连续体(110)的结构骨(1113,1123)进行直接的推拉，在驱动数量较多的结构骨(1113,1123)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)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020106233693 | 2020-06-30 | ||
| CN202010617370.5A CN113855102A (zh) | 2020-06-30 | 2020-06-30 | 基于平面运动机构的手术工具驱动传动系统及手术机器人 |
| CN202010623369.3A CN113855109A (zh) | 2020-06-30 | 2020-06-30 | 柔性连续体驱动传动机构、手术工具驱动系统及机器人 |
| CN2020106187500 | 2020-06-30 | ||
| CN202010618750.0A CN113855106A (zh) | 2020-06-30 | 2020-06-30 | 一种手术工具驱动传动系统及包含该系统的手术机器人 |
| CN2020106173705 | 2020-06-30 | ||
| PCT/CN2021/080948 WO2022001187A1 (zh) | 2020-06-30 | 2021-03-16 | 连续体器械及手术机器人 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115551436A true CN115551436A (zh) | 2022-12-30 |
Family
ID=79315103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202180034410.6A Pending CN115551436A (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) | US20230225806A1 (zh) |
| EP (1) | EP4173589A4 (zh) |
| CN (1) | CN115551436A (zh) |
| WO (1) | WO2022001187A1 (zh) |
Cited By (1)
| 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)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6817974B2 (en) * | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
| US9962066B2 (en) * | 2005-12-30 | 2018-05-08 | Intuitive Surgical Operations, Inc. | Methods and apparatus to shape flexible entry guides for minimally invasive surgery |
| CN103085083B (zh) * | 2013-01-07 | 2015-06-24 | 汪雯 | 可弯转可伸缩的柔性连续体机械结构 |
| CN103340731B (zh) * | 2013-07-10 | 2015-04-08 | 上海交通大学 | 基于流体转换的外骨骼辅助康复治疗系统 |
| CN104758060B (zh) * | 2015-04-07 | 2017-01-11 | 哈尔滨工业大学 | 用于单孔腹腔微创手术的多自由度柔性机器人 |
| CN106217345B (zh) * | 2016-08-31 | 2018-04-24 | 北京术锐技术有限公司 | 可实现姿态反馈的柔性连续体结构 |
| EP3508136B1 (en) * | 2016-08-31 | 2022-10-12 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument with structural bones in a crossed arrangement |
| CN106236270B (zh) * | 2016-08-31 | 2019-04-23 | 北京术锐技术有限公司 | 一种结构骨冗余布置的柔性手术工具系统 |
| CN106510848B (zh) * | 2016-11-23 | 2018-06-26 | 中国人民解放军第二军医大学 | 一种经尿道的手术机器人及控制系统 |
| WO2018174226A1 (ja) * | 2017-03-24 | 2018-09-27 | 株式会社メディカロイド | 張力調整機構、インターフェースおよび駆動機構 |
| AU2018290914B2 (en) * | 2017-06-29 | 2020-09-10 | Endoquest Robotics, Inc. | Surgical apparatus |
| CN109498154A (zh) * | 2018-12-28 | 2019-03-22 | 北京术锐技术有限公司 | 一种双弯曲型柔性手术工具系统 |
-
2021
- 2021-03-16 CN CN202180034410.6A patent/CN115551436A/zh active Pending
- 2021-03-16 EP EP21833805.1A patent/EP4173589A4/en active Pending
- 2021-03-16 WO PCT/CN2021/080948 patent/WO2022001187A1/zh unknown
- 2021-03-16 US US18/010,060 patent/US20230225806A1/en active Pending
Cited By (2)
| 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 |
|---|---|
| US20230225806A1 (en) | 2023-07-20 |
| WO2022001187A1 (zh) | 2022-01-06 |
| EP4173589A1 (en) | 2023-05-03 |
| EP4173589A4 (en) | 2024-08-07 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
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. |
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| CB02 | Change of applicant information |