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DE602006020905D1 - Werkzeug-haltemechanismus - Google Patents

Werkzeug-haltemechanismus

Info

Publication number
DE602006020905D1
DE602006020905D1 DE602006020905T DE602006020905T DE602006020905D1 DE 602006020905 D1 DE602006020905 D1 DE 602006020905D1 DE 602006020905 T DE602006020905 T DE 602006020905T DE 602006020905 T DE602006020905 T DE 602006020905T DE 602006020905 D1 DE602006020905 D1 DE 602006020905D1
Authority
DE
Germany
Prior art keywords
remote center
manipulator
tool
holding mechanism
tool holding
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.)
Active
Application number
DE602006020905T
Other languages
English (en)
Inventor
Y Baena Ferdinando Maria Rodriguez
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.)
Stanmore Implants Worldwide Ltd
Original Assignee
Stanmore Implants Worldwide 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
Application filed by Stanmore Implants Worldwide Ltd filed Critical Stanmore Implants Worldwide Ltd
Publication of DE602006020905D1 publication Critical patent/DE602006020905D1/de
Active 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
    • A61B34/70—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
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Gripping On Spindles (AREA)
  • Paper (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)
DE602006020905T 2005-10-19 2006-08-18 Werkzeug-haltemechanismus Active DE602006020905D1 (de)

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
DE602006020905D1 true DE602006020905D1 (de) 2011-05-05

Family

ID=35458296

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602006020905T Active DE602006020905D1 (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) CN101304701A (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)

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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
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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
CN111481291B (zh) * 2012-06-01 2023-10-20 直观外科手术操作公司 硬件受限的远程中心机器人操纵器的冗余轴线和自由度
EP2854692B1 (de) 2012-06-01 2022-07-20 Intuitive Surgical Operations, Inc. Aufbau eines chirurgischen robotischen systems mit mehreren ports
JP6368710B2 (ja) 2012-06-01 2018-08-01 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 ゼロ空間を使用したマニピュレータアームと患者との衝突回避
CN116492066A (zh) * 2012-06-01 2023-07-28 直观外科手术操作公司 手术器械操纵器方面
US10292887B2 (en) 2012-12-31 2019-05-21 Mako Surgical Corp. Motorized joint positioner
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KR101485291B1 (ko) * 2014-04-07 2015-01-21 재단법인대구경북과학기술원 로봇
KR101403787B1 (ko) 2014-04-07 2014-06-03 재단법인대구경북과학기술원 의료용 로봇
KR101485292B1 (ko) * 2014-04-07 2015-01-28 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
EP3169491A2 (de) * 2014-07-15 2017-05-24 Koninklijke Philips N.V. Rekonfigurierbare roboterarchitektur für minimalinvasive eingriffe
EP3200960A4 (de) * 2014-09-30 2018-05-30 Seiko Epson Corporation Roboter und robotersystem
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
EP3474763A1 (de) * 2016-06-22 2019-05-01 Koninklijke Philips N.V. Bildführung für eine entkoppelte kinematische steuerung eines entfernten drehpunkts
GB201615438D0 (en) 2016-09-12 2016-10-26 Imp Innovations Ltd Apparatus and method for assisting tool use
CN108366831B (zh) * 2016-09-16 2022-03-18 威博外科公司 用于将机器人臂安装到手术台的手术台转接件
US11389360B2 (en) * 2016-09-16 2022-07-19 Verb Surgical Inc. Linkage mechanisms for mounting robotic arms to a surgical table
EP3949891A1 (de) 2016-10-04 2022-02-09 Intuitive Surgical Operations, Inc. Systeme und verfahren zur computerunterstützten telebetriebenen chirurgie
EP3528736A4 (de) 2016-10-18 2020-06-17 Intuitive Surgical Operations Inc. Systeme und verfahren zur computerunterstützten telebetriebenen chirurgie
CN110139620B (zh) * 2016-11-22 2022-09-20 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
WO2018104439A1 (en) * 2016-12-08 2018-06-14 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target plane
EP3551097B1 (de) * 2016-12-08 2024-03-20 Orthotaxy Chirurgisches system zum schneiden einer anatomischen struktur gemäss mindestens einer zielschnittebene
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
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
JP2020512116A (ja) * 2017-03-31 2020-04-23 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． マーカーレスロボット追跡システム、制御装置、及び方法
EP3648674A1 (de) * 2017-07-07 2020-05-13 Koninklijke Philips N.V. Robotische instrumentenführungsintegration mit einer akustischen sonde
JP6999824B2 (ja) 2018-01-17 2022-01-19 オーリス ヘルス インコーポレイテッド 調節可能なアーム支持体を有する外科用プラットフォーム
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系统
US11000950B2 (en) 2018-06-01 2021-05-11 X Development Llc Robotic motion planning
US12042928B2 (en) * 2019-08-09 2024-07-23 Medtech S.A. Robotic controls for a surgical robot
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
WO2021071540A1 (en) * 2019-10-11 2021-04-15 Colubrismx, Inc. Seven degree of freedom positioning device for robotic surgery
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
EP4171891A4 (de) * 2020-06-25 2024-05-15 Rogue Research Inc. Gelenkiges positionierungssystem für ein wissenschaftliches oder medizinisches werkzeug, robotisierte positionierungsanordnung damit und entsprechendes verfahren
US12115670B2 (en) 2021-12-15 2024-10-15 Intrinsic Innovation Llc Equipment specific motion plan generation for robotic skill adaptation
GB202203245D0 (en) * 2022-03-09 2022-04-20 Queens Univ Of Belfast Apparatus for positioning a tool

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Also Published As

Publication number Publication date
WO2007045810A2 (en) 2007-04-26
KR20080072667A (ko) 2008-08-06
EP1951139A2 (de) 2008-08-06
CN101919736B (zh) 2012-11-28
GB0521281D0 (en) 2005-11-30
WO2007045810A3 (en) 2007-07-12
CN101304701A (zh) 2008-11-12
US20090041565A1 (en) 2009-02-12
JP5122469B2 (ja) 2013-01-16
CA2626255A1 (en) 2007-04-26
CA2626255C (en) 2014-07-29
ATE502592T1 (de) 2011-04-15
AU2006303175A1 (en) 2007-04-26
JP2009512473A (ja) 2009-03-26
ES2362304T3 (es) 2011-07-01
EP1951139B1 (de) 2011-03-23
KR101334759B1 (ko) 2013-11-29
US8303575B2 (en) 2012-11-06
CN101919736A (zh) 2010-12-22
AU2006303175B2 (en) 2012-06-14

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