[go: up one dir, main page]

WO2009079781A1 - Manipulateur chirurgical - Google Patents

Manipulateur chirurgical Download PDF

Info

Publication number
WO2009079781A1
WO2009079781A1 PCT/CA2008/002250 CA2008002250W WO2009079781A1 WO 2009079781 A1 WO2009079781 A1 WO 2009079781A1 CA 2008002250 W CA2008002250 W CA 2008002250W WO 2009079781 A1 WO2009079781 A1 WO 2009079781A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
surgical
pulley
input
output
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.)
Ceased
Application number
PCT/CA2008/002250
Other languages
English (en)
Inventor
Benny Hon Bun Yeung
Dennis Gregoris
Bronislaw Bednarz
Michael A. Gray
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.)
MacDonald Dettwiler and Associates Inc
Original Assignee
MacDonald Dettwiler and Associates Inc
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 MacDonald Dettwiler and Associates Inc filed Critical MacDonald Dettwiler and Associates Inc
Priority to CA2709634A priority Critical patent/CA2709634C/fr
Publication of WO2009079781A1 publication Critical patent/WO2009079781A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • 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
    • 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
    • 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
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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

Definitions

  • the present invention relates to a surgical manipulator including a manipulator arm, an end-effector held by the manipulator arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis.
  • a number of commercial surgical robotic systems are currently in use including the NeuroArm Magnetic Resonance Imager (MRI) compatible neurosurgical robot by the University of Calgary, the da Vinci and Zeus surgical robots by Intuitive Surgical, the RAMS system by Microdexterity and the Jet Propulsion Laboratory, the Haptic Guidance System by MAKO, the SpineAssist by Mazor Surgical Technologies, as well as ROBODOC of Integrated Surgical Systems.
  • MRI Magnetic Resonance Imager
  • the present invention also provides a surgical manipulator system, comprising; a) at least first and second surgical manipulators as disclosed above; b) left and right hand controllers with the right hand controller being associated with the first surgical manipulator and the left hand controller being associated with the second surgical manipulator, said at least first and second hand controllers being configured to be operated by a surgeon; c) communication system coupling said left and right hand controllers to said at least first and second surgical manipulators for translating movement of said left and right hand controllers to scaled movement of said at least first and second surgical manipulators; and d) a vision system focused on a work area including an area of a patient to be operated on and focused on the end-effectors and associated surgical tools attached to said at least two surgical manipulators, said vision system including display means for displaying images of said work area to a surgeon.
  • Figure 3c is a view of the output shaft along the arrow 3c in Figure 3b;
  • Figure 6a is an isometric view of an input pulley forming part of the right angle drive
  • Figure 9c shows the side view of the tensioning screw of Figure 9a
  • Figure 12 shows a side cross-sectional view of the input elements
  • Figure 16e is another an isometric view of the surgical manipulator similar to Figure 16a but looking from the opposite direction;
  • Figures 17a to 17e show details of the manipulator base forming a shoulder-roll joint assembly;
  • Figure 17a is an isometric view of the manipulator base without the cover
  • Figure 17e is a front cross-section view of Figure 17b along e-e showing the actuation components of the shoulder-roll joint and showing the cover 402;
  • Figure 24a is an isometric view of an alternative embodiment of a surgical tool in the closed position;
  • Figure 24b is an elevational view of the surgical tool of Figure 24a;
  • Figure 26e is a cross-sectional view of the assembled end-effector holding a surgical tool along the line c-c of Figure 26c showing the load-path of the tip force monitored by the force-moment sensor;
  • Figure 29f is an isometric view of the end-effector releasing the tool at the tool tray.
  • each marking on the code disc is identical, and electronic signals are generated in the form of pulses which are counted by the controller to determine the relative positioning or differentiated against time to obtain speed.
  • each marking on the code disc is distinctively formed by a series of lines, and the resulting electronic signal from the light detection of the optical sensor will be a unique binary code which makes absolute position sensing possible.
  • the mid-housing 22 includes a pair of circular bores 70 and 72 which are match-machined to be perfectly concentric to each other for the angular-contact ball-bearings 24 shown in Figure 1.
  • the diameter 68 which is smaller than that of 70 and 72 is sized according to the recommended outer ring shoulder landing diameter specified by the bearing manufacturer. Details of the mounting and preloading of the angular-contact ball-bearing pair 24 inside mid-housing 22 will be described later.
  • Mid-housing 22 includes an idler support section 74 ( Figure 4a) having two holes 76, one on the top surface and the other on the bottom surface for receiving idler shafts 78 which are part of the main idler mechanisms, shown in Figure 2. Referring to Figures 4f and 11b, the two angular-contact ball-bearings
  • cable 92b (Figure 8) is wrapped around the main section 112 ( Figures 5a and 8) of the output pulley 20 along the circular groove 160 ( Figure 6g) which is machined on the circumferential surface 116 ( Figure 5a) in a spiral helical path along the center of rotation of the pulley 20.
  • the direction of which cable 92b winds around the surface 116 is counter-clockwise starting from the lateral access hole above the tensioning screw hole 146a and looking into the output pulley 20 at the output load interface surface.
  • a washer 99 ( Figure 1) and hex nut 100 ( Figure 1) are placed onto the threaded section 156 ( Figure 9b) of the tensioning screw 96a to fix the rotary position of the tensioning screw 96a with respect to the output pulley 20.
  • the cable tension can be guaranteed if the tensioning screw cannot be turned counter-clockwise without loosening up the hex nut. This is accomplished by selecting the lateral access hole 147 from the pair for each tensioning screws on the output pulley 20 such that the tensioning screw will always need to be turned clockwise to tighten the cable tension.
  • the input axis 58 defined by the harmonic-drive 56 (see Figure 15) and output axis 180 defined by the output shaft 26 ( Figure 11b) are aligned perpendicular to each other.
  • the transmission between the input and output pulleys 54 and 20 respectively is carried out by the cable-pulley system including input pulley 54 and output pulley 20, main idlers 80a, 80b and auxiliary idlers 82a, 82b and cables 90a, 90b and 92a, 92b, in which these two sets of cables correspond to the two directions of rotation.
  • Figures 14 and 15 show isometric views of the drive unit without the cover 16 thereby showing the placement of the cable drive system, shown in Figure 8, now placed in the chassis 14. There is a slight difference in structure of the output pulley 20 of the right-angle drive in Figure 14 and 15 compared to right-angle drive 10 in Figure 1.
  • the output pulley 20 includes a raised guide 21 integrally formed on the outer surface of pulley 20.
  • the right-angle drive shown in Figure 14 and 15 is larger than the right-angle drive 10 in Figure 1 because it is used in both the shoulder-pitch joint as the right-angle drive 406 and the elbow-pitch joint as the right-angle drive 410.
  • the raised guide 21 on output pulley 20 of right-angle drive unit 406 is used for guiding the internal axle 505 of the shoulder support 439 to be coupled with the output pulley 20, forming a combined drive shaft to rotate the output bracket 266.
  • the raised guide 21 on the output pulley 20 of the right-angle drive unit 410 for the elbow-pitch joint is not used ( Figure 19e).
  • the cable driven right-angle drive 10 disclosed herein has several advantageous features. Specifically, it is a low-to-medium load, lightweight unit which may be retrofitted into the joints of existing modular robotic arm systems.
  • the use of the drive cables 90a, 90b and 92a, 92b provide a backlash-free bidirectional rotation.
  • the drive by incorporating harmonic-drive 56, provides a back-lash free motor input.
  • the drive unit is compact and lightweight, and has an in-line or offset input/output configuration. In an in-line configuration the input and output axes are coplanar whereas in an offset configuration the planes of the input and output axes are parallel but offset in direction normal to the planes.
  • the relative alignment error between the input and output axis can be compensated by the tensioning of the cables.
  • the unit uses redundant cables for safety, uses a simple cable tensioning mechanism and is highly cost-effective since it is of simple construction and does not require expensive gearing and alignment.
  • While a preferred embodiment of the present invention is the right- angle drive where the input pulley 54 and output pulley 20 rotate in planes that are perpendicular to each other so that the rotational motion of the input shaft is converted to rotational motion about an axis perpendicular to the input rotational axis, it will be understood that other angles are possible.
  • the screw/nut tensioning requires manual adjustment, whereas automatic tension adjustment is possible using a ratcheting mechanism.
  • spring or ratchet or screw/nut mechanisms are all possible embodiments of the cable tensioning device.
  • the motor 212 is a combination of harmonic-drive, an optical incremental encoder (measuring input motor position) and a DC brushless motor.
  • the harmonic-drive 56 supplies additional gear ratio between the motor 212 input to the resulting output motion at the drive shaft 220 to further reduce the speed of the gear 204.
  • a power-off brake 208 is coupled to the motor 212, at which the armature of the brake 222 is connected to the shoulder-roll drive shaft 220 just below the motor 212.
  • the brake 222 is mounted onto the brake support 210, which is then secured on the mounting plate 200. Upon braking or emergency stop situation, power supplied to the brake 208 will be cut, the armature 222 of the brake 208 will stop rotating by the magnetic field generated inside the brake
  • Motor 212 may include a servo motor integrated with a harmonic gear and an angular encoder for measuring rotational displacement of the motor shaft 220 coupled to said pinion gear.
  • the shoulder-pitch joint includes a right-angle drive 406 which is mounted on top of upper base 404 ( Figure 16a).
  • the structure and operation of the right angle drive shoulder-pitch joint 406 has been described above in the section entitled Right-Angle Drive.
  • the spur gear 204 and the shoulder-pitch housing 252 form part of the shoulder- roll structure, as described in the previous paragraph.
  • the spur gear 204 acts as the interface between the right-angle drive 406 and the input actuating components, which include a DC brushless motor 250, with an interface plate 253 at the rear at which a power-off electro-magnetic brake 254 is attached, and an incremental optical encoder 256 mounted to the brake 254 directly which measures the motor input position.
  • the linkages of the manipulator 400 are arranged in an offset configuration in which the lower arm 408 and the fore arm 412 are both cascaded along the shoulder-pitch 422 and elbow-pitch 426 axis with respect to the shoulder- roll axis 414 and wrist-roll 438 axis.
  • surgical manipulator 400 may be configured to be rapidly reconfigurable modular wherein modules of the manipulator can be quickly removed and replaced with a different but similar modules containing a different size, shape, orientation or sequence of joints and end effectors. This permits the manipulator 400 to be reconfigured for the task at hand while at the same time utilizing a common base 401 and controller (not shown).
  • the quick disconnect allows for a mechanical, electrical, video interface between the remaining segment of the manipulator and the segment that is replaced.
  • the end effecter 428 ( Figure 16a) connected to the end of the robotic wrist unit 424 holds a surgical tool 430 which can be detached from the end- effector 428 in a manner to be discussed after the discussion of the tools.
  • Figures 22a to 22e show a first embodiment of a surgical tool 430 which can be detachably mounted to end effecter 428 attached to the manipulator 400 ( Figure 16a).
  • tool 430 includes a main housing 500, a Teflon bushing 502 seated in the end of housing 500, a piston
  • Figures 24a and 24b show another embodiment of a surgical tool which includes a main body 632, a central piston 634 having a piston head
  • Figure 29f shows the passive tool changer mechanism on a tool tray 911 for auto tool-changing.
  • Static pins 950 fixed to a tool tray 911 are positioned to engage specific end-effector features to release the tool. These features include the pivoting fingers 614 of the actuator subassembly 452 and the outer idler pulleys 438 of the tool-yaw subassembly 454, both of which are engaging with the tool 430 and needs to be released.
  • the actual ejecting feature lies in the tool-holder 450, from which the ejecting wings 617 need to be pressed backward into the opened position so as to eject the tool 430. This is carried out by the mating ejection latches 951 on the tool tray 911, which line up with the wings 617 and has a spring-loaded pliers-like mechanism to provide a cushioned tool-ejection.
  • the manipulator 400 brings the empty-handed end-effector 428 over the top of the tool 430 on the tray 911, presses down the end-effector 428 to open up the engaging features 614 and 438 as well as the ejection wings 617, and captures the tool 430 by the magnet 618 on the tool holder 450 of the end- effector 428.
  • the tool tray 911 has multiple sets of pins 950 for each corresponding surgical tool, and also possesses a tool-identification sensor, which upon reading the tag built-in to each tool, the main controller can register which tool the manipulator 400 has picked up.
  • Identification tags on the tool can be a bar code or infra-red tag, which works with a corresponding IR-sensor on the tool tray 911.
  • the open front-framed architecture and belt configuration allows the tool 430 to be ejected/replaced from the front of the tool yaw mechanism 454, avoiding it being tangled around the belt 540.
  • the tool ejection process is further aided by the outer idler pulleys 438, supported by sheet metal flexures 621 , which can be passively spread out enough to completely disengage the tool, eliminating any frictional effects.
  • the metal flexures 621 When engaged with the tool 430, the metal flexures 621 allow a constant preload to the timing belt 540 during tool yawing but can also manually collapse, when no tool is present, for easy timing belt replacement.
  • Figures 27c and 27d show further details of components making up the end-effector.
  • the right- angle drive unit 10 disclosed herein may be used in any application requiring conversion of rotational motion along one axis to rotational motion along another axis and is not restricted to being mounted on manipulator 400 disclosed herein.
  • Figure 26e shows a cross-section through the load path of the end- effector 428.
  • the grounded portion consists of the base block 605 that supports the backend of the force-moment sensor 608 only. All of the actuators 600 and 601 , the tool-actuation sensor 604, and their corresponding supporting structure are mounted to the front face of the sensor 608 free end.
  • This excess weight read by the sensor 608 can be offset by zeroing out the signal at the controller with the known weights and center-of-gravity distances of each part contributing to the weight measured by the sensor 608, including those of the tool 430.
  • This active gravity compensation technique can be completed by computing the expected dead weight of all parts at the sensor location with the dynamic equations of the manipulator, minus which the filtered signal from the sensor is the pure external forces and moments acting at the tool tips.
  • This scaled motion may be predetermined in software and may be 1 :1 in which the move of the surgeons hand on the controller is translated into exactly the same movement of the end-effector. However the ratio need not be 1 :1 depending on the surgical procedure involved.
  • each of the manipulators 900 and 901 there is a tool tray 911 located near the base of each manipulator.
  • the tool tray 911 holds a number of surgical tools which may or may not be identical to the tools shown in Figures 22a to 25b, but are required for the planned surgical procedures.
  • the manipulators 900 and 901 are programmed to change tools automatically at the tool tray 911 upon a single command from the surgeon 960. Both manipulators 900 and 901 are mounted on the mobile platform 906 which can easily be transported to dock with the operating table 907 and undock and remove when the operation is completed.
  • the left hand- controller 903 by default controls the left manipulator 900, and the right hand- controller controls the right manipulator 901 , although through software selection the surgeon 960 can switch over the communication linkage between the pair if it is required during the operation.
  • Each of the haptic devices 903 and 904 is a 6DOF hand-controller that can measure a surgeon's hand motion in all six directions of translation and rotation in 3D space.
  • the motion signals are then sent to the intended manipulator through the motion controller, at which the surgeon's input will be reproduced.
  • These signals can also be scaled, such that the surgeon 960 can fully utilize the best resolution of the manipulators motion by having their hand motions at the hand-controllers 903 and 904 scaled down before being carried out by the manipulators.
  • switches are available for the surgeon 960 to control other functions of the manipulators, such as tool-actuation, dead-man switch, and automatic tool changing.
  • the terms “comprises”, “comprising”, “including” and “includes” are to be construed as being inclusive and open ended, and not exclusive. Specifically, when used in this specification including claims, the terms “comprises”, “comprising”, “including” and “includes” and variations thereof mean the specified features, steps or components are included. These terms are not to be interpreted to exclude the presence of other features, steps or components.
  • 6,951 ,535 Tele-medicine system that transmits an entire state of a subsystem
  • 06804581 Automated endoscope system optimal positioning; 2004-10-12,
  • 06892112 Modularity system for computer assisted surgery; 2005-05-10,
  • 5784542 Decoupled six degree-of-freedom teleoperated robot system; 1998-

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (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

La présente invention concerne un manipulateur chirurgical qui comprend un bras de manipulateur, un effecteur terminal tenu par le bras robotique, des outils chirurgicaux tenus par l'effecteur terminal et des articulations de manipulateur, particulièrement des dispositifs d'entraînement à angle droits destinés à transmettre un mouvement rotatif dans un axe à un axe perpendiculaire. Le manipulateur chirurgical peut avoir jusqu'à sept (7) degrés de liberté en utilisant jusqu'à quatre (4) mécanismes d'entraînement à angle droit.
PCT/CA2008/002250 2007-12-21 2008-12-22 Manipulateur chirurgical Ceased WO2009079781A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA2709634A CA2709634C (fr) 2007-12-21 2008-12-22 Manipulateur chirurgical

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US857407P 2007-12-21 2007-12-21
US61/008,574 2007-12-21

Publications (1)

Publication Number Publication Date
WO2009079781A1 true WO2009079781A1 (fr) 2009-07-02

Family

ID=40800617

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2008/002250 Ceased WO2009079781A1 (fr) 2007-12-21 2008-12-22 Manipulateur chirurgical

Country Status (2)

Country Link
CA (1) CA2709634C (fr)
WO (1) WO2009079781A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012031919A1 (fr) * 2010-09-08 2012-03-15 Siemens Aktiengesellschaft Système d'instrument pour un robot endoscopique
EP2907467A1 (fr) * 2014-02-18 2015-08-19 Samsung Electronics Co., Ltd Dispositifs maîtres pour robots chirurgical et procédés de commande de ceux-ci
US9113880B2 (en) 2007-10-05 2015-08-25 Covidien Lp Internal backbone structural chassis for a surgical device
US10041822B2 (en) 2007-10-05 2018-08-07 Covidien Lp Methods to shorten calibration times for powered devices
EP3076882B1 (fr) * 2013-12-03 2019-08-28 Richard Wolf GmbH Instrument, en particulier instrument médical-endoscopique ou technoscope
US10816335B2 (en) 2015-08-05 2020-10-27 Renishaw Plc Coordinate positioning machine
CN113499142A (zh) * 2021-07-14 2021-10-15 天津大学医疗机器人与智能系统研究院 前端执行装置、手术器械、从手端及微创手术系统
WO2021225863A1 (fr) * 2020-05-04 2021-11-11 Intuitive Surgical Operations, Inc. Instrument médical à entrée unique pour l'entraînement de multiples câbles
US20210369374A1 (en) * 2018-05-17 2021-12-02 Medical Microinstruments S.p.A. Master controller assembly for a robotic surgery system, particularly for microsurgery
US12048504B2 (en) 2018-11-15 2024-07-30 Intuitive Surgical Operations, Inc. Cable drive limited slip capstan and shaft
CN120395923A (zh) * 2025-07-04 2025-08-01 中国科学技术大学 控制双臂机器人做化学凝胶表征实验的方法、设备及介质

Families Citing this family (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8496647B2 (en) 2007-12-18 2013-07-30 Intuitive Surgical Operations, Inc. Ribbed force sensor
US8628518B2 (en) 2005-12-30 2014-01-14 Intuitive Surgical Operations, Inc. Wireless force sensor on a distal portion of a surgical instrument and method
US8561473B2 (en) 2007-12-18 2013-10-22 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
US12226070B2 (en) 2012-05-20 2025-02-18 Cilag Gmbh International System comprising control circuit to determine a property of a fluid at a surgical site
CN113274137B (zh) 2013-08-15 2024-12-03 直观外科手术操作公司 器械无菌适配器驱动接口
US10799303B2 (en) 2013-08-15 2020-10-13 Intuitive Surgical Operations, Inc. Preloaded surgical instrument interface
CN105611891B (zh) 2013-08-15 2018-09-21 直观外科手术操作公司 可变器械预加载机构控制器
WO2015023834A1 (fr) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Éléments d'entraînement d'adaptateur stérile d'instrument
KR102313240B1 (ko) 2013-08-15 2021-10-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 기구 피동 요소
US10932806B2 (en) 2017-10-30 2021-03-02 Ethicon Llc Reactive algorithm for surgical system
US11510741B2 (en) 2017-10-30 2022-11-29 Cilag Gmbh International Method for producing a surgical instrument comprising a smart electrical system
US11291510B2 (en) 2017-10-30 2022-04-05 Cilag Gmbh International Method of hub communication with surgical instrument systems
US10675107B2 (en) 2017-11-15 2020-06-09 Intuitive Surgical Operations, Inc. Surgical instrument end effector with integral FBG
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
WO2019133144A1 (fr) 2017-12-28 2019-07-04 Ethicon Llc Détection et intensification des réponses de sécurité d'instruments chirurgicaux à des menaces à la gravité croissante
US20190201090A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Capacitive coupled return path pad with separable array elements
US12396806B2 (en) 2017-12-28 2025-08-26 Cilag Gmbh International Adjustment of a surgical device function based on situational awareness
US11202570B2 (en) 2017-12-28 2021-12-21 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US11464559B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Estimating state of ultrasonic end effector and control system therefor
US12096916B2 (en) 2017-12-28 2024-09-24 Cilag Gmbh International Method of sensing particulate from smoke evacuated from a patient, adjusting the pump speed based on the sensed information, and communicating the functional parameters of the system to the hub
US12062442B2 (en) 2017-12-28 2024-08-13 Cilag Gmbh International Method for operating surgical instrument systems
US12127729B2 (en) 2017-12-28 2024-10-29 Cilag Gmbh International Method for smoke evacuation for surgical hub
US11304699B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11998193B2 (en) 2017-12-28 2024-06-04 Cilag Gmbh International Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation
US20190201139A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Communication arrangements for robot-assisted surgical platforms
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US11179175B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Controlling an ultrasonic surgical instrument according to tissue location
US11026751B2 (en) 2017-12-28 2021-06-08 Cilag Gmbh International Display of alignment of staple cartridge to prior linear staple line
US11311306B2 (en) 2017-12-28 2022-04-26 Cilag Gmbh International Surgical systems for detecting end effector tissue distribution irregularities
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US11969142B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws
US11076921B2 (en) 2017-12-28 2021-08-03 Cilag Gmbh International Adaptive control program updates for surgical hubs
US11324557B2 (en) 2017-12-28 2022-05-10 Cilag Gmbh International Surgical instrument with a sensing array
US20190201112A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Computer implemented interactive surgical systems
US20230171304A1 (en) * 2017-12-28 2023-06-01 Cilag Gmbh International Method of robotic hub communication, detection, and control
US11896322B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub
US11633237B2 (en) 2017-12-28 2023-04-25 Cilag Gmbh International Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures
US11257589B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes
US20190206569A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Method of cloud based data analytics for use with the hub
US11969216B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US11259830B2 (en) 2018-03-08 2022-03-01 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
US11678927B2 (en) 2018-03-08 2023-06-20 Cilag Gmbh International Detection of large vessels during parenchymal dissection using a smart blade
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
US11980504B2 (en) 2018-05-25 2024-05-14 Intuitive Surgical Operations, Inc. Fiber Bragg grating end effector force sensor
US11298130B2 (en) 2019-02-19 2022-04-12 Cilag Gmbh International Staple cartridge retainer with frangible authentication key
US12257014B2 (en) 2021-06-22 2025-03-25 Intuitive Surgical Operations, Inc. Devices and methods for crimp interface for cable tension sensor

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2906143A (en) * 1955-03-21 1959-09-29 United Shoe Machinery Corp Strain wave gearing
CA1214695A (fr) * 1982-03-19 1986-12-02 Richard L. Morris Entrainement a poulies multiples
US4766775A (en) * 1986-05-02 1988-08-30 Hodge Steven W Modular robot manipulator
US5553198A (en) * 1993-12-15 1996-09-03 Computer Motion, Inc. Automated endoscope system for optimal positioning
US20020040217A1 (en) * 2000-09-29 2002-04-04 Kabushiki Kaisha Toshiba Manipulator
US6436107B1 (en) * 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
WO2003067341A2 (fr) * 2002-02-06 2003-08-14 The Johns Hopkins University Centre telecommande d'un procede et d'un systeme automatises et motorises
US20040267254A1 (en) * 2003-06-30 2004-12-30 Intuitive Surgical, Inc., A Delaware Corporation Electro-surgical instrument with replaceable end-effectors and inhibited surface conduction
EP1815950A1 (fr) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Dispositif chirurgical robotique pour effectuer des techniques opératoires minimalement invasive
WO2007143859A1 (fr) * 2006-06-14 2007-12-21 Macdonald Dettwiler & Associates Inc. Manipulateur chirurgical avec mécanismes d'entraînement par poulies à angle droit

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2906143A (en) * 1955-03-21 1959-09-29 United Shoe Machinery Corp Strain wave gearing
CA1214695A (fr) * 1982-03-19 1986-12-02 Richard L. Morris Entrainement a poulies multiples
US4766775A (en) * 1986-05-02 1988-08-30 Hodge Steven W Modular robot manipulator
US5553198A (en) * 1993-12-15 1996-09-03 Computer Motion, Inc. Automated endoscope system for optimal positioning
US6436107B1 (en) * 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US20020040217A1 (en) * 2000-09-29 2002-04-04 Kabushiki Kaisha Toshiba Manipulator
WO2003067341A2 (fr) * 2002-02-06 2003-08-14 The Johns Hopkins University Centre telecommande d'un procede et d'un systeme automatises et motorises
US20040267254A1 (en) * 2003-06-30 2004-12-30 Intuitive Surgical, Inc., A Delaware Corporation Electro-surgical instrument with replaceable end-effectors and inhibited surface conduction
EP1815950A1 (fr) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Dispositif chirurgical robotique pour effectuer des techniques opératoires minimalement invasive
WO2007143859A1 (fr) * 2006-06-14 2007-12-21 Macdonald Dettwiler & Associates Inc. Manipulateur chirurgical avec mécanismes d'entraînement par poulies à angle droit

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9113880B2 (en) 2007-10-05 2015-08-25 Covidien Lp Internal backbone structural chassis for a surgical device
US10041822B2 (en) 2007-10-05 2018-08-07 Covidien Lp Methods to shorten calibration times for powered devices
US10760932B2 (en) 2007-10-05 2020-09-01 Covidien Lp Methods to shorten calibration times for powered devices
WO2012031919A1 (fr) * 2010-09-08 2012-03-15 Siemens Aktiengesellschaft Système d'instrument pour un robot endoscopique
EP3076882B1 (fr) * 2013-12-03 2019-08-28 Richard Wolf GmbH Instrument, en particulier instrument médical-endoscopique ou technoscope
US10413375B2 (en) 2013-12-03 2019-09-17 Richard Wolf Gmbh Instrument, in particular a medical endoscopic instrument or technoscope
EP2907467A1 (fr) * 2014-02-18 2015-08-19 Samsung Electronics Co., Ltd Dispositifs maîtres pour robots chirurgical et procédés de commande de ceux-ci
US9655680B2 (en) 2014-02-18 2017-05-23 Samsung Electronics Co., Ltd. Master devices for surgical robots and control methods thereof
US10816335B2 (en) 2015-08-05 2020-10-27 Renishaw Plc Coordinate positioning machine
US11300408B2 (en) 2015-08-05 2022-04-12 Renishaw Plc Coordinate positioning machine
US20210369374A1 (en) * 2018-05-17 2021-12-02 Medical Microinstruments S.p.A. Master controller assembly for a robotic surgery system, particularly for microsurgery
US12048504B2 (en) 2018-11-15 2024-07-30 Intuitive Surgical Operations, Inc. Cable drive limited slip capstan and shaft
WO2021225863A1 (fr) * 2020-05-04 2021-11-11 Intuitive Surgical Operations, Inc. Instrument médical à entrée unique pour l'entraînement de multiples câbles
CN113499142A (zh) * 2021-07-14 2021-10-15 天津大学医疗机器人与智能系统研究院 前端执行装置、手术器械、从手端及微创手术系统
CN113499142B (zh) * 2021-07-14 2023-09-01 天津大学医疗机器人与智能系统研究院 前端执行装置、手术器械、从手端及微创手术系统
CN120395923A (zh) * 2025-07-04 2025-08-01 中国科学技术大学 控制双臂机器人做化学凝胶表征实验的方法、设备及介质

Also Published As

Publication number Publication date
CA2709634A1 (fr) 2009-07-02
CA2709634C (fr) 2017-04-25

Similar Documents

Publication Publication Date Title
CA2709634C (fr) Manipulateur chirurgical
US8444631B2 (en) Surgical manipulator
CA2655431C (fr) Manipulateur chirurgical
US12171516B2 (en) Computer-assisted tele-operated surgery systems and methods
US11998292B2 (en) Control of computer-assisted tele-operated systems
EP1979136B1 (fr) Systeme chirurgical robotique pour la realisation de procedures medicales peu invasives
CA2966837C (fr) Bras de support intelligent pour chirurgie de la tete avec, commandes sensibles au contact
EP1984150B1 (fr) Système médical robotisé comprenant un bras manipulateur de type à coordonées cylindriques
US11020192B2 (en) Computer-assisted tele-operated surgery systems and methods

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08863670

Country of ref document: EP

Kind code of ref document: A1

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
WWE Wipo information: entry into national phase

Ref document number: 2709634

Country of ref document: CA

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 08863670

Country of ref document: EP

Kind code of ref document: A1