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WO2011115387A2 - Coupleur de bras de robot pour intervention chirurgicale par trocart unique, et robot chirurgical le comprenant - Google Patents

Coupleur de bras de robot pour intervention chirurgicale par trocart unique, et robot chirurgical le comprenant Download PDF

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Publication number
WO2011115387A2
WO2011115387A2 PCT/KR2011/001659 KR2011001659W WO2011115387A2 WO 2011115387 A2 WO2011115387 A2 WO 2011115387A2 KR 2011001659 W KR2011001659 W KR 2011001659W WO 2011115387 A2 WO2011115387 A2 WO 2011115387A2
Authority
WO
WIPO (PCT)
Prior art keywords
robot
single port
surgical
coupler
robot arms
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/KR2011/001659
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English (en)
Korean (ko)
Other versions
WO2011115387A3 (fr
Inventor
최승욱
원종석
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.)
ETERNE Inc
Original Assignee
ETERNE 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
Priority claimed from KR1020110009976A external-priority patent/KR101066196B1/ko
Application filed by ETERNE Inc filed Critical ETERNE Inc
Publication of WO2011115387A2 publication Critical patent/WO2011115387A2/fr
Publication of WO2011115387A3 publication Critical patent/WO2011115387A3/fr
Anticipated expiration legal-status Critical
Ceased 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments

Definitions

  • the present invention relates to a single port surgical robot arm coupler and a surgical robot having the same.
  • surgery refers to repairing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with a medical device.
  • Laparoscopic surgery during this operation corresponds to surgery to split the abdominal cavity or the skin of the face (skin), and to treat, shape or remove the organs therein.
  • laparotomy When performing a laparotomy or the like, a predetermined space is formed between the skin and the tissue by dissecting and lifting the skin and then performing a surgical operation through the space. Therefore, laparotomy is a problem that is slow to heal after surgery because a lot of wounds, laparoscopic surgery is currently attracting attention.
  • laparoscopic surgery is performed by observing the surgical site of the abdominal cavity through a small hole in the abdomen of the patient, and surgery, such as gallbladder removal, appendectomy, gastrectomy, colorectal resection It is also widely used in the field.
  • the so-called 'single port surgery' during laparoscopic surgery is a surgery performed by drilling a single hole in the patient's abdomen, or 'single port', and inserting all the instruments through a single port. While there is an advantage that can be minimized, there is a disadvantage that the surgical method is not easy.
  • the background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.
  • the present invention is to provide a single port surgical robot arm coupler and a surgical robot having the same so that a general laparoscopic surgical robot equipped with a plurality of robot arms can also be used as a single port surgical robot.
  • a coupler used in a surgical robot that is operated by mounting a surgical instrument to each of the plurality of robot arms, the body and formed on the body, the plurality of robot arms are single port surgery (single port) As a single port perforated in the body and a plurality of instruments penetrated to the surgical site of the patient to be respectively coupled to the end of the plurality of robot arms to be set in a predetermined state for surgery)
  • a single port surgical robot arm coupler is provided that includes a plurality of through holes for insertion.
  • the plurality of robot arms By coupling the binding portion to an end of any one or more of the plurality of robot arms, the plurality of robot arms can be fixed adjacently to each other.
  • a sensing unit for sensing whether the binding unit is coupled to the end of the robot arm is formed, the plurality of robot arms can be operated to be adjacent to each other according to a signal from the sensing unit.
  • the plurality of robotic arms can move together in its set state in accordance with a user manipulation with the manipulation handle.
  • the robot arm coupler may be integrally formed by being connected to a trocar inserted into a single port.
  • the body, a plurality of robot arms coupled to the main body, a surgical instrument mounted on each of the plurality of robot arms, and a plurality of robot arms are single port surgery (single port surgery) It includes a coupler to be set in a predetermined state for, the coupler, the body, a binding portion formed in the body to be coupled to each of the ends of the plurality of robot arms, and perforated in the body, a plurality of instruments through each Surgical robot is provided comprising a plurality of through-holes to be inserted into a single port perforated to the surgical site of the patient.
  • the plurality of robot arms may further include an operation handle for moving together in the set state according to a user operation.
  • a plurality of the main body, a plurality of robot arms coupled to the main body and a plurality of robot arms are set to be coupled to each other for single port surgery (single port surgery)
  • a controller for operating the robot arm, and a surgical instrument mounted to each of the plurality of robot arms the surgical instrument is deformed into a shape that can be inserted into a single port perforated in the surgical site of the patient
  • a flexible shaft is provided, and the controller is provided with a surgical robot, characterized in that for outputting a control signal such that the plurality of robot arms are integrally operated in the set state.
  • the controller may output a control signal such that the plurality of robot arms move together in their set state.
  • a main body a plurality of robot arms coupled to the main body, a reference instrument mounted to the first robot arm, and coupled to each other for single port surgery And an additional instrument coupled to the first robot arm or the reference instrument adjacent to the reference instrument, wherein the drive of the additional instrument receives a drive force from the second robot arm (or the body or separate power unit).
  • a surgical robot characterized in that.
  • the drive of the additional instrument can be connected to the actuator of the second robotic arm by a power transmission cable, and the additional instrument can be deformed into a shape that can be inserted into a single port drilled into the surgical site of the patient.
  • a flexible shaft may be provided.
  • the first robot arm or reference instrument may be provided with a plurality of cradles for mounting additional instruments, corresponding to the number of additional instruments.
  • the surgical robot includes a main body and a plurality of robot arms coupled to the main body and operated, the first The robot arm is equipped with a reference instrument, and the cradle is mounted on the first robot arm or reference instrument to mount additional instruments, and the cradle is mounted on the reference instrument to be coupled to each other for single port surgery. Adjacent, an additional instrument is mounted, and the instrument is provided with an instrument mounting cradle characterized in that the driving force is transmitted from the second robot arm (or the main body or a separate power unit).
  • a general laparoscopic surgical robot can also be used as a single port surgical robot.
  • the operation handle in a state in which a plurality of robot arms are coupled to each other (coupling), it is possible to move and set a plurality of robot arm assemblies connected to each other for a single port operation at once.
  • FIG. 1 is a view showing a single port surgical robot according to the prior art.
  • Figure 2 is a conceptual diagram showing a laparoscopic surgery robot according to an embodiment of the present invention.
  • FIG 3 is a conceptual view showing a single-port surgical robot arm coupler according to an embodiment of the present invention.
  • FIG. 4 and 5 is a conceptual diagram showing a surgical robot having a single-port surgical robot arm coupler according to an embodiment of the present invention.
  • FIG. 6 is a conceptual view showing a surgical robot according to another embodiment of the present invention.
  • FIG. 7 is a conceptual view showing a surgical robot according to another embodiment of the present invention.
  • first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
  • FIG. 2 is a conceptual diagram showing a laparoscopic surgical robot according to the present embodiment
  • Figure 3 is a conceptual diagram showing a single port surgical robot arm coupler according to an embodiment of the present invention. 2 to 3, the robot arm 3, the instrument 5, the single port 7, the trocar 9, the coupler 10, the body 12, the binding unit 14, and the sensing unit 14. 16, through hole 18, operation handle 20 is shown.
  • Robot arm coupler in order to use a surgical robot equipped with a plurality of robot arms for the single port surgery (single port surgery), it characterized in that the plurality of robot arms are fixed to be adjacent to each other do. Furthermore, it is characterized in that a plurality of adjacently fixed robot arms can be operated at once by manipulating one handle.
  • the laparoscopic surgical robot is provided with a plurality of robot arms 3 as shown in FIG. 2.
  • Each of the plurality of robotic arms 3 may be equipped with various surgical instruments 5 such as endoscopes, laparoscopes, lights, forceps, forceps, scissors, cutters, and the like.
  • Laparoscopic robotic surgery is performed by mounting the appropriate instrument 5 and operating each robot arm 3 individually.
  • the coupler according to the present embodiment serves to connect each robot arm 3 to each other so that such a general laparoscopic surgical robot can be used as a single port surgical robot, the body 12 and the body 12 It may be formed of the binding portion 14 and the through-hole 18 is formed.
  • the fastening portion 14 is a portion in which the coupler 10 according to the present embodiment is coupled to the robot arm 3, and has a fitting structure, a fitting structure, and a 'tongue and groove' for engagement with the robot arm 3. It may be implemented in the form of a variety of coupling mechanism (mechanism) such as a groove 'structure.
  • the robot arm 3 may be set to a state (hereinafter, referred to as a 'ready state') for single port surgery.
  • the coupler 10 May serve to connect and secure the robot arms 3 to each other such that the plurality of robot arms 3 are gathered in such a preset ready state.
  • a plurality of robot arms may be prepared by simply coupling the binding portions 14 to the respective robot arms 3. That is, the robot arm 3 can be set to the ready state by the coupler 10 in a mechanical manner.
  • FIG 3 shows a case where the binding portions 14 of the coupler 10 are coupled to each of the plurality of robot arms 3 so that the plurality of robot arms 3 are fixed in an adjacent state (preparation state).
  • the coupler 10 does not necessarily have to be used in a mechanical manner, and the robot arm 3 may also be set to a ready state in an electronic manner. That is, the sensing unit 16 is formed at the end of the robot arm 3 to detect whether the binding unit 14 is coupled, and when the binding unit 14 is coupled to the robot arm 3, the sensing unit 16 is removed from the sensing unit 16. The robot arm 3 may be operated until the ready and received signal is received.
  • an electrical contact is formed at the binding portion 14, and a sensor for generating a sensing signal by contact with the electrical contact is installed at the robot arm 3, whereby the sensor is the sensing unit 16 according to the present embodiment.
  • the sensor is the sensing unit 16 according to the present embodiment.
  • the surgical robot stores information on the position and the direction when each robot arm 3 is in a ready state, and when a signal is transmitted from the sensing unit 16, the controller of the surgical robot moves to the robot arm 3.
  • the drive can be operated to set the robot arm 3 in the ready state until it is in this pre-stored position and orientation.
  • the through hole 18 may be drilled in the body 12 of the coupler 10 according to the present embodiment so that the instrument 5 mounted on the robot arm 3 may pass therethrough. That is, the instrument 5 is mounted on the robot arm 3 in a state in which the binding unit 14 is coupled to each robot arm 3 so that the robot arm 3 is set to a ready state, and in this process, the instrument ( 5) may be inserted into the single port 7 perforated through the through hole 18 to the surgical site of the patient.
  • the through hole 18 may be drilled as many as the number of instruments 5 mounted on the robot arm 3, and may be drilled in the same direction as the direction in which the instrument 5 is inserted.
  • the coupler 10 when the coupler 10 is used in a surgical robot equipped with three robot arms 3, the instruments 5 mounted on the robot arms 3 may penetrate.
  • Three through holes 18 may be drilled (in the direction toward the single port 7) in the coupler 10.
  • a clamp may be installed at the end of the robot arm 3 to hold the shaft of the instrument 5 to be mounted.
  • the coupler 10 according to the present embodiment is such a clamp for each robot arm 3. It can also play a role.
  • the operation handle 20 may be further coupled to the coupler 10 according to the present embodiment.
  • the operation handle 20 is for moving the plurality of robot arms connected to each other by the coupler 10 at once, and the user sets a plurality of robots set in the ready state by the coupler 10 by holding and operating the operation handle 20.
  • the arm may be moved in the desired position and / or direction to make it suitable for surgery.
  • the surgical robot may be provided with a manual operation handle (see 'H' in FIG. 2) to manually move each robot arm 3, and the operation handle 20 according to the present embodiment may include each robot arm ( Since 3) performs the function of moving all at once, the manipulation handle 20 can have an overriding control right for the manual manipulation handle for each robot arm 3.
  • each of the manual operation handle can cause the robot arm 3 to be switched to a freely movable state (so-called 'free move' state).
  • the operation handle 20 by installing a button (see 'B' in FIG. 3) on the operation handle 20, and when the user presses the button, the manual operation handle for each robot arm 3 is switched to the free move state, The user can operate the operation handle 20 while pressing the button to move the robot arm assembly connected to each other at once.
  • a button see 'B' in FIG. 3
  • the manipulation handle 20 it is not necessary to install a button on the manipulation handle 20 in order for the manipulation handle 20 to have a priority control right, and the user senses the manipulation of the manipulation handle 20 so that the user handles the manipulation handle. While holding and operating 20, the manual operation handle for each robot arm 3 may be switched to a free-move state, such that it is possible to secure preferential control of the operation handle 20 in various ways. .
  • the 'compliance control ( compliance control) 'technique can be used to control a plurality of robot arms to move simultaneously with a single operation handle.
  • the operation handle 20 is connected to the body 12 of the coupler 10
  • the operation handle 20 must be connected to the coupler 10.
  • the robot arm connected by the coupler 10 may be coupled to another position of the surgical robot within the range that can be operated at once.
  • trocar (9) is inserted and installed in the single port (7) perforated in the surgical site of the patient.
  • each instrument 5 is inserted into the patient's body through the trocar 9.
  • the coupler 10 connecting the robot arm 3 to each other and the trocar 9 inserted into the surgical site of the patient are all components that can be installed at a predetermined position in the single port surgery process. Therefore, the robot arm coupler 10 according to the present embodiment may be integrally formed by being connected to the trocar 9.
  • the trocar 9 formed integrally with the coupler 10 is installed at the surgical site of the patient, and the robot arms 3 are coupled to the binding portions 14 of the coupler 10 to prepare the robot arms.
  • an instrument 5 is attached to each robot arm 3 so that an end (effector) of the instrument 5 passes through the through hole 18 and the trocar 9 to the patient's body.
  • 4 and 5 is a conceptual diagram showing a surgical robot having a single port surgical robot arm coupler according to an embodiment of the present invention. 4 and 5, the main body 1, the robot arm 3, the instruments 5 and 5 ', the single port 7, the trocar 9, the coupler 10 and 10', the operation handle 20 is shown.
  • This embodiment is characterized by a surgical robot that is set up for single port surgery using the coupler 10 described above.
  • the surgical robot according to the present embodiment is operated by combining a plurality of robot arms 3 to the main body 1, and each robot arm 3 is common to a general laparoscopic surgical robot in that an instrument 5 is mounted. do.
  • the surgical robot according to the present embodiment is provided with a coupler 10 for connecting the plurality of robot arms 3 to each other, due to the installation of the coupler 10, the plurality of robot arms 3 perform a single port operation. It may be set to a preset state (the 'ready state' described above).
  • the surgical robot according to this embodiment may be further provided with a manipulation handle 20 for moving the plurality of robot arms connected by the coupler 10 at once, with respect to the manner in which the manipulation handle 20 is operated. Since it has been described above, a detailed description thereof will be omitted.
  • the operation handle 20 may be connected to and installed on the coupler 10, but other positions of the surgical robot within a range in which the robot arms connected to each other by the coupler 10 can be operated at once. It may be installed in the same manner as described above.
  • FIG. 4 illustrates an example in which a coupler 10 is mounted on each robot arm 3 so that a single-port surgery can be performed by mounting a conventional instrument 5 having a straight shaft.
  • FIG. 5 shows a plurality of flexible joints. The case where a coupler (10 ') is installed to perform a single port operation by attaching a so-called' snake type 'instrument (5') that implements the instrument shaft by serial installation of the joint is shown. It is.
  • the ready state of the robot arm 3 is such that the shaft of the instrument 5 mounted on each robot arm 3 is in a direction toward the single port 7, while in the case of FIG. 5, the instrument ( 5 ') shaft can be freely bent and inserted into the single port 7, it is not necessary to set the ready state so as to be in the form as shown in Figure 4, the robot arm (3) regardless of the direction of the robot arm (3) ) May be set so that the ready states are fixed adjacent to each other.
  • FIG. 6 is a conceptual diagram showing a surgical robot according to another embodiment of the present invention. Referring to FIG. 6, a body 1, a robot arm 3, an instrument 5, a shaft 6, a single port 7, and an operation handle 20 are shown.
  • This embodiment allows a plurality of robot arms of the surgical robot to be coupled to each other to operate, but instead of physically connecting the plurality of robot arms as in the above-described embodiment, the plurality of robot arms are controlled as if they are physically connected.
  • the instrument is characterized by applying a flexible shaft (flexible shaft) so that the distal ends of the shafts gather together in a single port.
  • the surgical robot according to the present embodiment does not use a separate coupler, and the same state as that of the plurality of robot arms 3 are coupled to each other for single port surgery through the control of the robot (the 'preparation state described above). It is set to ').
  • the driving device can be operated to set the robot arm 3 in a ready state.
  • any ready state can be set such that the robot arms 3 are adjacent to each other.
  • a flexible shaft 6 may be applied to the surgical instrument 5. That is, even if the preparation state is arbitrarily set such that the plurality of robot arms 3 are properly adjacent to each other and the instrument 5 is attached to each robot arm 3, the shape of the shaft 6 can be deformed, so that each shaft 6 It can be gathered in the form that is inserted through a point (single port 7).
  • the plurality of robot arms 3 are set in a predetermined state through the controller of the robot, and the flexible shaft 6 is applied to the instruments 5 mounted on the robot arms 3 so that each shaft 6 is single.
  • the surgical robot is no longer operated by each of the plurality of robot arms 3 set separately, but the plurality of robot arms 3 are like one single port surgical robot. It can be controlled to work integrally like the arm of a man.
  • the surgical robot according to the present embodiment can be utilized as a single port surgical robot.
  • the operation handle 20 can be installed in either the robot body 1 or the plurality of robot arms 3.
  • the controller since the coupler for physically connecting the robot arms 3 is not used, when the user moves the operation handle 20, the controller correspondingly causes the plurality of robot arms 3 to be set at the same time. Control to move.
  • a compliance control technique or the like may be applied as described above.
  • FIG. 7 is a conceptual diagram showing a surgical robot according to another embodiment of the present invention. Referring to FIG. 7, the main body 1, the robot arms 3a and 3b, the instruments 5a and 5b, the shaft 6, and the single port 7 are shown.
  • the reference instrument 5a is mounted on the first robot arm 3a using the arm 3a as a reference arm, and the additional instrument 5b is further coupled adjacent to the reference instrument 5a.
  • the plurality of instruments 5a, 5b can be set in a coupled state with each other for single port surgery.
  • the additional instrument 5b may be provided with the first robot arm 3a or reference in such a way that the shaft can be inserted through the single port 7 when the shaft is straight (eg, illustrated in FIG. 4). It may be coupled to the instrument 5a.
  • the additional instrument 5b is coupled to be adjacent to the reference instrument 5a regardless of the direction of the shaft, and the shaft
  • the shape of (6) can be modified so that each shaft 6 can be inserted into the single port 7.
  • the plurality of instruments 5a and 5b used for the single port surgery are all mounted on one robot arm (the first robot arm 3a), the plurality of robot arms are set to the ready state.
  • the first robot arm 3a can be used as a single-port surgical robot arm as a state in which the plurality of instruments 5a and 5b are mounted.
  • a mechanism for coupling with the additional instrument 5b may be formed in the first robot arm 3a.
  • the additional instrument 5b according to the present embodiment may be coupled to the reference instrument 5a such that the first robot arm 3a is provided with a plurality of instruments 5a and 5b as a whole. It is also possible to form a fixture in the reference instrument 5a for coupling with the additional instrument 5b.
  • first robot arm 3a is not a robot arm originally configured to couple several instruments
  • An additional instrument 5b such as a laparoscope, may be mounted on an installed cradle lamp (see 'E' in FIG. 7).
  • the holder may be installed as many as the number of additional instruments (5b) mounted.
  • first robot arm 3a can drive only the mounted reference instrument 5a, not the robot arm designed and manufactured for single-port surgery, a further coupled additional instrument ( Driving force for driving 5b) shall be provided separately.
  • a power unit e.g., a motor pack, etc.
  • a power unit may be provided separately to drive the additional instrument 5b.
  • Such an additional power source may be provided in the above-described cradle or the like (for additional instrument mounting), and as described below, the second robot arm 3b may be used as an additional power source, or may be additionally added to the surgical robot body. Power sources can also be installed.
  • the surgical robot according to the present embodiment includes a plurality of robot arms for transmitting driving force
  • additional instruments are utilized by utilizing actuators of a robot arm (second robot arm 3b) other than the first robot arm 3a. It is also possible to provide driving force to 5b.
  • the robot arm (second in FIG. 7) and the other robot arm (second in FIG. 7) of the additional instrument 5b are connected.
  • the actuators ('A' in FIG. 7) of the robot arm 3b are connected to each other with a power transmission cable ('C' in FIG. 7) such as 'cable conduit', so that the additional instrument 5b is connected to the second robot arm (
  • the driving force can be provided from 3b).

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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

La présente invention se rapporte à un coupleur de bras de robot pour intervention chirurgicale par trocart unique, et se rapporte également à un robot chirurgical le comprenant. Le coupleur de bras de robot pour intervention chirurgicale par trocart unique selon l'invention est un coupleur utilisé dans un robot chirurgical devant être piloté tandis que des instruments chirurgicaux sont montés sur chacun d'une pluralité de bras de robot. Ce coupleur comprend : un corps ; des parties de couplage qui sont formées dans le corps et qui sont couplées à chaque extrémité d'une pluralité de bras de robot dans le but de permettre à la pluralité de bras de robot d'être programmés dans un état prédéterminé en vue d'une intervention chirurgicale par trocart unique ; et une pluralité de trous de passage qui sont adaptés pour permettre à chacun d'une pluralité d'instruments d'être introduit de manière à être inséré dans un seul orifice perforé dans le site chirurgical d'un patient, perforé dans le corps. Selon l'invention, un robot de type courant pour une intervention laparoscopique peut aussi être utilisé comme un robot pour intervention chirurgicale par trocart unique en raccordant une pluralité de bras de robot les uns après les autres avec le coupleur pour intervention chirurgicale par trocart unique.
PCT/KR2011/001659 2010-03-15 2011-03-10 Coupleur de bras de robot pour intervention chirurgicale par trocart unique, et robot chirurgical le comprenant Ceased WO2011115387A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2010-0022667 2010-03-15
KR20100022667 2010-03-15
KR10-2011-0009976 2011-02-01
KR1020110009976A KR101066196B1 (ko) 2010-03-15 2011-02-01 싱글포트 수술용 로봇 암 커플러 및 이를 구비한 수술용 로봇

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WO2011115387A2 true WO2011115387A2 (fr) 2011-09-22
WO2011115387A3 WO2011115387A3 (fr) 2012-01-12

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WO2017165183A1 (fr) 2016-03-25 2017-09-28 Intuitive Surgical Operations, Inc. Plate-forme chirurgicale portée par de multiples bras
US10492876B2 (en) 2012-09-17 2019-12-03 Omniguide, Inc. Devices and methods for laser surgery
US10653489B2 (en) 2015-05-11 2020-05-19 Covidien Lp Coupling instrument drive unit and robotic surgical instrument
US10667877B2 (en) 2015-06-19 2020-06-02 Covidien Lp Controlling robotic surgical instruments with bidirectional coupling
EP3658058A4 (fr) * 2017-07-27 2021-04-14 Intuitive Surgical Operations, Inc. Poignée de dispositif médical
CN113855254A (zh) * 2021-10-24 2021-12-31 北京歌锐科技有限公司 一种医疗设备以及基于所述医疗设备的手术方法
US11547281B2 (en) 2018-02-15 2023-01-10 Covidien Lp Sheath assembly for a rigid endoscope

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US5762458A (en) * 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
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
KR101477738B1 (ko) * 2006-06-13 2014-12-31 인튜어티브 서지컬 인코포레이티드 미소절개 수술 시스템
KR100936928B1 (ko) * 2008-07-25 2010-01-20 (주)미래컴퍼니 수술용 로봇

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10492876B2 (en) 2012-09-17 2019-12-03 Omniguide, Inc. Devices and methods for laser surgery
US10653489B2 (en) 2015-05-11 2020-05-19 Covidien Lp Coupling instrument drive unit and robotic surgical instrument
US10667877B2 (en) 2015-06-19 2020-06-02 Covidien Lp Controlling robotic surgical instruments with bidirectional coupling
CN113440259A (zh) * 2016-03-25 2021-09-28 直观外科手术操作公司 由多个臂支撑的外科平台
CN113440259B (zh) * 2016-03-25 2024-11-01 直观外科手术操作公司 由多个臂支撑的外科平台
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