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WO2016123139A3 - Mécanismes et procédés de joint de contact de roulement - Google Patents

Mécanismes et procédés de joint de contact de roulement Download PDF

Info

Publication number
WO2016123139A3
WO2016123139A3 PCT/US2016/014979 US2016014979W WO2016123139A3 WO 2016123139 A3 WO2016123139 A3 WO 2016123139A3 US 2016014979 W US2016014979 W US 2016014979W WO 2016123139 A3 WO2016123139 A3 WO 2016123139A3
Authority
WO
WIPO (PCT)
Prior art keywords
base
convex surface
tool member
rolling
methods
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/US2016/014979
Other languages
English (en)
Other versions
WO2016123139A2 (fr
Inventor
Clayton GRAMES
John Ryan Steger
Larry L. Howell
Brian D. Jensen
Spencer Magleby
Jordan TANNER
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.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations 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 Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of WO2016123139A2 publication Critical patent/WO2016123139A2/fr
Publication of WO2016123139A3 publication Critical patent/WO2016123139A3/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
    • A61B34/70—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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2938—Independently actuatable jaw members, e.g. two actuating rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2943—Toothed members, e.g. rack and pinion
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Ophthalmology & Optometry (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)
  • Milling Processes (AREA)
  • Manipulator (AREA)

Abstract

Les modes de réalisation décrits dans la présente invention peuvent être utilisés avantageusement dans un large éventail d'opérations de prise, de découpe et de manipulation. La présente invention concerne, selon certains de ses modes de réalisation, un appareil comprenant un premier élément d'outil, un second élément d'outil, une base, et un ensemble d'actionnement. Le premier élément d'outil est doté d'une première surface convexe, et le second élément d'outil est doté d'une seconde surface convexe. Le premier élément d'outil est positionné pour pivoter par rapport à la base, et le second élément d'outil est positionné pour pivoter par rapport à la base. La base comprend une surface convexe de base. L'ensemble d'actionnement est configuré pour maintenir la première surface convexe en contact de roulement avec une première partie de la surface convexe de base. L'ensemble d'actionnement est configuré pour maintenir la seconde surface convexe en contact de roulement avec une seconde partie de la surface convexe de base. Des surfaces de guidage sont ajoutées pour limiter la dissociation entre la base et un élément d'outil.
PCT/US2016/014979 2015-01-26 2016-01-26 Mécanismes et procédés de joint de contact de roulement Ceased WO2016123139A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562107809P 2015-01-26 2015-01-26
US62/107,809 2015-01-26

Publications (2)

Publication Number Publication Date
WO2016123139A2 WO2016123139A2 (fr) 2016-08-04
WO2016123139A3 true WO2016123139A3 (fr) 2016-09-29

Family

ID=56544523

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2016/014979 Ceased WO2016123139A2 (fr) 2015-01-26 2016-01-26 Mécanismes et procédés de joint de contact de roulement

Country Status (1)

Country Link
WO (1) WO2016123139A2 (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITUB20154977A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Strumento medicale e metodo di fabbricazione di detto strumento medicale
WO2017189272A1 (fr) 2016-04-29 2017-11-02 Intuitive Surgical Operations, Inc. Mécanismes flexibles ayant des éléments d'outil inversés
EP3512435B1 (fr) 2016-09-14 2023-11-01 Intuitive Surgical Operations, Inc. Ensembles articulation à pivots de flexion à axe transversal
JP6855064B2 (ja) * 2017-06-21 2021-04-07 国立大学法人大阪大学 関節機構
DE102017216682A1 (de) * 2017-09-20 2019-03-21 Richard Wolf Gmbh Instrument
CN118203426A (zh) 2017-12-14 2024-06-18 直观外科手术操作公司 具有张力带的医疗工具
EP3761898B1 (fr) 2018-03-07 2025-11-05 Intuitive Surgical Operations, Inc. Outils médicaux à faible frottement et à faible profil ayant des composants faciles à assembler
US11612447B2 (en) 2018-07-19 2023-03-28 Intuitive Surgical Operations, Inc. Medical devices having three tool members
EP3982864A1 (fr) 2019-06-13 2022-04-20 Intuitive Surgical Operations, Inc. Outil médical doté d'un mécanisme de conservation de longueur pour actionnement de haubans
KR102559600B1 (ko) 2021-04-06 2023-07-25 주식회사 로엔서지컬 수술도구의 비대칭 구름 관절 장치

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7101363B2 (en) * 2002-10-02 2006-09-05 Hitachi, Ltd. Medical manipulator having a plurality of joints
US20100016853A1 (en) * 2008-07-16 2010-01-21 Intuitive Surgical, Inc. Bipolar cautery instrument
US20110106146A1 (en) * 2008-05-30 2011-05-05 Chang Wook Jeong Tool for minimally invasive surgery
US20130197492A1 (en) * 2010-09-30 2013-08-01 Olympus Corporation Bending Joint Mechanism, Surgical Instrument Having This Bending Joint Mechanism, and Manipulator Having This Bending Joint Mechanism
US20140100558A1 (en) * 2012-10-05 2014-04-10 Gregory P. Schmitz Micro-articulated surgical instruments using micro gear actuation

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7101363B2 (en) * 2002-10-02 2006-09-05 Hitachi, Ltd. Medical manipulator having a plurality of joints
US20110106146A1 (en) * 2008-05-30 2011-05-05 Chang Wook Jeong Tool for minimally invasive surgery
US20100016853A1 (en) * 2008-07-16 2010-01-21 Intuitive Surgical, Inc. Bipolar cautery instrument
US20130197492A1 (en) * 2010-09-30 2013-08-01 Olympus Corporation Bending Joint Mechanism, Surgical Instrument Having This Bending Joint Mechanism, and Manipulator Having This Bending Joint Mechanism
US20140100558A1 (en) * 2012-10-05 2014-04-10 Gregory P. Schmitz Micro-articulated surgical instruments using micro gear actuation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
GRAMES, CLAYTON L.: "Design and Manufacture of Mesoscale Robot-Actuated Surgical Instruments", BYU SCHOLARSARCHIVE (A THESIS FOR THE DEGREE OF MASTER OF SCIENCE, 1 November 2015 (2015-11-01), pages 1 - 60, XP055315798 *

Also Published As

Publication number Publication date
WO2016123139A2 (fr) 2016-08-04

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