WO2025139687A1 - Mécanisme de mouvement parallèle, instrument chirurgical et robot chirurgical - Google Patents
Mécanisme de mouvement parallèle, instrument chirurgical et robot chirurgical Download PDFInfo
- Publication number
- WO2025139687A1 WO2025139687A1 PCT/CN2024/137186 CN2024137186W WO2025139687A1 WO 2025139687 A1 WO2025139687 A1 WO 2025139687A1 CN 2024137186 W CN2024137186 W CN 2024137186W WO 2025139687 A1 WO2025139687 A1 WO 2025139687A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- proximal
- distal
- joint
- parallel motion
- motion mechanism
- 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.)
- Pending
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
- 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
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Definitions
- the present application relates to the technical field of medical instruments, and in particular to a parallel motion mechanism for a surgical instrument, a surgical instrument having the parallel motion mechanism, and a surgical robot having the surgical instrument.
- a parallel motion mechanism is connected in series between the end effector and the rear end of the surgical instrument, so that the end effector of the surgical instrument can reach the desired operating position more conveniently.
- the parallel motion mechanism changes the position of the end effector without changing the direction of the end effector.
- the use of the parallel motion mechanism can ensure a larger range of motion of the end effector. Improving the actuation stiffness of the parallel motion mechanism is conducive to improving the motion accuracy of the mechanism.
- the first aspect of the present application provides a parallel motion mechanism for a surgical instrument, comprising: a proximal joint, the distal end of the proximal joint being capable of swinging along at least one plane relative to the proximal end of the proximal joint, each of the planes defining a normal plane, the normal plane passing through the central axis and being perpendicular to the corresponding plane; a distal joint for connecting an end effector, the distal end of the distal joint being capable of swinging along at least one plane relative to the proximal end of the distal joint, the proximal end of the distal joint being connected to and relatively fixed to the distal end of the proximal joint; a constraint line for maintaining the orientation of the distal end of the distal joint relative to the proximal end of the proximal joint, one end of the constraint line being fixed to the distal joint The distal end of the joint, the other end of the constraint line is fixed to the proximal end of the prox
- a second aspect of the present application provides a surgical instrument, comprising:
- a third aspect of the present application provides a surgical robot, comprising:
Landscapes
- 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
L'invention concerne un mécanisme de mouvement parallèle (130), un instrument chirurgical (100) et un robot chirurgical (200). Le mécanisme de mouvement parallèle (130) comprend une articulation proximale (10), une articulation distale (20), des lignes de contrainte (30) et une pluralité d'ensembles d'entraînement (40). L'extrémité distale de l'articulation proximale (10) peut osciller le long d'au moins un plan par rapport à son extrémité proximale, et chaque plan passe à travers l'axe central du mécanisme de mouvement parallèle (130) et définit un plan normal passant par l'axe central. L'extrémité distale de l'articulation distale (20) peut osciller le long d'au moins un plan par rapport à son extrémité proximale. Les lignes de contrainte (30) sont utilisées pour maintenir l'orientation de l'extrémité distale de l'articulation distale (20) par rapport à l'extrémité proximale de l'articulation proximale (10). Les ensembles d'entraînement (40) sont utilisés pour actionner l'articulation distale (20), et chaque ensemble d'entraînement (40) comprend un élément flexible distal (45), un élément flexible proximal (46) et un élément de liaison (47). L'élément flexible distal (45) comprend une section distale (48) située à l'intérieur de l'articulation distale (20). L'élément flexible proximal (46) comprend une section proximale (49) située à l'intérieur de l'articulation proximale (10). L'élément de liaison (47) est relié à l'élément flexible distal (45) et à l'élément flexible proximal (46), et sa rigidité est supérieure à celle des deux éléments flexibles (45, 46). Dans un état neutre, la section distale (48) et la section proximale (49) sont situées sur deux côtés du plan normal, respectivement.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311871655.1A CN120227160A (zh) | 2023-12-29 | 2023-12-29 | 平行运动机构、手术器械和手术机器人 |
| CN202311871655.1 | 2023-12-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2025139687A1 true WO2025139687A1 (fr) | 2025-07-03 |
Family
ID=96159372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2024/137186 Pending WO2025139687A1 (fr) | 2023-12-29 | 2024-12-05 | Mécanisme de mouvement parallèle, instrument chirurgical et robot chirurgical |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN120227160A (fr) |
| WO (1) | WO2025139687A1 (fr) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130027688A (ko) * | 2011-09-08 | 2013-03-18 | 한국과학기술원 | 수술기구용 회전 관절 및 수술기구용 벤딩 관절 |
| CN113974838A (zh) * | 2021-11-02 | 2022-01-28 | 上海微创医疗机器人（集团）股份有限公司 | 手术器械系统和手术机器人 |
| DE102021119515A1 (de) * | 2021-07-28 | 2023-02-02 | Karl Storz Se & Co. Kg | Schaft für ein medizinisches Instrument mit einem Profilrohr, medizinisches Instrument und Roboter |
| CN116616898A (zh) * | 2022-02-12 | 2023-08-22 | 深圳市精锋医疗科技股份有限公司 | 具有平行关节的器械、手术机器人 |
| CN116965862A (zh) * | 2023-09-13 | 2023-10-31 | 深圳康诺思腾科技有限公司 | 平行运动机构、手术器械和手术机器人 |
-
2023
- 2023-12-29 CN CN202311871655.1A patent/CN120227160A/zh active Pending
-
2024
- 2024-12-05 WO PCT/CN2024/137186 patent/WO2025139687A1/fr active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130027688A (ko) * | 2011-09-08 | 2013-03-18 | 한국과학기술원 | 수술기구용 회전 관절 및 수술기구용 벤딩 관절 |
| DE102021119515A1 (de) * | 2021-07-28 | 2023-02-02 | Karl Storz Se & Co. Kg | Schaft für ein medizinisches Instrument mit einem Profilrohr, medizinisches Instrument und Roboter |
| CN113974838A (zh) * | 2021-11-02 | 2022-01-28 | 上海微创医疗机器人（集团）股份有限公司 | 手术器械系统和手术机器人 |
| CN116616898A (zh) * | 2022-02-12 | 2023-08-22 | 深圳市精锋医疗科技股份有限公司 | 具有平行关节的器械、手术机器人 |
| CN116965862A (zh) * | 2023-09-13 | 2023-10-31 | 深圳康诺思腾科技有限公司 | 平行运动机构、手术器械和手术机器人 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN120227160A (zh) | 2025-07-01 |
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| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
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