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CN106880405B - 手术机器人用柔性器械、手术器械及内窥镜 - Google Patents

手术机器人用柔性器械、手术器械及内窥镜 Download PDF

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Publication number
CN106880405B
CN106880405B CN201710202661.6A CN201710202661A CN106880405B CN 106880405 B CN106880405 B CN 106880405B CN 201710202661 A CN201710202661 A CN 201710202661A CN 106880405 B CN106880405 B CN 106880405B
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CN
China
Prior art keywords
block
instrument
operating robot
flexible instrument
rotating block
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
CN201710202661.6A
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English (en)
Chinese (zh)
Other versions
CN106880405A (zh
Inventor
何超
王常春
何裕源
李涛
袁帅
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.)
Shanghai Microport Medbot Group Co Ltd
Original Assignee
Microport Shanghai Medbot Co 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 Microport Shanghai Medbot Co Ltd filed Critical Microport Shanghai Medbot Co Ltd
Priority to CN201710202661.6A priority Critical patent/CN106880405B/zh
Publication of CN106880405A publication Critical patent/CN106880405A/zh
Priority to PCT/CN2018/080147 priority patent/WO2018177200A1/fr
Application granted granted Critical
Publication of CN106880405B publication Critical patent/CN106880405B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/008—Articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Rehabilitation Therapy (AREA)
  • Manipulator (AREA)
CN201710202661.6A 2017-03-30 2017-03-30 手术机器人用柔性器械、手术器械及内窥镜 Active CN106880405B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201710202661.6A CN106880405B (zh) 2017-03-30 2017-03-30 手术机器人用柔性器械、手术器械及内窥镜
PCT/CN2018/080147 WO2018177200A1 (fr) 2017-03-30 2018-03-23 Instrument souple pour robot chirurgical, instrument chirurgical et endoscope

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710202661.6A CN106880405B (zh) 2017-03-30 2017-03-30 手术机器人用柔性器械、手术器械及内窥镜

Publications (2)

Publication Number Publication Date
CN106880405A CN106880405A (zh) 2017-06-23
CN106880405B true CN106880405B (zh) 2019-11-22

Family

ID=59181232

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710202661.6A Active CN106880405B (zh) 2017-03-30 2017-03-30 手术机器人用柔性器械、手术器械及内窥镜

Country Status (2)

Country Link
CN (1) CN106880405B (fr)
WO (1) WO2018177200A1 (fr)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106880405B (zh) * 2017-03-30 2019-11-22 微创（上海）医疗机器人有限公司 手术机器人用柔性器械、手术器械及内窥镜
CN107320193B (zh) * 2017-07-31 2023-06-30 成都博恩思医学机器人有限公司 连接组件、手术机器人的手术器械及手术机器人
CN109866213A (zh) * 2017-12-01 2019-06-11 深圳光启合众科技有限公司 柔性弯曲结构及具有其的机器人
CN107928790B (zh) * 2017-12-01 2020-05-05 微创（上海）医疗机器人有限公司 蛇形手术器械
CN112998862B (zh) * 2018-01-10 2023-03-10 北京术锐技术有限公司 柔性手术工具和柔性手术工具系统
CN108309207B (zh) * 2018-03-12 2020-07-17 湖南瀚德微创医疗科技有限公司 一种双向调弯的内窥镜
CN110338741B (zh) * 2019-05-30 2020-09-22 中国科学院沈阳自动化研究所 一种可视柔性手术臂
CN114376663B (zh) * 2020-10-21 2025-05-30 苏州微创骨科医疗工具有限公司 连接结构及钻具
CN114305684B (zh) * 2021-12-06 2024-04-12 南京航空航天大学 一种自主多自由度扫描型内窥镜微创手术导航装置及其系统
CN113876285B (zh) * 2021-12-08 2022-03-18 德宝恒生科技服务有限公司 一种内窥镜
CN114668432B (zh) * 2022-03-29 2024-06-07 吉林大学 一种经自然腔道诊疗一体式手术机器人
CN115104997A (zh) * 2022-07-08 2022-09-27 中国计量大学 一种内窥镜

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1649537A (zh) * 2002-05-02 2005-08-03 新引导系统公司 具有导管的内窥镜
CN202568432U (zh) * 2012-05-09 2012-12-05 上海理工大学 一种用于多自由度传动的致弯机构
CN102821669A (zh) * 2010-05-18 2012-12-12 奥林巴斯医疗株式会社 医疗装置
CN105559888A (zh) * 2014-10-30 2016-05-11 香港中文大学 机器人系统

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101405087B1 (ko) * 2012-04-27 2014-06-10 한양대학교 에리카산학협력단 수술도구용 관절
CN106880405B (zh) * 2017-03-30 2019-11-22 微创（上海）医疗机器人有限公司 手术机器人用柔性器械、手术器械及内窥镜

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1649537A (zh) * 2002-05-02 2005-08-03 新引导系统公司 具有导管的内窥镜
CN102821669A (zh) * 2010-05-18 2012-12-12 奥林巴斯医疗株式会社 医疗装置
CN202568432U (zh) * 2012-05-09 2012-12-05 上海理工大学 一种用于多自由度传动的致弯机构
CN105559888A (zh) * 2014-10-30 2016-05-11 香港中文大学 机器人系统

Also Published As

Publication number Publication date
CN106880405A (zh) 2017-06-23
WO2018177200A1 (fr) 2018-10-04

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SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CP03 Change of name, title or address

Address after: Room 101, block B, building 1, No. 1601, Zhangdong Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 201203

Patentee after: Shanghai minimally invasive medical robot (Group) Co.,Ltd.

Address before: 201203, 501, Newton Road, Zhangjiang hi tech park, Shanghai, Pudong New Area

Patentee before: Microport (Shanghai) Medbot Co.,Ltd.

CP03 Change of name, title or address