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GB2568616A - Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions - Google Patents

Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions Download PDF

Info

Publication number
GB2568616A
GB2568616A GB1901850.6A GB201901850A GB2568616A GB 2568616 A GB2568616 A GB 2568616A GB 201901850 A GB201901850 A GB 201901850A GB 2568616 A GB2568616 A GB 2568616A
Authority
GB
United Kingdom
Prior art keywords
instrument
assembly
systems
surgical
minimally invasive
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.)
Granted
Application number
GB1901850.6A
Other versions
GB2568616B (en
GB201901850D0 (en
Inventor
Kwong Yeung Chung
Fai Lam Wing
Lik Alik Chan Wai
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.)
Bio Medical Eng Hk Ltd
Bio Medical Engineering HK Ltd
Original Assignee
Bio Medical Eng Hk Ltd
Bio Medical Engineering HK 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 Bio Medical Eng Hk Ltd, Bio Medical Engineering HK Ltd filed Critical Bio Medical Eng Hk Ltd
Publication of GB201901850D0 publication Critical patent/GB201901850D0/en
Publication of GB2568616A publication Critical patent/GB2568616A/en
Application granted granted Critical
Publication of GB2568616B publication Critical patent/GB2568616B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • 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
    • A61B2017/2901—Details of shaft
    • A61B2017/2906—Multiple forceps
    • 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
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Otolaryngology (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)

Abstract

Surgical devices (100, 200), systems, and methods are disclosed. The system may include an end-effector assembly (140, 240). The end-effector assembly (140, 240) may comprise an instrument assembly and a wrist assembly. ( instrument assembly may comprise an instrument (142, 242, 144, 244) for performing a surgical action. The instrument assembly may further comprise an instrument driven portion (142a, 242a, 144a, 244a) configurable to be driven in such a way as to move the instrument (142, 242, 144, 244) relative to a first axis (A). The instrument assembly may further comprise an instrument insulative portion (142b, 242b, 144b, 244b) providable between the instrument (142, 242, 144, 244) and the instrument driven portion (142a, 242a, 144a, 244a). The instrument insulative portion (142b, 242b, 144b, 244b) may be configurable to electrically isolate the instrument (142, 242, 144, 244) from at least the instrument driven portion (142a, 242a, 144a, 244a) when the instrument insulative portion (142b, 242b, 144b, 244b) is provided between the instrument (142, 242, 144, 244) and the instrument driven portion (142a, 242a, 144a, 244a). The wrist assembly may include a wrist driven portion (146a, 246a) configurable to be driven in such a way as to move the instrument (142, 242, 144, 244) relative to a second axis (B).
GB201901850A 2016-11-01 2016-11-01 Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions Expired - Fee Related GB2568616B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/104270 WO2018081931A1 (en) 2016-11-01 2016-11-01 Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions

Publications (3)

Publication Number Publication Date
GB201901850D0 GB201901850D0 (en) 2019-04-03
GB2568616A true GB2568616A (en) 2019-05-22
GB2568616B GB2568616B (en) 2019-12-25

Family

ID=59431851

Family Applications (1)

Application Number Title Priority Date Filing Date
GB201901850A Expired - Fee Related GB2568616B (en) 2016-11-01 2016-11-01 Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions

Country Status (4)

Country Link
CN (3) CN106999251B (en)
GB (1) GB2568616B (en)
SG (1) SG11201805714YA (en)
WO (1) WO2018081931A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11090123B2 (en) 2014-04-22 2021-08-17 Bio-Medical Engineering (HK) Limited Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems
US9895200B2 (en) 2014-04-22 2018-02-20 Bio-Medical Engineering (HK) Limited Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems
CN108836480B (en) 2014-04-22 2022-05-13 香港生物医学工程有限公司 Surgical device
US10500008B2 (en) 2014-04-22 2019-12-10 Bio-Medical Engineering (HK) Limited Surgical arm system with internally driven gear assemblies
CA3121399A1 (en) * 2018-11-30 2020-06-04 Bio-Medical Engineering (HK) Limited Robotic arm system with gear-driven end-effector assembly
CN110547876B (en) * 2019-06-28 2020-10-09 香港生物医学工程有限公司 Surgical arm system with internally driven gear assembly
US11666404B2 (en) * 2019-08-28 2023-06-06 Cilag Gmbh International Articulating including antagonistic controls for articulation and calibration
US11246668B1 (en) 2021-07-16 2022-02-15 Yijiahe (Singapore) Pte. Ltd. Minimally invasive surgical tool with asymmetric gear assembly

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US20080046122A1 (en) * 2003-06-30 2008-02-21 Intuitive Surgical, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
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Also Published As

Publication number Publication date
CN106999251A (en) 2017-08-01
CN110074865A (en) 2019-08-02
WO2018081931A1 (en) 2018-05-11
CN110074865B (en) 2021-07-30
CN106999251B (en) 2019-07-09
CN109567902A (en) 2019-04-05
GB2568616B (en) 2019-12-25
GB201901850D0 (en) 2019-04-03
CN109567902B (en) 2022-04-08
SG11201805714YA (en) 2018-07-30

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Legal Events

Date Code Title Description
732E Amendments to the register in respect of changes of name or changes affecting rights (sect. 32/1977)

Free format text: REGISTERED BETWEEN 20190815 AND 20190821

PCNP Patent ceased through non-payment of renewal fee

Effective date: 20231101