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GB2590881B - Surgical instrument articulation - Google Patents

Surgical instrument articulation Download PDF

Info

Publication number
GB2590881B
GB2590881B GB2105106.5A GB202105106A GB2590881B GB 2590881 B GB2590881 B GB 2590881B GB 202105106 A GB202105106 A GB 202105106A GB 2590881 B GB2590881 B GB 2590881B
Authority
GB
United Kingdom
Prior art keywords
surgical instrument
instrument articulation
articulation
surgical
instrument
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
GB2105106.5A
Other versions
GB202105106D0 (en
GB2590881A (en
Inventor
Robert Chaplin Ben
Marshall Keith
David Ronald Hares Luke
Priyam Su-Ling Phoolchund Nikki
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.)
CMR Surgical Ltd
Original Assignee
CMR Surgical 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
Priority claimed from GBGB1521809.2A external-priority patent/GB201521809D0/en
Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Priority to GB2111139.8A priority Critical patent/GB2595985B/en
Publication of GB202105106D0 publication Critical patent/GB202105106D0/en
Publication of GB2590881A publication Critical patent/GB2590881A/en
Application granted granted Critical
Publication of GB2590881B publication Critical patent/GB2590881B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • 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
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A61B2017/00327—Cables or rods with actuating members moving in opposite directions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • 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
    • A61B2017/2908—Multiple segments connected by articulations
    • 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
    • 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
    • A61B2017/2939—Details of linkages or pivot points
    • 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
    • A61B2017/2947—Pivots
    • 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
    • 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
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
GB2105106.5A 2015-12-10 2016-12-09 Surgical instrument articulation Active GB2590881B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB2111139.8A GB2595985B (en) 2015-12-10 2016-12-09 Surgical instrument articulation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB1521809.2A GB201521809D0 (en) 2015-12-10 2015-12-10 Symmetrically arranged surgical instrument articulation
GB1621013.0A GB2546399B (en) 2015-12-10 2016-12-09 Symmetrically arranged surgical instrument articulation

Publications (3)

Publication Number Publication Date
GB202105106D0 GB202105106D0 (en) 2021-05-26
GB2590881A GB2590881A (en) 2021-07-07
GB2590881B true GB2590881B (en) 2022-02-16

Family

ID=75949485

Family Applications (2)

Application Number Title Priority Date Filing Date
GB2105106.5A Active GB2590881B (en) 2015-12-10 2016-12-09 Surgical instrument articulation
GB2111139.8A Active GB2595985B (en) 2015-12-10 2016-12-09 Surgical instrument articulation

Family Applications After (1)

Application Number Title Priority Date Filing Date
GB2111139.8A Active GB2595985B (en) 2015-12-10 2016-12-09 Surgical instrument articulation

Country Status (2)

Country Link
JP (2) JP7230132B2 (en)
GB (2) GB2590881B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US12127809B2 (en) 2017-12-14 2024-10-29 Intuitive Surgical Operations, Inc. Medical tools having tension bands
WO2019173266A1 (en) * 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
WO2019173267A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
CN111970985B (en) 2018-03-07 2024-12-03 直观外科手术操作公司 Low-friction small medical tool with easy-to-assemble components

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010220786A (en) * 2009-03-24 2010-10-07 Waseda Univ Surgical manipulator and surgical manipulator system
JP2011200593A (en) * 2010-03-26 2011-10-13 Terumo Corp Medical instrument
EP2415418A1 (en) * 2010-08-04 2012-02-08 Surgica Robotica S.p.A. Robotic surgical utensil
WO2014151952A1 (en) * 2013-03-14 2014-09-25 Sri International Compact robotic wrist
EP2783643A1 (en) * 2011-11-23 2014-10-01 Livsmed Inc. Surgical instrument
WO2015088647A1 (en) * 2013-12-11 2015-06-18 Covidien Lp Wrist and jaw assemblies for robotic surgical systems
WO2015163546A1 (en) * 2014-04-24 2015-10-29 주식회사 리브스메드 Surgical instrument
US20180242991A1 (en) * 2015-08-28 2018-08-30 Distalmotion Sa Surgical instrument with increased actuation force

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6394998B1 (en) * 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
DE102011011497A1 (en) * 2011-02-17 2012-08-23 Kuka Roboter Gmbh Surgical instrument
GB201521812D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Driving a surgical instrument articulation

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010220786A (en) * 2009-03-24 2010-10-07 Waseda Univ Surgical manipulator and surgical manipulator system
JP2011200593A (en) * 2010-03-26 2011-10-13 Terumo Corp Medical instrument
EP2415418A1 (en) * 2010-08-04 2012-02-08 Surgica Robotica S.p.A. Robotic surgical utensil
EP2783643A1 (en) * 2011-11-23 2014-10-01 Livsmed Inc. Surgical instrument
WO2014151952A1 (en) * 2013-03-14 2014-09-25 Sri International Compact robotic wrist
WO2015088647A1 (en) * 2013-12-11 2015-06-18 Covidien Lp Wrist and jaw assemblies for robotic surgical systems
WO2015163546A1 (en) * 2014-04-24 2015-10-29 주식회사 리브스메드 Surgical instrument
US20180242991A1 (en) * 2015-08-28 2018-08-30 Distalmotion Sa Surgical instrument with increased actuation force

Also Published As

Publication number Publication date
JP2021192796A (en) 2021-12-23
GB2595985A (en) 2021-12-15
GB202111139D0 (en) 2021-09-15
GB202105106D0 (en) 2021-05-26
GB2595985B (en) 2022-03-30
GB2590881A (en) 2021-07-07
JP7230132B2 (en) 2023-02-28
JP2023071742A (en) 2023-05-23
JP7655960B2 (en) 2025-04-02

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