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WO2011037394A3 - Sterile adapter, fastening structure of wheels, and fastening structure of surgical instrument - Google Patents

Sterile adapter, fastening structure of wheels, and fastening structure of surgical instrument Download PDF

Info

Publication number
WO2011037394A3
WO2011037394A3 PCT/KR2010/006481 KR2010006481W WO2011037394A3 WO 2011037394 A3 WO2011037394 A3 WO 2011037394A3 KR 2010006481 W KR2010006481 W KR 2010006481W WO 2011037394 A3 WO2011037394 A3 WO 2011037394A3
Authority
WO
WIPO (PCT)
Prior art keywords
sterile adapter
instrument
fastening structure
surgical instrument
wheels
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/KR2010/006481
Other languages
French (fr)
Korean (ko)
Other versions
WO2011037394A2 (en
Inventor
이제선
원종석
민동명
최승욱
이민규
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.)
ETERNE Inc
Original Assignee
ETERNE 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
Priority claimed from KR1020090089929A external-priority patent/KR101037069B1/en
Priority claimed from KR1020100065953A external-priority patent/KR101750518B1/en
Application filed by ETERNE Inc filed Critical ETERNE Inc
Priority to CN201080050214.XA priority Critical patent/CN102630154B/en
Publication of WO2011037394A2 publication Critical patent/WO2011037394A2/en
Publication of WO2011037394A3 publication Critical patent/WO2011037394A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0813—Accessories designed for easy sterilising, i.e. re-usable

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Medical Informatics (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)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Disclosed is a sterile adapter. The sterile adapter is interposed between an instrument holder formed at a surgical robot arm and a surgical instrument mounted on the instrument holder, wherein the sterile adapter comprises: a body portion comprising a first surface facing the instrument holder, and a second surface facing the surgical instrument; a first wheel which is elastically supported in the body portion, is exposed to the first surface, and is fitted to a first drive wheel formed at the instrument holder; and a second wheel which is elastically supported in the body portion, is exposed to the second surface, and is fitted to a second drive wheel formed at the instrument. An elastic structure is applied to the sterile adapter to allow the wheels formed in the sterile adapter to be pushed in both directions, thereby enabling the easy and convenient mounting of a surgical instrument on a robot arm without applying a separate elastic structure to the instrument holder or the instrument.
PCT/KR2010/006481 2009-09-23 2010-09-20 Sterile adapter, fastening structure of wheels, and fastening structure of surgical instrument Ceased WO2011037394A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201080050214.XA CN102630154B (en) 2009-09-23 2010-09-20 Sterile adapter, connection structure of rotating wheel and connection structure of surgical instruments

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
KR1020090089929A KR101037069B1 (en) 2009-09-23 2009-09-23 Sterile adapter
KR10-2009-0089929 2009-09-23
KR20100015436 2010-02-19
KR10-2010-0015436 2010-02-19
KR1020100065953A KR101750518B1 (en) 2010-02-19 2010-07-08 Connection structure of wheel and surgical instrument
KR10-2010-0065953 2010-07-08

Publications (2)

Publication Number Publication Date
WO2011037394A2 WO2011037394A2 (en) 2011-03-31
WO2011037394A3 true WO2011037394A3 (en) 2011-08-25

Family

ID=43796378

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/006481 Ceased WO2011037394A2 (en) 2009-09-23 2010-09-20 Sterile adapter, fastening structure of wheels, and fastening structure of surgical instrument

Country Status (1)

Country Link
WO (1) WO2011037394A2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11129685B2 (en) 2016-05-26 2021-09-28 Covidien Lp Robotic surgical assemblies
US11642186B2 (en) 2018-08-28 2023-05-09 Medicaroid Corporation Adaptor and method of attaching surgical instrument to robot arm through adaptor
US12029507B2 (en) 2018-07-26 2024-07-09 Covidien Lp Surgical robotic systems

Families Citing this family (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
EP2881073B1 (en) * 2012-07-03 2019-07-24 KUKA Deutschland GmbH Surgical instrumentation and drivetrain assembly for a surgical instrument, in particular a robot-controlled instrument and surgical instrument
CN113274137B (en) 2013-08-15 2024-12-03 直观外科手术操作公司 Instrument sterile adapter drive interface
KR102312595B1 (en) * 2013-08-15 2021-10-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Instrument sterile adapter drive features
CN105611892B (en) 2013-08-15 2019-02-19 直观外科手术操作公司 Robotic Instrument Driven Elements
JP6426181B2 (en) 2013-08-15 2018-11-21 インテュイティブ サージカル オペレーションズ， インコーポレイテッド Variable fixture preload mechanism controller
KR102731855B1 (en) 2013-08-15 2024-11-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Preloaded surgical instrument interface
CN106132344B (en) 2014-03-17 2019-06-04 直观外科手术操作公司 Detection pins to determine the presence of surgical instruments and adapters on the manipulator
CN110882058B (en) 2014-03-17 2023-06-20 直观外科手术操作公司 System and method for confirming disc engagement
CN107106247B (en) 2014-11-18 2020-04-14 柯惠Lp公司 Sterile barrier components for use in robotic surgical systems
CN113893039B (en) * 2015-02-20 2024-09-03 史赛克公司 Installing the system
CN107666877B (en) 2015-04-27 2021-11-05 直观外科手术操作公司 Surgical instrument housing and related systems and methods
WO2016194249A1 (en) * 2015-06-01 2016-12-08 オリンパス株式会社 Medical manipulator
CN107613899A (en) 2015-06-01 2018-01-19 奥林巴斯株式会社 Medical manipulator
WO2016201313A1 (en) * 2015-06-11 2016-12-15 Intuitive Surgical Operations, Inc. Systems and methods for instrument engagement
WO2017044884A1 (en) * 2015-09-09 2017-03-16 Auris Surgical Robotics, Inc. Instrument device manipulator for a surgical robotics system
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
WO2018013305A1 (en) * 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. A surgical apparatus including a sterile adapter having mechanical lockouts
WO2018013304A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Controller controlled instrument preload mechanism
GB2552553B (en) 2016-07-29 2022-03-16 Cmr Surgical Ltd Motion feedthrough
GB201615616D0 (en) * 2016-09-14 2016-10-26 Cambridge Medical Robotics Ltd Interfacing a surgical robotic arm and instrument
GB2552540B (en) 2016-07-29 2021-11-24 Cmr Surgical Ltd Interface structure
US11925431B2 (en) 2016-07-29 2024-03-12 Cmr Surgical Limited Motion feedthrough
US10813713B2 (en) 2016-12-16 2020-10-27 Ethicon Llc Methods and systems for coupling a surgical tool to a tool driver of a robotic surgical system
US10143524B2 (en) 2016-12-16 2018-12-04 Ethicon Llc Methods and systems for coupling a surgical tool to a tool driver of a robotic surgical system
AU2017379816B2 (en) 2016-12-20 2020-02-20 Auris Health, Inc. Sterile adapter control system and communication interface for use in a robotic surgical system
GB2552855B (en) * 2017-01-31 2019-02-13 Cmr Surgical Ltd Surgical instrument engagement detection
CA3065075A1 (en) * 2017-06-16 2018-12-20 Xact Robotics Ltd. Drape adaptor
CN107334533B (en) * 2017-07-31 2023-02-28 成都博恩思医学机器人有限公司 Bracket component, surgical instrument of surgical robot and surgical robot
US11826114B2 (en) 2017-11-29 2023-11-28 Covidien Lp Robotic surgical systems, instrument drive assemblies, and drive assemblies
CN111712174A (en) 2018-02-15 2020-09-25 柯惠Lp公司 Sheath assembly for rigid endoscopes
CN109091239B (en) * 2018-06-22 2021-06-01 深圳市精锋医疗科技有限公司 Surgical robot with mounting slot
CN110623736B (en) * 2018-06-22 2021-01-05 深圳市精锋医疗科技有限公司 Connecting mechanism, power mechanism, operating arm and slave operating equipment
JP6745306B2 (en) * 2018-08-28 2020-08-26 株式会社メディカロイド Adapter and connection method
WO2020117913A2 (en) 2018-12-04 2020-06-11 Mako Surgical Corp. Mounting system with sterile barrier assembly for use in coupling surgical components
JP7009431B2 (en) * 2019-03-28 2022-01-25 株式会社メディカロイド How to attach surgical instruments to the robot arm
JP6831415B2 (en) * 2019-03-28 2021-02-17 株式会社メディカロイド adapter
EP3714800A1 (en) * 2019-03-28 2020-09-30 Medicaroid Corporation Method of fixing surgical instrument to robot arm
JP7184728B2 (en) * 2019-10-21 2022-12-06 株式会社メディカロイド Robotic Surgical Devices and Surgical Instruments
CN113349935A (en) * 2021-07-14 2021-09-07 深圳康诺思腾科技有限公司 Transmission connection structure of instrument driver and sterile adapter and surgical robot
EP4360582B1 (en) * 2021-07-14 2025-07-02 Cornerstone Technology (Shenzhen) Limited Connecting structures and surgical robot

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0194022A1 (en) * 1985-03-06 1986-09-10 Process Equipment Company Safety coupling device for robotic tooling
US20060235436A1 (en) * 1996-12-12 2006-10-19 Intuitive Surgical Inc. Sterile surgical adaptor
US20080140088A1 (en) * 1996-12-12 2008-06-12 Intuitive Surgical, Inc. Disposable sterile surgical adaptor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0194022A1 (en) * 1985-03-06 1986-09-10 Process Equipment Company Safety coupling device for robotic tooling
US20060235436A1 (en) * 1996-12-12 2006-10-19 Intuitive Surgical Inc. Sterile surgical adaptor
US20080140088A1 (en) * 1996-12-12 2008-06-12 Intuitive Surgical, Inc. Disposable sterile surgical adaptor

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11129685B2 (en) 2016-05-26 2021-09-28 Covidien Lp Robotic surgical assemblies
CN109219414B (en) * 2016-05-26 2021-11-19 柯惠Lp公司 Robotic Surgery Assembly
US11179211B2 (en) 2016-05-26 2021-11-23 Covidien Lp Robotic surgical assemblies
US11191600B2 (en) 2016-05-26 2021-12-07 Covidien Lp Robotic surgical assemblies
US11284956B2 (en) 2016-05-26 2022-03-29 Covidien Lp Robotic surgical assemblies
US11406465B2 (en) 2016-05-26 2022-08-09 Covidien Lp Robotic surgical assemblies
US11547508B2 (en) 2016-05-26 2023-01-10 Covidien Lp Robotic surgical assemblies
US11607284B2 (en) 2016-05-26 2023-03-21 Covidien Lp Robotic surgical assemblies
US12029507B2 (en) 2018-07-26 2024-07-09 Covidien Lp Surgical robotic systems
US11642186B2 (en) 2018-08-28 2023-05-09 Medicaroid Corporation Adaptor and method of attaching surgical instrument to robot arm through adaptor

Also Published As

Publication number Publication date
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