DE69731521D1 - Endoskopische chirurgische robot-instrumente und anwendungsverfahren - Google Patents

Endoskopische chirurgische robot-instrumente und anwendungsverfahren

Info

Publication number
DE69731521D1
DE69731521D1 DE69731521T DE69731521T DE69731521D1 DE 69731521 D1 DE69731521 D1 DE 69731521D1 DE 69731521 T DE69731521 T DE 69731521T DE 69731521 T DE69731521 T DE 69731521T DE 69731521 D1 DE69731521 D1 DE 69731521D1
Authority
DE
Germany
Prior art keywords
methods
surgical robot
endoscopic surgical
instruments
robot instruments
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.)
Expired - Fee Related
Application number
DE69731521T
Other languages
English (en)
Other versions
DE69731521T2 (de
Inventor
Kevin Smith
Andrew Koretnbach
R Slater
I Mazzeo
C Slack
O Bales
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.)
Boston Scientific Miami Corp
Original Assignee
Symbiosis Corp
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 Symbiosis Corp filed Critical Symbiosis Corp
Publication of DE69731521D1 publication Critical patent/DE69731521D1/de
Application granted granted Critical
Publication of DE69731521T2 publication Critical patent/DE69731521T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/71Manipulators operated by drive cable mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/76Manipulators having means for providing feel, e.g. force or tactile feedback
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477Coupling
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2059Mechanical position encoders
DE69731521T 1996-02-08 1997-02-03 Endoskopische chirurgische robot-instrumente und anwendungsverfahren Expired - Fee Related DE69731521T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US08/597,423 US5624398A (en) 1996-02-08 1996-02-08 Endoscopic robotic surgical tools and methods
US597423 1996-02-08
PCT/US1997/001745 WO1997028734A1 (en) 1996-02-08 1997-02-03 Endoscopic robotic surgical tools and methods

Publications (2)

Publication Number Publication Date
DE69731521D1 true DE69731521D1 (de) 2004-12-16
DE69731521T2 DE69731521T2 (de) 2006-03-02

Family

ID=24391444

Family Applications (2)

Application Number Title Priority Date Filing Date
DE69731521T Expired - Fee Related DE69731521T2 (de) 1996-02-08 1997-02-03 Endoskopische chirurgische robot-instrumente und anwendungsverfahren
DE69734482T Expired - Fee Related DE69734482T2 (de) 1996-02-08 1997-02-03 Endoskopische chirurgische Robot-Instrumente

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE69734482T Expired - Fee Related DE69734482T2 (de) 1996-02-08 1997-02-03 Endoskopische chirurgische Robot-Instrumente

Country Status (7)

Country Link
US (4) US5624398A (de)
EP (3) EP1321106B1 (de)
JP (1) JP2000505318A (de)
AU (1) AU707103B2 (de)
CA (1) CA2244163A1 (de)
DE (2) DE69731521T2 (de)
WO (1) WO1997028734A1 (de)

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* Cited by examiner, † Cited by third party
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US6296635B1 (en) 2001-10-02
US5624398A (en) 1997-04-29
US5833656A (en) 1998-11-10
CA2244163A1 (en) 1997-08-14
EP1321106A1 (de) 2003-06-25
EP0880337A1 (de) 1998-12-02
AU1855997A (en) 1997-08-28
DE69734482T2 (de) 2006-07-20
EP0880337A4 (de) 2000-05-17
EP1516577A1 (de) 2005-03-23
EP0880337B1 (de) 2004-11-10
WO1997028734A1 (en) 1997-08-14
DE69731521T2 (de) 2006-03-02
US5954692A (en) 1999-09-21
JP2000505318A (ja) 2000-05-09
AU707103B2 (en) 1999-07-01
EP1321106B1 (de) 2005-10-26

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