WO1997028734A1 - Endoscopic robotic surgical tools and methods - Google Patents
Endoscopic robotic surgical tools and methods Download PDFInfo
- Publication number
- WO1997028734A1 WO1997028734A1 PCT/US1997/001745 US9701745W WO9728734A1 WO 1997028734 A1 WO1997028734 A1 WO 1997028734A1 US 9701745 W US9701745 W US 9701745W WO 9728734 A1 WO9728734 A1 WO 9728734A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- arm
- practitioner
- shoulder
- flexion
- coupled
- Prior art date
Links
Classifications
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo 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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Mechanical Engineering (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9528619A JP2000505318A (en) | 1996-02-08 | 1997-02-03 | Endoscopic robotic surgical instrument and method |
DE69731521T DE69731521T2 (en) | 1996-02-08 | 1997-02-03 | ENDOSCOPIC SURGICAL ROBOT INSTRUMENTS AND APPLICATION METHODS |
AU18559/97A AU707103B2 (en) | 1996-02-08 | 1997-02-03 | Endoscopic robotic surgical tools and methods |
EP97904206A EP0880337B1 (en) | 1996-02-08 | 1997-02-03 | Endoscopic robotic surgical tools and methods |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/597,423 | 1996-02-08 | ||
US08/597,423 US5624398A (en) | 1996-02-08 | 1996-02-08 | Endoscopic robotic surgical tools and methods |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1997028734A1 true WO1997028734A1 (en) | 1997-08-14 |
Family
ID=24391444
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1997/001745 WO1997028734A1 (en) | 1996-02-08 | 1997-02-03 | Endoscopic robotic surgical tools and methods |
Country Status (7)
Country | Link |
---|---|
US (4) | US5624398A (en) |
EP (3) | EP1321106B1 (en) |
JP (1) | JP2000505318A (en) |
AU (1) | AU707103B2 (en) |
CA (1) | CA2244163A1 (en) |
DE (2) | DE69731521T2 (en) |
WO (1) | WO1997028734A1 (en) |
Cited By (8)
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EP2298218A3 (en) * | 1998-12-08 | 2012-06-13 | Intuitive Surgical Operations, Inc. | Surgical robotic tools, data architecture, and use |
US8998930B2 (en) | 2005-12-20 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Disposable sterile surgical adaptor |
US8998799B2 (en) | 1996-12-12 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Sterile surgical adaptor |
US9320568B2 (en) | 1997-11-21 | 2016-04-26 | Intuitive Surgical Operations, Inc. | Sterile surgical drape |
US9439732B2 (en) | 1996-12-12 | 2016-09-13 | Intuitive Surgical Operations, Inc. | Instrument interface of a robotic surgical system |
US9532849B2 (en) | 1997-11-21 | 2017-01-03 | Intuitive Surgical Operations, Inc. | Surgical accessory clamp and system |
US9949802B2 (en) | 1996-12-12 | 2018-04-24 | Intuitive Surgical Operations, Inc. | Multi-component telepresence system and method |
US10030961B2 (en) | 2015-11-27 | 2018-07-24 | General Electric Company | Gap measuring device |
Families Citing this family (782)
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JP3908366B2 (en) * | 1997-12-24 | 2007-04-25 | 本田技研工業株式会社 | Arm structure of humanoid work robot |
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Also Published As
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AU1855997A (en) | 1997-08-28 |
EP1321106B1 (en) | 2005-10-26 |
CA2244163A1 (en) | 1997-08-14 |
US6296635B1 (en) | 2001-10-02 |
US5833656A (en) | 1998-11-10 |
EP1321106A1 (en) | 2003-06-25 |
EP0880337A4 (en) | 2000-05-17 |
DE69734482D1 (en) | 2005-12-01 |
US5624398A (en) | 1997-04-29 |
EP1516577A1 (en) | 2005-03-23 |
JP2000505318A (en) | 2000-05-09 |
AU707103B2 (en) | 1999-07-01 |
EP0880337A1 (en) | 1998-12-02 |
DE69734482T2 (en) | 2006-07-20 |
DE69731521T2 (en) | 2006-03-02 |
DE69731521D1 (en) | 2004-12-16 |
EP0880337B1 (en) | 2004-11-10 |
US5954692A (en) | 1999-09-21 |
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