WO2007088206A3 - Medical robotic system with manipulator arm of the cylindrical coordinate type - Google Patents

Medical robotic system with manipulator arm of the cylindrical coordinate type Download PDF

Info

Publication number
WO2007088206A3
WO2007088206A3 PCT/EP2007/051044 EP2007051044W WO2007088206A3 WO 2007088206 A3 WO2007088206 A3 WO 2007088206A3 EP 2007051044 W EP2007051044 W EP 2007051044W WO 2007088206 A3 WO2007088206 A3 WO 2007088206A3
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator
supported
manipulator arm
joint
essentially
Prior art date
Application number
PCT/EP2007/051044
Other languages
French (fr)
Other versions
WO2007088206A2 (en
Inventor
Morales Emilio Ruiz
Original Assignee
Euratom
Morales Emilio Ruiz
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=36636409&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2007088206(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority to BRPI0707438A priority Critical patent/BRPI0707438B8/en
Priority to PL07704331T priority patent/PL1984150T3/en
Priority to ES07704331.3T priority patent/ES2689093T3/en
Priority to CN2007800117386A priority patent/CN101421080B/en
Priority to DK07704331.3T priority patent/DK1984150T3/en
Priority to JP2008552823A priority patent/JP5148512B2/en
Priority to MX2008010057A priority patent/MX2008010057A/en
Application filed by Euratom, Morales Emilio Ruiz filed Critical Euratom
Priority to US12/278,251 priority patent/US9358682B2/en
Priority to EP07704331.3A priority patent/EP1984150B1/en
Priority to KR1020087021009A priority patent/KR101306215B1/en
Priority to CA2635135A priority patent/CA2635135C/en
Publication of WO2007088206A2 publication Critical patent/WO2007088206A2/en
Publication of WO2007088206A3 publication Critical patent/WO2007088206A3/en
Priority to CY181101002T priority patent/CY1120704T1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave 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
    • 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
    • A61B34/77—Manipulators with motion or force scaling
    • 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

Abstract

A medical robotic system (10) for performing medical procedures comprises a robot manipulator (14) for robotically assisted handling of a medical instrument, in particular a laparoscopic surgery instrument (18). The robot manipulator (14) comprises a base (24); a manipulator arm (26) with an essentially vertical part (27) supported by the base and with an essentially horizontal part (29) supported by the vertical part (27); a manipulator wrist (28) supported by the manipulator arm (26); and an effector unit (30) supported by the manipulator wrist and configured for holding a medical instrument. The manipulator arm (26) has a cylindrical PRP kinematic configuration for positioning the manipulator wrist. More particularly, the PRP kinematic configuration has the following joint sequence: a prismatic (P) first joint (J1) for varying the height of the vertical part (27) by providing a translational degree of freedom along an essentially vertical axis, a revolute (R) second joint (J2) for varying the rotational angle between the vertical part (27) and the horizontal part (29) by providing a rotational degree of freedom about an essentially vertical axis, and a prismatic (P) third joint (J3) for varying the reach of the horizontal part by providing a translational degree of freedom along an essentially horizontal axis.
PCT/EP2007/051044 2006-02-03 2007-02-02 Medical robotic system with manipulator arm of the cylindrical coordinate type WO2007088206A2 (en)

Priority Applications (12)

Application Number Priority Date Filing Date Title
CA2635135A CA2635135C (en) 2006-02-03 2007-02-02 Medical robotic system
MX2008010057A MX2008010057A (en) 2006-02-03 2007-02-02 Medical robotic system with manipulator arm of the cylindrical coordinate type.
ES07704331.3T ES2689093T3 (en) 2006-02-03 2007-02-02 Medical robotic system with manipulator arm of the cylindrical coordinate type
CN2007800117386A CN101421080B (en) 2006-02-03 2007-02-02 Medical robotic system with manipulator arm of the cylindrical coordinate type
DK07704331.3T DK1984150T3 (en) 2006-02-03 2007-02-02 MEDICAL ROBOT SYSTEM WITH MANIPULATOR ARM OF CYLINDRICAL COORDINATES
JP2008552823A JP5148512B2 (en) 2006-02-03 2007-02-02 Medical robot system
US12/278,251 US9358682B2 (en) 2006-02-03 2007-02-02 Medical robotic system
BRPI0707438A BRPI0707438B8 (en) 2006-02-03 2007-02-02 medical robotic system
PL07704331T PL1984150T3 (en) 2006-02-03 2007-02-02 Medical robotic system with manipulator arm of the cylindrical coordinate type
EP07704331.3A EP1984150B1 (en) 2006-02-03 2007-02-02 Medical robotic system with manipulator arm of the cylindrical coordinate type
KR1020087021009A KR101306215B1 (en) 2006-02-03 2007-02-02 Medical robotic system with manipulator arm of the cylindrical coordinate type
CY181101002T CY1120704T1 (en) 2006-02-03 2018-09-28 MEDICAL ROBOTIC SYSTEM WITH TYPE HANDLE WITH CYLINDIC COORDINATES

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP06101250.6 2006-02-03
EP06101250A EP1815949A1 (en) 2006-02-03 2006-02-03 Medical robotic system with manipulator arm of the cylindrical coordinate type

Publications (2)

Publication Number Publication Date
WO2007088206A2 WO2007088206A2 (en) 2007-08-09
WO2007088206A3 true WO2007088206A3 (en) 2007-09-20

Family

ID=36636409

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/051044 WO2007088206A2 (en) 2006-02-03 2007-02-02 Medical robotic system with manipulator arm of the cylindrical coordinate type

Country Status (15)

Country Link
US (1) US9358682B2 (en)
EP (2) EP1815949A1 (en)
JP (1) JP5148512B2 (en)
KR (1) KR101306215B1 (en)
CN (1) CN101421080B (en)
BR (1) BRPI0707438B8 (en)
CA (1) CA2635135C (en)
CY (1) CY1120704T1 (en)
DK (1) DK1984150T3 (en)
ES (1) ES2689093T3 (en)
MX (1) MX2008010057A (en)
PL (1) PL1984150T3 (en)
PT (1) PT1984150T (en)
RU (1) RU2412799C2 (en)
WO (1) WO2007088206A2 (en)

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US8721539B2 (en) 2010-01-20 2014-05-13 EON Surgical Ltd. Rapid laparoscopy exchange system and method of use thereof
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