WO2007120353A2 - Articulate and swapable endoscope for a surgical robot - Google Patents
Articulate and swapable endoscope for a surgical robot Download PDFInfo
- Publication number
- WO2007120353A2 WO2007120353A2 PCT/US2006/062385 US2006062385W WO2007120353A2 WO 2007120353 A2 WO2007120353 A2 WO 2007120353A2 US 2006062385 W US2006062385 W US 2006062385W WO 2007120353 A2 WO2007120353 A2 WO 2007120353A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wrist
- endoscope
- freedom
- degree
- motion
- Prior art date
Links
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/008—Articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00142—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with means for preventing contamination, e.g. by using a sanitary sheath
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0058—Flexible endoscopes using shape-memory elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
-
- 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
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
-
- 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
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
-
- 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
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets 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
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06851013.0A EP1965718B1 (en) | 2005-12-27 | 2006-12-20 | Articulate and swapable endoscope for a surgical robot |
EP20199958.8A EP3785597B1 (en) | 2005-12-27 | 2006-12-20 | Articulate and swapable endoscope for a surgical robot |
KR1020137017869A KR101486866B1 (en) | 2005-12-27 | 2006-12-20 | Articulate and swapable endoscope for a surgical robot |
EP17188442.2A EP3278715B1 (en) | 2005-12-27 | 2006-12-20 | Articulate and swapable endoscope for a surgical robot |
KR1020087016219A KR101487817B1 (en) | 2005-12-27 | 2006-12-20 | Articulate and swapable endoscope for a surgical robot |
KR1020147003151A KR101487819B1 (en) | 2005-12-27 | 2006-12-20 | Articulate and swapable endoscope for a surgical robot |
EP16162402.8A EP3087901B1 (en) | 2005-12-27 | 2006-12-20 | Articulate and swapable endoscope for a surgical robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/319,011 | 2005-12-27 | ||
US11/319,011 US20060178556A1 (en) | 2001-06-29 | 2005-12-27 | Articulate and swapable endoscope for a surgical robot |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2007120353A2 true WO2007120353A2 (en) | 2007-10-25 |
WO2007120353A3 WO2007120353A3 (en) | 2008-05-22 |
Family
ID=38175565
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2006/062385 WO2007120353A2 (en) | 2005-12-27 | 2006-12-20 | Articulate and swapable endoscope for a surgical robot |
Country Status (8)
Country | Link |
---|---|
US (5) | US20060178556A1 (en) |
EP (5) | EP3087901B1 (en) |
JP (3) | JP5305370B2 (en) |
KR (3) | KR101487819B1 (en) |
CN (3) | CN101340853A (en) |
DE (1) | DE102006059379A1 (en) |
FR (1) | FR2895665A1 (en) |
WO (1) | WO2007120353A2 (en) |
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8911428B2 (en) | 2001-06-29 | 2014-12-16 | Intuitive Surgical Operations, Inc. | Apparatus for pitch and yaw rotation |
US9005112B2 (en) | 2001-06-29 | 2015-04-14 | Intuitive Surgical Operations, Inc. | Articulate and swapable endoscope for a surgical robot |
US9095317B2 (en) | 2002-12-06 | 2015-08-04 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
EP3095375A4 (en) * | 2014-01-14 | 2017-11-01 | Olympus Corporation | Joint mechanism, manipulator, and manipulator system |
US9814537B2 (en) | 2009-06-30 | 2017-11-14 | Intuitive Surgical Operations, Inc. | Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument |
US10016213B2 (en) | 2013-03-28 | 2018-07-10 | Olympus Corporation | Mantle tube and treatment tool |
US10149729B2 (en) | 2013-03-15 | 2018-12-11 | Intuitive Surgical Operations, Inc. | Inter-operative switching of tools in a robotic surgical system |
WO2020017605A1 (en) * | 2018-07-18 | 2020-01-23 | リバーフィールド株式会社 | Joint of medical instrument and medical instrument |
JP2020018835A (en) * | 2018-07-18 | 2020-02-06 | リバーフィールド株式会社 | Joint of medical instrument and medical instrument |
KR20200032265A (en) * | 2009-11-13 | 2020-03-25 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Surgical tool with a compact wrist |
US10835331B2 (en) | 2009-11-13 | 2020-11-17 | Intuitive Surgical Operations, Inc. | Wrist articulation by linked tension members |
US10898188B2 (en) | 2009-11-13 | 2021-01-26 | Intuitive Surgical Operations, Inc. | End effector with redundant closing mechanisms |
US11109925B2 (en) | 2014-02-21 | 2021-09-07 | Intuitive Surgical Operations, Inc. | Articulatable members having constrained motion and related devices and methods |
WO2021181493A1 (en) * | 2020-03-10 | 2021-09-16 | オリンパス株式会社 | Medical manipulator |
US11490786B2 (en) | 2016-07-14 | 2022-11-08 | Intuitive Surgical Operations, Inc. | Pressure test port contained within a body of surgical instrument |
US11660152B2 (en) | 2009-11-13 | 2023-05-30 | Intuitive Surgical Operations, Inc. | Motor interface for parallel drive shafts within an independently rotating member |
US11911000B2 (en) | 2016-07-14 | 2024-02-27 | Intuitive Surgical Operations, Inc. | Endoscope including a plurality of individually testable subassemblies |
Families Citing this family (668)
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US7766894B2 (en) | 2001-02-15 | 2010-08-03 | Hansen Medical, Inc. | Coaxial catheter system |
US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism |
US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
US7976539B2 (en) | 2004-03-05 | 2011-07-12 | Hansen Medical, Inc. | System and method for denaturing and fixing collagenous tissue |
US7972298B2 (en) * | 2004-03-05 | 2011-07-05 | Hansen Medical, Inc. | Robotic catheter system |
US8215531B2 (en) | 2004-07-28 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having a medical substance dispenser |
US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
US8827899B2 (en) | 2004-09-24 | 2014-09-09 | Vivid Medical, Inc. | Disposable endoscopic access device and portable display |
US8878924B2 (en) * | 2004-09-24 | 2014-11-04 | Vivid Medical, Inc. | Disposable microscope and portable display |
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