WO2009014917A3 - Methods and systems of actuation in robotic devices - Google Patents
Methods and systems of actuation in robotic devices Download PDFInfo
- Publication number
- WO2009014917A3 WO2009014917A3 PCT/US2008/069822 US2008069822W WO2009014917A3 WO 2009014917 A3 WO2009014917 A3 WO 2009014917A3 US 2008069822 W US2008069822 W US 2008069822W WO 2009014917 A3 WO2009014917 A3 WO 2009014917A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- medical device
- components
- embodiments include
- actuation
- actuation systems
- Prior art date
Links
Classifications
-
- 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, 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
- 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
- A61B34/72—Micromanipulators
-
- 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
- A61B34/73—Manipulators for magnetic surgery
-
- 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
- A61B2017/00278—Transorgan operations, e.g. transgastric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
- A61B2017/00539—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated hydraulically
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
- A61B2017/00544—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated pneumatically
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various actuation system embodiments, including fluid actuation systems, drive train actuation systems, and motorless actuation systems. Additional embodiments include a reversibly lockable tube that can provide access for a medical device to a patient's cavity and further provides a reversible rigidity or stability during operation of the device. Further embodiments include various operational components for medical devices, including medical device arm mechanisms that have both axial and rotational movement while maintaining a relatively compact structure. medical device winch components, medical device biopsy/stapler/clamp mechanisms, and medical device adjustable focus mechanisms.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP16163598.2A EP3078344B1 (en) | 2007-07-12 | 2008-07-11 | Actuation in robotic devices |
| EP08826500.4A EP2170564A4 (en) | 2007-07-12 | 2008-07-11 | Methods and systems of actuation in robotic devices |
| CA2690808A CA2690808C (en) | 2007-07-12 | 2008-07-11 | Methods and systems of actuation in robotic devices |
| JP2010516278A JP5591696B2 (en) | 2007-07-12 | 2008-07-11 | Biopsy elements, arm devices, and medical devices |
| EP20152736.3A EP3673855B1 (en) | 2007-07-12 | 2008-07-11 | Systems of actuation in robotic devices |
Applications Claiming Priority (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US94939007P | 2007-07-12 | 2007-07-12 | |
| US94939107P | 2007-07-12 | 2007-07-12 | |
| US60/949,390 | 2007-07-12 | ||
| US60/949,391 | 2007-07-12 | ||
| US99007607P | 2007-11-26 | 2007-11-26 | |
| US60/990,076 | 2007-11-26 | ||
| US2534608P | 2008-02-01 | 2008-02-01 | |
| US61/025,346 | 2008-02-01 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| WO2009014917A2 WO2009014917A2 (en) | 2009-01-29 |
| WO2009014917A9 WO2009014917A9 (en) | 2009-03-19 |
| WO2009014917A3 true WO2009014917A3 (en) | 2009-12-30 |
Family
ID=40282082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/US2008/069822 WO2009014917A2 (en) | 2007-07-12 | 2008-07-11 | Methods and systems of actuation in robotic devices |
Country Status (5)
| Country | Link |
|---|---|
| US (5) | US8343171B2 (en) |
| EP (3) | EP3673855B1 (en) |
| JP (2) | JP5591696B2 (en) |
| CA (1) | CA2690808C (en) |
| WO (1) | WO2009014917A2 (en) |
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- 2008-07-11 US US12/171,413 patent/US8343171B2/en active Active
- 2008-07-11 WO PCT/US2008/069822 patent/WO2009014917A2/en active Application Filing
- 2008-07-11 EP EP08826500.4A patent/EP2170564A4/en not_active Withdrawn
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2011
- 2011-12-19 US US13/329,705 patent/US8828024B2/en not_active Expired - Fee Related
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| US8828024B2 (en) | 2014-09-09 |
| US20140350574A1 (en) | 2014-11-27 |
| JP6250496B2 (en) | 2017-12-20 |
| CA2690808C (en) | 2016-09-27 |
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| US20200330170A1 (en) | 2020-10-22 |
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| US8343171B2 (en) | 2013-01-01 |
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| US10695137B2 (en) | 2020-06-30 |
| JP2015024142A (en) | 2015-02-05 |
| EP3078344A1 (en) | 2016-10-12 |
| US20120179168A1 (en) | 2012-07-12 |
| EP2170564A4 (en) | 2015-10-07 |
| EP3078344B1 (en) | 2020-02-26 |
| JP2010533045A (en) | 2010-10-21 |
| JP5591696B2 (en) | 2014-09-17 |
| US20180250082A1 (en) | 2018-09-06 |
| EP3673855B1 (en) | 2021-09-08 |
| US20090054909A1 (en) | 2009-02-26 |
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