WO2010068005A3 - Surgical robot - Google Patents

Surgical robot Download PDF

Info

Publication number
WO2010068005A3
WO2010068005A3 PCT/KR2009/007291 KR2009007291W WO2010068005A3 WO 2010068005 A3 WO2010068005 A3 WO 2010068005A3 KR 2009007291 W KR2009007291 W KR 2009007291W WO 2010068005 A3 WO2010068005 A3 WO 2010068005A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
bed
joined
surgical
robot arms
Prior art date
Application number
PCT/KR2009/007291
Other languages
French (fr)
Other versions
WO2010068005A2 (en
Inventor
Seung Wook Choi
Jong Seok Won
Dong Myung Min
Original Assignee
Eterne Inc
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
Priority claimed from KR1020080126419A external-priority patent/KR101061987B1/en
Priority claimed from KR1020090087963A external-priority patent/KR20110030034A/en
Application filed by Eterne Inc filed Critical Eterne Inc
Publication of WO2010068005A2 publication Critical patent/WO2010068005A2/en
Publication of WO2010068005A3 publication Critical patent/WO2010068005A3/en

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
    • 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
    • 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
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports

Abstract

A surgical robot is disclosed. A bed mount surgical robot, for performing a surgical procedure on a patient lying on an operating bed using a surgical instrument mounted on an end portion of a robot arm, can include: a main unit joined to the operating bed, a support arm rotatably joined to the main unit, and one or more robot arms rotatably joined to the support arm. Since multiple robot arms may be joined to a support arm, which itself may be joined to a main unit mounted on the operating bed, the surgical slave robot can have a slim, compact form as well as greater stability. Also, as the robot arms may be mounted onto the bed, the relative positions of the robot arms with respect to the bed can be accurately identified without having to separately input the position information of the bed when installing the robot arms.
PCT/KR2009/007291 2008-12-12 2009-12-08 Surgical robot WO2010068005A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2008-0126419 2008-12-12
KR1020080126419A KR101061987B1 (en) 2008-12-12 2008-12-12 Bed-Mounted Surgical Robot
KR10-2009-0087963 2009-09-17
KR1020090087963A KR20110030034A (en) 2009-09-17 2009-09-17 Surgical robot

Publications (2)

Publication Number Publication Date
WO2010068005A2 WO2010068005A2 (en) 2010-06-17
WO2010068005A3 true WO2010068005A3 (en) 2010-09-30

Family

ID=42243192

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2009/007291 WO2010068005A2 (en) 2008-12-12 2009-12-08 Surgical robot

Country Status (1)

Country Link
WO (1) WO2010068005A2 (en)

Families Citing this family (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2785267B1 (en) * 2011-11-30 2022-01-12 Titan Medical Inc. Apparatus and method for supporting a robotic arm
CN108113755B (en) 2012-06-01 2020-11-27 直观外科手术操作公司 Multi-port surgical robot system architecture
CN103511520A (en) * 2012-06-19 2014-01-15 北京白象新技术有限公司 Gas cut-off brake device applied to medical tower crane
US9980785B2 (en) 2013-10-24 2018-05-29 Auris Health, Inc. Instrument device manipulator with surgical tool de-articulation
EP3060157B1 (en) 2013-10-24 2019-12-11 Auris Health, Inc. System for robotic-assisted endolumenal surgery
KR102450087B1 (en) 2014-03-17 2022-10-06 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Automated structure with pre-established arm positions in a teleoperated medical system
JP6725424B2 (en) 2014-03-17 2020-07-15 インテュイティブ サージカル オペレーションズ， インコーポレイテッド Guidance setup for teleoperated medical system
CN106456257B (en) 2014-05-13 2019-11-05 柯惠Lp公司 Robot arm for operation support system and application method
CN106456259B (en) 2014-05-13 2019-06-04 柯惠Lp公司 Robot arm for operation support system and application method
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
WO2016069661A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. Medical device with active brake release control
KR102574095B1 (en) 2014-10-27 2023-09-06 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 System and method for instrument disturbance compensation
EP3212151B1 (en) 2014-10-27 2020-07-29 Intuitive Surgical Operations, Inc. System for integrated surgical table motion
KR102479287B1 (en) 2014-10-27 2022-12-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 System and method for monitoring control points during reactive motion
WO2016069648A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for integrated surgical table
EP3912610B1 (en) 2014-10-27 2023-03-15 Intuitive Surgical Operations, Inc. System for registering to a surgical table
DE202015101621U1 (en) 2015-03-31 2016-07-04 Kuka Systems Gmbh working device
WO2016164824A1 (en) 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
US9636184B2 (en) 2015-05-15 2017-05-02 Auris Surgical Robotics, Inc. Swivel bed for a surgical robotics system
EP3315088A4 (en) * 2015-06-29 2019-02-27 Kawasaki Jukogyo Kabushiki Kaisha Surgical robot
AU2016321332B2 (en) 2015-09-09 2020-10-08 Auris Health, Inc. Instrument device manipulator for a surgical robotics system
EP3146930B1 (en) 2015-09-22 2018-06-06 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi A surgical robot's tool arms assembly
US10219871B2 (en) 2015-11-23 2019-03-05 Alireza Mirbagheri Robotic system for tele-surgery
JP6654883B2 (en) * 2015-12-11 2020-02-26 川崎重工業株式会社 Surgical system, manipulator arm, and manipulator arm support
JP2019519280A (en) 2016-05-26 2019-07-11 コヴィディエン リミテッド パートナーシップ Robotic surgical assembly and instrument drive thereof
WO2017205576A1 (en) 2016-05-26 2017-11-30 Covidien Lp Instrument drive units
US11272992B2 (en) 2016-06-03 2022-03-15 Covidien Lp Robotic surgical assemblies and instrument drive units thereof
KR101861176B1 (en) 2016-08-16 2018-05-28 주식회사 고영테크놀러지 Surgical robot for stereotactic surgery and method for controlling a stereotactic surgery robot
CN108366831B (en) * 2016-09-16 2022-03-18 威博外科公司 Operating table adapter for mounting a robot arm to an operating table
US11389360B2 (en) 2016-09-16 2022-07-19 Verb Surgical Inc. Linkage mechanisms for mounting robotic arms to a surgical table
CN107255922B (en) * 2017-05-27 2020-10-16 燕山大学 Teleoperation system rapid force estimation method based on self-adaptive double-layer sliding mode
US10856948B2 (en) 2017-05-31 2020-12-08 Verb Surgical Inc. Cart for robotic arms and method and apparatus for registering cart to surgical table
US10913145B2 (en) 2017-06-20 2021-02-09 Verb Surgical Inc. Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms
CN111973280B (en) * 2017-12-27 2022-02-22 上海微创医疗机器人（集团）股份有限公司 Surgical robot terminal
CN112315585B (en) * 2017-12-27 2022-04-08 上海微创医疗机器人（集团）股份有限公司 Surgical robot terminal
EP3740152A4 (en) * 2018-01-17 2021-11-03 Auris Health, Inc. Surgical platform with adjustable arm supports
EP3752039A4 (en) 2018-02-15 2021-09-29 Covidien LP Sheath assembly for a rigid endoscope
US11648067B2 (en) 2018-10-05 2023-05-16 Kawasaki Jukogyo Kabushiki Kaisha Medical manipulator and surgical system including the same
WO2020079596A1 (en) * 2018-10-15 2020-04-23 Mazor Robotics Ltd. Versatile multi-arm robotic surgical system
US11202683B2 (en) 2019-02-22 2021-12-21 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
EP3965710A4 (en) 2019-03-08 2023-04-05 Auris Health, Inc. Tilt mechanisms for medical systems and applications
CN111920522B (en) * 2020-10-15 2021-01-08 京东方科技集团股份有限公司 Operation monitoring method and device
JP7393383B2 (en) * 2021-05-24 2023-12-06 川崎重工業株式会社 Operation method of surgical support robot and articulated robot
CN113440257A (en) * 2021-06-28 2021-09-28 哈尔滨工业大学 Hand-held type spinal surgery high accuracy location arm
CN113662643B (en) * 2021-08-20 2022-08-30 苏州大学 Multi-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999023934A2 (en) * 1997-11-12 1999-05-20 Stereotaxis, Inc. Articulated magnetic guidance systems and devices and methods for magnetically-assisted surgery
WO1999037220A1 (en) * 1998-01-23 1999-07-29 Sm Scienzia Machinale S.R.L. Orthopaedic surgery apparatus for guiding a tool and for supporting a limb
JP2003299674A (en) * 2002-04-12 2003-10-21 Masasuke Shiraishi Operation table device
US20060142881A1 (en) * 1992-08-10 2006-06-29 Intuitive Surgical Inc. Method and apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input device
US20070293734A1 (en) * 2001-06-07 2007-12-20 Intuitive Surgical, Inc. Methods and apparatus for surgical planning

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060142881A1 (en) * 1992-08-10 2006-06-29 Intuitive Surgical Inc. Method and apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input device
WO1999023934A2 (en) * 1997-11-12 1999-05-20 Stereotaxis, Inc. Articulated magnetic guidance systems and devices and methods for magnetically-assisted surgery
WO1999037220A1 (en) * 1998-01-23 1999-07-29 Sm Scienzia Machinale S.R.L. Orthopaedic surgery apparatus for guiding a tool and for supporting a limb
US20070293734A1 (en) * 2001-06-07 2007-12-20 Intuitive Surgical, Inc. Methods and apparatus for surgical planning
JP2003299674A (en) * 2002-04-12 2003-10-21 Masasuke Shiraishi Operation table device

Also Published As

Publication number Publication date
WO2010068005A2 (en) 2010-06-17

Similar Documents

Publication Publication Date Title
WO2010068005A3 (en) Surgical robot
AU2018260793A1 (en) Surgical positioning and support system
EP2292153B8 (en) Surgical instrument having recording capabilities
MX2011012295A (en) Robotic system for laparoscopic surgery.
EP1885244A4 (en) Robotic arm for patient positioning assembly
EP2131762B8 (en) Surgical instruments
EP2081502B8 (en) A medical device for attaching tissue to bone
EP2470080A4 (en) Mechanisms for positioning and/or holding surgical instruments and performing other functions, and methods of manufacture and use thereof
WO2008045935A3 (en) Platform for fixing surgical instruments during surgery
PL2292152T3 (en) Surgical instrument having an articulating end effector
WO2011143388A3 (en) Combined endoscopic surgical tools
WO2009137558A3 (en) System and method for tracking a patient
WO2009152055A3 (en) Self-detecting kinematic clamp assembly
AU2008282532A1 (en) Improved surgical instruments
WO2006101829A3 (en) Liquefaction handpiece tip
AU2003300835A1 (en) Angle indexer for medical devices
IN2014DN09680A (en)
EP2175794A4 (en) Device for the modulation of cardiac end diastolic volume
WO2010138711A3 (en) Surgical instrument for fixing a clamp to a bone fixation device
BR112012032039A2 (en) surgical instruments, systems and methods of use
WO2012024575A3 (en) Modular medical instrument table
EP2160144A4 (en) Computer-assisted surgery system with user interface
GB2498562B (en) Leg support for a surgical table
WO2008098201A3 (en) Surgical connector
WO2008128524A3 (en) Operation aid system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09832090

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 09832090

Country of ref document: EP

Kind code of ref document: A2