WO2012013846A1 - Bras télérobotique à structure parallèle pour applications de chirurgie mini-invasive - Google Patents

Bras télérobotique à structure parallèle pour applications de chirurgie mini-invasive Download PDF

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Publication number
WO2012013846A1
WO2012013846A1 PCT/ES2011/070522 ES2011070522W WO2012013846A1 WO 2012013846 A1 WO2012013846 A1 WO 2012013846A1 ES 2011070522 W ES2011070522 W ES 2011070522W WO 2012013846 A1 WO2012013846 A1 WO 2012013846A1
Authority
WO
WIPO (PCT)
Prior art keywords
minimally invasive
invasive surgery
arm
applications
parallel configuration
Prior art date
Application number
PCT/ES2011/070522
Other languages
English (en)
Spanish (es)
Inventor
Jose Maria Sabater Navarro
Eduardo Fernandez Jover
Nicolas Garcia Aracil
Carlos Perez Vidal
Jose María AZORIN POVEDA
Original Assignee
Universidad Miguel Hernandez
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
Application filed by Universidad Miguel Hernandez filed Critical Universidad Miguel Hernandez
Publication of WO2012013846A1 publication Critical patent/WO2012013846A1/fr

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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
    • 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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un bras télérobotique présentant au moins quatre degrés de liberté, capable de réaliser les mouvements des outils chirurgicaux dans une opération de chirurgie mini-invasive. Ce bras robotique comprend de préférence cinq actionneurs, dont quatre pour exécuter les 4 degrés de liberté et un supplémentaire pour commander le changement d'outil. Chaque bras présente une taille réduite ainsi qu'une capacité dynamique suffisante pour la réalisation des tâches chirurgicales.
PCT/ES2011/070522 2010-07-30 2011-07-15 Bras télérobotique à structure parallèle pour applications de chirurgie mini-invasive WO2012013846A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201001008A ES2390436B1 (es) 2010-07-30 2010-07-30 Brazo telerrobotico de configuracion paralela para aplicaciones de cirugia minima invasiva
ESP201001008 2010-07-30

Publications (1)

Publication Number Publication Date
WO2012013846A1 true WO2012013846A1 (fr) 2012-02-02

Family

ID=45529453

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2011/070522 WO2012013846A1 (fr) 2010-07-30 2011-07-15 Bras télérobotique à structure parallèle pour applications de chirurgie mini-invasive

Country Status (2)

Country Link
ES (1) ES2390436B1 (fr)
WO (1) WO2012013846A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108742851A (zh) * 2018-07-02 2018-11-06 哈尔滨理工大学 一种高精度微创三轴内窥镜的结构设计

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021147267A1 (fr) * 2020-01-23 2021-07-29 诺创智能医疗科技(杭州)有限公司 Bras robotique chirurgical et robot chirurgical

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020045905A1 (en) * 1998-12-08 2002-04-18 Gerbi Craig Richard Tool guide and method for introducing an end effector to a surgical site in minimally invasive surgery
US20050183532A1 (en) * 2004-02-25 2005-08-25 University Of Manitoba Hand controller and wrist device
US20070233052A1 (en) * 1998-02-24 2007-10-04 Hansen Medical, Inc. Interchangeable surgical instrument
WO2008070685A2 (fr) * 2006-12-05 2008-06-12 Allegiance Corporation Dispositifs de maintien/positionnement d'instruments
EP2133036A1 (fr) * 2007-03-30 2009-12-16 Osaka University Dispositif manipulateur médical et actionneur approprié pour celui-ci

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070233052A1 (en) * 1998-02-24 2007-10-04 Hansen Medical, Inc. Interchangeable surgical instrument
US20020045905A1 (en) * 1998-12-08 2002-04-18 Gerbi Craig Richard Tool guide and method for introducing an end effector to a surgical site in minimally invasive surgery
US20050183532A1 (en) * 2004-02-25 2005-08-25 University Of Manitoba Hand controller and wrist device
WO2008070685A2 (fr) * 2006-12-05 2008-06-12 Allegiance Corporation Dispositifs de maintien/positionnement d'instruments
EP2133036A1 (fr) * 2007-03-30 2009-12-16 Osaka University Dispositif manipulateur médical et actionneur approprié pour celui-ci

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SABATER, J. M. ET AL.: "A new spherical wrist for minimally invasive robotic surgery. ROBOTICS (ISR)", 2010 41ST INTERNATIONAL SYMPOSIUM ON AND 2010 6TH GERMAN CONFERENCE ON ROBOTICS (ROBOTIK), 7 June 2010 (2010-06-07) - 9 June 2010 (2010-06-09), pages 1 - 6 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108742851A (zh) * 2018-07-02 2018-11-06 哈尔滨理工大学 一种高精度微创三轴内窥镜的结构设计

Also Published As

Publication number Publication date
ES2390436B1 (es) 2013-09-30
ES2390436A1 (es) 2012-11-13

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