GB201521806D0 - Independent tensioning and aligning mechanisms for a surgical instrument - Google Patents

Independent tensioning and aligning mechanisms for a surgical instrument

Info

Publication number
GB201521806D0
GB201521806D0 GBGB1521806.8A GB201521806A GB201521806D0 GB 201521806 D0 GB201521806 D0 GB 201521806D0 GB 201521806 A GB201521806 A GB 201521806A GB 201521806 D0 GB201521806 D0 GB 201521806D0
Authority
GB
United Kingdom
Prior art keywords
surgical instrument
aligning mechanisms
independent tensioning
tensioning
independent
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
GBGB1521806.8A
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cambridge Medical Robotics Ltd
Original Assignee
Cambridge Medical Robotics Ltd
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 Cambridge Medical Robotics Ltd filed Critical Cambridge Medical Robotics Ltd
Priority to GBGB1521806.8A priority Critical patent/GB201521806D0/en
Priority to GBGB1521922.3A priority patent/GB201521922D0/en
Publication of GB201521806D0 publication Critical patent/GB201521806D0/en
Priority to GB1614730.8A priority patent/GB2545291B/en
Priority to JP2018529939A priority patent/JP6811778B2/en
Priority to PCT/GB2016/053898 priority patent/WO2017098271A1/en
Priority to CN202110508789.1A priority patent/CN113081285B/en
Priority to CN201680071646.6A priority patent/CN108430370B/en
Priority to GB1620996.7A priority patent/GB2546395B/en
Priority to US15/374,150 priority patent/US10463437B2/en
Priority to EP16816337.6A priority patent/EP3386415B1/en
Priority to US16/589,319 priority patent/US11382705B2/en
Ceased legal-status Critical Current

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
    • A61B34/70—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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • 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
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw
    • Y10S901/36—Actuating means

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
GBGB1521806.8A 2015-12-10 2015-12-10 Independent tensioning and aligning mechanisms for a surgical instrument Ceased GB201521806D0 (en)

Priority Applications (11)

Application Number Priority Date Filing Date Title
GBGB1521806.8A GB201521806D0 (en) 2015-12-10 2015-12-10 Independent tensioning and aligning mechanisms for a surgical instrument
GBGB1521922.3A GB201521922D0 (en) 2015-12-10 2015-12-11 User interface for a robot
GB1614730.8A GB2545291B (en) 2015-12-10 2016-08-31 Robotic system
EP16816337.6A EP3386415B1 (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument
PCT/GB2016/053898 WO2017098271A1 (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument
JP2018529939A JP6811778B2 (en) 2015-12-10 2016-12-09 Independent tensioning and alignment mechanisms for surgical instruments
CN202110508789.1A CN113081285B (en) 2015-12-10 2016-12-09 Robotic surgical instrument and related methods
CN201680071646.6A CN108430370B (en) 2015-12-10 2016-12-09 Independent tensioning and alignment mechanism for surgical instruments
GB1620996.7A GB2546395B (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument
US15/374,150 US10463437B2 (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument
US16/589,319 US11382705B2 (en) 2015-12-10 2019-10-01 Independent tensioning and aligning mechanisms for a surgical instrument

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GBGB1521806.8A GB201521806D0 (en) 2015-12-10 2015-12-10 Independent tensioning and aligning mechanisms for a surgical instrument

Publications (1)

Publication Number Publication Date
GB201521806D0 true GB201521806D0 (en) 2016-01-27

Family

ID=55274527

Family Applications (2)

Application Number Title Priority Date Filing Date
GBGB1521806.8A Ceased GB201521806D0 (en) 2015-12-10 2015-12-10 Independent tensioning and aligning mechanisms for a surgical instrument
GB1620996.7A Active GB2546395B (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument

Family Applications After (1)

Application Number Title Priority Date Filing Date
GB1620996.7A Active GB2546395B (en) 2015-12-10 2016-12-09 Independent tensioning and aligning mechanisms for a surgical instrument

Country Status (6)

Country Link
US (2) US10463437B2 (en)
EP (1) EP3386415B1 (en)
JP (1) JP6811778B2 (en)
CN (2) CN108430370B (en)
GB (2) GB201521806D0 (en)
WO (1) WO2017098271A1 (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10743948B2 (en) * 2016-12-07 2020-08-18 Ethicon Llc Surgical tool wrists
EP3761898A4 (en) * 2018-03-07 2021-12-01 Intuitive Surgical Operations, Inc. LOW-FRICTION MEDICAL TOOLS WITH SMALL PROFILE AND ASSEMBLY-FRIENDLY COMPONENTS
EP3761897A4 (en) 2018-03-07 2021-11-24 Intuitive Surgical Operations, Inc. LOW-FRICTION MEDICAL TOOLS WITH SMALL PROFILE AND ASSEMBLY-FRIENDLY COMPONENTS
CN109452976B (en) * 2018-12-28 2021-01-15 北京术锐技术有限公司 Flexible surgical tool system
CN109481040A (en) * 2019-01-17 2019-03-19 厦门市领汇医疗科技有限公司 A kind of manipulator fixture
US11123146B2 (en) 2019-05-30 2021-09-21 Titan Medical Inc. Surgical instrument apparatus, actuator, and drive
CN112754545A (en) * 2020-12-19 2021-05-07 深圳市精锋医疗科技有限公司 Tensioning mechanism, surgical instrument, slave operation device and surgical robot
WO2023181629A1 (en) * 2022-03-25 2023-09-28 ソニーグループ株式会社 Wire adjustment device, wire drive device, and manipulator device
CN116492057A (en) * 2023-04-18 2023-07-28 核动医疗机器人(深圳)有限公司 End effectors, surgical instruments and surgical robots
CN118370609B (en) * 2024-06-25 2024-10-11 杭州唯精医疗机器人有限公司 Tension adjusting tool

Family Cites Families (31)

* Cited by examiner, † Cited by third party
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US20060008494A1 (en) * 1997-02-21 2006-01-12 The Regents Of The University Of California Complete inactivation of infectious proteins
US20020087048A1 (en) * 1998-02-24 2002-07-04 Brock David L. Flexible instrument
US6394998B1 (en) * 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US7766894B2 (en) * 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US6969385B2 (en) * 2002-05-01 2005-11-29 Manuel Ricardo Moreyra Wrist with decoupled motion transmission
US7331967B2 (en) * 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US7842028B2 (en) * 2005-04-14 2010-11-30 Cambridge Endoscopic Devices, Inc. Surgical instrument guide device
US8021326B2 (en) * 2004-03-05 2011-09-20 Hansen Medical, Inc. Instrument driver for robotic catheter system
US8641728B2 (en) * 2005-06-13 2014-02-04 Ethicon Endo-Surgery, Inc. Attachment apparatus for coupling with an endoscope
EP1906858B1 (en) * 2005-07-01 2016-11-16 Hansen Medical, Inc. Robotic catheter system
JP4755047B2 (en) * 2006-08-08 2011-08-24 テルモ株式会社 Working mechanism and manipulator
US8573465B2 (en) * 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
KR100975047B1 (en) * 2008-02-15 2010-08-11 (주)미래컴퍼니 Coupling Structure of Surgical Instruments
CN100553583C (en) * 2008-06-13 2009-10-28 哈尔滨工程大学 Manual tiny mechanical arm for minimally invasive surgery
US9259274B2 (en) * 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US8245594B2 (en) * 2008-12-23 2012-08-21 Intuitive Surgical Operations, Inc. Roll joint and method for a surgical apparatus
KR20100099817A (en) * 2009-03-04 2010-09-15 주식회사 로보멕 Surgical instrument
WO2012049623A1 (en) * 2010-10-11 2012-04-19 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
KR101064825B1 (en) * 2010-11-18 2011-09-14 정창욱 Minimally invasive surgical instruments
WO2012078951A1 (en) * 2010-12-09 2012-06-14 Freehand Endoscopic Devices, Inc. Surgical instrument
US8578810B2 (en) * 2011-02-14 2013-11-12 Intuitive Surgical Operations, Inc. Jointed link structures exhibiting preferential bending, and related methods
WO2012112888A2 (en) * 2011-02-18 2012-08-23 Intuitive Surgical Operations, Inc. Fusing and cutting surgical instrument and related methods
US20140188159A1 (en) * 2011-07-11 2014-07-03 Agile Endosurgery, Inc. Surgical tool
JP6161612B2 (en) * 2011-08-15 2017-07-12 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 Medical device having flexible jaw and / or flexible wrist mechanism
JP6475987B2 (en) * 2011-11-23 2019-02-27 リブスメド インコーポレーテッド Surgical instrument
US8984720B2 (en) * 2011-12-28 2015-03-24 Pioneer Surgical Technology, Inc. Tensioning instrument and method
US20140001234A1 (en) * 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Coupling arrangements for attaching surgical end effectors to drive systems therefor
GB2523831B (en) 2014-03-07 2020-09-30 Cmr Surgical Ltd Surgical arm
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US10314635B2 (en) * 2014-05-28 2019-06-11 A&E Advanced Closure Systems, Llc Tensioning instruments

Also Published As

Publication number Publication date
CN108430370B (en) 2021-05-28
GB201620996D0 (en) 2017-01-25
CN108430370A (en) 2018-08-21
GB2546395B (en) 2021-10-06
JP6811778B2 (en) 2021-01-13
CN113081285A (en) 2021-07-09
US10463437B2 (en) 2019-11-05
CN113081285B (en) 2024-03-12
EP3386415A1 (en) 2018-10-17
US20200100854A1 (en) 2020-04-02
WO2017098271A1 (en) 2017-06-15
GB2546395A (en) 2017-07-19
US11382705B2 (en) 2022-07-12
EP3386415B1 (en) 2021-08-04
US20170165010A1 (en) 2017-06-15
JP2019502439A (en) 2019-01-31

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Legal Events

Date Code Title Description
AT Applications terminated before publication under section 16(1)
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