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1. EP2881064 - Surgical robot system

Office
European Patent Office
Application Number 14004403
Application Date 25.04.2013
Publication Number 2881064
Publication Date 10.06.2015
Publication Kind B1
IPC
B25J 19/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 50/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
50Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
30Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
A61B 90/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
A61B 90/90
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
90Identification means for patients or instruments, e.g. tags
A61B 90/98
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
90Identification means for patients or instruments, e.g. tags
98using electromagnetic means, e.g. transponders
CPC
A61B 2017/00464
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
0046with a releasable handle; with handle and operating part separable
00464for use with different instruments
A61B 2017/00477
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
00477Coupling
A61B 2017/00526
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
00526Methods of manufacturing
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 50/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
50Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
30Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
A61B 90/90
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, 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
90Identification means for patients or instruments, e.g. tags
Applicants KUKA DEUTSCHLAND GMBH
Inventors LOHMEIER SEBASTIAN
NGUYEN-XUAN CUONG
NEFF THOMAS DR
SCHOBER WOLFGANG
Designated States
Title
(DE) Chirurgierobotersystem
(EN) Surgical robot system
(FR) Système de robot chirurgical
Abstract
(DE)
Ein erfindungsgemäßes Chirurgierobotersystem umfasst nach einem Aspekt eine Roboteranordnung mit wenigstens einem Roboter (201; 1101, 1102, 1103), und eine Instrumentenanordnung mit wenigstens einem durch die Roboteranordnung geführten Instrument (1; 101; 205; 901; 1104, 1105, 1106) mit wenigstens einem Instrument (1; 101; 205; 901; 1104, 1105, 1106) mit einem Instrumentenschaft (3; 103; 209; 904; 1107, 1108, 1109), der zur teilweisen Einführung (1110, 1111, 1112) in einen Patienten vorgesehen ist; einer Antriebsstranganordnung mit wenigstens einem Antriebsstrang (11-18; 111-118; 906-913) zur Aktuierung eines Freiheitsgrades des Instrumentenschaftes, insbesondere eines Endeffektors (208; 1114); einer, insbesondere modularen, Antriebseinheit (4; 104; 212; 801, 802, 803; 914) zur Aktuierung der Antriebsstranganordnung, wobei die Anstriebseinheit lateral zu einer Längsachse des Instrumentenschaftes hin zu einer Anbindung des Instrumentengehäuses an die Roboteranordnung versetzt ist.

(EN)
One aspect of the robotic surgery system according to the invention relates to a robot assembly comprising at least one robot (201; 1101, 1102, 1103) and an instrument assembly comprising at least one instrument (1; 101; 205; 901; 1104, 1105, 1106) that is guided by said robot assembly. Said instrument assembly comprises at least one instrument housing having at least one drive unit housing part (2; 102; 206; 902, 915) containing a cavity designed to hold the drive unit, said drive unit housing part having a seal (5; 105; 213; 916) for the sterile sealing of an insertion opening of the cavity in addition to a dynamic sterile barrier (8; 19; 119; 211; 920) which delimits the cavity in a sterile manner and across which the drive train arrangement can be actuated; and/or the drive unit is offset laterally in relation to a longitudinal axis of the instrument shaft towards a connection between the instrument housing and the robot assembly.

(FR)
L'invention concerne un système de robot chirurgical comportant, dans un mode de réalisation, un ensemble robot comprenant au moins un robot (201; 1101, 1102, 1103), et un ensemble instrument comprenant au moins un instrument (1; 101; 205; 901; 1104, 1105, 1106) manipulé par l'ensemble robot, cet instrument comportant un boîtier d'instrument présentant au moins une partie de boîtier d'unité d'entraînement (2; 102; 206; 902, 915) pourvue d'un espace creux pour la réception de l'unité d'entraînement. La partie de boîtier d'unité d'entraînement comprend une fermeture (5; 105; 213; 916) pour l'étanchéification stérile d'une ouverture d'introduction de l'espace creux, ainsi qu'une barrière stérile dynamique (8; 19; 119; 211; 920) délimitant l'espace creux de façon stérile, l'ensemble chaîne cinématique pouvant être actionné au-delà de la barrière stérile, et/ou l'unité d'entraînement est décalée latéralement en direction d'un axe longitudinal de la tige d'instrument pour relier le boîtier d'instrument à l'ensemble robot.