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1. WO1996039944 - SURGICAL MANIPULATOR FOR A TELEROBOTIC SYSTEM

Publication Number WO/1996/039944
Publication Date 19.12.1996
International Application No. PCT/US1996/009297
International Filing Date 05.06.1996
Chapter 2 Demand Filed 02.01.1997
IPC
A61B 17/00 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
A61B 19/00 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
19Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B1/-A61B18/149
B25J 9/10 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
B25J 15/04 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
04with provision for the remote detachment or exchange of the head or parts thereof
B25J 18/04 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
18Arms
02extensible
04rotatable
CPC
A61B 17/29
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
28Surgical forceps
29Forceps for use in minimally invasive surgery
A61B 2017/00367
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
00367Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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 2017/2902
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
28Surgical forceps
29Forceps for use in minimally invasive surgery
2901Details of shaft
2902characterized by features of the actuating rod
A61B 2017/292
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
28Surgical forceps
29Forceps for use in minimally invasive surgery
2909Handles
2912transmission of forces to actuating rod or piston
2919details of linkages or pivot points
292connection of actuating rod to handle, e.g. ball end in recess
Applicants
  • SRI INTERNATIONAL [US]/[US]
Inventors
  • JENSEN, Joel, F.
  • HILL, John, W.
Agents
  • RAFFLE, John, T.
Priority Data
08/485,58707.06.1995US
08/487,02007.06.1995US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SURGICAL MANIPULATOR FOR A TELEROBOTIC SYSTEM
(FR) MANIPULATEUR CHIRURGICAL POUR UN SYSTEME DE TELEROBOTIQUE
Abstract
(EN)
The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The manipulator assembly includes an instrument holder removably coupled to a drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The invention is also directed to a system and method for releasably holding a surgical instrument (14). The system includes an instrument support for automatically locking mounting pins on the instrument within locking slots on the instrument holder to releasably couple the instrument to the holder. With a twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.
(FR)
L'invention concerne un ensemble manipulateur (2) servant à maintenir et à manipuler un instrument chirurgical (14) dans un système de télérobotique. L'ensemble manipulateur comprend un élément de maintien de l'instrument accouplé de façon amovible à un ensemble d'entraînement de sorte que l'élément de maintien puisse être stérilisé. Cet ensemble manipulateur comprend en outre un élément détecteur de force (52) monté de façon distale par rapport à l'élément de maintien et à l'ensemble d'entraînement pour détecter les forces exercées sur l'instrument chirurgical et donner des indications en retour au chirurgien. L'invention concerne également un support d'instrument servant à bloquer automatiquement des broches de montage sur l'instrument à l'intérieur de fentes de blocage sur l'élément de maintien de l'instrument afin d'accoupler de façon amovible l'instrument et son élément de maintien. En effectuant un mouvement de rotation de verrouillage/déverrouillage sur l'élément de maintien, le chirurgien peut rapidement engager divers instruments dans l'élément de maintien et les désengager, pendant une intervention chirurgicale, par exemple une chirurgie ouverte, une laparoscopie ou une thoracoscopie.
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