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1. WO2017203531 - AUTOMATED INSERTION DEVICE

Publication Number WO/2017/203531
Publication Date 30.11.2017
International Application No. PCT/IL2017/050584
International Filing Date 25.05.2017
IPC
A61B 34/00 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61M 5/00 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
5Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm rests
A61F 9/00 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
9Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
CPC
A61B 2017/3409
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
34Trocars; Puncturing needles
3403Needle locating or guiding means
3405using mechanical guide means
3409including needle or instrument drives
A61B 2034/301
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
301for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
A61B 2090/064
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
06Measuring instruments not otherwise provided for
064for measuring force, pressure or mechanical tension
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 34/32
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
32operating autonomously
A61B 90/11
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
10for stereotaxic surgery, e.g. frame-based stereotaxis
11with guides for needles or instruments, e.g. arcuate slides or ball joints
Applicants
  • XACT ROBOTICS LTD. [IL]/[IL]
Inventors
  • ARNOLD, Ofer
  • BORODETS, Eduard
Agents
  • FISHER, Michal
Priority Data
62/341,09725.05.2016US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) AUTOMATED INSERTION DEVICE
(FR) DISPOSITIF D'INSERTION AUTOMATIQUE
Abstract
(EN)
A device for insertion of a medical tool held in an end effector, the device comprising moveable platforms providing motion in two generally orthogonal directions, and two piston mechanisms operating within cylinders, coupled to the moveable platforms, and being attached at their distal end to the end effector by means of a common joint. The pistons may be linear actuators. The end effector is manipulated by driving mechanisms propelling the pistons linearly. The proximal ends of the cylinders may be coupled to a common shaft. The axes of the cylinders and the pistons, the line connecting the pistons axes through the common joint and the axis of the cylinders' common shaft may all be located substantially in a single plane. Coordinated motion of the moveable platforms and the piston mechanisms enables the maintenance of a virtual remote center of motion of the medical tool as its orientation changes.
(FR)
Cette invention concerne un dispositif d'insertion d'un outil médical retenu dans un effecteur terminal, le dispositif comprenant des plates-formes mobiles fournissant un mouvement dans deux directions généralement orthogonales, et deux mécanismes à piston fonctionnant dans des cylindres, reliés aux plates-formes mobiles, et étant fixés à leur extrémité distale à l'effecteur terminal au moyen d'une articulation commune. Les pistons peuvent être des actionneurs linéaires. L'effecteur terminal est manipulé par des mécanismes d'entraînement qui propulsent les pistons de manière linéaire. Les extrémités proximales des cylindres peuvent être reliées à un arbre commun. Les axes des cylindres et des pistons, la ligne reliant les axes des pistons par l'intermédiaire de l'articulation commune et l'axe de l'arbre commun des cylindres peuvent tous être situés sensiblement dans un seul plan. Le mouvement coordonné des plates-formes mobiles et des mécanismes à piston permet de maintenir un centre de mouvement à distance virtuel de l'outil médical pendant que son orientation change.
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