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1. WO2020109812 - INTERNAL STRUCTURE OF A ROBOTIC SURGICAL INSTRUMENT

Publication Number WO/2020/109812
Publication Date 04.06.2020
International Application No. PCT/GB2019/053379
International Filing Date 29.11.2019
IPC
A61B 34/30 2016.01
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 34/00 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 18/14 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
04by heating
12by passing a current through the tissue to be heated, e.g. high-frequency current
14Probes or electrodes therefor
A61B 34/20 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
CPC
A61B 17/00234
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
00234for minimally invasive surgery
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 18/1445
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
04by heating
12by passing a current through the tissue to be heated, e.g. high-frequency current
14Probes or electrodes therefor
1442Probes having pivoting end effectors, e.g. forceps
1445at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
A61B 18/1482
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
04by heating
12by passing a current through the tissue to be heated, e.g. high-frequency current
14Probes or electrodes therefor
1482having a long rigid shaft for accessing the inner body transcutaneously in minimal invasive surgery, e.g. laparoscopy
A61B 2017/2948
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
2948Sealing means, e.g. for sealing the interior from fluid entry
A61B 2018/00595
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
00571for achieving a particular surgical effect
00595Cauterization
Applicants
  • CMR SURGICAL LIMITED [GB]/[GB]
Inventors
  • GROVER, Simon Roderick
Agents
  • SLINGSBY PARTNERS LLP
Priority Data
1819475.329.11.2018GB
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) INTERNAL STRUCTURE OF A ROBOTIC SURGICAL INSTRUMENT
(FR) STRUCTURE INTERNE D'UN INSTRUMENT CHIRURGICAL ROBOTISÉ
Abstract
(EN)
A robotic surgical instrument comprising a shaft, an end effector, and an articulation connecting the end effector to a distal end of the shaft. The articulation comprises joints permitting the end effector to adopt a range of orientations relative to a longitudinal axis of the shaft. Pairs of driving elements drive the joints, the driving elements extending through the shaft to the joints. An additional element extends through the shaft to the end effector via the articulation. A resilient barrier inside the shaft extends over a cross-sectional area of the shaft, the pairs of driving elements and the additional element passing through the resilient barrier, the resilient barrier being in resilient contact with the additional element so as to provide a resilient force opposing movement of the additional element; wherein each driving element of the pairs of driving elements passes through a hole in the resilient barrier without contacting the resilient barrier.
(FR)
L'invention concerne un instrument chirurgical robotisé comprenant un arbre, un effecteur terminal et une articulation reliant l'effecteur terminal à une extrémité distale de l'arbre. L'articulation comprend des articulations permettant à l'effecteur terminal d'adopter une plage d'orientations par rapport à un axe longitudinal de l'arbre. Des paires d'éléments d'entraînement entraînent les articulations, les éléments d'entraînement s'étendant à travers l'arbre jusqu'aux articulations. Un élément supplémentaire s'étend à travers l'arbre jusqu'à l'effecteur terminal par l'intermédiaire de l'articulation. Une barrière élastique à l'intérieur de l'arbre s'étend sur une zone de section transversale de l'arbre, les paires d'éléments d'entraînement et l'élément supplémentaire passant à travers la barrière élastique, la barrière élastique étant en contact élastique avec l'élément supplémentaire de façon à fournir un mouvement de force élastique opposé à l'élément supplémentaire ; chaque élément d'entraînement des paires d'éléments d'entraînement passant à travers un trou dans la barrière élastique sans entrer en contact avec la barrière élastique.
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