WO2003001986A8 - Surgical tool having positively positionable tendon-actuated multi-disk wrist joint - Google Patents
Surgical tool having positively positionable tendon-actuated multi-disk wrist jointInfo
- Publication number
- WO2003001986A8 WO2003001986A8 PCT/US2002/020884 US0220884W WO03001986A8 WO 2003001986 A8 WO2003001986 A8 WO 2003001986A8 US 0220884 W US0220884 W US 0220884W WO 03001986 A8 WO03001986 A8 WO 03001986A8
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- cables
- vertebra
- distal
- medial
- vertebrae
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/008—Articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/0069—Aspects not otherwise provided for with universal joint, cardan joint
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2933—Transmission of forces to jaw members camming or guiding means
- A61B2017/2936—Pins in guiding slots
-
- 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
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
Abstract
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19164807.0A EP3524201B1 (en) | 2001-06-29 | 2002-07-01 | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
EP13162794.5A EP2659853B1 (en) | 2001-06-29 | 2002-07-01 | Surgical tool |
JP2003508233A JP4332031B2 (en) | 2001-06-29 | 2002-07-01 | Surgical instrument with positively positionable tendon driven multi-disc wrist joint |
AU2002318461A AU2002318461A1 (en) | 2001-06-29 | 2002-07-01 | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
EP16175279.5A EP3087944B1 (en) | 2001-06-29 | 2002-07-01 | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
EP11160272.8A EP2338434B1 (en) | 2001-06-29 | 2002-07-01 | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
EP13162796.0A EP2659854B1 (en) | 2001-06-29 | 2002-07-01 | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
EP13162798.6A EP2659855B1 (en) | 2001-06-29 | 2002-07-01 | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
EP02748026.8A EP1585425B1 (en) | 2001-06-29 | 2002-07-01 | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US30196701P | 2001-06-29 | 2001-06-29 | |
US60/301,967 | 2001-06-29 | ||
US32770201P | 2001-10-05 | 2001-10-05 | |
US60/327,702 | 2001-10-05 | ||
US10/187,248 | 2002-06-28 | ||
US10/187,248 US6817974B2 (en) | 2001-06-29 | 2002-06-28 | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
Publications (3)
Publication Number | Publication Date |
---|---|
WO2003001986A2 WO2003001986A2 (en) | 2003-01-09 |
WO2003001986A8 true WO2003001986A8 (en) | 2003-12-04 |
WO2003001986A3 WO2003001986A3 (en) | 2009-03-19 |
Family
ID=27392222
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2002/020884 WO2003001986A2 (en) | 2001-06-29 | 2002-07-01 | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
Country Status (5)
Country | Link |
---|---|
US (7) | US6817974B2 (en) |
EP (7) | EP2659854B1 (en) |
JP (8) | JP4332031B2 (en) |
AU (1) | AU2002318461A1 (en) |
WO (1) | WO2003001986A2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8535347B2 (en) | 2003-05-23 | 2013-09-17 | Intuitive Surgical Operations, Inc. | Articulating mechanisms with bifurcating control |
Families Citing this family (1437)
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US9440364B2 (en) | 2003-05-23 | 2016-09-13 | Intuitive Surgical Operations, Inc. | Articulating instrument |
US9498888B2 (en) | 2003-05-23 | 2016-11-22 | Intuitive Surgical Operations, Inc. | Articulating instrument |
US9550300B2 (en) | 2003-05-23 | 2017-01-24 | Intuitive Surgical Operations, Inc. | Articulating retractors |
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