公开(公告)号：US20100185211A1

公开(公告)日：2010-07-22

申请号：US12665504

申请日：2008-06-12

申请人： Benoit Herman ,  Benoit Raucent ,  Khanh Tran Duy ,  Jacques Donnez ,  Roland Polet

发明人： Benoit Herman ,  Benoit Raucent ,  Khanh Tran Duy ,  Jacques Donnez ,  Roland Polet

IPC分类号： A61B19/00

CPC分类号： B25J9/1065 ,  A61B34/30 ,  A61B90/11 ,  A61B90/50 ,  A61B2090/506 ,  B25J17/0266

摘要： The present invention concerns hybrid manual-robotic system for supporting and moving a surgical instrument having active main structure (100) that comprises: a) a base (2) for attachment to an operating table having an operating surface (150); b) a hexahedral-shape frame (3), which shape is formed from a first (5, 5′) and second (4, 4′) pair of opposing parallelograms and opposing proximal (6′) and distal (6) rectangles, which frame (3) is formed by at least seven links (7, 8, 9, 10, 11, 12, 13, 22, 23) connected by revolute joints (14, 15, 16, 17, 18, 19, 20, 26, 27, 109), whereby a) a pair of parallel base links (7, 13) of the proximal rectangle (6′) is coupled to the base (2) by two revolute joints (116, 117), and are configured to lie and remain essentially perpendicular to the plane of the 10 operating surface (150) and to revolve around their longitudinal axes that coincide with the axes of revolution of joints (116, 117), whereby b) said revolute joints are configured to allow the hexahedral frame (3) to freely adopt a cube, or parallelepiped restricted by said perpendicular coupling; and whereby c) the distal rectangle (6) is coupled through a transmission means (200) to said instrument.

摘要翻译： 本发明涉及用于支撑和移动具有活动主体结构（100）的手术器械的混合手动机器人系统，其包括：a）用于附接到具有操作表面（150）的操作台的基座（2）; b）六面体形框架（3），其形状由第一（5,5'）和第二（4,4''）对相对平行四边形和相对的近端（6'）和远端（6）矩形形成， 所述框架（3）由至少七个通过旋转接头（14,15,16,17,18,19,20）连接的连杆（7,8,9,10,11,12,13,22,23）形成， 26，27，109），其中a）所述近侧矩形（6'）的一对平行基座连接件（7,13）通过两个旋转接头（116,117）联接到所述基座（2）上，并被配置 基本上垂直于10操作表面（150）的平面并且围绕其与接头（116,117）的旋转轴线重合的纵向轴线旋转，由此b）所述旋转接头被配置为允许 六面体框架（3）自由地采用立方体，或由所述垂直耦合限制的平行六面体; 并且由此c）所述远侧矩形（6）通过传动装置（200）联接到所述仪器。

公开(公告)号：US20080188870A1

公开(公告)日：2008-08-07

申请号：US12067586

申请日：2006-06-27

申请人： Jacques Andre ,  Laurent Ferriere ,  Roland Polet

发明人： Jacques Andre ,  Laurent Ferriere ,  Roland Polet

IPC分类号： A61B19/00

CPC分类号： A61B90/57 ,  A61B17/29 ,  A61B34/35 ,  A61B34/70 ,  A61B2017/00212 ,  A61B2034/742

摘要： A device (1) configured for wireless control of a remote appliance is disclosed. The device (1) includes one or more input members (2). The device (1) is configured for releasable mounting to a hand-held surgical instrument (3) and the remote appliance is distinct from the hand-held surgical instrument (3). A method for controlling the remote appliance is also disclosed.

摘要翻译： 公开了一种被配置用于远程设备的无线控制的设备（1）。 装置（1）包括一个或多个输入构件（2）。 所述装置（1）构造成用于可释放地安装到手持式手术器械（3），并且所述远程装置与所述手持式手术器械（3）不同。 还公开了一种用于控制远程设备的方法。

公开(公告)号：US06409735B1

公开(公告)日：2002-06-25

申请号：US09554519

申请日：2000-07-14

申请人： Jacques Andre ,  Jean Mangez ,  Xavier Moreels ,  Roland Polet

发明人： Jacques Andre ,  Jean Mangez ,  Xavier Moreels ,  Roland Polet

IPC分类号： A61B1900

CPC分类号： A61B90/50 ,  A61B34/70 ,  A61B2034/743

摘要： The invention concerns a device for positioning a surgical instrument, characterized in that it comprises a fixed support combined with at least: a first mobile element articulated on the fixed support about a first axis substantially parallel to the plane wherein the patient is placed and capable of carrying out a first movement; a second mobile element articulated at the end of the first element about a second axis substantially parallel to the plane wherein the patient is placed and capable of carrying out a second movement; a deformable element fixed on one side to the end of the second mobile element and capable of carrying out a third rotating movement about a third axis; a prehensile member fixed on the side opposite to that of the second element to the deformable element; a device for locking a surgical instrument on the prehensile member; and actuating means for producing the rotating movements about the different axes.

摘要翻译： 本发明涉及一种用于定位外科器械的装置，其特征在于，其包括固定支撑件，其至少与至少组合：第一移动元件，其围绕基本平行于平面的第一轴线铰接在固定支撑件上，其中患者被放置并能够 进行第一动作; 第二移动元件在第一元件的端部处围绕基本上平行于平面的第二轴线铰接，其中患者被放置并且能够执行第二移动; 可变形元件固定在一侧到第二移动元件的端部并且能够执行围绕第三轴线的第三旋转运动; 固定在与所述第二元件的所述可变形元件相反的一侧的可弯曲构件; 用于将外科器械锁定在所述可弯曲构件上的装置; 以及用于产生围绕不同轴线的旋转运动的致动装置。