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公开(公告)号：WO2017098266A1
公开(公告)日：2017-06-15
申请号：PCT/GB2016/053893
申请日：2016-12-09
发明人： CUTHBERTSON, Rebecca Anne , CHAPLIN, Ben Robert , MARSHALL, Keith , HARES, Luke David Ronald , PHOOLCHUND, Nikki Priyam Su-Ling
CPC分类号： A61B34/30 , A61B34/71 , A61B2017/00477 , A61B2018/00172 , A61B2034/301
摘要： A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft for articulating an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising an instrument interface element for driving the pair of driving elements, the instrument interface element displaceable over a first displacement range, the instrument interface element comprising a body receivable in a drive assembly interface element of a robot arm when the robotic surgical instrument engages with the surgical robot arm, the drive assembly interface element displaceable over a second displacement range, the length of the body in the displaceable direction being greater than one of the maximum travel of the body over the first displacement range and the maximum travel of the drive assembly interface element over the second displacement range.
摘要翻译： 一种机器人手术器械，包括：轴; 在所述轴的远端处的关节，用于铰接端部执行器，所述关节可由一对驱动元件驱动; 以及在所述轴的近端处的器械接口，所述器械接口包括用于驱动所述一对驱动元件的器械接口元件，所述器械接口元件可在第一位移范围上移位，所述器械接口元件包括可接收在驱动器 当所述机器人手术器械与所述手术机器人臂接合时，所述驱动组件接口元件能够在第二位移范围上移位，所述主体在所述可移位方向上的长度大于所述机器人手术器械的所述最大行程中的一个， 在第一位移范围上的车身和在第二位移范围上的驱动装置接口元件的最大行程。
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公开(公告)号：WO2017098264A1
公开(公告)日：2017-06-15
申请号：PCT/GB2016/053890
申请日：2016-12-09
发明人： MARSHALL, Keith , HARES, Luke David Ronald , CHAPLIN, Ben Robert , PHOOLCHUND, Nikki Priyam Su-Ling
CPC分类号： A61B34/30 , A61B34/71 , A61B2034/305
摘要： A surgical robot arm extending between a base and a terminal link, the terminal link connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link, the terminal link comprising: a drive assembly having a first drive assembly interface element for driving a first instrument interface element of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the first drive assembly interface element engageable with the first instrument interface element on the longitudinal axis of the terminal link, and the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link.
摘要翻译： 在基座和终端连杆之间延伸的手术机器人臂，终端连杆通过接头连接到手术机器人臂中的相邻连杆，所述接头允许终端连杆围绕手术机器人臂的纵向轴线旋转 所述终端连杆包括：具有第一驱动组件接口元件的驱动组件，所述第一驱动组件接口元件用于当所述手术机器人臂接合所述机器人手术器械时驱动机器人手术器械的第一器械接口元件，所述第一驱动组件接口元件可与 第一器械接口元件，所述第一器械接口元件在所述终端连杆的纵向轴线上，并且所述第一驱动组件接口元件能够沿着所述终端连杆的纵向轴线线性地移位，以便沿着所述终端连杆的纵向轴线驱动所述第一器械接口元件。 / p>
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3.发明申请
公开(公告)号：WO2017098271A1
公开(公告)日：2017-06-15
申请号：PCT/GB2016/053898
申请日：2016-12-09
发明人： CHAPLIN, Ben Robert , MARSHALL, Keith , PHOOLCHUND, Nikki Priyam Su-Ling , CUTHBERTSON, Rebecca Anne
CPC分类号： A61B34/30 , A61B17/00234 , A61B34/71 , A61B34/72 , A61B90/06 , A61B2017/00207 , A61B2017/00477 , A61B2034/305 , A61B2034/306 , A61B2034/715 , A61B2090/066 , Y10S901/36
摘要： A robotic surgical instrument comprising: a shaft;an articulation at a distal end of the shaft for articulating an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising: an instrument interface element for driving the pair of driving elements, the instrument interface element displaceable over a displacement range, the pair of driving elements fast with the instrument interface element such that a displacement of the instrument interface element is transferred to the pair of driving elements; a tensioning mechanism for tensioning the pair of driving elements; and an alignment mechanism for setting the displacement position of the instrument interface element to a predetermined alignment position when the end effector has a predetermined configuration, the alignment mechanism being independent of the tensioning mechanism.
摘要翻译： 1.一种机器人手术器械，包括：轴;在所述轴的远端处的铰接件，用于铰接端部执行器，所述铰接件可由一对驱动元件驱动; 以及在所述轴的近端处的器械接口，所述器械接口包括：用于驱动所述一对驱动元件的器械接口元件，所述器械接口元件在位移范围上可移位，所述一对驱动元件与所述器械接口元件 使得所述器械接口元件的位移被传递到所述一对驱动元件; 用于张紧所述一对驱动元件的张紧机构; 以及对准机构，其用于当所述末端执行器具有预定构造时将所述器械接口元件的位移位置设定到预定对准位置，所述对准机构独立于所述张紧机构。
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公开(公告)号：WO2017013449A1
公开(公告)日：2017-01-26
申请号：PCT/GB2016/052260
申请日：2016-07-22
CPC分类号： B25J18/04 , B25J9/0009 , B25J9/102 , B25J9/108 , B25J9/12 , B25J13/085 , B25J15/0408 , Y10S901/23 , Y10S901/25 , Y10S901/46
摘要： A robot arm comprising a plurality of limbs articulated relative to each other, the arm extending from a base to a distal limb carrying a tool or an attachment point for a tool, the distal limb being attached by a revolute joint to a second limb, and the arm comprising a motor having a body and a drive shaft arranged for driving rotation of the distal limb relative to the second limb about the revolute joint, wherein the body of the motor is fast with the distal limb.
摘要翻译： 一种机器人手臂，包括相对于彼此铰接的多个肢体，臂从基部延伸到携带工具的远端肢体或用于工具的附接点，远侧肢体通过旋转接头附接到第二肢体，以及 所述臂包括具有主体的马达和驱动轴，所述驱动轴被布置成围绕所述旋转接头驱动所述远端肢体相对于所述第二肢体的旋转，其中所述马达的所述主体与所述远端肢体相连。
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公开(公告)号：WO2017098279A1
公开(公告)日：2017-06-15
申请号：PCT/GB2016/053906
申请日：2016-12-09
发明人： HARES, Luke David Ronald , MARSHALL, Keith , PHOOLCHUND, Nikki Priyam Su-Ling , CHAPLIN, Ben Robert
CPC分类号： A61B34/30 , A61B2017/00327 , A61B2017/2927 , A61B2017/2932 , A61B2017/2947 , A61B2034/305 , A61B2034/715 , B25J9/1045
摘要： A robotic surgical instrument comprising: a shaft;an end effector comprising a first end effector element and a second end effector element;an articulation connecting the end effector to the shaft, the articulation comprising: a first joint driveable by a first pair of driving elements, the first joint permitting the end effector to rotate about a first axis transverse to a longitudinal axis of the shaft;a second joint driveable by a second pair of driving elements, the second joint permitting the first end effector element to rotate about a second axis transverse to the first axis; and a third joint driveable by a third pair of driving elements, the third joint permitting the second end effector element to rotate about the second axis;the robotic surgical instrument further comprising a pulley arrangement around which the second and third pairs of driving elements are constrained to move, the second and third pairs of driving elements having symmetrically opposing paths around the pulley arrangement.
摘要翻译： 1.一种机器人手术器械，包括：轴;末端执行器，所述末端执行器包括第一末端执行器元件和第二末端执行器元件;将所述末端执行器连接到所述轴的关节，所述关节包括：第一关节 所述第一关节允许所述末端执行器围绕与所述轴的纵向轴线成横向的第一轴线旋转;第二关节，所述第二关节可由第二对驱动元件驱动，所述第二关节允许所述第一端部通过所述第一对驱动元件驱动， 执行器元件围绕横向于所述第一轴线的第二轴线旋转; 以及由第三对驱动元件驱动的第三关节，所述第三关节允许所述第二端部执行器元件围绕所述第二轴线旋转;所述机器人手术器械还包括滑轮布置，所述第二和第三对驱动元件围绕所述滑轮布置被约束 以使第二和第三对驱动元件具有围绕皮带轮装置的对称相对路径。
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公开(公告)号：WO2017098268A1
公开(公告)日：2017-06-15
申请号：PCT/GB2016/053895
申请日：2016-12-09
CPC分类号： A61B34/71 , A61B34/30 , A61B34/37 , A61B2034/302 , A61B2034/305
摘要： A robotic surgical instrument comprising: a shaft; an end effector;an articulation connecting the end effector to a distal end of the shaft, the articulation comprising joints permitting the end effector to adopt a range of orientations relative to a longitudinal axis of the shaft;an instrument interface connected to a proximal end of the shaft; and pairs of driving elements configured to drive the joints, the driving elements extending from the instrument interface to the joints, each driving element comprising a spoke which terminates at a distal end in a distal flexible portion that engages the articulation and at a proximal end in a proximal flexible portion that engages the instrument interface; wherein in a straight configuration of the robotic surgical instrument in which the end effector is aligned with the shaft, the distal ends of the spokes of adjacent driving elements are offset along a longitudinal direction of the shaft.
摘要翻译： 一种机器人手术器械，包括：轴; 末端执行器;将末端执行器连接到轴的远端的关节，所述关节包括允许末端执行器相对于所述轴的纵向轴线采取一定范围的取向的接头;连接到末端执行器的近端 轴; 以及成对的驱动元件，所述驱动元件构造成驱动所述接头，所述驱动元件从所述仪器接口延伸到所述接头，每个驱动元件包括轮辐，所述轮辐终止于与所述关节接合的远侧柔性部分中的远端处， 接合器械接口的近侧柔性部分; 其中在所述机器人手术器械的直线构型中，所述末端执行器与所述轴对齐，相邻驱动元件的所述辐条的所述远端沿着所述轴的纵向方向偏置。
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