Active device for positioning a surgical instrument and a surgical robotic system comprising this device
US9480531B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 14, 2013 |
| Grant date | Nov 1, 2016 |
| Priority date | — |
| Expiry date | Jun 11, 2034 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/304
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
The present invention relates to an active positioning device for a surgical instrument arranged on a robot arm, comprising a carrier plate (3, 33), which can be connected with a robot arm (1, 31), a port mechanism (4, 34), which is arranged on carrier plate (3, 33) and intended as entry point into the interior of a body, at least one guide device (6, 36, 59) for insertion of a surgical instrument (8, 38, 61) into the body, whereby the shaft of surgical (8, 38, 61) instrument extends through guide device (6, 36, 59) and whereby guide device (6, 36, 59) is variably connected to port mechanism (4, 34) via a compensating element (5, 35) and an adjustment device (9, 10, 11, 12, 13, 14, 39, 40, 41, 42, 43, 44, 62, 63, 64, 65, 66, 67) for guide device (6, 36, 59) opposite port mechanism (4, 34), which is arranged on carrier plate (3, 33) and/or port mechanism (4, 34) on the one hand and guide device (6, 36, 59) on the other hand, in such a way that the shaft of surgical instrument (8, 38, 61) is movable both in x-direction and y-direction in relation to the starting position, in which the longitudinal extension of the surgical instrument runs parallel to the longitudinal extension of por…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.