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1. 发明申请

WO2017064306A1 A SURGICAL TOOL 审中-公开
标题翻译：手术工具
公开(公告)号：WO2017064306A1
公开(公告)日：2017-04-20
申请号：PCT/EP2016/074812
申请日：2016-10-14
申请人： MEDICAL MICROINSTRUMENTS S.R.L.
发明人： SIMI, Massimiliano , PRISCO, Giuseppe Maria
IPC分类号： A61B34/30 , A61B34/37 , A61B34/00 , A61B17/29 , B25J9/10
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B2034/305 , B25J9/104
摘要： Medical instrument (60, 160, 260, 360) comprising at least one first, second and third joint member (71, 72, 73), at least two pairs of tendons (90, 190, 191, 192) connected with the same joint member and adapted to move said third member (73) with respect to said second member (72), pulling it; and wherein each of said joint member (71, 72, 73) comprises a main structural body comprising in a single piece one or more convex contact surfaces (40, 80, 86, 140, 180), all said convex contact surfaces (40, 80, 86, 140, 180) defining with their prolongations thereof at least partially a single convex volume for each joint member; and wherein the main portion of each tendon is in contact with said jointed device (70, 170, 270) only on said convex contact surfaces; and wherein at least two tendons of said at least two pairs of tendons (90, 190, 191, 192) are in contact with a same convex contact surface.
摘要翻译：医疗器械（60,160,260,360）包括至少一个第一，第二和第三接头构件（71,72,73），至少两对肌腱（90,190,191），192）与相同的连接部件连接并适于相对于所述第二部件（72）移动所述第三部件（73），将其拉动; 并且其中，所述接合构件（71,72,73）中的每一个包括主体结构体，所述主体结构体以单件形式包括一个或多个凸形接触表面（40,80,86,140,180），所有所述凸形接触表面（40， 80，86,140,180）以其延长线至少部分地限定用于每个接头构件的单个凸形体积; 并且其中每个肌腱的主要部分仅在所述凸形接触表面上与所述接合装置（70,170,270）接触; 并且其中所述至少两对肌腱（90,190,191,192）中的至少两个肌腱与相同的凸形接触表面接触。

2. 发明申请

WO2017064305A1 METHOD OF MANUFACTURING FOR A MEDICAL INSTRUMENT 审中-公开
标题翻译：医疗仪器的制造方法
公开(公告)号：WO2017064305A1
公开(公告)日：2017-04-20
申请号：PCT/EP2016/074811
申请日：2016-10-14
申请人： MEDICAL MICROINSTRUMENTS S.R.L.
发明人： SIMI, Massimiliano , PRISCO, Giuseppe Maria
IPC分类号： B23H11/00 , A61B34/00 , B23H7/02
CPC分类号： B23H11/003 , A61B34/71 , A61B2017/00526 , A61B2034/305 , B23H7/02
摘要： A method of manufacturing a jointed device (70, 170, 270) of a medical instrument (60, 160, 260, 360) comprising the following steps: (A) providing a machining fixture (112) on a wire electrical discharge machine having an electrical discharge wire (115), said machining fixture (112) comprising a plurality of member holes (116) each adapted to accommodate at least one workpiece (117), said workpiece (117) being adapted to form at least one portion of said jointed device (70, 170, 270) of said medical instrument (60, 160, 260, 360); (B) providing at least two workpieces (117), comprising a first workpiece and a second workpiece, accommodated within at least two member holes (116) of said plurality of member holes (116); (C) associating said machining fixture (112) to the wire electrical discharge machine so that said electrical discharge wire (115) can cut at most one of said at least two workpieces (117) at time; (D) cutting said at least two workpieces (117) by said electrical discharge wire (115); (E)rotating the machining fixture (112) around a fixture rotation axis (R-R) of a predetermined fixture rotation angle, said predetermined fixture rotation angle being chosen to provide that said electrical discharge wire (115) can cut at most one of said at least two workpieces (117) at time; (F) cutting said workpieces (117) by said electrical discharge wire.
摘要翻译：一种制造医疗器械（60,160,260,360）的接合装置（70,170,270）的方法，包括以下步骤：（A）提供机械夹具（112），所述机械夹具（112）在具有放电线（115）的电火花线切割机上，所述机加工夹具（112）包括多个构件孔（116），每个构件孔适于容纳至少一个工件（117），所述工件（117）适于形成所述医疗器械（60,160,260,360）的所述接合装置（70,170,270）的至少一部分; （B）提供容纳在所述多个构件孔（116）中的至少两个构件孔（116）内的至少两个工件（117），所述工件包括第一工件和第二工件; （C）将所述加工夹具（112）与所述电火花线切割机器相关联，使得所述放电线（115）能够同时切割所述至少两个工件（117）中的至少一个; （D）通过所述放电线（115）切割所述至少两个工件（117）; （E）使机加工夹具（112）围绕具有预定夹具旋转角度的夹具旋转轴线（RR）旋转，所述预定夹具旋转角度被选择为使得所述放电线材（115）能够切割所述至少一个至少两个工件（117）; （F）通过所述放电线切割所述工件（117）。

3. 发明申请

WO2017064301A1 ROBOTIC SURGICAL ASSEMBLY 审中-公开
标题翻译：机器人手术组装
公开(公告)号：WO2017064301A1
公开(公告)日：2017-04-20
申请号：PCT/EP2016/074805
申请日：2016-10-14
申请人： MEDICAL MICROINSTRUMENTS S.R.L.
发明人： SIMI, Massimiliano , PRISCO, Giuseppe Maria
IPC分类号： A61B34/30 , A61B34/37 , A61B34/00 , A61B90/20 , B25J9/16 , B25J9/00
CPC分类号： A61B34/30 , A61B17/062 , A61B34/37 , A61B34/72 , A61B90/20 , A61B90/361 , A61B2034/2048 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/061 , A61B2090/064 , B25J3/04 , B25J9/1015 , B25J9/1669 , B25J15/0052 , G05B2219/45117
摘要： Robotic surgical assembly (100) comprising a support (104), one macro-positioning arm (30), connected to said support (104) and having a plurality of degrees of freedom, said macro-positioning arm (30) comprising a support member (38), at least two micro-positioning devices (41, 141, 241, 341), each having a plurality of motorized degrees of freedom, connected in cascade to said support member (38) of said macro-positioning arm (30), and at least two medical instruments (60, 160, 260, 360), each is connected in cascade to each of said micro-positioning device and comprises a jointed device (70, 170, 270) having a plurality of motorized degrees of freedom including a plurality of rotational joints; and wherein each of said at least two medical instruments (60, 160, 260, 360) comprises a shaft (65), suitable for distancing said jointed device from said micro-positioning devices by a predetermined distance in a shaft direction (X-X).
摘要翻译：一种机器人手术组件（100），其包括支撑件（104），连接到所述支撑件（104）并具有多个自由度的一个宏观定位臂（30），所述宏观定位包括支撑构件（38），至少两个微型定位装置（41,141,241,341），每个微型定位装置具有多个机动化自由度，所述至少两个微型定位装置级联连接至所述支撑构件所述宏观定位臂（30）和至少两个医疗器械（60,160,260,360）各自级联连接到所述微定位装置中的每一个并且包括接合装置（70,170,270）具有包括多个旋转关节的多个机动化自由度; 并且其中，所述至少两个医疗器械（60,160,260,360）中的每一个包括轴（65），所述轴适于使所述接合器械与所述微定位装置在轴向（XX）上隔开预定距离。

4. 发明申请

WO2017064303A1 SURGICAL TOOL FOR ROBOTIC SURGERY AND ROBOTIC SURGICAL ASSEMBLY 审中-公开
标题翻译：机器人手术和机器人手术装配的外科手术工具
公开(公告)号：WO2017064303A1
公开(公告)日：2017-04-20
申请号：PCT/EP2016/074808
申请日：2016-10-14
申请人： MEDICAL MICROINSTRUMENTS S.R.L.
发明人： SIMI, Massimiliano , PRISCO, Giuseppe Maria
IPC分类号： A61B34/30 , A61B34/37 , A61B34/00 , A61B90/20 , B25J9/16 , B25J9/10
CPC分类号： A61B34/30 , A61B17/062 , A61B34/37 , A61B34/72 , A61B90/20 , A61B90/361 , A61B2034/2048 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/061 , A61B2090/064 , B25J3/04 , B25J9/1015 , B25J9/1669 , B25J15/0052 , G05B2219/45117
摘要： It is an object of the present invention a medical instrument (60, 160, 260, 360) for surgery comprising at least one frame (57) and at least one jointed device (70, 170, 270), wherein said jointed device (70, 170, 270) comprises at least one first joint member (71), or first link (71), adapted to connect to at least one portion of said frame (57) and at least one second joint member (72), or second link (72); wherein said first joint member (71) is connected by means of a rotational joint (171) to said second joint member (72); and wherein said medical instrument (60, 60, 260, 360) further comprising at least a pair of tendons (90, 190), adapted to move said second joint member (72) with respect to said first joint member (71), pulling it; and wherein each of said first joint member (71) and said second joint member (72) comprises a main structural body comprising in a single piece one or more convex contact surfaces (40, 80, 86, 40, 180), and wherein each of said convex contact surfaces (40, 80, 86, 140, 180) is a ruled surface formed by a plurality of straight line portions all parallel to each other and substantially parallel to a joint movement axis (P-P, Y-Y).
摘要翻译：本发明的目的是一种用于外科手术的医疗器械（60,160,260,360），其包括至少一个框架（57）和至少一个连接装置（70,170,270 ），其中所述接合装置（70,170,270）包括适于连接到所述框架（57）的至少一部分的至少一个第一接头构件（71）或第一连杆（71），和至少一个第二连接构件接头构件72或第二连杆72; 其中所述第一接头构件通过旋转接头连接到所述第二接头构件上; ，并且其中所述医疗器械（60,60,260,360）还包括适于相对于所述第一接头构件（71）移动所述第二接头构件（72）的至少一对腱（90,190），拉动它; ，并且其中所述第一接头构件（71）和所述第二接头构件（72）中的每一个包括主体结构体，所述主体结构体以单件包括一个或多个凸形接触表面（40,80,86,40,180），并且其中每个所述凸状接触面（40,80,86,140,180）是由多个直线部分构成的直纹部分，所述直线部分全部相互平行并基本平行于关节运动轴线（PP，YY）。

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