-
公开(公告)号：US12064826B2
公开(公告)日：2024-08-20
申请号：US17375679
申请日：2021-07-14
Applicant: MEDICAL MICROINSTRUMENTS, INC.
Inventor： Massimiliano Simi , Giuseppe Maria Prisco
CPC classification number: B23H7/02 , A61B17/00 , A61B34/30 , A61B34/71 , A61B34/72 , B23H11/003 , A61B2017/00526 , A61B2034/305 , B23H2200/00
Abstract: A method of manufacturing a jointed device of a medical instrument includes providing a machining fixture on a wire electrical discharge machine having an electrical discharge wire. The fixture includes member holes each adapted to accommodate at least one workpiece, the workpiece being adapted to form a portion of the jointed device of the medical instrument. At least two workpieces each include a first workpiece and a second workpiece, accommodated within at least two member holes of the member holes. The fixture is associated with the wire electrical discharge machine so that the electrical discharge wire can cut at most one workpiece at a time. The machining fixture is rotated around a fixture rotation axis at a predetermined angle, which is chosen to provide that the electrical discharge wire can cut only one workpiece at a time. The workpieces are cut by the electrical discharge wire.
-
公开(公告)号：US12167902B2
公开(公告)日：2024-12-17
申请号：US18360176
申请日：2023-07-27
Applicant: MEDICAL MICROINSTRUMENTS, INC.
Inventor： Massimiliano Simi , Giuseppe Maria Prisco
IPC: A61B34/37 , A61B1/313 , A61B10/04 , A61B17/00 , A61B17/062 , A61B17/29 , A61B17/32 , A61B17/3211 , A61B34/00 , A61B34/20 , A61B34/30 , A61B34/35 , A61B90/00 , A61B90/20 , A61B90/25 , B25J3/04 , B25J9/10 , B25J9/16 , B25J15/00 , G05B19/402 , A61B17/34
Abstract: A robotic surgical assembly includes a support, one macro-positioning arm, connected to the support and having a plurality of degrees of freedom. The macro-positioning arm includes a support member, at least two micro-positioning devices, each having a plurality of motorized degrees of freedom, connected in cascade to the support member of the macro-positioning arm, and at least two medical instruments. Each instrument is connected in cascade to each of the micro-positioning devices and includes a jointed device having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments has a shaft, suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).
-
公开(公告)号：US12083615B2
公开(公告)日：2024-09-10
申请号：US17375625
申请日：2021-07-14
Applicant: MEDICAL MICROINSTRUMENTS, INC.
Inventor： Massimiliano Simi , Giuseppe Maria Prisco
CPC classification number: B23H7/02 , A61B17/00 , A61B34/30 , A61B34/71 , A61B34/72 , B23H11/003 , A61B2017/00526 , A61B2034/305 , B23H2200/00
Abstract: A method of manufacturing a jointed device of a medical instrument includes providing a machining fixture on a wire electrical discharge machine having an electrical discharge wire. The fixture includes member holes each adapted to accommodate at least one workpiece, the workpiece being adapted to form a portion of the jointed device of the medical instrument. At least two workpieces each include a first workpiece and a second workpiece, accommodated within at least two member holes of the member holes. The fixture is associated with the wire electrical discharge machine so that the electrical discharge wire can cut at most one workpiece at a time. The machining fixture is rotated around a fixture rotation axis at a predetermined angle, which is chosen to provide that the electrical discharge wire can cut only one workpiece at a time. The workpieces are cut by the electrical discharge wire.
-
公开(公告)号：US12178531B2
公开(公告)日：2024-12-31
申请号：US17096234
申请日：2020-11-12
Applicant: MEDICAL MICROINSTRUMENTS, INC.
Inventor： Massimiliano Simi , Giuseppe Maria Prisco
IPC: A61B34/37 , A61B1/313 , A61B10/04 , A61B17/00 , A61B17/062 , A61B17/29 , A61B17/32 , A61B17/3211 , A61B34/00 , A61B34/20 , A61B34/30 , A61B34/35 , A61B90/00 , A61B90/20 , A61B90/25 , B25J3/04 , B25J9/10 , B25J9/16 , B25J15/00 , G05B19/402 , A61B17/34
Abstract: A robotic surgical assembly (100) includes a support (104), one macro-positioning arm (30), connected to the support (104) and having a plurality of degrees of freedom. The macro-positioning arm (30) includes 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 the support member (38) of the macro-positioning arm (30), and at least two medical instruments (60, 160, 260, 360). Each instrument is connected in cascade to each of the micro-positioning device and includes a jointed device (70, 170, 270) having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments (60, 160, 260, 360) has a shaft (65), suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).
-
公开(公告)号：US12097005B2
公开(公告)日：2024-09-24
申请号：US18694624
申请日：2022-09-22
Applicant: MEDICAL MICROINSTRUMENTS, INC.
Inventor： Giorgio Lazzari , Massimiliano Simi
Abstract: A surgical instrument for robotic surgery includes a tendon-actuated articulating end, an actuating tendon, and a backend portion having an elongated transmission body movable along a longitudinal direction coinciding with or parallel to a longitudinal extension axis of the elongated body. A first resting wall forms a first resting part for a first transversal side of the elongated body. A second resting part is for a second transversal side, opposite to the first transversal side, of the elongated body. The actuating tendon is operatively connected to the elongated body and is operatively connected to a return element. The elongated body includes on the first side thereof a first lateral surface which slidably rests against the first resting wall; the elongated body includes on the second side a second lateral surface which slidably rests against the second resting part.
-
公开(公告)号：US12059226B2
公开(公告)日：2024-08-13
申请号：US17056375
申请日：2019-05-17
Applicant: MEDICAL MICROINSTRUMENTS, INC.
Inventor： Massimiliano Simi , Giuseppe Maria Prisco
CPC classification number: A61B34/74 , A61B34/37 , A61B2017/00221 , A61B2017/00862 , A61B2050/314 , A61B90/60
Abstract: A master controller assembly for a robotic surgery system has a slave robot assembly having a slave surgical grip device providing a grip degree-of-freedom of motion lying in a predefined slave grip plane and a control unit. The master controller assembly has a portable hand-held master input tool operatively connected to the slave robot assembly. The master input tool has a master tool body having a manipulandum surface, to be hand-held by the surgeon's fingers. The master input tool is mechanically unconstrained from the slave robot assembly and has a grip command detector device having an operative portion. The operative portion is manually operable by radially directed pressure action exerted at an operative surface. A sensing assembly detects the radially directed pressure action so that the radially directed pressure action exerted at the operative surface determines a paired slave grip motion action of the surgical slave grip device.
-
公开(公告)号：US12042242B2
公开(公告)日：2024-07-23
申请号：US17712921
申请日：2022-04-04
Applicant: MEDICAL MICROINSTRUMENTS INC.
Inventor： Massimiliano Simi , Giuseppe Maria Prisco
CPC classification number: A61B34/71 , A61B34/37 , A61B34/72 , B25J9/106 , B25J9/1615
Abstract: A robotic surgical assembly includes a slave manipulator connected to a surgical instrument. A jointed subassembly includes at least first, second and third links. The first and second links are associated in a first joint providing a degree of freedom between the first link and the second link. The second and third links are associated in a second joint providing a degree of freedom between the second link and the third link. The surgical instrument includes a tendon for moving a degree of freedom; the tendon including a tendon distal portion secured to the third link. The first link and/or the second link includes a tendon contact surface on which the tendon slides remaining in contact with the tendon contact surface, defining one or more sliding paths on the tendon contact surface. The sum of all sliding paths defines a total winding angle of at least 120°.
-
公开(公告)号：US12023121B2
公开(公告)日：2024-07-02
申请号：US17697328
申请日：2022-03-17
Applicant: MEDICAL MICROINSTRUMENTS, INC.
Inventor： Massimiliano Simi , Giuseppe Maria Prisco , Cesare Stefanini
CPC classification number: A61B34/37 , A61B34/71 , A61B46/13 , A61B90/06 , A61B2017/00477 , A61B2034/715 , A61B2090/064
Abstract: A robotic surgical assembly includes a slave manipulator with an actuator, a pushing device connected to the actuator, a sensor detecting a contact force on the pushing device, a position sensing system, and a control unit. A surgical instrument is detachable to the slave manipulator and separated from the slave manipulator by a sterile barrier. The surgical instrument includes a frame; an articulated link; a tendon associated with the actuator, having proximal and distal portions secured to the link. A transmission device in contact with the tendon proximal portion exerts a traction action. The transmission device has one degree of freedom of motion relative to the frame. The pushing device releasably and selectively connects with the transmission device to transmit a pushing action to the transmission device through the sterile barrier. An elastic device biases the transmission device to exert a traction action on the tendon.
-
公开(公告)号：US11813685B2
公开(公告)日：2023-11-14
申请号：US17375533
申请日：2021-07-14
Applicant: MEDICAL MICROINSTRUMENTS, INC.
Inventor： Massimiliano Simi , Giuseppe Maria Prisco
CPC classification number: B23H7/02 , A61B17/00 , A61B34/30 , A61B34/71 , A61B34/72 , B23H11/003 , A61B2017/00526 , A61B2034/305 , B23H2200/00
Abstract: A method of manufacturing a jointed device of a medical instrument includes providing a machining fixture on a wire electrical discharge machine having an electrical discharge wire.
The fixture includes member holes each adapted to accommodate at least one workpiece, the workpiece being adapted to form a portion of the jointed device of the medical instrument. At least two workpieces each include a first workpiece and a second workpiece, accommodated within at least two member holes of the member holes. The fixture is associated with the wire electrical discharge machine so that the electrical discharge wire can cut at most one workpiece at a time. The machining fixture is rotated around a fixture rotation axis at a predetermined angle, which is chosen to provide that the electrical discharge wire can cut only one workpiece at a time. The workpieces are cut by the electrical discharge wire.
