大学女生宿舍⾸发！⼿术机器⼈专利分析报告（达芬奇篇）
前⾔导读
⼿术机器⼈是⼀种先进的医疗设备，借助微创伤⼿术及相关底层技术的发展⽽发明。⼿术机器⼈被⽤于在⾼于⼈类能⼒的微创伤⼿术领域中实现⾼于⼈类能⼒的对⼿术器械的精准操控。⼿术机器⼈通常由⼿术控制台、配备机械臂的⼿术车及视像系统组成。外科医⽣坐在⼿术控制台，观看由放置在患者体内腔镜传输的⼿术区域三维影像，并操控机械臂的移动，以及该机械臂附带的⼿术器械及腔镜。机械臂模拟⼈类的⼿臂，为外科医⽣提供⼀系列模拟⼈体⼿腕的动作，同时过滤⼈⼿本⾝的震颤。
机器⼈⼿术系统是集多项现代⾼科技⼿段于⼀体的综合体，其⽤途⼴泛，在临床上外科上有⼤量的应⽤。外科医⽣可以远离⼿术台操纵机器进⾏⼿术，完全不同于传统的⼿术概念，在世界微创外科领域是当之⽆愧的⾰命性外科⼿术⼯具。
⼿术机器⼈市场概览
近年来，全球⼿术机器⼈进⼊迅猛发展阶段。数据显⽰，2015年的30亿美元增⾄2020年的83亿美元，复合年增长率为22.6%。预期全球⼿术机器⼈市场将继续快速增长，2026年达到336亿美元，⾃2020年起复合年增长率为26.2%。
中国⼿术机器⼈市场仍处于早期发展阶段，但增长潜⼒巨⼤。2020年，中国⼿术机器⼈市场规模为425.3百万美元，预期市场将以44.3%的复合年增长率快速增长，2026年将达到3,840.2百万美元。
达芬奇初探
达芬奇（da Vinci）⼿术机器⼈由美国直观医疗公司制造⽣产。美国直观医疗公司创⽴于1995年，总部设在美国加州，是开发⾰命性微创⼿术仪器和技术的先驱。
1999年，第⼀台达芬奇⼿术机器⼈⾯世。2000年，达芬奇⼿术机器⼈正式成为第⼀个受FDA批准⽤于临床⼿术的机器⼈辅助腹腔镜⼿术系统。
系统主要由三部分组成：医⽣操控台、床旁机械臂系统以及影像处理平台。主⼑医⽣坐在控制台前控制器械和镜头；床旁机械臂系统是达芬奇⼿术机器⼈的操作部分，它放置在患者⾝旁为器械和镜头提供⽀撑，并实现医⽣的操作；影像处理系统，为患者⾝边的⼿术团队提供图像信息。
20 多年来，达芬奇平台开创了⼿术室的新功能，改变了微创⼿术领域。通过超过 500 万次⼿术，Intuitive已成为⼿术机器⼈领域公认的领导者。
达芬奇⼿术机器⼈拥有三维⾼清视野，头发丝⼤⼩的⾎管在医⽣眼⾥也能清晰可见；达芬奇⼿术机器⼈的器械拥有可转腕的关节，⽐⼈⼿更加的⼩巧灵活；同时医⽣的⼿部动作可以准确⽆延时地重现在患者体内的器械上。
达芬奇机器⼈⼿术和开放⼿术或传统腹腔镜⼿术相⽐具有以下潜在优势：
更⼩创伤：极⼤减轻患者的疼痛。
美术教案小班
更加精准：出⾎更少，并发症更少，感染风险降低。
更快恢复：住院时间更短，更快恢复正常⽣活，提⾼⽣活质量。减少误⼯费⽤和陪床费⽤。
专利分析
对于达芬奇机器⼈相关专利，其申请⼈主要聚集于Intuitive Surgical公司（直觉外科 OR 直观外科）。笔者针对Intuitive Surgical所涉及的专利情况，进⾏了检索，其结果进⾏如下展⽰：
专利概览
下图给出Intuitive Surgical公司专利的申请和公开情况。可以清晰得知，可以清晰得知，其专利申请和授权情况主要集中于2005年后。出现这种情况的出现也和达芬奇机器⼈的更新换代有着密切关系，结合下⽂中所提及的技术脉络，也进⼀步预⽰其初始专利已陆陆续续到期或即将到期，这也给部分机器⼈赛道⼊场者提供了部分机会和技术借鉴。
下⾯两幅图给出了达芬奇⼿术机器⼈专利布局情况，可以⾮常明确得到达芬奇⼿术机器⼈的专利地域布局情况，其专利申请⽬标国主要聚集于美国、欧洲、中国等区域性中⼼国家或地区，同样的，以2011年为界限，可以明确得知第⼀、⼆代达芬奇⼿术机器⼈和第三代达芬奇⼿术机器⼈的专利地域布局情况。
下图给出了Intuitive Surgical公司的技术⽣命周期情况。
下图给出了Intuitive Surgical公司相关专利合作和布局的情况，可以⾮常清晰的看出，与各个医疗器械
⼤⼚⼀样，作为⼿术机器⼈龙头公司，Intuitive Surgical也与众多企业和科研院所展开的合作研究。
下图给出了Intuitive Surgical公司相关专利的专利地图情况，从该专利地图可以很明了的得到Intuitive Surgical公司相关专利的技术分⽀情况。
技术脉络
达芬奇系列⼿术机器⼈共经历的四代进化。
达芬奇机器⼈1996年推出了第⼀代，2006年推出的第⼆代机器⼈机械⼿臂活动范围更⼤了，允许医⽣在不离开控制台的情况下进⾏多图观察。
2009年在第⼆代机器⼈的基础上增加了双控制台、模拟控制器、术中荧光显影技术等功能，进⽽推出了第三代达芬奇Si 系统。
第四代达芬奇Xi系统在2014年推出，灵活度、精准度、成像清晰度等⽅⾯有了质的提⾼，公司在2014年下半年还开发了远程观察和指导系统。
重要专利解析
从上⽂的技术脉络可以得知，对于达芬奇⼿术机器⼈⽽⾔，其总共经历的四次技术迭代，笔者对这四代达芬奇⼿术机器⼈和配套器械的相关专利根据类别分别进⾏了整理和剖析，对于全部清单列表和分析内容，感兴趣的读者可以和笔者取得联系，这⾥笔者从众多专利中选择了若⼲进⾏了解析，相关相关结果如下：
第⼀代达芬奇⼿术系统
公
开/猎豹汽车怎么样
公告号US5797900A
申
请
⽇
1997-
05-16
发
明名称Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and nsitivity
解
决的技术问题In accordance with the above objects of the invention applicants describe a compact articulated surgical instrument suitable for endoscopic surgery. The instrument has two oppod pivoting jaws and a pivoting wrist member. The instrument is capable of providing force reflection with high'nsitivity. The instrument is adapted to be coupled via a rvomechanism to a master control operated by a surgeon.
技术⽅案An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to stand
ard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
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孕妇板蓝根
公开/
公告号US6905491B1
西红柿鸡蛋做法>作差法申
请
⽇
1997-
05-16
发
明名称Apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input device
解决的技术问题There have been attempts to perform CABG procedures without opening the chest cavity. Minimally invasive procedures are conducted by inrting surgical instruments and an endoscope through small incision in the skin of the patient. Manipulating such instruments can be awkward, particularly when suturing a graft to a artery. It has been found that a high level of dexterity is required to accurately control the instruments. Additionally, human hands typically have at least a minimal amount of tremor. The tremor further increas the difficulty of performing minimal invasive cardiac procedures. It would be desirable to provide a system for effectively performing minimally invasive coronary artery bypass graft procedures..
技术⽅案A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by
the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depresd by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The robotic arm may contain a passive joint that provides an additional degree of freedom. Additionally, the system may include a disconnect input device that decouples the arm from an input device such as the handles.
相
关
附
图
第⼆代达芬奇S⼿术系统
公
开/
公US6783524B2
公
告
号
US6783524B2
浮世欢环保手抄报内容发
明
名
称
Robotic surgical tool with ultrasound cauterizing and cutting instrument 解
决的技术问题Surgical ultrasound instruments are generally capable of treating tissue with u of frict
ional heat produced by ultrasonic vibratio many currently available instruments, tissue may first be grasped by an ultrasound surgical device and then ultrasound energy m instruments provide advantages over other cutting and cauterizing systems, such as reduced collateral tissue damage, reduced instruments for u with a robotic surgical system are not available.
技术⽅案A surgical instrument for enhancing robotic surgery generally includes an elongate shaft with an ultrasound probe, an end effect The end effector includes an ultrasound probe tip and the surgical instrument is generally configured for convenient positioning energy delivered by the probe tip may be ud to cut, cauterize, or achieve various other desired effects on tissue at a surgical s gripping tissue in cooperation with the ultrasound probe tip. The ba is generally configured to removably couple the surgical i system to the end effector, through the elongate shaft. A method for enhancing robotic surgery generally includes coupling the s contact with tissue at a surgical site, and delivering ultrasound energy to the tissue.
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