CN101394799A - 具有医疗超声刀的医疗超声器械 - Google Patents
具有医疗超声刀的医疗超声器械 Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
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- A—HUMAN NECESSITIES
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/00336—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means with a protective sleeve, e.g. retractable or slidable
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- A—HUMAN NECESSITIES
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
- A61B17/22012—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement
- A61B2017/22014—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement the ultrasound transducer being outside patient's body; with an ultrasound transmission member; with a wave guide; with a vibrated guide wire
- A61B2017/22015—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement the ultrasound transducer being outside patient's body; with an ultrasound transmission member; with a wave guide; with a vibrated guide wire with details of the transmission member
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B2017/320089—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic node location
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
- A61B2017/320094—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw additional movable means performing clamping operation
Abstract
本发明公开了第一、第二和第三医疗超声器械。所述第一医疗超声器械包括医疗超声刀,该医疗超声刀具有第一刀部分、第二刀部分和第三刀部分。所述第二刀部分比第一刀部分和第三刀部分中任一个更易弯曲。所述第二医疗超声器械包括医疗超声刀,该医疗超声刀具有近侧刀部分和远侧刀部分。所述远侧刀部分包括适于接触患者组织并对其进行超声治疗的远端部分。所述第三医疗超声器械包括医疗超声刀,该医疗超声刀包括近侧刀部分和远侧刀部分,所述近侧刀部分具有中心线,所述远侧刀部分在大致平的分界面上与所述近侧刀部分接触。所述分界面被定向成与所述中心线在分界面处的垂直面成非零角度。
Description
技术领域
本发明总的涉及医疗超声器械,更具体地涉及一种具有医疗超声刀的医疗超声器械。
背景技术
已知的医疗超声器械包括外科超声刀。外科超声器械是已知的,其包括外科超声剪刀,该外科超声剪刀包括外科超声刀(形式为钛杆)、可操作地向着所述外科刀打开和闭合的夹钳臂、与所述夹钳臂连接的组织垫以及用于在所述夹紧臂上施加夹紧力的装置,所述夹紧臂将夹紧压力施加到定位于所述组织垫和所述刀之间的血管上。外科超声刀的超声振动和血管上的夹钳压力使血管接合(将血管壁聚在一起)、横切(切割)接合的血管以及使血管的接合的切割末端凝固(封闭)。关节运动式外科缝合器、剪刀和抓钳也是已知的。
科学家和工程师们仍在继续探寻改进的具有医疗超声刀的医疗超声器械。
发明内容
本发明的第一实施方式涉及包括医疗超声刀的医疗超声器械。所述医疗超声刀具有一定长度并且包括第一刀部分、第二刀部分和第三刀部分。第二刀部分沿着纵向设置在第一刀部分和第三刀部分之间,第一刀部分设置在第二刀部分近侧,并且第三刀部分设置在第二刀部分远侧。第一刀部分和第三刀部分分别具有较大横向区域,第二刀部分具有较小横向区域。第二刀部分比第一刀部分和第三刀部分中任一个更易弯曲。
本发明的第二实施方式涉及包括医疗超声刀的医疗超声器械。所述医疗超声刀具有一定长度并且包括近侧刀部分和远侧刀部分。近侧刀部分具有较大横向区域,远侧刀部分具有较小横向区域。远侧刀部分比近侧刀部分更易弯曲。所述远侧刀部分包括适于接触患者组织并对其进行超声治疗的远端部分。
本发明的第三实施方式涉及包括医疗超声刀的医疗超声器械。所述医疗超声刀包括近侧刀部分和远侧刀部分,所述近侧刀部分具有中心线,所述远侧刀部分在大致平的分界面上与所述近侧刀部分接触。所述分界面被定向成与中心线在分界面处的垂直面成非零角度。
从本发明的一种或多种实施方式可获得多种益处和优点。在第一实施方式的一个示例中,第一刀部分和第三刀部分是刚性的,并且第二刀部分在医疗手术过程中能受控地弯曲以便更容易接近患者体内的目标位置。在第二实施方式的一个示例中,近侧刀部分是刚性的,并且远侧刀部分在医疗手术过程中能受控地弯曲,使得远侧刀部分的远端部分更容易接近患者体内的目标位置以便接触患者组织并对其进行超声治疗。在第三实施方式的一个示例中,近侧刀部分和远侧刀部分围绕分界面相对旋转使得远侧刀部分相对于近侧刀部分关节运动。
本发明在应用上不受限制,其可带有直的或弯曲的超声外科刀,带有或不带有夹紧臂,还可以用于手动器械以及机器人辅助器械中。
附图说明
图1是本发明的医疗超声器械的第一种实施方式的一部分(手柄和护套关节运动控制钮等为了清楚起见而被省略)的示意性剖视图,其中第二刀部分的长度大致为二分之一共振纵向波长;
图2是图1所示医疗超声器械的替代实施方式的视图,其中第二刀部分的跨距为二分之一共振纵向波长的倍数;
图3仅是图1中医疗超声刀的替代实施方式的视图,其中第二刀部分通过压配合的销钉接合到第一刀部分上;
图4是图3所示的医疗超声刀的替代实施方式的视图,其中第二刀部分通过球窝式连接接合到第一刀部分上;
图5是本发明的医疗超声器械的第二实施方式一部分的示意性剖视图,该医疗超声器械缺少图1的实施方式的第三刀部分;
图6是本发明的医疗超声器械的第三实施方式的一部分的示意性剖视图,该医疗超声器械具有医疗超声刀,该医疗超声刀包括具有倾斜分界面的两个刀部分,其中各个刀部分的相对旋转引起远侧刀部分相对于近侧刀部分做关节运动;和
图7和8是医疗超声刀的一种替代实施方式旋转前和旋转后的侧视图,其中,所述刀部分具有材料去除区域。
具体实施方式
在详细解释本发明之前,应注意,本发明不将其应用或使用限制为在附图和说明书中描述的零部件的构造和布置的细节。本发明的示例性实施方式可在其它实施方式、改变和变化中执行或包含在其它实施方式、改变和变化中,并可以多种方式实践或实施。此外,除非另外指明,为方便读者,这里采用的术语和表述是为描述本发明的示例性实施方式的目的而选,而不是出于限制本发明的目的。
应理解,下面描述的实施方式、方法、例子等的任何一个或多个可与下面描述的其它实施方式、方法、例子等的任何一个或多个组合。
现参见附图,其中相同的附图标记表示相同的元件,图1示出了本发明的第一实施方式。图1的实施方式的第一表述方式涉及包括医疗超声刀12的医疗超声器械10。医疗超声刀12具有一定长度并且包括第一刀部分14、第二刀部分16和第三刀部分18。第二刀部分16沿着纵向设置在第一刀部分14和第三刀部分18之间,第一刀部分14设置在第二刀部分16近侧,并且第三刀部分18设置在第二刀部分16远侧。第一刀部分14和第三刀部分18分别具有较大横向区域,第二刀部分16具有较小横向区域。第二刀部分16比第一刀部分14和第三刀部分18中任一个更易弯曲。还应该注意,超声振动可以是纵向振动、横向振动和扭转振动中的任何一种或其任何组合。
在图1的实施方式的一种实现方式中,医疗超声刀12是整体式刀。在一种变型方式中,医疗超声刀12包括第一纵向振动腹点20和第二纵向振动腹点22,其中第一刀部分14在第一纵向振动腹点20附近过渡到第二刀部分16,并且第二刀部分16在第二纵向振动腹点22附近过渡到第三刀部分18。
在图1的实施方式的一种应用中,医疗超声器械10也包括用户致动的关节运动护套24,该关节运动护套24围绕医疗超声刀12。在一种变型方式中,医疗超声刀12包括三个(至少三个)纵向振动节点26,所述节点26分别位于第一刀部分14、第二刀部分16和第三刀部分18上。应当注意,一个或更多另外的纵向振动节点可以存在也可以不存在于所述三个纵向振动节点26的任何一个或两个之间。在一种修改方式中,护套24在所述三个振动节点26中的相应一个处接触(即直接接触或通过至少一个插入构件27例如硅树脂插入构件间接接触)第一刀部分14、第二刀部分16和第三刀部分18。在一个示例中,护套24包括刚性的第一护套部分28、柔性的第二护套部分30和刚性的第三护套部分32,第一护套部分28在第一纵向振动节点(图1的最左边节点26)处接触第一刀部分14,第二护套部分30在第二纵向振动节点(图1的中间节点26)处接触第二刀部分16,第三护套部分32在第三纵向振动节点(图1的最右边节点26)处接触第三刀部分18。在一种设置方式中,护套24只有两个关节运动位置(即笔直的位置和完全关节运动位置)。在不同设置方式中,护套24在笔直位置和完全关节活动位置之间具有若干个中间弯曲位置,所述中间弯曲位置取决于所述刀12可以形成的能量效率曲线的数量。在一种布置方式中,这种能量效率曲线使进入非纵向振动节点中的振动能量最小。
在相同或不同的实施方式中,如图2的医疗超声器械10的替代实施方式所示,医疗超声刀12包括位于第二刀部分116上的至少两个纵向振动节点126。在一种变型方式中,护套124在所述至少两个纵向振动节点126处接触(即直接接触或通过至少一个插入构件127例如硅树脂插入构件间接接触)第二刀部分116。在一种修改方式中,护套124包括两个刚性护套部分128和132以及一个柔性护套部分130,其中,柔性护套部分130在所述两个纵向振动节点126中的至少一个处接触第二刀部分116,并且柔性部分130设置在两个刚性护套部分128和132之间。在一种示例中,所述两个刚性护套部分128和132分别在所述至少两个纵向振动节点126中的相应一个处接触第二刀部分116。
在包括图1的实施方式的护套24的实施的一种实现方式中,医疗超声刀12包括适于接触患者组织并对其进行超声治疗的第四刀部分34,其中该第四刀部分34设置在第三刀部分18远侧。在一种变型方式中,医疗超声器械10也包括用户致动的夹紧臂36,该夹紧臂36枢转地连接到第四刀部分34附近的护套24上,其中夹紧臂36和医疗超声刀12至少部分地限定了外科超声剪刀38。出于清楚的考虑,在图1中略去了组织垫和夹紧臂控制机构。
在图1的实施方式的一种使用方式中,第一刀部分14和第三刀部分18为基本刚性。在同一或不同使用方式中,医疗超声刀12包括第一颈部40和第二颈部42,所述第一颈部40分别与第一刀部分14和第二刀部分16接合,并且所述第二颈部42分别与第二刀部分16和第三刀部分18接合。在一种修改方式,医疗超声刀12从第一刀部分14至第三刀部分18大致为圆柱形,其中第一刀部分14、第二刀部分16和第三刀部分18分别具有基本恒定的直径,并且其中第二刀部分16的直径小于第一刀部分14和第三刀部分18中任一个的直径。在一种示意方式中,第二刀部分16的直径在大约1mm和2mm之间,并且第一刀部分和第三刀部分的直径在大约3mm和5mm之间。在材料的一种选择中,医疗超声刀12主要包括钛合金。在一种修改方式中,医疗超声刀12包括第一纵向振动腹点20和第二纵向振动腹点22,并且第一颈部40设置在第一纵向振动腹点20附近,第二颈部42设置在第二纵向振动腹点22附近。
在图3所示的医疗超声刀212的替代实施方式的结构中,其中医疗超声刀212不是整体式刀,第二刀部分216通过压配合的销钉接合到第一刀部分214上,并且通过压配合的销钉接合到第三刀部分218上。在一种示例方式中,第二刀部分216主要包括钛或镍钛诺。在同一或不同示意方式中,第二刀部分的长度少于1/2个波(长度为医疗超声刀的共振纵向波长的波,所述共振纵向波长主要取决于所述刀的材料和所述刀的运行频率)并且在一个示例中少于1/8个波。在图4所示的医疗超声刀312的替代实施方式的另一种结构中,其中医疗超声刀312不是整体式刀,第二刀部分316通过球窝式连接接合到第一刀部分314上并且通过压配合的销钉接合到第三刀部分318上。本领域技术人员可以想到所述刀部分之间的其它连接方式。
仍参见附图,图5示出了本发明的第二实施方式。图5的实施方式的第一表述方式涉及包括医疗超声刀412的医疗超声器械410。医疗超声刀412具有一定长度并且包括近侧刀部分414和远侧刀部分416。近侧刀部分414具有较大横向区域,远侧刀部分416具有较小横向区域。远侧刀部分416比近侧刀部分414更易弯曲。所述远侧刀部分416包括适于接触患者组织并对其进行超声治疗的远端部分444。
在图5的实施方式的第一表述方式的一个示例中,图1的实施方式中的需要加大颈部并形成较大直径的端部执行器的附加1/2波被取消,从而可以将关节运动接头放置得更加靠近医疗超声器械的远端。
图1的实施方式和图2至4的替代实施方式的实现方式、应用方式等等可以同等地应用(在不出现第三刀部分的情况下)到图5的实施方式中。
再次参见图,图6示出了本发明的第三实施方式。图6的实施方式的第一表述方式涉及包括医疗超声刀512的医疗超声器械510。医疗超声刀512包括近侧刀部分514和远侧刀部分518,所述近侧刀部分514具有中心线546,所述远侧刀部分518在大致平的分界面548上与所述近侧刀部分514接触。所述分界面548被定向成与中心线546在分界面548处的垂直面成非零角度。
在图6的实施方式的第一布置方式中,非零角度的范围在大约30度至大约60度之间。在一种变型方式中,非零角度为大约45度。
在图6的实施方式的一种实现方式中,近侧刀部分514和远侧刀部分518分别具有大致实心圆柱形状。如图7和8的替代实施方式所示,在另一种实现方式中,近侧刀部分614和远侧刀部分618分别具有大致实心圆柱形状,所述实心圆柱具有至少一个材料去除区域650和652,其中医疗超声刀612具有非关节运动位置(见图7)和完全关节运动位置(见图8),并且其中所述近侧刀部分614和远侧刀部分618的至少一个区域650和652在非关节运动位置中围绕中心线646大致旋转对置并且在完全关节运动位置中围绕中心线646大致旋转对齐。在一个示例中,近侧刀部分614和远侧刀部分618围绕分界面648的180度相对旋转使远侧刀部分618相对于近侧刀部分614从非关节运动位置关节运动至完全关节运动位置。在一种应用方式中,在非致动位置中大致旋转对置的区域650和652使医疗超声刀612平衡,并且像本领域技术人员应当理解的那样,在完全关节运动位置中大致对齐的区域使所述刀不对称。
当在医疗手术中不期望手动弯曲或旋转时,采用机构(如采用的传统的柔性内窥镜、关节运动式外科缝合器、关节运动式外科剪刀和/或关节运动式外科抓钳以及类似的机构)来弯曲或旋转医疗超声器械的上述实施方式的适当的一个或多个刀部分以便使医疗超声刀关节运动,是本领域普通技术人员能想到的。
从本发明的一个或多个实施方式和方法可获得多种益处和优点。在第一实施方式的一个示例中,第一刀部分和第三刀部分是刚性的,并且第二刀部分在医疗手术中可受控地弯曲以便更容易接近患者体内的目标位置。在第二实施方式的一个示例中,近侧刀部分是刚性的,并且远侧刀部分在医疗手术中可受控地弯曲,使得远侧刀部分地远端部分更容易接近患者体内的位置以便接触患者组织并对其进行超声治疗。在第三实施方式地一个示例中,近侧刀部分和远侧刀部分围绕分界面的相对旋转使得远侧刀部分相对于近侧刀部分关节运动。
虽然已经通过多种实施方式的描述对本发明进行了阐述,但本发明的申请人并不是想将所附的权利要求书的精神和范围限制得如此详细。许多其它改变、变化和替代可在不背离本发明的精神的前提下由本领域技术人员进行。例如,考虑到将所述系统、元件和方法可想到地改变成与机器人系统兼容,所述医疗超声器械能够应用到机器人辅助手术中。应当理解,前面的描述仅仅作为例子提供,本领域技术人员在不背离所附的权利要求书的精神和范围下可进行其它修改。
Claims (22)
1.一种包括医疗超声刀的外科超声器械,所述医疗超声刀具有一定长度并且包括第一刀部分、第二刀部分和第三刀部分,其中所述第二刀部分沿着纵向设置在所述第一刀部分和所述第三刀部分之间,所述第一刀部分设置在所述第二刀部分近侧,所述第三刀部分设置在所述第二刀部分远侧,所述第一刀部分和所述第三刀部分分别具有较大横向区域,所述第二刀部分具有较小横向区域,其中,所述第二刀部分比所述第一刀部分和所述第三刀部分中任一个更易弯曲。
2.根据权利要求1所述的医疗超声器械,其中,所述医疗超声刀是整体式刀。
3.根据权利要求2所述的医疗超声器械,其中,所述医疗超声刀包括第一纵向振动腹点和第二纵向振动腹点,其中所述第一刀部分在所述第一纵向振动腹点附近过渡到所述第二刀部分,并且所述第二刀部分在所述第二纵向振动腹点附近过渡到所述第三刀部分。
4.根据权利要求1所述的医疗超声器械,其还包括用户致动的关节运动护套,所述关节运动护套围绕所述医疗超声刀。
5.根据权利要求4所述的医疗超声器械,其中,所述医疗超声刀包括三个纵向振动节点,所述三个纵向振动节点分别设置在所述第一刀部分、所述第二刀部分和所述第三刀部分上。
6.根据权利要求5所述的医疗超声器械,其中,所述护套在所述三个纵向振动节点中的相应一个处与所述第一刀部分、所述第二刀部分和所述第三刀部分接触。
7.根据权利要求6所述的医疗超声器械,其中,所述护套包括刚性的第一护套部分、柔性的第二护套部分和刚性的第三护套部分,所述第一护套部分在所述第一纵向振动节点处与所述第一刀部分接触,所述第二护套部分在所述第二纵向振动节点处与所述第二刀部分接触,所述第三护套部分在所述第三纵向振动节点处与所述第三刀部分接触。
8.根据权利要求4所述的医疗超声器械,其中,所述医疗超声刀包括位于所述第二刀部分上的至少两个纵向振动节点。
9.根据权利要求8所述的医疗超声器械,其中,所述护套在所述至少两个纵向振动节点处与所述第二刀部分接触。
10.根据权利要求9所述的医疗超声器械,其中,所述护套包括两个刚性护套部分和一个柔性护套部分,其中,所述柔性护套部分设置在所述两个刚性护套部分之间,并且所述柔性护套部分在所述至少两个纵向振动节点中的至少一个处与所述第二刀部分接触。
11.根据权利要求9所述的医疗超声器械,其中,所述两个刚性护套部分分别在所述至少两个纵向振动节点中的相应一个处与所述第二刀部分接触。
12.根据权利要求4所述的医疗超声器械,其中,所述医疗超声刀包括第四刀部分,所述第四刀部分能够接触患者组织并对其进行超声治疗,其中所述第四刀部分被设置在所述第三刀部分远侧。
13.根据权利要求12所述的医疗超声器械,还包括用户致动的夹紧臂,所述夹紧臂枢转地连接到所述第四刀部分附近的护套上,其中,所述夹紧臂和所述医疗超声刀至少部分地限定了医疗超声剪刀。
14.根据权利要求1所述的医疗超声器械,其中,所述医疗超声刀包括第一颈部和第二颈部,所述第一颈部分别接合到所述第一刀部分和所述第二刀部分上,并且所述第二颈部分别连接到所述第二刀部分和所述第三刀部分上,其中,所述医疗超声刀从所述第一刀部分到所述第三刀部分大致为圆柱形,所述第一刀部分、所述第二刀部分和所述第三刀部分分别具有基本恒定的直径,其中所述第二刀部分的直径小于所述第一刀部分和所述第三刀部分中每一个的直径。
15.根据权利要求14所述的医疗超声器械,其中,所述医疗超声刀包括第一纵向振动腹点和第二纵向振动腹点,并且所述第一颈部被设置在所述第一纵向振动腹点附近,所述第二颈部被设置在所述第二纵向振动腹点附近。
16.根据权利要求1所述的医疗超声器械,其中,所述第二刀部分通过压配合的销钉接合到所述第一刀部分上,并且通过压配合的销钉接合到所述第三刀部分上。
17.根据权利要求1所述的医疗超声器械,其中,所述第二刀部分通过球窝式连接接合到所述第一刀部分上。
18.根据权利要求1所述的医疗超声器械,其中,所述第一刀部分和所述第三刀部分基本上是刚性的。
19.一种包括医疗超声刀的医疗超声器械,所述医疗超声刀具有一定长度并且包括近侧刀部分和远侧刀部分,其中,所述近侧刀部分具有较大横向区域,并且所述远侧刀部分具有较小横向区域,其中所述远侧刀部分比所述近侧刀部分更易弯曲,并且所述远侧刀部分包括能够接触患者组织并对其进行超声治疗的远端部分。
20.一种包括医疗超声刀的医疗超声器械,所述医疗超声刀包括近侧刀部分和远侧刀部分,所述近侧刀部分具有中心线,所述远侧刀部分在大致平的分界面上与所述近侧刀部分接触,其中所述分界面被定向成与所述中心线在分界面处的垂直面成非零角度。
21.根据权利要求20所述的医疗超声器械,其中,所述近侧刀部分和所述远侧刀部分分别具有大致实心圆柱形状。
22.根据权利要求20所述的医疗超声器械,其中,所述近侧刀部分和所述远侧刀部分分别具有大致实心圆柱形状,所述实心圆柱形状具有材料被去除的至少一个区域,其中所述医疗超声刀具有非关节运动位置和关节运动位置,所述近侧刀部分和所述远侧刀部分的所述至少一个区域在非关节运动位置中围绕所述中心线大致旋转对置,并且在所述关节运动位置中围绕所述中心线大致旋转对齐。
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2006
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2007
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- 2007-01-19 JP JP2008551440A patent/JP5259420B2/ja active Active
- 2007-01-19 AU AU2007207435A patent/AU2007207435B2/en not_active Ceased
- 2007-01-19 WO PCT/US2007/001557 patent/WO2007084731A2/en active Application Filing
- 2007-01-19 EP EP07718097.4A patent/EP1993453B1/en active Active
- 2007-01-19 EP EP16166057.6A patent/EP3075323B1/en active Active
- 2007-01-19 CN CN2007800078038A patent/CN101394799B/zh active Active
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2009
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2013
- 2013-04-18 US US13/865,392 patent/US20130231691A1/en not_active Abandoned
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2016
- 2016-08-24 US US15/245,480 patent/US10779848B2/en active Active
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CN104582605A (zh) * | 2012-06-29 | 2015-04-29 | 伊西康内外科公司 | 具有关节运动轴的外科器械 |
CN104582627A (zh) * | 2012-06-29 | 2015-04-29 | 伊西康内外科公司 | 具有控制机构的超声外科器械 |
CN104582605B (zh) * | 2012-06-29 | 2017-11-21 | 伊西康内外科公司 | 具有关节运动轴的外科器械 |
CN104736076A (zh) * | 2012-10-22 | 2015-06-24 | 伊西康内外科公司 | 用于外科器械的柔性谐波波导/刀片 |
CN104736076B (zh) * | 2012-10-22 | 2017-09-29 | 伊西康内外科公司 | 用于外科器械的柔性谐波波导/刀片 |
CN105050514A (zh) * | 2013-03-13 | 2015-11-11 | 伊西康内外科公司 | 具有关节运动端部执行器的机器人超声外科装置 |
CN105050514B (zh) * | 2013-03-13 | 2018-04-17 | 伊西康内外科公司 | 具有关节运动端部执行器的机器人超声外科装置 |
CN105722468A (zh) * | 2013-09-17 | 2016-06-29 | 伊西康内外科有限责任公司 | 用于超声外科器械的关节运动特征结构 |
WO2023216778A1 (zh) * | 2022-05-11 | 2023-11-16 | 北京水木天蓬医疗设备有限公司 | 医用超声刀、医用超声刀系统及机器人辅助超声刀系统 |
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EP3075323A1 (en) | 2016-10-05 |
EP1993453B1 (en) | 2016-04-20 |
CA2637916A1 (en) | 2007-07-26 |
US20130231691A1 (en) | 2013-09-05 |
CN101394799B (zh) | 2011-06-29 |
AU2007207435A1 (en) | 2007-07-26 |
EP3075323B1 (en) | 2020-01-08 |
AU2007207435B2 (en) | 2011-08-11 |
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US20100042126A1 (en) | 2010-02-18 |
US20090131962A2 (en) | 2009-05-21 |
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JP2009523559A (ja) | 2009-06-25 |
US20160361085A1 (en) | 2016-12-15 |
US20210038248A1 (en) | 2021-02-11 |
WO2007084731A2 (en) | 2007-07-26 |
EP1993453A4 (en) | 2013-11-20 |
WO2007084731A3 (en) | 2007-11-22 |
US7621930B2 (en) | 2009-11-24 |
CA2637916C (en) | 2013-03-26 |
JP5259420B2 (ja) | 2013-08-07 |
US20070173871A1 (en) | 2007-07-26 |
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