CN105682729B - 具有带槽的可操控管的柔性器械 - Google Patents

具有带槽的可操控管的柔性器械 Download PDF

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Publication number
CN105682729B
CN105682729B CN201480058751.7A CN201480058751A CN105682729B CN 105682729 B CN105682729 B CN 105682729B CN 201480058751 A CN201480058751 A CN 201480058751A CN 105682729 B CN105682729 B CN 105682729B
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China
Prior art keywords
pipe
controllable
micro
surgical operation
pipeline
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CN201480058751.7A
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English (en)
Chinese (zh)
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CN105682729A (zh
Inventor
A·B·考士克
C·M·费内克
S·J·布鲁门克兰斯
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Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0138—Tip steering devices having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00309—Cut-outs or slits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Pulmonology (AREA)
  • Biophysics (AREA)
  • Mechanical Engineering (AREA)
  • Endoscopes (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
CN201480058751.7A 2013-10-25 2014-10-24 具有带槽的可操控管的柔性器械 Active CN105682729B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361895761P 2013-10-25 2013-10-25
US61/895,761 2013-10-25
PCT/US2014/062160 WO2015061674A1 (en) 2013-10-25 2014-10-24 Flexible instrument with grooved steerable tube

Publications (2)

Publication Number Publication Date
CN105682729A CN105682729A (zh) 2016-06-15
CN105682729B true CN105682729B (zh) 2019-06-18

Family

ID=52993613

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480058751.7A Active CN105682729B (zh) 2013-10-25 2014-10-24 具有带槽的可操控管的柔性器械

Country Status (6)

Country Link
US (3) US10716637B2 (enExample)
EP (3) EP3395394B1 (enExample)
JP (2) JP6887250B2 (enExample)
KR (1) KR102338048B1 (enExample)
CN (1) CN105682729B (enExample)
WO (1) WO2015061674A1 (enExample)

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Also Published As

Publication number Publication date
US20160256230A1 (en) 2016-09-08
KR102338048B1 (ko) 2021-12-10
EP3060289B1 (en) 2018-06-27
JP2016538031A (ja) 2016-12-08
EP3653156B1 (en) 2023-08-02
WO2015061674A1 (en) 2015-04-30
JP6887250B2 (ja) 2021-06-16
EP3060289A4 (en) 2017-05-10
US20240299110A1 (en) 2024-09-12
EP3395394A1 (en) 2018-10-31
US12011241B2 (en) 2024-06-18
EP3653156A1 (en) 2020-05-20
KR20160075521A (ko) 2016-06-29
JP2021072933A (ja) 2021-05-13
US10716637B2 (en) 2020-07-21
EP3395394B1 (en) 2020-02-19
JP7072688B2 (ja) 2022-05-20
US20200345436A1 (en) 2020-11-05
EP3060289A1 (en) 2016-08-31
CN105682729A (zh) 2016-06-15

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Application publication date: 20160615

Assignee: Intuitive medical Co.

Assignor: INTUITIVE SURGICAL OPERATIONS, Inc.

Contract record no.: X2022990000161

Denomination of invention: Flexible instrument with grooved operable tube

Granted publication date: 20190618

License type: Common License

Record date: 20220317