CN107072691B - 带有测量患者体壁力的传感器的插管 - Google Patents

带有测量患者体壁力的传感器的插管 Download PDF

Info

Publication number
CN107072691B
CN107072691B CN201580050796.4A CN201580050796A CN107072691B CN 107072691 B CN107072691 B CN 107072691B CN 201580050796 A CN201580050796 A CN 201580050796A CN 107072691 B CN107072691 B CN 107072691B
Authority
CN
China
Prior art keywords
wall
outer tube
tube
inner tube
cannula
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201580050796.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN107072691A (zh
Inventor
B·佩吉
L·N·维尔纳
J·R·斯蒂格
S·德
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Priority to CN201910719179.9A priority Critical patent/CN110403651B/zh
Publication of CN107072691A publication Critical patent/CN107072691A/zh
Application granted granted Critical
Publication of CN107072691B publication Critical patent/CN107072691B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/02—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors
    • A61B17/0218—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3474—Insufflating needles, e.g. Veress needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/00862—Material properties elastic or resilient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • 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
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0261—Strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/04—Arrangements of multiple sensors of the same type
    • A61B2562/046—Arrangements of multiple sensors of the same type in a matrix array

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
CN201580050796.4A 2014-07-29 2015-07-27 带有测量患者体壁力的传感器的插管 Active CN107072691B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910719179.9A CN110403651B (zh) 2014-07-29 2015-07-27 带有测量患者体壁力的传感器的插管

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462030468P 2014-07-29 2014-07-29
US62/030,468 2014-07-29
PCT/US2015/042262 WO2016018815A1 (en) 2014-07-29 2015-07-27 Cannula with sensors to measure patient bodywall forces

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN201910719179.9A Division CN110403651B (zh) 2014-07-29 2015-07-27 带有测量患者体壁力的传感器的插管

Publications (2)

Publication Number Publication Date
CN107072691A CN107072691A (zh) 2017-08-18
CN107072691B true CN107072691B (zh) 2019-09-03

Family

ID=55218216

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201580050796.4A Active CN107072691B (zh) 2014-07-29 2015-07-27 带有测量患者体壁力的传感器的插管
CN201910719179.9A Active CN110403651B (zh) 2014-07-29 2015-07-27 带有测量患者体壁力的传感器的插管

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201910719179.9A Active CN110403651B (zh) 2014-07-29 2015-07-27 带有测量患者体壁力的传感器的插管

Country Status (6)

Country Link
US (3) US10470796B2 (https=)
EP (2) EP3179936B1 (https=)
JP (5) JP6542871B2 (https=)
KR (2) KR102615949B1 (https=)
CN (2) CN107072691B (https=)
WO (1) WO2016018815A1 (https=)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9817019B2 (en) 2013-11-13 2017-11-14 Intuitive Surgical Operations, Inc. Integrated fiber bragg grating accelerometer in a surgical instrument
JP6740131B2 (ja) 2014-02-21 2020-08-12 スリーディインテグレイテッド アーペーエス３Ｄｉｎｔｅｇｒａｔｅｄ Ａｐｓ 手術器具を備えたセット、手術システム、及びトレーニング方法
JP6542871B2 (ja) 2014-07-29 2019-07-10 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 患者の体壁力を測定するセンサを備えるカニューレ
US11020144B2 (en) 2015-07-21 2021-06-01 3Dintegrated Aps Minimally invasive surgery system
CN108024806B (zh) 2015-07-21 2022-07-01 3D集成公司 套管组装套件、套管针组装套件、套筒组件、微创手术系统及其方法
DK178899B1 (en) 2015-10-09 2017-05-08 3Dintegrated Aps A depiction system
WO2017130313A1 (ja) * 2016-01-27 2017-08-03 オリンパス株式会社 医療用マニピュレータシステム
WO2018217442A1 (en) * 2017-05-24 2018-11-29 Covidien Lp Surgical sleeve for robotic systems
US10548674B2 (en) * 2017-07-06 2020-02-04 YellowDot Innovations, LLC Robotic guide for medical device
EP3685787B1 (en) * 2017-09-20 2023-10-04 Shanghai Microport Medbot (Group) Co., Ltd. Surgical robot system
US12262884B2 (en) * 2017-10-05 2025-04-01 Dignity Health Multipurpose medical device
US12419713B2 (en) 2018-11-15 2025-09-23 Intuitive Surgical Operations, Inc. Surgical instrument with sensor aligned cable guide
JP2021145728A (ja) * 2020-03-16 2021-09-27 ソニーグループ株式会社 術具ユニット、力検出装置、並びに手術支援システム
US12239393B2 (en) 2020-05-18 2025-03-04 Intuitive Surgical Operations, Inc. Hard stop that produces a reactive moment upon engagement for cantilever-based force sensing
CN114905478B (zh) * 2021-02-08 2024-09-17 腾讯科技（深圳）有限公司 双边遥操作系统及控制方法
US12251168B2 (en) 2021-05-28 2025-03-18 Medos International Sarl Systems, methods, and devices for localized tracking of a vertebral body or other anatomic structure
US12257014B2 (en) * 2021-06-22 2025-03-25 Intuitive Surgical Operations, Inc. Devices and methods for crimp interface for cable tension sensor
US12290319B2 (en) 2021-09-29 2025-05-06 Cilag Gmbh International Methods for controlling cooperative surgical instruments
CN115919468B (zh) * 2022-12-08 2026-03-24 武汉联影智融医疗科技有限公司 用于手术机器人的套管组件及手术机器人

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5599348A (en) * 1992-03-17 1997-02-04 Conmed Corporation Electrosurgical trocar assembly
US6620174B2 (en) * 1995-06-07 2003-09-16 Sri International Surgical manipulator for a telerobotic system
CN2772442Y (zh) * 2005-02-05 2006-04-19 黄晶 介入式超声硬度检测仪
EP1704822A1 (en) * 2005-03-24 2006-09-27 Ethicon Endo-Surgery, Inc. Catheter-gripping device which measures insertion force during a medical procedure
CN101528151A (zh) * 2006-10-25 2009-09-09 欧洲原子能共同体由欧洲委员会代表 用于微创机器人外科处理系统的力评估
CN202105024U (zh) * 2011-04-28 2012-01-11 黑龙江科技学院 手术微器械三维力传感器

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4299230A (en) * 1979-05-09 1981-11-10 Olympus Optical Co., Ltd. Stabbing apparatus for diagnosis of living body
US5449370A (en) * 1993-05-12 1995-09-12 Ethicon, Inc. Blunt tipped ultrasonic trocar
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
JP2002159509A (ja) * 2000-08-09 2002-06-04 Japan Science & Technology Corp 躰腔鏡下外科手術操作器の先端負荷力の検出方法およびその装置
US7077842B1 (en) * 2001-08-03 2006-07-18 Cosman Jr Eric R Over-the-wire high frequency electrode
US6989003B2 (en) 2001-08-31 2006-01-24 Conmed Corporation Obturator and cannula for a trocar adapted for ease of insertion and removal
WO2004069030A2 (en) * 2003-01-31 2004-08-19 Verimetra, Inc. Medical and surgical devices with an integrated sensor
ATE355023T1 (de) 2004-01-07 2006-03-15 Univ Paris Curie Trocar device for the passage of a surgical instrument
US8496647B2 (en) 2007-12-18 2013-07-30 Intuitive Surgical Operations, Inc. Ribbed force sensor
US8375808B2 (en) * 2005-12-30 2013-02-19 Intuitive Surgical Operations, Inc. Force sensing for surgical instruments
KR101296220B1 (ko) * 2005-12-30 2013-08-13 인튜어티브 서지컬 인코포레이티드 모듈식 힘센서
US8491574B2 (en) * 2009-03-30 2013-07-23 Intuitive Surgical Operations, Inc. Polarization and temperature insensitive surgical instrument force transducer
EP2434946B1 (en) * 2009-05-28 2013-07-31 Koninklijke Philips Electronics N.V. Apparatus for monitoring a position of a tube's distal end with respect to a blood vessel
CA2786536A1 (en) * 2010-01-11 2011-07-14 Arstasis, Inc. Device for forming tracts in tissue
CA2852668C (en) * 2011-10-18 2019-11-05 Covidien Lp Optical trocar system
KR101665214B1 (ko) * 2011-12-23 2016-10-11 이온 서지컬 리미티드 복강경 밀봉 브릿지
EP2938253B1 (en) 2012-12-31 2021-03-24 Philips Image Guided Therapy Corporation Guidewire with an in-wall hypotube sensor mount and the associated manufacturing method
JP6542871B2 (ja) 2014-07-29 2019-07-10 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 患者の体壁力を測定するセンサを備えるカニューレ
US11628020B2 (en) * 2019-06-19 2023-04-18 Virtuoso Surgical, Inc. Insertable robot for minimally invasive surgery
JP2021015891A (ja) * 2019-07-12 2021-02-12 ソニーセミコンダクタソリューションズ株式会社 半導体装置及び撮像装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5599348A (en) * 1992-03-17 1997-02-04 Conmed Corporation Electrosurgical trocar assembly
US6620174B2 (en) * 1995-06-07 2003-09-16 Sri International Surgical manipulator for a telerobotic system
CN2772442Y (zh) * 2005-02-05 2006-04-19 黄晶 介入式超声硬度检测仪
EP1704822A1 (en) * 2005-03-24 2006-09-27 Ethicon Endo-Surgery, Inc. Catheter-gripping device which measures insertion force during a medical procedure
CN101528151A (zh) * 2006-10-25 2009-09-09 欧洲原子能共同体由欧洲委员会代表 用于微创机器人外科处理系统的力评估
CN202105024U (zh) * 2011-04-28 2012-01-11 黑龙江科技学院 手术微器械三维力传感器

Also Published As

Publication number Publication date
EP3179936A1 (en) 2017-06-21
JP2022107607A (ja) 2022-07-22
JP2017522134A (ja) 2017-08-10
EP3179936A4 (en) 2018-01-24
KR102886889B1 (ko) 2025-11-18
CN110403651A (zh) 2019-11-05
WO2016018815A1 (en) 2016-02-04
CN107072691A (zh) 2017-08-18
JP2021065751A (ja) 2021-04-30
JP2019171123A (ja) 2019-10-10
US11369411B2 (en) 2022-06-28
EP3549538A1 (en) 2019-10-09
US20220378474A1 (en) 2022-12-01
EP3179936B1 (en) 2019-06-26
JP7069370B2 (ja) 2022-05-17
US10470796B2 (en) 2019-11-12
JP6833911B2 (ja) 2021-02-24
US20200046404A1 (en) 2020-02-13
KR20230173230A (ko) 2023-12-26
KR102615949B1 (ko) 2023-12-21
KR20170038011A (ko) 2017-04-05
JP2024107190A (ja) 2024-08-08
US20170265890A1 (en) 2017-09-21
JP6542871B2 (ja) 2019-07-10
CN110403651B (zh) 2022-11-08

Similar Documents

Publication Publication Date Title
CN107072691B (zh) 带有测量患者体壁力的传感器的插管
US12102409B2 (en) Alignment and engagement for teleoperated actuated surgical instrument
CN101421080B (zh) 具有柱面坐标类型的操作器臂的医疗机器人系统
CN101443162A (zh) 用于实施微创医疗手术的机器人手术系统
HK40091543A (zh) 手术机器人定位系统及相关装置和方法

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant