CN107106250A - 手术布单元 - Google Patents
手术布单元 Download PDFInfo
- Publication number
- CN107106250A CN107106250A CN201580073366.4A CN201580073366A CN107106250A CN 107106250 A CN107106250 A CN 107106250A CN 201580073366 A CN201580073366 A CN 201580073366A CN 107106250 A CN107106250 A CN 107106250A
- Authority
- CN
- China
- Prior art keywords
- operation cloth
- main body
- adapter
- driving source
- drive division
- 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.)
- Pending
Links
- 239000004744 fabric Substances 0.000 title claims abstract description 109
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 36
- 239000007788 liquid Substances 0.000 claims description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 210000000078 claw Anatomy 0.000 claims description 7
- 239000003795 chemical substances by application Substances 0.000 claims description 2
- 230000004807 localization Effects 0.000 claims description 2
- 210000003414 extremity Anatomy 0.000 description 24
- 210000001124 body fluid Anatomy 0.000 description 6
- 239000010839 body fluid Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000011022 operating instruction Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1492—Probes or electrodes therefor having a flexible, catheter-like structure, e.g. for heart ablation
-
- 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
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
-
- 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
- A61B34/37—Master-slave 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
-
- 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
- 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
- A61B34/74—Manipulators with manual electric input means
-
- 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
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
-
- 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
-
- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/20—Gaseous substances, e.g. vapours
- A61L2/206—Ethylene oxide
-
- 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
- A61M25/0009—Making of catheters or other medical or surgical tubes
- A61M25/0012—Making of catheters or other medical or surgical tubes with embedded structures, e.g. coils, braids, meshes, strands or radiopaque 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
- A61M25/0009—Making of catheters or other medical or surgical tubes
- A61M25/0015—Making lateral openings in a catheter tube, e.g. holes, slits, ports, piercings of guidewire ports; Methods for processing the holes, e.g. smoothing the edges
-
- 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
- A61M25/0043—Catheters; Hollow probes characterised by structural features
- A61M25/005—Catheters; Hollow probes characterised by structural features with embedded materials for reinforcement, e.g. wires, coils, braids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1482—Probes or electrodes therefor having a long rigid shaft for accessing the inner body transcutaneously in minimal invasive surgery, e.g. laparoscopy
-
- 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
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
-
- 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
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00831—Material properties
- A61B2017/00929—Material properties isolating electrical current
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00053—Mechanical features of the instrument of device
- A61B2018/00059—Material properties
- A61B2018/00071—Electrical conductivity
- A61B2018/00077—Electrical conductivity high, i.e. electrically conducting
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00053—Mechanical features of the instrument of device
- A61B2018/00059—Material properties
- A61B2018/00071—Electrical conductivity
- A61B2018/00083—Electrical conductivity low, i.e. electrically insulating
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1405—Electrodes having a specific shape
- A61B2018/1412—Blade
-
- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B2050/005—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers with a lid or cover
-
- 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
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
- A61B2090/033—Abutting means, stops, e.g. abutting on tissue or skin
- A61B2090/034—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2217/00—General characteristics of surgical instruments
- A61B2217/002—Auxiliary appliance
- A61B2217/005—Auxiliary appliance with suction drainage system
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2218/00—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2218/001—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body having means for irrigation and/or aspiration of substances to and/or from the surgical site
- A61B2218/007—Aspiration
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
- A61B46/13—Surgical drapes specially adapted for instruments, e.g. microscopes the drapes entering the patient's body
-
- 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
- A61M2025/0004—Catheters; Hollow probes having two or more concentrically arranged tubes for forming a concentric catheter system
-
- 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
- A61M2025/0019—Cleaning catheters or the like, e.g. for reuse of the device, for avoiding replacement
-
- 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
- A61M39/00—Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use
- A61M39/08—Tubes; Storage means specially adapted therefor
- A61M2039/082—Multi-lumen tubes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B3/00—Layered products comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar shape; Layered products comprising a layer having particular features of form
- B32B3/26—Layered products comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar shape; Layered products comprising a layer having particular features of form characterised by a particular shape of the outline of the cross-section of a continuous layer; characterised by a layer with cavities or internal voids ; characterised by an apertured layer
- B32B3/266—Layered products comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar shape; Layered products comprising a layer having particular features of form characterised by a particular shape of the outline of the cross-section of a continuous layer; characterised by a layer with cavities or internal voids ; characterised by an apertured layer characterised by an apertured layer, the apertures going through the whole thickness of the layer, e.g. expanded metal, perforated layer, slit layer regular cells B32B3/12
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pulmonology (AREA)
- Hematology (AREA)
- Biophysics (AREA)
- Anesthesiology (AREA)
- Mechanical Engineering (AREA)
- Cardiology (AREA)
- Otolaryngology (AREA)
- Plasma & Fusion (AREA)
- Physics & Mathematics (AREA)
- Ophthalmology & Optometry (AREA)
- Epidemiology (AREA)
- General Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Chemical & Material Sciences (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
- Surgical Instruments (AREA)
- Media Introduction/Drainage Providing Device (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
Abstract
为了在将机械手与设置于平坦的基座的驱动部连接的情况下,即使驱动部进行动作,也维持将清洁区域与不洁区域分离的状态,本发明的手术布单元(43)对机械手与基座(8)之间进行区分,所述机械手在长条部前端具有处置部,在基端具有对处置部进行驱动的基端驱动部,所述基座(8)在大致水平的上表面具有驱动源(14),该驱动源(14)以能够装卸的方式与基端驱动部连接,向基端驱动部提供驱动力,其中,该手术布单元(43)具有:手术布主体(44),其对基座(8)的上表面进行包覆,具有使驱动源(14)露出的开口部(46);以及适配器(45),其被夹在驱动源(14)与基端驱动部之间,在开口部(46)的竖直上方隔开间隙地配置,对开口部(46)整体进行包覆,适配器(45)具有将来自驱动源(14)的驱动力传递给基端驱动部的动力传递部(51)。
Description
技术领域
本发明涉及手术布单元。
背景技术
公知有下述的双层构造导管:在将内导管插入到外导管内的状态下,使分别设置于外导管的基端侧和内导管的基端侧的连接部同时相对于并排设置于平坦的基座的驱动部进行装卸(例如,参照专利文献1)。
现有技术文献
专利文献
专利文献1:美国专利第7972298号说明书
发明内容
发明要解决的课题
专利文献1的双层构造导管在预先将内导管插入到外导管内的状态下与设置于平坦的基座的驱动部连接。此时,为了将无法灭菌的不洁的驱动部与插入到体内的清洁的机械手分离,利用柔软的手术布对基座的整个上表面进行包覆,使外导管和内导管隔着手术布与驱动部连接。
但是,柔软的手术布可能被驱动部的动作卷入而破损。
本发明是鉴于上述情况而完成的,其目的在于提供如下的手术布单元:在将机械手与设置于平坦的基座的驱动部连接的情况下,即使驱动部进行动作,也能够维持将清洁区域与不洁区域分离的状态。
用于解决课题的手段
本发明的一个方式是手术布单元,该手术布单元对机械手与基座之间进行区分,所述机械手在长条部的前端具有处置部,在基端具有对所述处置部进行驱动的基端驱动部,所述基座在大致水平的上表面具有驱动源,该驱动源以能够装卸的方式与该机械手的所述基端驱动部连接,向该基端驱动部提供驱动力,其中,该手术布单元具有:手术布主体,其对所述基座的上表面进行包覆,具有使所述驱动源露出的开口部;以及适配器,其被夹在所述驱动源与所述基端驱动部之间,在所述开口部的竖直上方隔开间隙地配置,对所述开口部整体进行包覆,该适配器具有将来自所述驱动源的驱动力传递给所述基端驱动部的动力传递部。
根据本方式,在基座的大致水平的上表面配置手术布主体,从而利用手术布主体在使驱动源从开口部露出的状态下对基座的上表面进行包覆。当将露出的驱动源与机械手的基端驱动部连接时以夹着适配器的方式进行连接,从而利用适配器对使驱动源露出的开口部整体进行包覆。由此,能够防止从上方靠近的机械手等物体与基座和露出于开口部的驱动源接触,能够维持机械手等的清洁性。
在上述方式中,也可以是,所述驱动源被设置成能够在沿着所述基座的上表面的方向上移动,所述开口部的大小被设置成使所述驱动源在所述驱动源的整个移动范围内露出,无论所述驱动源的位置如何,所述适配器均对所述开口部整体进行包覆。
这样,当使驱动源在沿着基座的上表面的方向上移动时,驱动源、基端驱动部和适配器在水平方向上相对于包覆在基座的上表面的手术布主体移动。由于手术布主体与适配器在上下方向上隔开间隙地配置,因此即使适配器移动,手术布主体也不会移动,能够防止手术布主体被卷入到驱动源的移动中而产生破损。另外,由于适配器对开口部整体进行包覆,因此无论驱动源的位置如何均能够防止与从上方靠近的机械手等物体接触,能够维持机械手等的清洁性。
另外,在上述方式中,也可以是,所述手术布主体在所述开口部的周围沿整个周向具有向上方立起的阶差部。
这样,能够利用阶差部来阻挡从上方靠近的物体进入到开口部内。特别是在物体为液体的情况下,能够利用阶差部进行阻止,防止该液体侵入到开口部内。
另外,在上述方式中,也可以是,在所述阶差部的上端设置有外凸缘部,该外凸缘部朝向所述开口部的外侧与所述手术布主体的表面大致平行地延伸,在所述适配器上设置有防止该适配器从所述手术布主体脱离的爪部。
这样,由于适配器被维持为其爪部被外凸缘部安装在手术布主体上的状态,因此能够通过将手术布主体配置在基座的上表面而利用适配器对驱动源进行包覆。
另外,在上述方式中,也可以是,所述手术布单元具有将所述手术布主体定位在所述基座上的定位部。
这样,当将手术布主体配置在基座的上表面时,利用定位部对基座上的手术布主体进行定位,因此能够简单且准确地对基座的上表面进行包覆。
另外,在上述方式中,也可以是,在所述手术布主体的表面上设置有能够贮存液体的凹部,所述手术布主体的该表面是在将所述手术布主体安装于所述基座的上表面时配置于上侧的表面。
这样,当将手术布主体安装于基座的上表面时,凹部朝上配置。在从上方靠近手术布主体的物体为液体的情况下,液体贮存在凹部中。另外,即使物体为液体以外的细胞等,也可保持在凹部内而不飞散到外部。
另外,在上述方式中,也可以是,所述手术布主体具有支承部,该支承部对具有供所述机械手贯穿的通道的外套管的基端部进行支承。
这样,当将手术布主体配置成通过手术布主体对基座的上表面进行包覆时,由于设置于手术布主体的支承部被配置在手术布主体的上方,因此能够使外套管的基端部支承于该支承部,将机械手插入到通道内,使机械手的基端驱动部隔着适配器与驱动源连接。
另外,在上述方式中,也可以是,所述适配器具有:平板状的适配器主体,其被配置成对所述开口部进行包覆;以及连接轴,其在将该适配器主体沿厚度方向贯穿的贯穿孔内以能够绕在厚度方向上延伸的轴线旋转的方式被支承,利用所述连接轴的旋转对所述驱动源的旋转驱动力进行传递。
这样,当将适配器安装于驱动源时,能够利用平板状的适配器主体将开口部封闭,同时能够利用在贯穿孔中贯穿的连接轴将驱动源的旋转驱动力传递给基端驱动部而使处置部进行动作。
另外,在上述方式中,也可以是,所述手术布单元具有防水机构,该防水机构阻止液体在所述贯穿孔与所述连接轴之间流通。
这样,利用防水机构来阻止液体经由适配器主体的贯穿孔与连接轴的间隙进行流通,能够防止体液等液体侵入到无法灭菌的区域。
发明效果
根据本发明,起到下述效果:在将机械手与设置于平坦的基座的驱动部连接的情况下,即使驱动部进行动作,也能够维持将清洁区域与不洁区域分离的状态。另外,本发明中的手术布单元有时也不进行灭菌而仅进行消毒。
附图说明
图1是示出安装了本发明的一个实施方式的手术布单元的医疗用机械手系统的整体结构图。
图2是示出图1的医疗用机械手系统的一部分的立体图。
图3是示出图1的医疗用机械手系统的操作输入部、指令传递部和机械手的图。
图4是示出图1的医疗用机械手系统的操作输入部和机械动力传递部的俯视图。
图5是对图1的手术布单元进行说明的分解立体图。
图6A是示出将图5的手术布单元安装在控制台上的状态的立体图。
图6B是示出在图6A的手术布单元安装之后安装了外套管和机械手的状态的立体图。
图7A是利用与马达单元的移动方向平行的平面将图5的手术布单元切断而得的纵剖视图。
图7B是利用沿着马达单元的宽度方向的平面将图5的手术布单元切断而得的纵剖视图。
图7C是示出使马达单元和适配器从图7A的状态移动后的状态的纵剖视图。
图8A是示出图5的手术布单元的变形例的利用与马达单元的移动方向平行的平面切断而得的纵剖视图。
图8B是利用沿着马达单元的宽度方向的平面将图8A的手术布单元切断而得的纵剖视图。
图9A是示出图5的手术布单元的其他变形例的利用与马达单元的移动方向平行的平面切断而得的纵剖视图。
图9B是利用沿着马达单元的宽度方向的平面将图9A的手术布单元切断而得的纵剖视图。
图10A是示出图5的手术布单元的其他变形例的利用与马达单元的移动方向平行的平面切断而得的纵剖视图。
图10B是利用沿着马达单元的宽度方向的平面将图10A的手术布单元切断而得的纵剖视图。
图11是示出图5的手术布单元的手术布主体的变形例的立体图。
图12是示出图5的手术布单元的适配器所具有的连接轴的一例的立体图。
图13是示出图12的连接轴与适配器主体的贯穿孔之间的防水机构的一例的纵剖视图。
图14是示出图12的连接轴与适配器主体的贯穿孔之间的防水机构的其他例的纵剖视图。
具体实施方式
以下,参照附图对本发明的一个实施方式的手术布单元43进行说明。
本实施方式的手术布单元43被安装在图1所示的医疗用机械手系统1中而使用。
如图1和图2所示,医疗用机械手系统1具有:由操作者O进行操作的操作输入部2;插入到患者P的体腔内的外套管3;分别插入到该外套管3的两个通道4内的两个机械手5;根据操作输入部2的操作对机械手5进行控制的控制部6;监视器7;以及供该操作输入部2、控制部6和监视器7配置的控制台(基座)8。
如图3所示,机械手5分别具有:插入部(长条部)9,其经由后述的外套管3的通道4而插入到患者P的体内;可动部10,其配备在该插入部9的前端;以及基端驱动部11,其配置在插入部9的基端侧,利用未图示的线等动力传递部件对可动部10进行驱动。
可动部10具有:处置部12,其配置在最前端,作用于体内的患部而对该患部进行处置;以及多个关节13,它们使该处置部12的前端位置和姿势发生变化。处置部12例如是把持钳子或高频刀等。
在基端驱动部11上设置有卡合片(图示略),该卡合片用于以能够装卸的方式与设置于后述的马达单元14的卡合凹部(图示略)连接。
外套管3是由具有挠性的材质构成的套管,如图2所示,外套管3具有:前端侧管状部19,其具有分别供机械手5贯穿的两个机械手用通道(通道)4和供内窥镜17贯穿的单个内窥镜用通道18;以及基端侧管状部20,其从该前端侧管状部19的基端延伸以使两个机械手用通道4向基端侧延长,进而在该基端侧分支成两个。
如图3所示,操作输入部2具有:由操作者O的手把持来进行操作的第一操作部21;由操作者O的手腕或臂来进行操作的第二操作部22;以及将该操作部21、22所输入的操作指令传递给机械手5的指令传递部23。
第一操作部21与机械手5的可动部10构成为相似形状,通过操作者O的手来把持由数量与可动部10相同的关节24支承的前端部25,通过手掌或手指使该前端部25移动。在第一操作部21上具有未图示的传感器,该传感器对构成该第一操作部21的各关节24的角度进行检测。
传感器产生与各关节24的角度对应的电信号。由此,各第一操作部21能够通过操作者O的手掌或手指来输入操作指令,产生由电信号构成的动作指令。
第二操作部22具有:臂放置台26,其固定于第一操作部21的基部;以及直动机构27,其将该臂放置台26和第一操作部21支承为能够一体地移动。臂放置台26配置在当操作者O对第一操作部21的前端部25进行把持时正好供把持前端部25的手的手腕附近的臂载置的位置。
直动机构27具有:滑块28,其对臂放置台26和第一操作部21进行固定;以及直线导向件36,其将该滑块28支承为能够如图3和图4中涂黑的箭头所示的那样沿水平方向移动。通过放置在臂放置台26上的臂使滑块28沿水平方向移动,从而能够在维持着对第一操作部21进行把持的姿势的状态下使第一操作部21的位置移动。由此,第二操作部22能够通过操作者O的手腕或臂来输入操作指令,将手腕或臂所输入的力作为两个滑块28的机械驱动力来产生动作指令。
指令传递部23具有:电信号传递部29,其将第一操作部21和基端驱动部11连接;以及机械动力传递部31,其将第二操作部22和进退机构连接。
电信号传递部29将由第一操作部21所产生的电信号构成的动作指令传递给控制部6,将控制部6所生成的指令信号提供给马达单元14的各马达。控制部6根据第一操作部21所产生的动作指令,计算出马达单元14的各马达的旋转移动量和旋转速度,来对各马达进行控制。
如图4所示,机械动力传递部31具有传递部32,该传递部32将使操作输入部2的各滑块28前进/后退的直线动作转换为进退机构的直线动作。
传递部32具有:第一齿轮齿条机构33,其将操作输入部2的滑块28的直行移动量转换为旋转角度;第二齿轮齿条机构34,其将旋转动作转换为进退机构的直行移动量;滑轮37、38,它们分别固定在这些齿轮齿条机构33、34的小齿轮35上;以及带39,其搭挂在这些滑轮37、38上。
另外,也可以采用以电的方式传递动力的传递部来代替机械动力传递部31。
如图5所示,控制台8具有:两个支承部41,它们将外套管3的基端侧管状部20的基端部分别安装在水平配置的平坦的上表面上;马达单元(驱动源)14,其以能够装卸的方式与插入到外套管3中的状态下的各机械手5的基端驱动部11连接,内设有将动力提供给各基端驱动部11的马达;以及进退机构,其使该马达单元14直线移动。
如图5、图6A、图6B所示,各支承部41具有将外套管3的基端侧管状部20安装成能够装卸的构造。例如,各支承部41具有横截面形状朝向开口方向变窄的槽42,将外套管3相对于槽42的开口按压而一边使外套管3弹性变形或使支承部41弹性变形一边按入到槽42内,从而能够简便地安装在外套管3上。
在图5所示的例子中,示出了在各马达单元14中具有两个马达且马达轴14a朝向竖直上方延伸的情况。在马达轴14a的上端设置有未图示的连接器。
进退机构是未图示的直动机构,能够使马达单元14在开口于控制台8的上表面的开口部30的范围内在朝向支承部41的方向上直线移动。
如图5所示,本实施方式的手术布单元43分别具有:片状的手术布主体44,其被配置成对控制台8的上表面进行包覆;以及适配器45,其被配置成对在控制台8的上表面露出的马达单元14的上表面进行包覆。
在手术布主体44上具有当配置在控制台8的上表面时使马达单元14露出的与控制台8上的开口部30大致一致的开口部46和使支承部41的托架47通过的切口48。切口48通过抵接在托架47上而将手术布主体44定位在控制台8的上表面。另外,切口48不仅可以是缺口,有时也可以是孔,可以从上方与托架47嵌合而进行定位。
适配器45具有:平板状的适配器主体49;以及连接轴(动力传递部)51,其在将该适配器主体49沿板厚方向贯穿的贯穿孔50内以能够绕该贯穿孔50的轴线旋转的方式被支承。
如图7B所示,适配器主体49具有手术布主体44的开口部46的宽度尺寸以上的宽度尺寸,如图7A和图7C所示,适配器主体49具有将开口部30的长度尺寸与马达单元14的移动距离相加后的尺寸以上的长度尺寸。
如图12所示,各连接轴51在一端具有与马达单元14的马达轴14a的连接器连接的第一连接器52,在另一端具有与机械手5的基端驱动部11连接的第二连接器53。
第一连接器52具有通过相对于轴线倾斜的两个斜面将圆柱状的连接轴51切取而成的朝向前端逐渐变细的形状。第二连接器53是与第一连接器52互补的形状,具有V槽状的形状。第一连接器52与第二连接器53的绕连接轴51的轴线的相位相差90°。
如图7A至图7C所示,马达轴14a的连接器具有与第二连接器53相同的形状,未图示的基端驱动部11的连接器具有与第一连接器52相同的形状。
以下对这样构成的本实施方式的手术布单元43的作用进行说明。
要想将本实施方式的手术布单元43安装在医疗用机械手系统1的控制台8上,如图6A所示,将手术布主体44配置成定位在控制台8上表面的状态。并且,在马达单元14的上表面配置适配器45。由此,如图7A和图7B所示,适配器45的连接轴51的第一连接器52与马达单元14的马达轴14a的连接器连接,并且手术布主体44对控制台8的上表面的开口部30的竖直上方的整个区域进行覆盖。
在该状态下,如图6B所示,在支承部41上安装外套管3的基端侧管状部20,将机械手5从该外套管3的基端面的开口插入到机械手用通道4内,使机械手5的基端驱动部11隔着适配器45与马达单元14连接。在该情况下,也可以是,在基端驱动部11上设置卡合片(未图示),该卡合片用于以能够装卸的方式与设置于适配器45的卡合凹部(未图示)连接,在适配器45上设置另一个卡合片(未图示),该另一个卡合片用于以能够装卸的方式与设置于马达单元14的另一个卡合凹部(未图示)连接。
并且,在该状态下,如图3所示,由于机械手5的前端从外套管3的机械手用通道4的前端突出并配置为靠近体腔内的患部,因此操作者O一边利用监视器7来确认内窥镜17所取得的图像,一边对操作输入部2进行操作。要想对操作输入部2进行操作,操作者O如图4所示的那样使用双手来把持两个一对的第一操作部21的各前端部25,将双手的臂放置在两个一对的各第二操作部22的各臂放置台26上。
然后,当操作者O从任意的臂向臂放置台26施加力时,固定有臂放置台26的滑块28向该力的方向移动,其直行移动量被第一齿轮齿条机构33转换为旋转角度。
第一齿轮齿条机构33的被转换为旋转角度的直行移动量经由滑轮37、38和带39传递给第二齿轮齿条机构34,进而转换为进退机构的直行移动量。由于在进退机构上固定有马达单元14,因此与马达单元14连接的基端驱动部11、长条部9和可动部10一体地沿着长条部9的长度方向移动。由此,位于可动部10的前端的处置部12通过手动在前进/后退方向上大致移动。
在该情况下,根据本实施方式的手术布单元43,如图7A至图7C所示,由于适配器45被配置成在马达单元14的移动范围的整个区域内对手术布主体44的开口部46的上方进行包覆,因此具有下述优点:无论马达单元14配置在哪个位置,都能够防止当插入到外套管3的机械手用通道4内时从上方靠近的机械手5与马达单元14接触,能够维持机械手5等的清洁性。
另外,当利用进退机构的动作使马达单元14直线移动时,马达单元14、适配器45和基端驱动部11一体地进行水平移动。由于手术布主体44与适配器45在上下方向上隔开间隙地配置,因此即使适配器45移动,手术布主体44也不会移动,能够防止手术布主体44被移动的马达单元14卷入而产生破损。
当利用手掌或手指的力使操作者O用双手把持的第一操作部21的前端部25移动时,利用设置于各关节24的传感器对其移动量进行检测,并作为电信号传递给控制部6。在控制部6中,计算出使可动部10的各关节24进行动作的电动作指令以便与传感器所检测出的各关节24的角度一致,将该电动作指令提供给与各关节24连接的马达单元14的马达。由此,使设置于可动部10的前端的处置部12的前端位置如手掌或手指所指示的那样通过电动来精密地移动。
这样,在对体内的患部进行处置后将机械手5从外套管3拔出的情况下,将机械手3的基端驱动部11从适配器45取下,将机械手5从外套管3拔出。
当将机械手5从外套管3拔出时,有时患者P的血液等体液经由外套管3的机械手用通道4流出到体外,但由于外套管3的基端侧管状部20的竖直下方被手术布主体44覆盖,因此能够防止体液附着在控制台8的上表面。
另外,在本实施方式中,对将适配器主体49形成为平板状并利用其本身的刚性来维持沿水平方向延伸的形态的情况进行了例示,但也可以取而代之,如图8A、图8B所示,在马达单元14的上部设置呈凸缘状扩大的突出部54,将适配器45配置成对该突出部54进行覆盖。由此,能够采用由刚性较低的材质构成的适配器主体49。
该情况下,由于手术布主体44的开口部46比配置于控制台8的马达单元14的突出部54小,因此当对手术布主体44进行安装时,为了能够使开口部46扩张而使突出部54穿过,需要由具有挠性的材料构成手术布主体44。
另外,在图8A、图8B所示的例子中,手术布主体44在开口部46的周围沿整个周向具有向上方立起的增高一级的阶差部56。由此,能够利用阶差部56来进行阻止,以使得被手术布主体44的上表面接住的体液等液体不会流入到控制台8的开口部30。阶差部56也可以是斜面。
另外,如图9A、图9B所示,也可以是,与图7A同样地由刚性较高的材质构成适配器主体49,在适配器主体49与马达单元14的突出部54之间预先形成间隙,在手术布主体44上设置凸缘状部55,该凸缘状部55向适配器主体49与突出部54之间突出。在图中所示的例子中,能够通过在阶差部56的上端设置凸缘状部55来起到利用阶差部56来阻止液体的效果。
另外,通过使适配器主体49、凸缘状部55和突出部54为复杂的构造,能够利用迷宫效应使液体等不容易到达无法灭菌的控制台8。另外,通过采用这样的结构,能够将手术布主体44和适配器45依次从上方配置在控制台8的上表面上。
另外,如图10B所示,也可以是,在手术布主体44的开口部46的宽度方向的两侧,在阶差部56的上端设置外凸缘部57,该外凸缘部57朝向开口部46的外侧延伸,在适配器主体49上设置爪部58,该爪部58以从外侧环抱隔着开口部46而配置在两侧的两个外凸缘部57的方式延伸。这样,通过外凸缘部57与爪部58的卡合而构成为下述组装件:适配器主体49被保持为能够在沿着外凸缘部57的方向上移动而不会在离开手术布主体44的方向上移动。
另外,在该情况下,如图10A所示,只要在适配器主体49的下表面设置定位销(定位部)59,在马达单元14的上表面设置供定位销59嵌合的嵌合孔(定位部)60即可。由此,将由适配器45与手术布主体44的组装件构成的手术布单元43配置在控制台8的上表面,使定位销59嵌合在嵌合孔60中,从而能够利用进退机构的动作使适配器主体49与马达单元14一起在水平方向上移动,并且能够将来自马达单元14的旋转驱动力传递给连接轴51。
另外,也可以如图11所示在手术布主体44的上表面的作为支承部41的基端侧的竖直下方的位置设置凹部61。这样,在将机械手5从机械手用通道4拔出时,能够贮存从患者P的体内经由机械手用通道4溢出的血液等体液等,防止流到外部。
另外,也可以如图13所示,在适配器45的连接轴51与贯穿孔50之间配置O型环那样的密封部件(防水机构)62,该密封部件62在整个周向上对两者间的间隙进行密封。另外,也可以如图14所示,在适配器45的贯穿孔50的周围沿整个周向构成由适配器主体49与连接轴51的组合而形成的迷宫构造(防水机构)63。
这样,能够有效地防止体液等液体经由连接轴51与贯穿孔50之间的间隙而流入到控制台8侧。
标号说明
5:机械手;8:控制台(基座);9:插入部(长条部);11:基端驱动部;12:处置部;14:马达单元(驱动源);41:支承部;43:手术布单元;44:手术布主体;45:适配器;46:开口部;49:适配器主体;50:贯穿孔;51:连接轴(动力传递部);56:阶差部;57:外凸缘部;58:爪部;59:定位销(定位部);60:嵌合孔(定位部);61:凹部;62:密封部件(防水机构);63:迷宫构造(防水机构)。
Claims (9)
1.一种手术布单元,该手术布单元对机械手与基座之间进行区分,所述机械手在长条部的前端具有处置部,在基端具有对所述处置部进行驱动的基端驱动部,所述基座在大致水平的上表面具有驱动源,该驱动源以能够装卸的方式与该机械手的所述基端驱动部连接,向该基端驱动部提供驱动力,其中,
该手术布单元具有:
手术布主体,其对所述基座的上表面进行包覆,具有使所述驱动源露出的开口部;以及
适配器,其被夹在所述驱动源与所述基端驱动部之间,在所述开口部的竖直上方隔开间隙地配置,对所述开口部整体进行包覆,
该适配器具有将来自所述驱动源的驱动力传递给所述基端驱动部的动力传递部。
2.根据权利要求1所述的手术布单元,其中,
所述驱动源被设置成能够在沿着所述基座的上表面的方向上移动,
所述开口部的大小被设置成使所述驱动源在所述驱动源的整个移动范围内露出,
无论所述驱动源的位置如何,所述适配器均对所述开口部整体进行包覆。
3.根据权利要求1或2所述的手术布单元,其中,
所述手术布主体在所述开口部的周围沿整个周向具有向上方立起的阶差部。
4.根据权利要求3所述的手术布单元,其中,
在所述阶差部的上端设置有外凸缘部,该外凸缘部朝向所述开口部的外侧与所述手术布主体的表面大致平行地延伸,
在所述适配器上设置有防止该适配器从所述手术布主体脱离的爪部。
5.根据权利要求1至4中的任意一项所述的手术布单元,其中,
所述手术布单元具有将所述手术布主体定位在所述基座上的定位部。
6.根据权利要求1至5中的任意一项所述的手术布单元,其中,
在所述手术布主体的表面上设置有能够贮存液体的凹部,所述手术布主体的该表面是在将所述手术布主体安装于所述基座的上表面时配置于上侧的表面。
7.根据权利要求1至6中的任意一项所述的手术布单元,其中,
所述手术布主体具有支承部,该支承部对具有供所述机械手贯穿的通道的外套管的基端部进行支承。
8.根据权利要求1至7中的任意一项所述的手术布单元,其中,
所述适配器具有:
平板状的适配器主体,其被配置成对所述开口部进行包覆;以及
连接轴,其在将该适配器主体沿厚度方向贯穿的贯穿孔内以能够绕在厚度方向上延伸的轴线旋转的方式被支承,
利用所述连接轴的旋转对所述驱动源的旋转驱动力进行传递。
9.根据权利要求8所述的手术布单元,其中,
所述手术布单元具有防水机构,该防水机构阻止液体在所述贯穿孔与所述连接轴之间流通。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562168987P | 2015-06-01 | 2015-06-01 | |
US62/168,987 | 2015-06-01 | ||
PCT/JP2015/082622 WO2016194263A1 (ja) | 2015-06-01 | 2015-11-19 | ドレープユニット |
Publications (1)
Publication Number | Publication Date |
---|---|
CN107106250A true CN107106250A (zh) | 2017-08-29 |
Family
ID=57440302
Family Applications (5)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201580076955.8A Pending CN107249491A (zh) | 2015-06-01 | 2015-08-31 | 医疗用机械手 |
CN201580030682.3A Active CN106455928B (zh) | 2015-06-01 | 2015-10-02 | 医疗用机械手系统 |
CN201580075580.3A Active CN107205789B (zh) | 2015-06-01 | 2015-11-16 | 医疗用机械手系统 |
CN201580073366.4A Pending CN107106250A (zh) | 2015-06-01 | 2015-11-19 | 手术布单元 |
CN201680031398.2A Pending CN107614047A (zh) | 2015-06-01 | 2016-05-09 | 医疗用外套管 |
Family Applications Before (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201580076955.8A Pending CN107249491A (zh) | 2015-06-01 | 2015-08-31 | 医疗用机械手 |
CN201580030682.3A Active CN106455928B (zh) | 2015-06-01 | 2015-10-02 | 医疗用机械手系统 |
CN201580075580.3A Active CN107205789B (zh) | 2015-06-01 | 2015-11-16 | 医疗用机械手系统 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201680031398.2A Pending CN107614047A (zh) | 2015-06-01 | 2016-05-09 | 医疗用外套管 |
Country Status (5)
Country | Link |
---|---|
US (5) | US10117716B2 (zh) |
EP (5) | EP3305229A4 (zh) |
JP (4) | JP6157792B2 (zh) |
CN (5) | CN107249491A (zh) |
WO (5) | WO2016194249A1 (zh) |
Families Citing this family (65)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8414505B1 (en) | 2001-02-15 | 2013-04-09 | Hansen Medical, Inc. | Catheter driver system |
EP1432724A4 (en) | 2002-02-20 | 2006-02-01 | Sirna Therapeutics Inc | RNA inhibition mediated inhibition of MAP KINASE GENES |
US8827948B2 (en) | 2010-09-17 | 2014-09-09 | Hansen Medical, Inc. | Steerable catheters |
US20130317519A1 (en) | 2012-05-25 | 2013-11-28 | Hansen Medical, Inc. | Low friction instrument driver interface for robotic systems |
US9668814B2 (en) | 2013-03-07 | 2017-06-06 | Hansen Medical, Inc. | Infinitely rotatable tool with finite rotating drive shafts |
US9498601B2 (en) | 2013-03-14 | 2016-11-22 | Hansen Medical, Inc. | Catheter tension sensing |
US11213363B2 (en) | 2013-03-14 | 2022-01-04 | Auris Health, Inc. | Catheter tension sensing |
US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US9326822B2 (en) | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US9173713B2 (en) | 2013-03-14 | 2015-11-03 | Hansen Medical, Inc. | Torque-based catheter articulation |
US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
US9452018B2 (en) | 2013-03-15 | 2016-09-27 | Hansen Medical, Inc. | Rotational support for an elongate member |
US20140276647A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Vascular remote catheter manipulator |
US20140276936A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Active drive mechanism for simultaneous rotation and translation |
CN111166274A (zh) | 2013-10-24 | 2020-05-19 | 奥瑞斯健康公司 | 机器人辅助腔内外科手术系统及相关方法 |
US10046140B2 (en) | 2014-04-21 | 2018-08-14 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
US10569052B2 (en) | 2014-05-15 | 2020-02-25 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
US9561083B2 (en) | 2014-07-01 | 2017-02-07 | Auris Surgical Robotics, Inc. | Articulating flexible endoscopic tool with roll capabilities |
JPWO2016136306A1 (ja) * | 2015-02-26 | 2017-04-27 | オリンパス株式会社 | 医療用マスタースレーブマニピュレータシステム及び医療用マスターマニピュレータ |
JP6938507B2 (ja) | 2015-09-09 | 2021-09-22 | オーリス ヘルス インコーポレイテッド | 手術支援ロボットシステム用の器械装置マニピュレータ |
US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
US10231793B2 (en) | 2015-10-30 | 2019-03-19 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
US10454347B2 (en) | 2016-04-29 | 2019-10-22 | Auris Health, Inc. | Compact height torque sensing articulation axis assembly |
GB2552540B (en) | 2016-07-29 | 2021-11-24 | Cmr Surgical Ltd | Interface structure |
US11925431B2 (en) | 2016-07-29 | 2024-03-12 | Cmr Surgical Limited | Motion feedthrough |
GB2552553B (en) | 2016-07-29 | 2022-03-16 | Cmr Surgical Ltd | Motion feedthrough |
US11241559B2 (en) | 2016-08-29 | 2022-02-08 | Auris Health, Inc. | Active drive for guidewire manipulation |
CN109069138B (zh) | 2016-08-31 | 2021-07-20 | 奥瑞斯健康公司 | 长度守恒的手术器械 |
JP2020000263A (ja) * | 2016-10-27 | 2020-01-09 | 株式会社カネカ | カテーテル組み立て体及び収納物 |
US10543048B2 (en) | 2016-12-28 | 2020-01-28 | Auris Health, Inc. | Flexible instrument insertion using an adaptive insertion force threshold |
JP6761482B2 (ja) * | 2016-12-28 | 2020-09-23 | オリンパス株式会社 | 医療システム、医療用オーバーチューブ、及び医療デバイスアダプタ |
US10244926B2 (en) | 2016-12-28 | 2019-04-02 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
WO2018198308A1 (ja) * | 2017-04-28 | 2018-11-01 | オリンパス株式会社 | 包装体 |
JP6631974B2 (ja) | 2017-05-16 | 2020-01-15 | リバーフィールド株式会社 | 動力伝達アダプタおよび医療用マニピュレータシステム |
US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
CN107928790B (zh) * | 2017-12-01 | 2020-05-05 | 微创(上海)医疗机器人有限公司 | 蛇形手术器械 |
EP3723655A4 (en) | 2017-12-11 | 2021-09-08 | Auris Health, Inc. | SYSTEMS AND METHODS FOR INSTRUMENT-BASED INSERTION ARCHITECTURES |
KR20200100613A (ko) | 2017-12-14 | 2020-08-26 | 아우리스 헬스, 인코포레이티드 | 기구 위치 추정을 위한 시스템 및 방법 |
JP6907340B2 (ja) * | 2017-12-28 | 2021-07-21 | 株式会社メディカロイド | 手術器具、被取付装置、医療用処置具、手術ロボットおよび遠隔手術システム |
WO2019143458A1 (en) | 2018-01-17 | 2019-07-25 | Auris Health, Inc. | Surgical robotics systems with improved robotic arms |
JP7366943B2 (ja) | 2018-06-27 | 2023-10-23 | オーリス ヘルス インコーポレイテッド | 医療器具のための位置合わせ及び取り付けシステム |
EP3856001A4 (en) | 2018-09-28 | 2022-06-22 | Auris Health, Inc. | DEVICES, SYSTEMS AND METHODS FOR MANUAL AND ROBOTIC DRIVE MEDICAL INSTRUMENTS |
US20200100811A1 (en) * | 2018-10-02 | 2020-04-02 | Covidien Lp | Multi lumen access device |
US10980653B2 (en) * | 2018-10-31 | 2021-04-20 | Anchor Balloon, Llc | System and method for controlled delivery of medical devices into patient bodies |
CN113613580A (zh) | 2019-03-22 | 2021-11-05 | 奥瑞斯健康公司 | 用于使医疗器械上的输入部对准的系统和方法 |
WO2020210044A1 (en) | 2019-04-08 | 2020-10-15 | Auris Health, Inc. | Systems, methods, and workflows for concomitant procedures |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
US11941629B2 (en) | 2019-09-27 | 2024-03-26 | Amazon Technologies, Inc. | Electronic device for automated user identification |
US11737845B2 (en) | 2019-09-30 | 2023-08-29 | Auris Inc. | Medical instrument with a capstan |
CA3159753A1 (en) * | 2019-11-28 | 2021-06-03 | Microbot Medical Ltd. | Device for automatically inserting and manipulating a medical tool into and within a bodily lumen |
KR20220123269A (ko) | 2019-12-31 | 2022-09-06 | 아우리스 헬스, 인코포레이티드 | 고급 바스켓 구동 모드 |
WO2021137104A1 (en) | 2019-12-31 | 2021-07-08 | Auris Health, Inc. | Dynamic pulley system |
JP6723595B1 (ja) * | 2020-02-18 | 2020-07-15 | リバーフィールド株式会社 | ドレープユニット |
CN115052546B (zh) * | 2020-04-17 | 2023-11-24 | 瑞德医疗机器股份有限公司 | 医疗用机器人的浮动驱动机构以及医疗用机器人 |
CN111513853B (zh) * | 2020-05-11 | 2021-10-01 | 绍兴梅奥心磁医疗科技有限公司 | 导管的操控装置及系统 |
CA3183162A1 (en) | 2020-06-19 | 2021-12-23 | Jake Anthony Sganga | Systems and methods for guidance of intraluminal devices within the vasculature |
US11270102B2 (en) * | 2020-06-29 | 2022-03-08 | Amazon Technologies, Inc. | Electronic device for automated user identification |
CN112168354B (zh) * | 2020-10-14 | 2021-07-16 | 北京科迈启元科技有限公司 | 防水型、轻量化的手术机器人执行器及手术机器人系统 |
WO2022161499A1 (zh) * | 2021-02-01 | 2022-08-04 | 武汉联影智融医疗科技有限公司 | 一种用于机器人的主手操控装置 |
CN113211403A (zh) * | 2021-04-19 | 2021-08-06 | 中国南方电网有限责任公司超高压输电公司贵阳局 | 一种直流阀厅内部高压套管智能拆装方法 |
US11707332B2 (en) | 2021-07-01 | 2023-07-25 | Remedy Robotics, Inc. | Image space control for endovascular tools |
CA3222522A1 (en) | 2021-07-01 | 2023-01-05 | David James Bell | Vision-based position and orientation determination for endovascular tools |
US11903669B2 (en) * | 2021-07-30 | 2024-02-20 | Corindus, Inc | Sterile drape for robotic drive |
WO2023157051A1 (ja) * | 2022-02-15 | 2023-08-24 | リバーフィールド株式会社 | 柱状部品 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6272091U (zh) * | 1985-10-24 | 1987-05-08 | ||
US20100170519A1 (en) * | 2008-11-07 | 2010-07-08 | Hansen Medical, Inc. | Sterile interface apparatus |
US20100298646A1 (en) * | 2009-05-19 | 2010-11-25 | Tyco Healthcare Group Lp | Flexible access assembly with reinforced lumen |
WO2011037394A2 (ko) * | 2009-09-23 | 2011-03-31 | 주식회사 이턴 | 멸균 어댑터, 휠의 체결 구조 및 수술용 인스트루먼트의 체결 구조 |
US20120271102A1 (en) * | 2011-04-21 | 2012-10-25 | Canon Kabushiki Kaisha | Stereoscopic endoscope apparatus |
WO2014005689A2 (de) * | 2012-07-03 | 2014-01-09 | Kuka Laboratories Gmbh | Chirurgische instrumentenanordnung und antriebsstranganordnung für ein, insbesondere robotergeführtes, chirurgisches instrument und chirurgisches instrument |
CN103732174A (zh) * | 2011-08-04 | 2014-04-16 | 奥林巴斯株式会社 | 手术支持装置及其组装方法 |
JP2014521375A (ja) * | 2011-05-13 | 2014-08-28 | 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 | 器具インターフェース |
WO2015023840A1 (en) * | 2013-08-15 | 2015-02-19 | Intuitive Surgical Operations, Inc. | Instrument sterile adapter drive interface |
Family Cites Families (49)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3181331B2 (ja) * | 1991-10-04 | 2001-07-03 | 株式会社町田製作所 | 内視鏡 |
JPH0695893A (ja) * | 1992-09-16 | 1994-04-08 | Matsushita Electric Ind Co Ltd | 割込み処理装置 |
JP3429536B2 (ja) * | 1993-09-30 | 2003-07-22 | オリンパス光学工業株式会社 | 内視鏡シース |
US5681322A (en) * | 1994-11-14 | 1997-10-28 | Meadox Medicals, Inc. | Gas sterilizable intraluminal delivery system |
US5855583A (en) * | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US6132368A (en) * | 1996-12-12 | 2000-10-17 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
US7727244B2 (en) * | 1997-11-21 | 2010-06-01 | Intuitive Surgical Operation, Inc. | Sterile surgical drape |
US6331181B1 (en) | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
JP3776557B2 (ja) * | 1997-04-10 | 2006-05-17 | オリンパス株式会社 | 内視鏡 |
DE19940689A1 (de) * | 1999-08-27 | 2001-04-05 | Storz Karl Gmbh & Co Kg | Bipolares medizinisches Instrument |
US20060178556A1 (en) * | 2001-06-29 | 2006-08-10 | Intuitive Surgical, Inc. | Articulate and swapable endoscope for a surgical robot |
JP4420593B2 (ja) * | 2002-07-29 | 2010-02-24 | Hoya株式会社 | 内視鏡用バイポーラ型高周波処置具 |
JP4286571B2 (ja) | 2003-03-31 | 2009-07-01 | 独立行政法人科学技術振興機構 | 手術装置 |
JP3783011B2 (ja) * | 2003-10-02 | 2006-06-07 | 株式会社日立製作所 | 操作入力装置および遠隔操作システムおよび遠隔操作方法 |
US20050096502A1 (en) * | 2003-10-29 | 2005-05-05 | Khalili Theodore M. | Robotic surgical device |
JP3873285B2 (ja) | 2003-12-24 | 2007-01-24 | 有限会社エスアールジェイ | 内視鏡装置 |
US20050154439A1 (en) * | 2004-01-08 | 2005-07-14 | Gunderson Richard C. | Medical device delivery systems |
WO2005087128A1 (en) * | 2004-03-05 | 2005-09-22 | Hansen Medical, Inc. | Robotic catheter system |
US7922650B2 (en) * | 2004-03-23 | 2011-04-12 | Boston Scientific Scimed, Inc. | Medical visualization system with endoscope and mounted catheter |
JP4652713B2 (ja) * | 2004-04-02 | 2011-03-16 | オリンパス株式会社 | 内視鏡治療装置 |
JP2006334695A (ja) * | 2005-05-31 | 2006-12-14 | Kyoto Univ | 遠隔操縦装置 |
WO2007070693A2 (en) * | 2005-12-14 | 2007-06-21 | Hansen Medical, Inc. | Robotic cathether system and methods |
JP5043414B2 (ja) | 2005-12-20 | 2012-10-10 | インテュイティブ サージカル インコーポレイテッド | 無菌外科手術アダプタ |
US8225794B2 (en) | 2006-01-13 | 2012-07-24 | Olympus Medical Systems Corp. | Overtube |
JP2007307289A (ja) * | 2006-05-22 | 2007-11-29 | Fujinon Corp | 超音波内視鏡装置 |
JP2008114339A (ja) * | 2006-11-06 | 2008-05-22 | Terumo Corp | マニピュレータ |
US9421071B2 (en) | 2006-12-01 | 2016-08-23 | Boston Scientific Scimed, Inc. | Direct drive methods |
JP4398479B2 (ja) | 2007-03-02 | 2010-01-13 | オリンパスメディカルシステムズ株式会社 | 内視鏡装置 |
WO2009037576A2 (en) * | 2007-04-16 | 2009-03-26 | The Governors Of The University Of Calgary | Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis |
JP2008278968A (ja) | 2007-05-08 | 2008-11-20 | Fujinon Corp | 内視鏡用挿入補助具 |
US9084623B2 (en) * | 2009-08-15 | 2015-07-21 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
US8105230B2 (en) * | 2007-07-09 | 2012-01-31 | Olympus Medical Systems Corp. | Medical system |
JP5011060B2 (ja) * | 2007-10-22 | 2012-08-29 | オリンパスメディカルシステムズ株式会社 | 医療装置 |
EP3682932B1 (en) * | 2008-01-14 | 2021-06-30 | Boston Scientific Scimed Inc. | Medical device |
US7886743B2 (en) | 2008-03-31 | 2011-02-15 | Intuitive Surgical Operations, Inc. | Sterile drape interface for robotic surgical instrument |
JP4950928B2 (ja) * | 2008-03-31 | 2012-06-13 | 富士フイルム株式会社 | 超音波内視鏡装置 |
JP5336760B2 (ja) | 2008-05-01 | 2013-11-06 | オリンパスメディカルシステムズ株式会社 | 内視鏡システム |
US20090281378A1 (en) * | 2008-05-09 | 2009-11-12 | Kazuo Banju | Medical system |
JP2010035768A (ja) | 2008-08-04 | 2010-02-18 | Olympus Medical Systems Corp | 能動駆動式医療機器 |
JP4608601B2 (ja) * | 2008-11-14 | 2011-01-12 | オリンパスメディカルシステムズ株式会社 | 医療用システム |
US20100331856A1 (en) * | 2008-12-12 | 2010-12-30 | Hansen Medical Inc. | Multiple flexible and steerable elongate instruments for minimally invasive operations |
US8120301B2 (en) | 2009-03-09 | 2012-02-21 | Intuitive Surgical Operations, Inc. | Ergonomic surgeon control console in robotic surgical systems |
JP2011072574A (ja) * | 2009-09-30 | 2011-04-14 | Terumo Corp | 医療用マニピュレータ |
JP2011072570A (ja) * | 2009-09-30 | 2011-04-14 | Terumo Corp | 医療用マニピュレータ |
JP5624420B2 (ja) * | 2010-09-29 | 2014-11-12 | カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト | 絶縁カバー及び外科用処置具 |
EP2891449A4 (en) | 2012-08-31 | 2016-04-13 | Olympus Corp | INSERTION BODY, INSERTION DEVICE, ROTATING UNIT, AND ROTATIONAL FORCE TRANSMISSION UNIT |
JP6333291B2 (ja) * | 2012-12-28 | 2018-05-30 | ポレックス コーポレーション | 医療機器用部材のための焼結多孔質ポリマーのキャップ |
JP6084296B2 (ja) | 2013-02-25 | 2017-02-22 | オリンパス株式会社 | 医療システム |
JP6242101B2 (ja) * | 2013-07-26 | 2017-12-06 | オリンパス株式会社 | 医療装置および医療システム |
-
2015
- 2015-08-31 EP EP15894281.3A patent/EP3305229A4/en not_active Withdrawn
- 2015-08-31 JP JP2017517392A patent/JP6157792B2/ja active Active
- 2015-08-31 WO PCT/JP2015/074792 patent/WO2016194249A1/ja active Application Filing
- 2015-08-31 CN CN201580076955.8A patent/CN107249491A/zh active Pending
- 2015-10-02 CN CN201580030682.3A patent/CN106455928B/zh active Active
- 2015-10-02 WO PCT/JP2015/078063 patent/WO2016194250A1/ja active Application Filing
- 2015-10-02 EP EP15894282.1A patent/EP3305162A4/en not_active Withdrawn
- 2015-11-16 EP EP15894294.6A patent/EP3305237A4/en not_active Withdrawn
- 2015-11-16 JP JP2017510696A patent/JP6147460B2/ja active Active
- 2015-11-16 WO PCT/JP2015/082118 patent/WO2016194262A1/ja unknown
- 2015-11-16 CN CN201580075580.3A patent/CN107205789B/zh active Active
- 2015-11-19 EP EP15894295.3A patent/EP3305238A4/en not_active Withdrawn
- 2015-11-19 CN CN201580073366.4A patent/CN107106250A/zh active Pending
- 2015-11-19 JP JP2017502902A patent/JP6138396B2/ja active Active
- 2015-11-19 WO PCT/JP2015/082622 patent/WO2016194263A1/ja unknown
-
2016
- 2016-05-09 JP JP2017508586A patent/JP6242538B2/ja active Active
- 2016-05-09 EP EP16802987.4A patent/EP3305358A4/en not_active Withdrawn
- 2016-05-09 WO PCT/JP2016/063786 patent/WO2016194550A1/ja active Application Filing
- 2016-05-09 CN CN201680031398.2A patent/CN107614047A/zh active Pending
- 2016-12-12 US US15/375,374 patent/US10117716B2/en active Active
-
2017
- 2017-11-06 US US15/804,068 patent/US10201394B2/en active Active
- 2017-11-06 US US15/804,025 patent/US10335243B2/en active Active
- 2017-11-21 US US15/819,045 patent/US20180071041A1/en not_active Abandoned
- 2017-11-28 US US15/824,481 patent/US10314663B2/en active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6272091U (zh) * | 1985-10-24 | 1987-05-08 | ||
US20100170519A1 (en) * | 2008-11-07 | 2010-07-08 | Hansen Medical, Inc. | Sterile interface apparatus |
US20100298646A1 (en) * | 2009-05-19 | 2010-11-25 | Tyco Healthcare Group Lp | Flexible access assembly with reinforced lumen |
WO2011037394A2 (ko) * | 2009-09-23 | 2011-03-31 | 주식회사 이턴 | 멸균 어댑터, 휠의 체결 구조 및 수술용 인스트루먼트의 체결 구조 |
US20120271102A1 (en) * | 2011-04-21 | 2012-10-25 | Canon Kabushiki Kaisha | Stereoscopic endoscope apparatus |
JP2014521375A (ja) * | 2011-05-13 | 2014-08-28 | 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 | 器具インターフェース |
CN103732174A (zh) * | 2011-08-04 | 2014-04-16 | 奥林巴斯株式会社 | 手术支持装置及其组装方法 |
US20140166023A1 (en) * | 2011-08-04 | 2014-06-19 | Olympus Corporation | Operation support device and assembly method thereof |
WO2014005689A2 (de) * | 2012-07-03 | 2014-01-09 | Kuka Laboratories Gmbh | Chirurgische instrumentenanordnung und antriebsstranganordnung für ein, insbesondere robotergeführtes, chirurgisches instrument und chirurgisches instrument |
WO2015023840A1 (en) * | 2013-08-15 | 2015-02-19 | Intuitive Surgical Operations, Inc. | Instrument sterile adapter drive interface |
Also Published As
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107106250A (zh) | 手术布单元 | |
JP5948510B1 (ja) | 内視鏡及び内視鏡の先端硬性部 | |
US9565990B2 (en) | Endoscope apparatus with slave device and master device | |
CN104582558B (zh) | 内窥镜 | |
JP5191164B2 (ja) | 医療装置 | |
US20220175225A1 (en) | Hybrid endoscope with rotary drum for sterile medical applications | |
EP1839565A3 (en) | Endoscope washing and disinfecting apparatus and endoscope conduit washing brush cassette | |
CN101292856B (zh) | 医疗装置 | |
CN103917148A (zh) | 内窥镜系统 | |
CN107072734B (zh) | 机械手系统 | |
JP2013523372A (ja) | 内視鏡装置用レンズプロテクタ | |
CN104203069A (zh) | 插入辅助器械、插入主体和插入装置 | |
US20200178770A1 (en) | Endoscope having an endoscope head and an albarran lever that in insertable on and detachable from the endoscope head | |
JP6076566B1 (ja) | 挿入装置 | |
CN106999016B (zh) | 辅助器具和插入装置 | |
JP6116471B2 (ja) | 流体供給具 | |
JP5248871B2 (ja) | 内視鏡洗浄消毒システム | |
CN112401823B (zh) | 一种胃镜手术用胃镜输送装置及其使用方法 | |
JP3193553U (ja) | 成形品取り出し用アーム | |
JP2017536220A (ja) | 経路に沿って物品を進めるためのシステム、装置、および方法 | |
CN203539322U (zh) | 尿道膀胱软镜组件 | |
US8556800B2 (en) | Lubricant supplying device for the everting tube drive of an endoscope | |
JP3729972B2 (ja) | 管路分離型内視鏡装置 | |
CN106999006A (zh) | 插入装置 | |
IT202100002651A1 (it) | Dispositivo per il monitoraggio automatizzato delle occlusioni in condotti fognari |
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 | ||
WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170829 |
|
WD01 | Invention patent application deemed withdrawn after publication |