CN110403651B - 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

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Publication number
CN110403651B
CN110403651B CN201910719179.9A CN201910719179A CN110403651B CN 110403651 B CN110403651 B CN 110403651B CN 201910719179 A CN201910719179 A CN 201910719179A CN 110403651 B CN110403651 B CN 110403651B
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China
Prior art keywords
cannula
outer sleeve
inner tube
wall
force
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Chinese (zh)
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CN110403651A (zh
Inventor
B·佩吉
L·N·维尔纳
J·R·斯蒂格
S·德
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Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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    • 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
    • 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
    • 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)
CN201910719179.9A 2014-07-29 2015-07-27 带有测量患者体壁力的传感器的插管 Active CN110403651B (zh)

Applications Claiming Priority (4)

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
CN201580050796.4A CN107072691B (zh) 2014-07-29 2015-07-27 带有测量患者体壁力的传感器的插管

Related Parent Applications (1)

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

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CN110403651A CN110403651A (zh) 2019-11-05
CN110403651B true CN110403651B (zh) 2022-11-08

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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

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US (3) US10470796B2 (https=)
EP (2) EP3549538A1 (https=)
JP (5) JP6542871B2 (https=)
KR (2) KR102886889B1 (https=)
CN (2) CN110403651B (https=)
WO (1) WO2016018815A1 (https=)

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US9817019B2 (en) 2013-11-13 2017-11-14 Intuitive Surgical Operations, Inc. Integrated fiber bragg grating accelerometer in a surgical instrument
CN106028930B (zh) 2014-02-21 2021-10-22 3D集成公司 包括手术器械的套件
KR102886889B1 (ko) 2014-07-29 2025-11-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 환자 체벽 힘을 측정하기 위한 센서를 갖는 캐뉼러
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
US11020144B2 (en) 2015-07-21 2021-06-01 3Dintegrated Aps Minimally invasive surgery system
DK178899B1 (en) 2015-10-09 2017-05-08 3Dintegrated Aps A depiction system
JP6214837B1 (ja) * 2016-01-27 2017-10-18 オリンパス株式会社 医療用マニピュレータシステム
CN110621256A (zh) * 2017-05-24 2019-12-27 柯惠Lp公司 用于机器人系统的外科手术套管
US10548674B2 (en) * 2017-07-06 2020-02-04 YellowDot Innovations, LLC Robotic guide for medical device
US11478316B2 (en) 2017-09-20 2022-10-25 Shanghai Microport Medbot (Group) Co., Ltd. Surgical robot system
JP7440412B2 (ja) * 2017-10-05 2024-02-28 ディグニティー ヘルス 多目的医療機器
EP3880102A1 (en) 2018-11-15 2021-09-22 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
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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

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Also Published As

Publication number Publication date
KR102615949B1 (ko) 2023-12-21
JP6833911B2 (ja) 2021-02-24
EP3549538A1 (en) 2019-10-09
EP3179936B1 (en) 2019-06-26
US10470796B2 (en) 2019-11-12
JP2019171123A (ja) 2019-10-10
EP3179936A1 (en) 2017-06-21
JP2021065751A (ja) 2021-04-30
CN107072691A (zh) 2017-08-18
WO2016018815A1 (en) 2016-02-04
JP6542871B2 (ja) 2019-07-10
EP3179936A4 (en) 2018-01-24
CN107072691B (zh) 2019-09-03
CN110403651A (zh) 2019-11-05
JP7069370B2 (ja) 2022-05-17
JP2022107607A (ja) 2022-07-22
US20170265890A1 (en) 2017-09-21
KR102886889B1 (ko) 2025-11-18
JP2017522134A (ja) 2017-08-10
US20200046404A1 (en) 2020-02-13
KR20230173230A (ko) 2023-12-26
KR20170038011A (ko) 2017-04-05
US20220378474A1 (en) 2022-12-01
JP2024107190A (ja) 2024-08-08
US11369411B2 (en) 2022-06-28

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