CN110799141B - 为双极电灼手术器械供电 - Google Patents

为双极电灼手术器械供电 Download PDF

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Publication number
CN110799141B
CN110799141B CN201880041665.3A CN201880041665A CN110799141B CN 110799141 B CN110799141 B CN 110799141B CN 201880041665 A CN201880041665 A CN 201880041665A CN 110799141 B CN110799141 B CN 110799141B
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China
Prior art keywords
electrocautery
axis
end effector
joint
pair
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CN201880041665.3A
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English (en)
Chinese (zh)
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CN110799141A (zh
Inventor
西蒙·罗德里克·格罗弗
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CMR Surgical Ltd
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CMR Surgical Ltd
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Priority to CN202310914471.2A priority Critical patent/CN116898588A/zh
Publication of CN110799141A publication Critical patent/CN110799141A/zh
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Classifications

    • 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
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
    • 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
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • 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
    • 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
    • A61B18/1206—Generators therefor
    • 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
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • 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
    • A61B2018/00172—Connectors and adapters therefor
    • A61B2018/00178—Electrical connectors
    • 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
    • A61B2018/00184—Moving parts
    • 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
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00595—Cauterization
    • 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
    • A61B18/1206—Generators therefor
    • A61B2018/1246—Generators therefor characterised by the output polarity
    • A61B2018/126—Generators therefor characterised by the output polarity bipolar
    • 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
    • A61B2018/1422—Hook
    • 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
    • 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
    • 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
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0204—Operational features of power management
    • A61B2560/0214—Operational features of power management of power generation or supply
    • 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
    • A61B34/72—Micromanipulators
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Otolaryngology (AREA)
  • Plasma & Fusion (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN201880041665.3A 2017-06-21 2018-06-20 为双极电灼手术器械供电 Active CN110799141B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310914471.2A CN116898588A (zh) 2017-06-21 2018-06-20 为双极电灼手术器械供电

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1709902.9 2017-06-21
GB1709902.9A GB2563631B (en) 2017-06-21 2017-06-21 Powering an electrocautery surgical instrument
PCT/GB2018/051716 WO2018234795A1 (en) 2017-06-21 2018-06-20 FEEDING A SURGICAL INSTRUMENT FOR ELECTROCAUTIZATION

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202310914471.2A Division CN116898588A (zh) 2017-06-21 2018-06-20 为双极电灼手术器械供电

Publications (2)

Publication Number Publication Date
CN110799141A CN110799141A (zh) 2020-02-14
CN110799141B true CN110799141B (zh) 2023-08-15

Family

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Application Number Title Priority Date Filing Date
CN201880041665.3A Active CN110799141B (zh) 2017-06-21 2018-06-20 为双极电灼手术器械供电
CN202310914471.2A Pending CN116898588A (zh) 2017-06-21 2018-06-20 为双极电灼手术器械供电

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202310914471.2A Pending CN116898588A (zh) 2017-06-21 2018-06-20 为双极电灼手术器械供电

Country Status (8)

Country Link
US (1) US12478421B2 (enExample)
EP (1) EP3641683B8 (enExample)
JP (1) JP7275056B2 (enExample)
CN (2) CN110799141B (enExample)
AU (1) AU2018288005B2 (enExample)
BR (1) BR112019027017A2 (enExample)
GB (1) GB2563631B (enExample)
WO (1) WO2018234795A1 (enExample)

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US11439376B2 (en) 2018-03-07 2022-09-13 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US11992286B2 (en) 2018-03-07 2024-05-28 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
CN111970985B (zh) 2018-03-07 2024-12-03 直观外科手术操作公司 具有易组装构件的低摩擦小型医疗工具
EP3773302B1 (en) 2018-04-10 2025-06-04 Intuitive Surgical Operations, Inc. Articulable medical devices having flexible wire routing
GB2579380B (en) 2018-11-29 2022-07-06 Cmr Surgical Ltd Internal structure of a robotic surgical instrument
US11628028B2 (en) 2018-12-31 2023-04-18 Asensus Surgical Us, Inc. Articulating surgical instrument
CN111166468B (zh) * 2020-02-21 2024-11-05 哈尔滨思哲睿智能医疗设备股份有限公司 一种手术电凝钩
CN112043389B (zh) * 2020-09-30 2025-06-17 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
CN112690836B (zh) * 2020-12-24 2022-12-02 上海微创医疗机器人（集团）股份有限公司 器械末端、器械末端组件及手术器械
CN112690902A (zh) * 2021-03-25 2021-04-23 成都博恩思医学机器人有限公司 一种电钩结构
GB2609033B (en) * 2021-07-19 2025-05-21 Cmr Surgical Ltd A robotic surgical instrument
WO2023163572A1 (ko) * 2022-02-28 2023-08-31 주식회사 리브스메드 수술용 인스트루먼트 및 이를 포함하는 수술 로봇
JP7900097B2 (ja) * 2022-07-26 2026-08-04 深▲セン▼康諾思騰科技有限公司 手術機器のエンドエフェクタ機構及び手術機器
GB2623831B (en) * 2022-10-31 2025-02-12 Cmr Surgical Ltd Arrangement of an electrosurgical instrument
GB2623832B (en) * 2022-10-31 2025-06-18 Cmr Surgical Ltd Arrangement of an electrosurgical instrument
WO2024171000A1 (en) * 2023-02-14 2024-08-22 Covidien Lp Surgical robotic system with integrated electrosurgical unit in a surgical instrument
CN116473679A (zh) * 2023-02-20 2023-07-25 深圳康诺思腾科技有限公司 手术器械和手术机器人
WO2025022273A1 (en) * 2023-07-21 2025-01-30 Cilag Gmbh International Surgical end effector with monopolar hook and related methods
CN117180111B (zh) * 2023-09-21 2025-11-07 嘉善飞阔医疗科技有限公司 一种可视同时具备多方向导向功能的喂养管
CN120284446A (zh) * 2024-01-11 2025-07-11 利思梅德株式会社 手术用器械操作部和具有该手术用器械操作部的电灼手术用器械
CN118058843B (zh) * 2024-02-28 2025-07-22 山东威高手术机器人有限公司 末端执行器及电外科手术器械
CN121015275A (zh) * 2025-10-29 2025-11-28 艺柏湾医疗科技(上海)有限公司 一种多自由度手术机器人末端执行器

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CN103405271A (zh) * 2013-08-05 2013-11-27 上海交通大学 一种多功能腹腔微创手术工具

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CN102143714A (zh) * 2008-07-16 2011-08-03 直观外科手术操作公司 双极烧灼器械
CN103405271A (zh) * 2013-08-05 2013-11-27 上海交通大学 一种多功能腹腔微创手术工具

Also Published As

Publication number Publication date
GB2563631B (en) 2021-11-24
GB201709902D0 (en) 2017-08-02
BR112019027017A2 (pt) 2020-06-30
AU2018288005A1 (en) 2020-01-16
AU2018288005B2 (en) 2022-12-15
JP7275056B2 (ja) 2023-05-17
JP2020524576A (ja) 2020-08-20
EP3641683B1 (en) 2024-09-25
EP3641683B8 (en) 2024-10-30
US12478421B2 (en) 2025-11-25
CN110799141A (zh) 2020-02-14
EP3641683A1 (en) 2020-04-29
US20200138510A1 (en) 2020-05-07
WO2018234795A1 (en) 2018-12-27
CN116898588A (zh) 2023-10-20
GB2563631A (en) 2018-12-26

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