CN113950296B - 自矫直针组件 - Google Patents

自矫直针组件 Download PDF

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Publication number
CN113950296B
CN113950296B CN202080042455.3A CN202080042455A CN113950296B CN 113950296 B CN113950296 B CN 113950296B CN 202080042455 A CN202080042455 A CN 202080042455A CN 113950296 B CN113950296 B CN 113950296B
Authority
CN
China
Prior art keywords
cannula
sleeve
needle assembly
tip
needle
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.)
Expired - Fee Related
Application number
CN202080042455.3A
Other languages
English (en)
Chinese (zh)
Other versions
CN113950296A (zh
Inventor
汤姆·斯坦德尔
哈达斯·齐索
诺姆·哈西多夫
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.)
Tamar Robot Co ltd
Original Assignee
Tamar Robot Co ltd
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 Tamar Robot Co ltd filed Critical Tamar Robot Co ltd
Publication of CN113950296A publication Critical patent/CN113950296A/zh
Application granted granted Critical
Publication of CN113950296B publication Critical patent/CN113950296B/zh
Expired - Fee Related 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
    • A61B17/3417—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
    • A61B17/3403—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
    • A61B17/34—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
    • 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
    • A61B34/70—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
    • A61B17/32—Surgical cutting instruments
    • A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00309—Cut-outs or slits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—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
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00331—Steering mechanisms with preformed bends
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/00867—Material properties shape memory effect
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00982—General structural features
    • A61B2017/00991—Telescopic means
    • 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
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • 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
    • A61B2017/3443—Cannulas with means for adjusting the length of a cannula
    • 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
    • A61B2217/00—General characteristics of surgical instruments
    • A61B2217/002—Auxiliary appliance
    • A61B2217/005—Auxiliary appliance with suction drainage system

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)
CN202080042455.3A 2019-04-10 2020-04-07 自矫直针组件 Expired - Fee Related CN113950296B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
IL265963 2019-04-10
IL265963A IL265963A (en) 2019-04-10 2019-04-10 Steerable needle with tip navigation
PCT/IL2020/050427 WO2020208634A1 (en) 2019-04-10 2020-04-07 Self-straightening needle assembly

Publications (2)

Publication Number Publication Date
CN113950296A CN113950296A (zh) 2022-01-18
CN113950296B true CN113950296B (zh) 2024-09-03

Family

ID=66768895

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080042455.3A Expired - Fee Related CN113950296B (zh) 2019-04-10 2020-04-07 自矫直针组件

Country Status (6)

Country Link
US (1) US20220151657A1 (enExample)
EP (1) EP3952752B1 (enExample)
JP (1) JP7592025B2 (enExample)
CN (1) CN113950296B (enExample)
IL (1) IL265963A (enExample)
WO (1) WO2020208634A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12433608B2 (en) * 2021-08-19 2025-10-07 Board Of Regents, The University Of Texas System Fully steerable flexible curved-drilling robot device, system and method

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US12496151B2 (en) * 2021-07-06 2025-12-16 Auris Health, Inc. Self-aligned docking for a robotic surgical platform
CN113647220B (zh) * 2021-07-16 2022-10-28 池州市金实自然资源管理服务有限公司 预埋式土地治理用插管装置
CN113693537A (zh) * 2021-10-29 2021-11-26 极限人工智能(北京)有限公司 内窥镜和微创手术机器人
US12617078B2 (en) 2022-06-15 2026-05-05 Covidien Lp Robotic surgical assemblies including surgical instruments having articulatable wrist assemblies
CN116784984B (zh) * 2023-08-23 2023-12-08 深圳市精锋医疗科技股份有限公司 手术机器人系统
GB202407207D0 (en) * 2024-05-21 2024-07-03 King S College London Manipulator
WO2026050325A1 (en) * 2024-08-27 2026-03-05 Cornav Corporation Articulation device and method for tracking a curved surface of an organ

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US6246898B1 (en) * 1995-03-28 2001-06-12 Sonometrics Corporation Method for carrying out a medical procedure using a three-dimensional tracking and imaging system
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US6858005B2 (en) * 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
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EP2296745B1 (en) * 2008-05-28 2019-07-24 Technion Research & Development Foundation Ltd. Ultrasound guided robot for flexible needle steering
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KR102118008B1 (ko) * 2009-11-13 2020-06-02 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 곡선형 캐뉼라 수술 시스템
JP5934219B2 (ja) * 2010-09-03 2016-06-15 ユニヴァーシティ オブ ワシントン 脳神経外科手術用デバイス及び関連したシステム及び方法
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12433608B2 (en) * 2021-08-19 2025-10-07 Board Of Regents, The University Of Texas System Fully steerable flexible curved-drilling robot device, system and method

Also Published As

Publication number Publication date
WO2020208634A1 (en) 2020-10-15
CN113950296A (zh) 2022-01-18
JP7592025B2 (ja) 2024-11-29
JP2022528779A (ja) 2022-06-15
US20220151657A1 (en) 2022-05-19
EP3952752A1 (en) 2022-02-16
IL265963A (en) 2020-10-28
EP3952752B1 (en) 2024-11-20
EP3952752A4 (en) 2023-01-04

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Granted publication date: 20240903