CN114615918B - 外科设备的机械臂中的线缆和布线 - Google Patents

外科设备的机械臂中的线缆和布线

Info

Publication number
CN114615918B
CN114615918B CN202080076289.9A CN202080076289A CN114615918B CN 114615918 B CN114615918 B CN 114615918B CN 202080076289 A CN202080076289 A CN 202080076289A CN 114615918 B CN114615918 B CN 114615918B
Authority
CN
China
Prior art keywords
path
flexible sleeve
helical
surgical
sleeve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202080076289.9A
Other languages
English (en)
Chinese (zh)
Other versions
CN114615918A (zh
Inventor
德维尔·科恩
亚龙·列文森
Y·内塔
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.)
Mormentis Surgery Co ltd
Momentis Surgical Ltd
Original Assignee
Mormentis Surgery Co ltd
Memic Innovative Surgery 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 Mormentis Surgery Co ltd, Memic Innovative Surgery Ltd filed Critical Mormentis Surgery Co ltd
Publication of CN114615918A publication Critical patent/CN114615918A/zh
Application granted granted Critical
Publication of CN114615918B publication Critical patent/CN114615918B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
    • A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
    • 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
    • A61B2017/00336—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means with a protective sleeve, e.g. retractable or slidable
    • 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
    • A61B2018/00589—Coagulation
    • 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
    • A61B2018/00601—Cutting
    • 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
    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/309—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using white LEDs
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/04—Flexible cables, conductors, or cords, e.g. trailing cables
    • H01B7/041—Flexible cables, conductors, or cords, e.g. trailing cables attached to mobile objects, e.g. portable tools, elevators, mining equipment, hoisting cables
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
    • H01B7/185—Sheaths comprising internal cavities or channels

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Otolaryngology (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Surgical Instruments (AREA)
CN202080076289.9A 2019-09-07 2020-09-06 外科设备的机械臂中的线缆和布线 Active CN114615918B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962897293P 2019-09-07 2019-09-07
US62/897,293 2019-09-07
PCT/IB2020/058292 WO2021044386A1 (en) 2019-09-07 2020-09-06 Cable and wire routing in a mechanical arm of a surgical apparatus

Publications (2)

Publication Number Publication Date
CN114615918A CN114615918A (zh) 2022-06-10
CN114615918B true CN114615918B (zh) 2026-03-13

Family

ID=74852193

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080076289.9A Active CN114615918B (zh) 2019-09-07 2020-09-06 外科设备的机械臂中的线缆和布线

Country Status (5)

Country Link
US (1) US20220331003A1 (enExample)
EP (1) EP4025113A4 (enExample)
JP (2) JP2022547100A (enExample)
CN (1) CN114615918B (enExample)
WO (1) WO2021044386A1 (enExample)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102408106B1 (ko) 2014-12-05 2022-06-15 포티메딕스 에셋츠 Ii 비.브이. 조종가능한 기구와, 그 제공 방법
CA3103224A1 (en) 2018-06-17 2019-12-26 Memic Innovative Surgery Ltd. Surgical articulated arm
NL2021823B1 (en) 2018-10-16 2020-05-13 Fortimedix Assets Ii B V Steerable instrument comprising a tube element
US12544096B2 (en) 2019-04-01 2026-02-10 Fortimedix Assets Ii B.V. Steerable instrument comprising a hinge with a slotted structure
JP7555956B2 (ja) 2019-04-08 2024-09-25 フォーティメディックス・アセッツ・ザ・セカンド・ビー．ブイ． 取り外し可能な部分を備えるステアリング可能な器具
JP7555957B2 (ja) 2019-04-08 2024-09-25 フォーティメディックス・アセッツ・ザ・セカンド・ビー．ブイ． 取り外し可能な部分を備えるステアリング可能な器具
CN116825422B (zh) * 2023-03-18 2024-05-24 三元科技（深圳）有限公司 一种血管内手术用微型传输线缆
CN122033883B (zh) * 2026-04-20 2026-07-10 苏州大学 一种微型连续体机械臂及其螺旋线获取方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103857434A (zh) * 2011-06-28 2014-06-11 费雪派克医疗保健有限公司 改进的医用管
CN109640856A (zh) * 2016-07-14 2019-04-16 直观外科手术操作公司 用于外科手术器械的引导机构以及相关设备、系统和方法

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EP2901958B1 (en) * 2002-12-06 2019-02-06 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
GB0307715D0 (en) * 2003-04-03 2003-05-07 Ethicon Endo Surgery Inc Guide wire structure for insertion into an internal space
AU2003236506B2 (en) * 2003-06-13 2010-03-25 Covidien Ag Vessel sealer and divider for use with small trocars and cannulas
CN104688349B (zh) * 2006-06-13 2017-05-10 直观外科手术操作公司 微创手术系统
EP3563788B1 (en) * 2010-04-30 2024-06-19 Medtronic Xomed, Inc. Navigated surgical instrument
US9402682B2 (en) * 2010-09-24 2016-08-02 Ethicon Endo-Surgery, Llc Articulation joint features for articulating surgical device
US20170231701A1 (en) * 2014-09-04 2017-08-17 Memic Innovative Surgery Ltd. Method and devices for hysterectomy
DE102015104068A1 (de) * 2015-03-18 2016-09-22 Meflex Telecontrol Gmbh & Co. Kg Antriebskabel zur Betätigung eines Fahrzeugelements
US10258419B2 (en) * 2015-09-25 2019-04-16 Ethicon Llc Methods for hybrid robotic laparoscopic surgery
US10973599B2 (en) * 2016-03-25 2021-04-13 Intuitive Surgical Operations, Inc. Surgical platform supported by multiple arms
US11350977B2 (en) * 2017-03-08 2022-06-07 Memic Innovative Surgery Ltd. Modular electrosurgical device
CA3103224A1 (en) * 2018-06-17 2019-12-26 Memic Innovative Surgery Ltd. Surgical articulated arm

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103857434A (zh) * 2011-06-28 2014-06-11 费雪派克医疗保健有限公司 改进的医用管
CN109640856A (zh) * 2016-07-14 2019-04-16 直观外科手术操作公司 用于外科手术器械的引导机构以及相关设备、系统和方法

Also Published As

Publication number Publication date
JP2025131695A (ja) 2025-09-09
EP4025113A1 (en) 2022-07-13
CN114615918A (zh) 2022-06-10
US20220331003A1 (en) 2022-10-20
JP2022547100A (ja) 2022-11-10
EP4025113A4 (en) 2023-09-06
WO2021044386A1 (en) 2021-03-11

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Legal Events

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PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information
CB02 Change of applicant information

Country or region after: Israel

Address after: Israel

Applicant after: Mormentis Surgery Co.,Ltd.

Address before: Israel, Olyahuda

Applicant before: MEMIC INNOVATIVE SURGERY LTD.

Country or region before: Israel

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GR01 Patent grant