CN116898588A - 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
CN116898588A
CN116898588A CN202310914471.2A CN202310914471A CN116898588A CN 116898588 A CN116898588 A CN 116898588A CN 202310914471 A CN202310914471 A CN 202310914471A CN 116898588 A CN116898588 A CN 116898588A
Authority
CN
China
Prior art keywords
electrocautery
axis
end effector
pulley
pair
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
Application number
CN202310914471.2A
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English (en)
Chinese (zh)
Inventor
西蒙·罗德里克·格罗弗
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.)
CMR Surgical Ltd
Original Assignee
CMR Surgical 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 CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of CN116898588A publication Critical patent/CN116898588A/zh
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Otolaryngology (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Ophthalmology & Optometry (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN202310914471.2A 2017-06-21 2018-06-20 为双极电灼手术器械供电 Pending CN116898588A (zh)

Applications Claiming Priority (4)

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
CN201880041665.3A CN110799141B (zh) 2017-06-21 2018-06-20 为双极电灼手术器械供电
PCT/GB2018/051716 WO2018234795A1 (en) 2017-06-21 2018-06-20 FEEDING A SURGICAL INSTRUMENT FOR ELECTROCAUTIZATION

Related Parent Applications (1)

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

Publications (1)

Publication Number Publication Date
CN116898588A true CN116898588A (zh) 2023-10-20

Family

ID=59462317

Family Applications (2)

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
CN201880041665.3A Active CN110799141B (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
CN201880041665.3A Active CN110799141B (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) CN116898588A (enExample)
AU (1) AU2018288005B2 (enExample)
BR (1) BR112019027017A2 (enExample)
GB (1) GB2563631B (enExample)
WO (1) WO2018234795A1 (enExample)

Cited By (1)

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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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EP3761895A4 (en) 2018-03-07 2021-11-24 Intuitive Surgical Operations, Inc. LOW FRICTION MEDICAL TOOLS WITH ROLLER ASSISTED TENSION ELEMENTS
WO2019173268A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
WO2019199827A1 (en) 2018-04-10 2019-10-17 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
US20250169906A1 (en) * 2022-02-28 2025-05-29 Livsmed Inc. Surgical instrument and surgical robot comprising same
CN116509551A (zh) * 2022-07-26 2023-08-01 深圳康诺思腾科技有限公司 手术器械的末端执行机构及手术器械
GB2623832B (en) * 2022-10-31 2025-06-18 Cmr Surgical Ltd Arrangement of an electrosurgical instrument
GB2623831B (en) * 2022-10-31 2025-02-12 Cmr Surgical Ltd Arrangement of an electrosurgical instrument
CN120676919A (zh) * 2023-02-14 2025-09-19 柯惠Lp公司 在手术器械中集成有电外科单元的手术机器人系统
EP4565158A1 (en) * 2023-07-21 2025-06-11 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

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Also Published As

Publication number Publication date
US20200138510A1 (en) 2020-05-07
CN110799141A (zh) 2020-02-14
AU2018288005A1 (en) 2020-01-16
JP7275056B2 (ja) 2023-05-17
EP3641683B8 (en) 2024-10-30
WO2018234795A1 (en) 2018-12-27
CN110799141B (zh) 2023-08-15
EP3641683B1 (en) 2024-09-25
GB201709902D0 (en) 2017-08-02
JP2020524576A (ja) 2020-08-20
AU2018288005B2 (en) 2022-12-15
US12478421B2 (en) 2025-11-25
EP3641683A1 (en) 2020-04-29
GB2563631A (en) 2018-12-26
BR112019027017A2 (pt) 2020-06-30
GB2563631B (en) 2021-11-24

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