CN1533744A - 动力传递机构和操纵装置 - Google Patents
动力传递机构和操纵装置 Download PDFInfo
- Publication number
- CN1533744A CN1533744A CNA2004100318909A CN200410031890A CN1533744A CN 1533744 A CN1533744 A CN 1533744A CN A2004100318909 A CNA2004100318909 A CN A2004100318909A CN 200410031890 A CN200410031890 A CN 200410031890A CN 1533744 A CN1533744 A CN 1533744A
- Authority
- CN
- China
- Prior art keywords
- aforementioned
- pulley
- power transfer
- transfer member
- transmission mechanism
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims abstract description 68
- 239000007787 solid Substances 0.000 claims abstract description 18
- 238000005096 rolling process Methods 0.000 claims description 24
- 230000008093 supporting effect Effects 0.000 claims description 12
- 230000015572 biosynthetic process Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 description 83
- 239000010959 steel Substances 0.000 description 83
- 230000000694 effects Effects 0.000 description 12
- 238000005755 formation reaction Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 210000004247 hand Anatomy 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 210000000683 abdominal cavity Anatomy 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 229910001374 Invar Inorganic materials 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 210000000232 gallbladder Anatomy 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 description 1
- 229910052721 tungsten Inorganic materials 0.000 description 1
- 239000010937 tungsten Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/04—Gearings for conveying rotary motion by endless flexible members with ropes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00371—Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2902—Details of shaft characterized by features of the actuating rod
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
- A61B2017/2919—Handles transmission of forces to actuating rod or piston details of linkages or pivot points
- A61B2017/292—Handles transmission of forces to actuating rod or piston details of linkages or pivot points connection of actuating rod to handle, e.g. ball end in recess
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
- A61B2017/294—Connection of actuating rod to jaw, e.g. releasable
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
- A61B2034/715—Cable tensioning mechanisms for removing slack
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
- Transmission Devices (AREA)
Abstract
提供手术辅助用操纵装置或能源设备等的狭窄部修补用操纵装置,能小型化,高可靠性化,高刚性化,高操作性化的由钢丝和滑轮构成的动力传递机构。在由钢丝(可挠性动力传递构件)和一对滑轮构成的动力传递机构部中,使钢丝通过具有钢丝能通过的孔的圆柱状或者圆锥状的固定销并固定在具有狭槽和圆柱状或圆锥状的孔的滑轮上,在驱动侧滑轮和从动侧滑轮之间的钢丝部分上通过中空轴或者用实心轴连结。再在具有作业部、操作部和连结部的操纵装置处于基准姿势时,使驱动侧滑轮和从动侧滑轮的回转轴处于被扭转的状态,使连结部附近的偏心质量被配置成相对于连结部大致垂直向下。
Description
技术领域
本发明涉及手术辅助用操纵装置或能源设备等的狭窄部修补用的操纵装置。特别提供能实现小型化、高可靠性、高刚度、高操作性的由钢丝、滑轮构成的动力传递机构。
背景技术
以前,在胆囊摘除手术等腹腔镜下手术中,如图31所示,在患者150的腹部开几个小孔151、152、153,在这些小孔上安装固定装置(トラカ—ル)154,经固定装置(トラカ—ル)154,把内视镜161、钳子171、172等插入这些孔内,手术者(通常是外科医生)160,在用监视器162观看内视镜161的图像的同时进行手术。这样的手术方法,由于不需要开腹,患者的负担少,术后的恢复和到出院的天数大幅度地降低,因此,人们期待其应用领域扩大。
在这样的背景下,发明者们提出了图32所示的在原有的钳子上加入了机械手技术的医疗用操纵装置(机械手钳子)1(参照日本特开2000-350735号公报)。该操纵装置1是医疗用操纵装置,备有:具有姿势操作部23和处置操作部24的操作指令部20;一端侧与前述操作指令部20连接的连结部30;与前述连结部30的另一端侧连结的/具有处置部14、能在2个自由度或2个自由度以上变更姿势地支承前述处置部14的支承部15、16的作业部10、把来自前述姿势操作部23的操作指令送往前述支承部并变更前述处置部14的姿势,同时把来自前述处置操作部24的操作指令送往前述处置部使前述处置部14动作的控制部(未图示)。
再有,本发明者们,作为适用于缝合结扎作业的自由度配置,提出了图33所示的医疗用操纵装置(参照日本特开2002-102248号公报)。医疗用操纵装置1备有作业部10、操作指令部20、两端与作业部10和操作指令部20连接的连结部30。作业部10具有支承部和在手术部位实施处置的处置部(抓爪),支承部具有垂直于连结部30的中心轴方向31的第1回转轴11和垂直于第1回转轴11的第2回转轴12,处置部14的中心轴方向被配置成与第2回转轴12大致平行。换句话说,作业部10具有作为能在2个自由度上变更姿势地支承抓爪14的支承部的偏转轴关节支承部15和滚动轴关节支承部16。操作指令部20具有由与连结部30的中心轴方向31垂直的第3回转轴21和与第3回转轴21垂直的第4回转轴22构成的姿势操作部23、与操作者把持操作时的操作者的手腕的回转方向和第4回转轴22的轴向大致平行的处置操作部24。在手术部位实施处置的处置部14的把持动作13,由处置操作部24的把持动作25进行。
对于远距离操作型主从操纵装置,该机械手钳子把操作部(主部)和钳子前端部的手(从部)连结成一体,能进行作为原有的钳子的优点的手术者进行的简单而可靠的敏捷的操作和作为操纵装置的优点的细微的动作和从困难的角度进行的操作。由于在前端部备有弯曲和回转等关节,所以可以自由自在地变动手的姿势,使从前难以使用钳子进行的各种各样的方向的缝合作业和结扎作业变得容易。另外,在右手使用机械手钳子,左手使用原有的钳子的情况下,可以和原有的手术器械一起使用。由于系统简单和紧凑,所以具有可以用低成本引入实施的优点。
另外,同样构成的操纵装置,也适用于在作业者难以直接在现场进行作业的场所的作业,也就是说,也适用于能源设备等的狭窄部的修补作业。当然,操纵装置的尺寸(长度、粗细度、大小等)要根据作业内容、作业区域进行设计。从而不一定局限于医疗用。
手术辅助用操纵装置或能源设备等的狭窄部修补用操纵装置,要求小型和重量轻、高可靠性、高刚性、高操作性、高作业性、低成本,为此,必须使动力传递机构小型和重量轻、高可靠性、高刚性和低成本。在日本特开2000-350735号公报或日本特开2002-102248号公报中所示的操纵装置中,由于存在主从一体化的限制,所以动力传递机构的形状、尺寸、配置等对操作性有很大的影响。
在以操纵装置为首的机械手、机电设备中,作为把驱动器的动力传递给指尖效果器(例如,机械手和工具等)的动力传递机构,一般使用由钢丝和滑轮构成的动力传递机构。在由钢丝和滑轮构成的动力传递机构中,在需要多圈回转的动作范围的场合,通常,如图22所示,在滑轮50、51上卷绕钢丝52,由摩擦力进行动力传递。为了加大传递转矩,必须加大摩擦力,可以增大钢丝卷绕在滑轮上的角度、进行多圈回转的卷绕、或者增大钢丝的张力。但是,由于基本上是由摩擦进行驱动,所以在因钢丝伸长而张力下降的场合,会在钢丝和滑轮之间产生打滑,导致传递转矩降低。为此,有时附加张力调整机构,但这样会使机构变得复杂,成为装置大型化、成本高的原因。还会导致关节刚性的降低。另外,为了把钢丝多圈回转地卷绕在滑轮上,需要与卷绕的回转圈数对应的滑轮宽度,从而成为装置大型化的原因。说起来,对于手术辅助用操纵装置或能源设备等的狭窄部修补用操纵装置来说,通常都没有足够的用于多圈回转卷绕的空间。另外,为了把钢丝固定在滑轮上,如图23所示,通常使用固定构件53A进行固定。但是,在多圈回转卷绕钢丝的场合,由于固定构件和钢丝进行干扰,所以通常动作范围(回转角)不到180度。作为增加卷绕角的方法,有日本专利第2519749号公报提供的方法,但最大也只到270度左右,多圈回转到360度以上是困难的。在滑轮的回转范围受限制的状态下,操纵装置关节的动作区域即指尖效果器的作业区域变得狭窄,在作业上产生障碍,使作业性和操作性大幅度地降低。为了得到在作业上没有障碍的充分的作业区域,需要尽可能多的回转圈数,但是使用由原有的方法形成的动力传递机构是很难实现的。
另一方面,在图24所示的由钢丝和滑轮构成的动力传递机构中,在钢丝直径细的场合或驱动滑轮和从动滑轮之间的距离长的场合,在动力传递时钢丝的弹性变形(伸长)的影响变大,有时不能进行足够的动力传递。另外,在固定了驱动侧滑轮的保持状态或在伺服锁定状态下,存在着在从动轴(输出轴)侧不能得到足够的回转刚性的问题。在不能得到所希望的回转刚性的场合,不能进行可靠的作业,从而操作性降低,作业性变差。
另外,在图25、图27所示的主部和从部一体化的整体型的主从操纵装置中,通常在连结部30附近产生偏心质量。由于该偏心质量的配置,由于重力的影响,在连结部附近产生非操作者意图的回转力矩,从而导致操作性降低。特别,在操作时的初期状态或在作为操作中的最为标准的姿势的操纵装置的基准姿势时,在由偏心质量在连结部附近产生回转力矩的场合,由于操作者承担多余的操作力,所以导致操作性大幅度地降低。另外,如图25所示,对于共同滚动轴、俯仰轴、滚动轴的情况,把作业部的姿势从图示的基准姿势的状态向偏转方向(横向、左右方向)变化,因为姿势特异所以是困难的。另外,在图29所示的自由度构成、共同滚动轴、偏转轴、滚动轴的情况,使作业部的姿势从图示的基准姿势的状态向俯仰方向(纵向、上下方向)变化,因为姿势特异所以是困难的。在实际的操作中,把作业部的姿势从基准姿势的状态向横向和纵向诱导的比例是很多的,对于图25和图29所示的自由度配置,会导致操作性降低。
发明内容
本发明的动力传递机构,备有可挠性动力传递构件、一对卷绕了该可挠性动力传递构件的驱动侧滑轮和从动侧滑轮、把前述可挠性动力传递构件分别固定在前述一对滑轮上的一对圆柱状或者圆锥状的固定销,其特征在于,前述各固定销具有在横向上形成的动力传递构件通过孔,使前述可挠性动力传递构件通过该动力传递构件通过孔,把该状态下的前述一对固定销在埋入状态下分别压入前述一对滑轮的销埋入孔内,把前述可挠性动力传递构件固定在前述一对滑轮上,同时把前述可挠性动力传递构件在嵌入于前述一对滑轮的外周面上的前述埋入孔的周向两侧上形成的狭槽内的状态下进行收纳。
再有,本发明的动力传递机构,其特征在于,前述各固定销上的前述动力传递构件通过孔,具有在前述压入时使该动力传递构件通过孔缩径、沿该固定销的轴向形成的缩径用的狭缝部。
再有,本发明的动力传递机构,备有可挠性动力传递构件、一对卷绕了该可挠性动力传递构件的驱动侧滑轮和从动侧滑轮,其特征在于,把前述可挠性动力传递构件上的作为架设于前述一对滑轮之间的部分的2根动力传递系统之中的、作为至少承受高张力侧的动力传递系统的前述可挠性动力传递构件用中空轴覆盖或切断后用实心轴连结。
另外,本发明的动力传递机构,其特征在于,前述中空轴,通过在多个位置上与通过其内部的前述可挠性动力传递构件固定而一体化。
另外,本发明的动力传递机构,其特征在于,还备有能滑动地插入并支承前述中空轴或者前述实心轴的支承构件。
再有,本发明的一种操纵装置,备有作业部、连结部和操作部,来自该操作部的操作指令通过前述连结部传到前述作业部,使该作业部动作,其特征在于,具有把来自前述作业部的操作指令传到前述操作部的动力传递机构、以及驱动该动力传递机构并作为前述连结部附近的偏心质量的驱动装置,前述动力传递机构具有可挠性动力传递构件和一对卷绕了该可挠性动力传递构件的驱动侧滑轮和从动侧滑轮,在操纵装置处于基准姿势时,作为前述连结部附近的偏心质量的前述驱动装置,把前述驱动侧滑轮和前述从动侧滑轮设置成它们的回转轴处于相互扭转的状态,使之相对于前述连结部配置成大致垂直向下。
再有,本发明的操纵装置,其特征在于,自由度构成为由连结部的共同滚动轴、容许横向回转的偏转轴和容许纵向回转的俯仰轴的中间的容许向斜方向回转的弯曲轴、滚动轴构成的自由度构成。
根据本发明,在钢丝(可挠性动力传递构件)和滑轮构成的动力传递机构中,不需要摩擦驱动场合的张力调整机构,通过钢丝和钢丝与滑轮的系结部互不干扰的构成,可以省空间,多圈回转,可以因楔型效果得到强大的系结力。由此,操纵装置关节的动作区域即指尖效果器的作业区域变大,由于得到了在作业上没有障碍的充分的作业区域,所以作业性和操作性大幅度地提高。
另外,在驱动侧滑轮和从动侧滑轮之间的至少承受高张力的钢丝侧的钢丝部分上,由于覆盖着中空轴或者用实心轴连结,所以即使在钢丝直径细的场合或驱动滑轮和从动滑轮之间的距离长的场合,在动力传递时钢丝的弹性变形(伸长)的影响也很小,可以传递足够的动力,而在固定驱动侧滑轮的保持状态和伺服锁定状态下,在从动轴(输出轴)一侧得到了足够的回转刚性。由此,可以可靠地进行动力传递,作业性和操作性大幅度地提高。
再有,在操作的初期状态时或操作中的作为最为标准的姿势的操纵装置的基准姿势时,由于连结部附近不产生因偏心质量形成的回转力矩,所以操作者不承担多余的操作力,作业性和操作性大幅度地上升。另外,由于自由度构成成为连结部的共同滚动轴、偏转轴(横向)和俯仰轴的中间方向(倾斜方向)的弯曲轴、滚动轴的自由度构成,因此,从基准姿势开始的作业部的姿势诱导变得容易,作业性和操作性大幅度地提高。
即,可以提供小型和重量轻、高可靠性、高刚性、低成本的动力传递机构,由于有这样的动力传递机构,可以提供备有高操作性、高作业性的手术辅助用操纵装置和能源设备等的狭窄部修补用操纵装置。
附图说明
图1是本发明的第1实施例的动力传递机构的正视图,左右侧视图和d-d线、e-e线剖面图。
图2是表示本发明的第1实施例的动力传递系统整体的概略分解立体图。
图3是把本发明的第1实施例的动力传递机构装入操纵装置时的概略整体立体图。
图4是本发明的第1实施例的动力传递机构的滑轮的立体图。
图5是本发明的第1实施例的动力传递机构的滑轮固定销的立体图。
图6是表示本发明的第1实施例的动力传递机构的组装顺序的工序图。
图7是本发明的第1实施例的动力传递机构的固定销的各种形状的例子的正视图。
图8是本发明的第2实施例的动力传递机构的例子的正视图。
图9是本发明的第2实施例的动力传递机构的例子的正视图。
图10是本发明的第2实施例的动力传递机构的例子的正视图。
图11是本发明的第2实施例的动力传递机构的例子的正视图。
图12是本发明的第2实施例的动力传递机构的例子的正视图。
图13是本发明的第2实施例的动力传递机构的支承构件的正视图。
图14是本发明的第2实施例的动力传递机构的支承构件装在管子内的状态的横截面图。
图15是本发明的第3实施例的操纵装置的立体图。
图16是表示本发明的第3实施例的操纵装置的钢丝和滑轮的关系的立体图。
图17是本发明的第3实施例的操纵装置的立体图。
图18是表示本发明的第3实施例的操纵装置的钢丝和滑轮的关系的立体图。
图19是本发明的第3实施例的操纵装置的立体图。
图20是表示本发明的第3实施例的操纵装置的钢丝和滑轮的关系的立体图。
图21是表示手术者的姿势的图。
图22是原有的动力传递机构的正视图、左右侧视图和d-d线、e-e线剖面图。
图23是原有的动力传递机构的正视图、左右侧视图和剖面图。
图24是原有的动力传递机构的正视图。
图25是原有的操纵装置的立体图。
图26是表示原有的操纵装置的钢丝和滑轮的关系的立体图。
图27是原有的操纵装置的立体图。
图28是表示原有的操纵装置的钢丝和滑轮的关系的立体图。
图29是原有的操纵装置的立体图。
图30是表示原有的操纵装置的钢丝和滑轮的关系的立体图。
图31是说明内视镜(腹腔镜)下的手术的图。
图32是原有的操纵装置的立体图。
图33是原有的操纵装置的立体图。
具体实施方式
下面参照附图对本发明的实施例进行说明。
图1是表示本发明的第1实施例的操纵装置的动力传递机构的驱动侧和从动侧的钢丝和滑轮部的剖面图和侧视图。图2是表示动力传递系统整体的分解状态的概略构成图,图3是组装成操纵装置场合的概略构成图。如图1所示,本发明的第1实施例的操纵装置的动力传递机构,由驱动侧滑轮50、从动侧滑轮51、钢丝(可挠性动力传递构件)52、圆柱状或圆锥状的销53、钢丝连结构件(未图示)构成。钢丝一般是不锈钢钢丝绳,但钨或纤维系列材料等其他的材质的材料也没有问题,只要是具有可挠性的材料就可以。在本发明中,把它们全都称为钢丝。钢丝连结构件是把一根直线状的钢丝的两端连结起来形成环状的必需的构件。
钢丝52被构成环状,在本发明的第1实施例中,在滑轮50、51上分别绕1.5圈。钢丝52用固定销53固定在滑轮50、51上(系结部)。在该构成中,能得到最大±270度的动作范围。
图2作为表示动力传递系统整体的概略构成图的一例,图示了在驱动侧滑轮50上安装带减速器的马达54,在从动侧滑轮51上安装臂55的例子,但也不一定是这样的构成,基本是用于把驱动侧的动力传递给从动侧的动力传递机构。在图3中图示了组装成操纵装置1的场合的概略构成图,但也不一定是本构成。操纵装置1由作业部10、操作部20、连结部30和控制部(未图示)等构成,操作者通过操作前述操作部来诱导作业部的位置姿势。由于本操纵装置在狭窄部进行作业乃至通过狭窄部进行作业,所以作业部10需要构成小型的紧凑体。为了得到高的操作性和作业性,需要足够的动作区域(从动轴的回转角度)。
下面,为了详细地表示驱动部,把滑轮50和51的立体图表示在图4中。基本上驱动滑轮50和从动滑轮51可以是相同的构造。在滑轮50上具有宽度能嵌入钢丝的狭槽部56和在其大致中心部上的圆柱状或者圆锥状的孔57。图5是表示用于把钢丝12固定在滑轮50上的固定销53的立体图。固定销53是圆柱状或者圆锥状的,在大致中心上有能通过钢丝的孔58。图6(a)-(c)是表示固定顺序的图。在使钢丝通过在大致中心上存在钢丝能通过的孔的圆柱状或圆锥状的固定销53之后,通过把圆柱状或者圆锥状的固定销53插入滑轮50的圆柱状或者圆锥状的孔57内,从而把钢丝52固定在滑轮50上。通过使销53的上面与滑轮50的外周面的高度大致一致,使相邻的钢丝在回转角度大时也互不干扰。通过做成圆锥状而产生楔型效果,可以更牢固地将钢丝52固定在滑轮50上。从而,在把钢丝52更牢固地固定在滑轮50上的同时可以多圈回转。
图7是表示圆锥状或者圆柱状的销53的能通过钢丝的孔58的形状的例子的图。在圆形孔58的场合(a),成本较低。另外,如图7(b)-(d)所示,通过形成狭缝部58a使孔58容易变形,能把由楔型效果产生的固紧力高效率地传给钢丝52,所以能进一步提高固紧力。
另外,在本发明的实施例中,通常通过把销子53插入圆锥孔57内的作业,可以同时进行钢丝52的固定到销53上的固定作业和销53的固定到滑轮50上的固定作业,所以能提高作业效率。
根据本发明的第1实施例,在由钢丝52和滑轮50、51构成的动力传递机构中,不需要摩擦驱动场合的张力调整机构,而且钢丝52和销子53在连接于滑轮50、51的系结部上互不干扰,省空间并能对应多圈回转,还能因楔型效果得到强大的系结力。由此,操纵装置关节的动作区域即指尖效果器的作业区域变宽,由于因此能得到作业上无障碍的足够的作业区域,所以作业性和操作性大幅度地提高。
图8-图12是表示本发明的第2实施例的操纵装置的动力传递机构的驱动侧和从动侧的钢丝和滑轮部分的剖面图。表示在钢丝52的滑轮50、51之间的部分上,插入中空轴或者用实心轴60连结的例子。钢丝52向滑轮上连结的连结方法,如这些图所示,考虑了各种各样的方案。它们中的任何一种都没有问题。图9、图11是使钢丝52通过下侧的中空轴60a且至少在2个位置进行固定(例如压紧)的构成。一般说来,由于固定部比钢丝52的拉伸强度差,所以确保固定部的强度可靠性是一个问题,但由于通过使钢丝52通过中空轴60a,至少钢丝52的拉伸强度被保证,所以可以避免因固定(例如压紧)不良引起的固定部的断裂的问题。
在图8-图11中。至少使承受高张力侧(下侧)的钢丝52贯通中空轴60a或者用实心轴棒60b连结。即,用中空轴60a或实心轴60b增强钢丝52中的架设在一对滑轮50、51之间的2根钢丝部分(动力传递系统)之中高张力侧的钢丝52。这样一来,在承受高张力的钢丝52是单侧的场合(假定是下侧的钢丝),通过至少把承受高张力侧的钢丝52贯通中空轴60a或者用实心轴棒60b连结,可以得到满意的效果。
图12是通过圆盘状的支承构件61的孔61a、61a滑动自由地支承前述的中空轴60a或实心轴60b的构成例。在图12中,在支承构件61上有6个孔61a、61a…,其中2个通过中空轴60a或者实心轴棒60b对其进行支承。孔的数量与驱动轴数对应。
在使钢丝52的两侧(图中的上下)通过中空轴60a或者用实心轴60b连结的场合,当把驱动滑轮50和从动滑轮51的轴配置成朝向铅垂方向时,由于进行了重力平衡,中空轴60a或者实心轴60b的重力分量不会引起驱动力矩的增加。但是,当配置成朝向水平方向时,有时不能忽视中空轴60a或者实心轴60b的重力对钢丝52的张力的影响。根据情况会引起振动增大或钢丝断裂等事故。在这种场合下,通过用如图12所示那样的支承构件61支承,可以使重力的影响降低。另外,在把驱动滑轮50和从动滑轮51设置在作为连结部30的一部分的管子62内的场合,支承构件61可以把图13那样的圆盘状的支承构件,如图14所示,配置在管子62内隔开规定间隔的必要的位置上来进行固定。
根据本发明的第2实施例,由于使驱动滑轮50和从动滑轮51之间的至少承受高张力侧的钢丝部分通过中空轴60a或者用实心轴61b连结,因此即使在钢丝52的直径较细的场合或驱动滑轮50和从动滑轮51之间的距离较长的场合,也能减小动力传递时钢丝52的弹性变形(伸长)的影响,能进行可靠的动力传递,另外在固定了驱动侧滑轮的保持状态或伺服锁定的状态下,在从动轴(输出轴)侧可以得到足够的回转刚性。另外,由支承构件也可以避免由中空轴乃至实心轴的重力影响产生的振动增大或钢丝断裂等事故。因此,可以可靠地进行动力传递,大幅度地提高作业性和操作性。
图15-图20是本发明的第3实施例的操纵装置的立体图和表示它的钢丝和滑轮部的图。在主部和从部一体化的整体型的主从操纵装置中,通常产生连结部30附近的偏心质量。根据该偏心质量的位置,由于重力的影响,会在连结部30的附近产生操作者不希望的回转力矩,导致操作性降低。特别在操作时的初期状态或在作为操作中最为标准的姿势的操纵装置的基准姿势时,在由于偏心质量在连结部附近产生回转力矩的场合,由于操作者要承担多余的操作力,将导致操作性大幅度地降低。
通常,由于占质量比例大的是驱动马达54,所以在图15-20中,在操纵装置的基准姿势时,驱动马达54大致朝向上下方向。即,例如与图26相比,驱动轴滑轮50与从动轴滑轮51成为扭转的位置关系。根据作业对象的内容,操纵装置的最佳基准姿势不同,图15是成为共同滚动轴(连结部30的轴)、俯仰轴、滚动轴的自由度构成的场合。在原有的实施例中,如图25所示,基准姿势时马达54配置在水平方向,重量平衡差导致操作性下降。在本实施例中,在操纵装置的基准姿势时,由于在驱动轴滑轮50和从动轴滑轮51上加上了90度的扭转,使马达54大致处于下方,因此,重量平衡好且操作性优良。图16是表示钢丝52和滑轮50、51的关系的图。图17成为共同滚动轴、俯仰轴、偏转轴的自由度构成,如图18所示,同样地加上了90度扭转。另外,如同图所示,也不一定只是驱动滑轮50和从动滑轮51的组合,在与中途的空载滑轮51a之间也可以加上扭转。
图19是共同滚动轴、俯仰轴乃至偏转轴、滚动轴的自由度构成的场合,在驱动滑轮50和从动滑轮51上加上了大致45度的扭转。该场合,作业部10侧的回转轴63和驱动部20侧的回转轴64的方向成为大致一致的方向。在图15所示的共同滚动轴、俯仰轴、滚动轴的自由度构成的场合,使作业部10的姿势从该图所示的基准姿势状态向偏转方向(横向)变化,由于是特异姿势,所以是困难的。另外,在图29所示的共同滚动轴、偏转轴、滚动轴的自由度构成的场合,使作业部的姿势从图示的基准姿势的状态向俯仰方向(纵向)变化,由于是特异姿势,所以是困难的。在实际的操作中,使作业部的姿势从基准姿势的状态向横向和纵向诱导的比例很多,在图25和图29所示的原有例的自由度配置中,导致操作性下降。
另外,在腹腔镜下手术中,由于手术者160以图21那样的姿势进行手术,所以,手术者的手的方向成为最自然的方向时是向内侧约45度的方向。从而,根据图19的本发明的实施例,在共同滚动轴、俯仰轴和偏转轴的中间方向(约45度的倾斜)、滚动轴的自由度构成的场合,当手术者160的手的方向成为最自然的方向时,可以与操纵装置最容易操作的方向相一致,同时可以把有一定质量的马达54配置在稳定的向下的方向上。从而,可以降低极度的疲劳感,大幅度地提高操作性。2个滑轮50、51之间的倾斜也不一定必须是45度,只要稍微偏离俯仰轴方向、偏转轴方向即可,由于上下方向或左右方向偏离了特异姿势,所以操作性提高了。
另外,也可以自由地设定驱动轴滑轮和从动轴滑轮的扭转角度,使之根据作业对象的内容在操纵装置的最佳的基准姿势时,可以把马达大致设定在下方。
根据以上的本发明,在由钢丝和滑轮构成的动力传递机构中,不需要摩擦驱动场合的张力调整机构,另外,通过钢丝和钢丝与滑轮连接的系结部不相干扰的构成,可以省空间,应对多圈回转,并能得到具有楔型效果的牢固的系结力。因此,操纵装置关节的动作区域即指尖效果器的作业区域变大,由于可以得到作业上没有障碍的足够的作业区域,所以作业性和操作性大幅度地提高。
另外,由于使驱动滑轮和从动滑轮之间的2系统的钢丝中至少承受高张力的钢丝侧的钢丝部分通过中空轴乃至用实心轴连结,所以即使在钢丝直径细的场合或驱动滑轮和从动滑轮之间的距离长的场合,动力传递时钢丝的弹性变形(伸长)的影响也很小,可以进行足够的动力传递,另外,在固定了驱动侧滑轮的保持状态或伺服锁定状态下,在从动轴(输出轴)一侧可以得到足够的回转刚性。因此,可以进行可靠的动力传动。作业性和操作性大幅度地提高。
再有,在操作时的初期状态或在作为操作中最为标准的姿势的操纵装置的基准姿势时,由于不产生由连结部附近的偏心质量引起的回转力矩,所以操作者不承担多余的操作力,作业性和操作性大幅度地提高。另外,由于自由度构成成为连结部的共同滚动轴、偏转轴、俯仰轴的中间方向弯曲轴、滚动轴的自由度构成,所以从基准姿势的状态开始的作业部的姿势诱导变得容易,作业性和操作性大幅度地提高。
也就是说,可以提高供小型和重量轻、高可靠性、高刚性、低成本的动力传递机构,另外,由于具有该动力传递机构,可以提供备有高操作性、高作业性的手术辅助用操纵装置和能源设备等狭窄部修补用操纵装置。
Claims (7)
1.一种动力传递机构,备有:
可挠性动力传递构件;
一对卷绕了该可挠性动力传递构件的驱动侧滑轮和从动侧滑轮;
把前述可挠性动力传递构件分别固定在前述一对滑轮上的、一对圆柱状或者圆锥状的固定销,
其特征在于,前述各固定销具有在横向上形成的动力传递构件通过孔,使前述可挠性动力传递构件通过该动力传递构件通过孔,把该状态下的前述一对固定销在埋入状态下分别压入前述一对滑轮的销埋入孔内,把前述可挠性动力传递构件固定在前述一对滑轮上,同时把前述可挠性动力传递构件在嵌入于前述一对滑轮的外周面上的前述埋入孔的周向两侧上形成的狭槽内的状态下进行收纳。
2.如权利要求1所述的动力传递机构,其特征在于,前述各固定销上的前述动力传递构件通过孔,具有在前述压入时使该动力传递构件通过孔缩径、沿该固定销的轴向形成的缩径用的狭缝部。
3.一种动力传递机构,备有:
可挠性动力传递构件;
一对卷绕了该可挠性动力传递构件的驱动侧滑轮和从动侧滑轮,
其特征在于,把前述可挠性动力传递构件上的作为架设于前述一对滑轮之间的部分的2根动力传递系统之中的、作为至少承受高张力侧的动力传递系统的前述可挠性动力传递构件用中空轴覆盖或切断后用实心轴连结。
4.如权利要求3所述的动力传递机构,其特征在于,前述中空轴,通过在多个位置上与通过其内部的前述可挠性动力传递构件固定而一体化。
5.如权利要求3或4所述的动力传递机构,其特征在于,还备有能滑动地插入并支承前述中空轴或者前述实心轴的支承构件。
6.一种操纵装置,备有作业部、连结部和操作部,来自该操作部的操作指令通过前述连结部传到前述作业部,使该作业部动作,其特征在于,
具有把来自前述作业部的操作指令传到前述操作部的动力传递机构、以及驱动该动力传递机构并作为前述连结部附近的偏心质量的驱动装置,
前述动力传递机构具有可挠性动力传递构件和一对卷绕了该可挠性动力传递构件的驱动侧滑轮和从动侧滑轮,
在操纵装置处于基准姿势时,作为前述连结部附近的偏心质量的前述驱动装置,把前述驱动侧滑轮和前述从动侧滑轮设置成它们的回转轴处于相互扭转的状态,使之相对于前述连结部配置成大致垂直向下。
7.如权利要求6所述的操纵装置,其特征在于,自由度构成成为由连结部的共同滚动轴、容许横向回转的偏转轴和容许纵向回转的俯仰轴的中间的容许向斜方向回转的弯曲轴、滚动轴构成的自由度构成。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP096446/2003 | 2003-03-31 | ||
JP2003096446A JP3944108B2 (ja) | 2003-03-31 | 2003-03-31 | 医療用マニピュレータの動力伝達機構およびマニピュレータ |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB2006100801274A Division CN100431802C (zh) | 2003-03-31 | 2004-03-31 | 动力传递机构和操纵装置 |
CNB2006100801289A Division CN100473870C (zh) | 2003-03-31 | 2004-03-31 | 动力传递机构和操纵装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1533744A true CN1533744A (zh) | 2004-10-06 |
CN1282445C CN1282445C (zh) | 2006-11-01 |
Family
ID=33408516
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB2006100801289A Expired - Lifetime CN100473870C (zh) | 2003-03-31 | 2004-03-31 | 动力传递机构和操纵装置 |
CNB2004100318909A Expired - Lifetime CN1282445C (zh) | 2003-03-31 | 2004-03-31 | 动力传递机构和操纵装置 |
CNB2006100801274A Expired - Lifetime CN100431802C (zh) | 2003-03-31 | 2004-03-31 | 动力传递机构和操纵装置 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB2006100801289A Expired - Lifetime CN100473870C (zh) | 2003-03-31 | 2004-03-31 | 动力传递机构和操纵装置 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB2006100801274A Expired - Lifetime CN100431802C (zh) | 2003-03-31 | 2004-03-31 | 动力传递机构和操纵装置 |
Country Status (4)
Country | Link |
---|---|
US (5) | US7300373B2 (zh) |
JP (1) | JP3944108B2 (zh) |
KR (2) | KR100581298B1 (zh) |
CN (3) | CN100473870C (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102691766A (zh) * | 2011-09-13 | 2012-09-26 | 何树燕 | 往复运动与旋转运动相互转换装置 |
CN105431105A (zh) * | 2013-08-01 | 2016-03-23 | 库卡罗伯特有限公司 | 外科手术器械 |
Families Citing this family (501)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3944108B2 (ja) * | 2003-03-31 | 2007-07-11 | 株式会社東芝 | 医療用マニピュレータの動力伝達機構およびマニピュレータ |
US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism |
JP4412993B2 (ja) * | 2003-12-22 | 2010-02-10 | パナソニック株式会社 | 超音波探触子 |
EP1584300A3 (en) * | 2004-03-30 | 2006-07-05 | Kabushiki Kaisha Toshiba | Manipulator apparatus |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
US8215531B2 (en) | 2004-07-28 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having a medical substance dispenser |
US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
US11998198B2 (en) | 2004-07-28 | 2024-06-04 | Cilag Gmbh International | Surgical stapling instrument incorporating a two-piece E-beam firing mechanism |
EP1707153B1 (en) * | 2005-03-29 | 2012-02-01 | Kabushiki Kaisha Toshiba | Manipulator |
JP4125311B2 (ja) | 2005-08-30 | 2008-07-30 | 株式会社東芝 | ロボットおよびマニピュレータ |
US8365976B2 (en) | 2006-09-29 | 2013-02-05 | Ethicon Endo-Surgery, Inc. | Surgical staples having dissolvable, bioabsorbable or biofragmentable portions and stapling instruments for deploying the same |
US8317070B2 (en) | 2005-08-31 | 2012-11-27 | Ethicon Endo-Surgery, Inc. | Surgical stapling devices that produce formed staples having different lengths |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US8991676B2 (en) | 2007-03-15 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Surgical staple having a slidable crown |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US9237891B2 (en) | 2005-08-31 | 2016-01-19 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical stapling devices that produce formed staples having different lengths |
US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
US8186555B2 (en) | 2006-01-31 | 2012-05-29 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting and fastening instrument with mechanical closure system |
US11278279B2 (en) | 2006-01-31 | 2022-03-22 | Cilag Gmbh International | Surgical instrument assembly |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
US11224427B2 (en) | 2006-01-31 | 2022-01-18 | Cilag Gmbh International | Surgical stapling system including a console and retraction assembly |
US8820603B2 (en) | 2006-01-31 | 2014-09-02 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
US8708213B2 (en) | 2006-01-31 | 2014-04-29 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a feedback system |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
US20110024477A1 (en) | 2009-02-06 | 2011-02-03 | Hall Steven G | Driven Surgical Stapler Improvements |
US9861359B2 (en) | 2006-01-31 | 2018-01-09 | Ethicon Llc | Powered surgical instruments with firing system lockout arrangements |
US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
US7753904B2 (en) | 2006-01-31 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Endoscopic surgical instrument with a handle that can articulate with respect to the shaft |
US8236010B2 (en) | 2006-03-23 | 2012-08-07 | Ethicon Endo-Surgery, Inc. | Surgical fastener and cutter with mimicking end effector |
US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
WO2007143859A1 (en) * | 2006-06-14 | 2007-12-21 | Macdonald Dettwiler & Associates Inc. | Surgical manipulator with right-angle pulley drive mechanisms |
US8322455B2 (en) | 2006-06-27 | 2012-12-04 | Ethicon Endo-Surgery, Inc. | Manually driven surgical cutting and fastening instrument |
JP4755047B2 (ja) | 2006-08-08 | 2011-08-24 | テルモ株式会社 | 作業機構及びマニピュレータ |
US10568652B2 (en) | 2006-09-29 | 2020-02-25 | Ethicon Llc | Surgical staples having attached drivers of different heights and stapling instruments for deploying the same |
US11980366B2 (en) | 2006-10-03 | 2024-05-14 | Cilag Gmbh International | Surgical instrument |
JP5198014B2 (ja) * | 2006-10-25 | 2013-05-15 | テルモ株式会社 | 医療用マニピュレータ |
US11291441B2 (en) | 2007-01-10 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with wireless communication between control unit and remote sensor |
US8684253B2 (en) | 2007-01-10 | 2014-04-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor |
US8632535B2 (en) | 2007-01-10 | 2014-01-21 | Ethicon Endo-Surgery, Inc. | Interlock and surgical instrument including same |
US8652120B2 (en) | 2007-01-10 | 2014-02-18 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and sensor transponders |
US8540128B2 (en) | 2007-01-11 | 2013-09-24 | Ethicon Endo-Surgery, Inc. | Surgical stapling device with a curved end effector |
US11039836B2 (en) | 2007-01-11 | 2021-06-22 | Cilag Gmbh International | Staple cartridge for use with a surgical stapling instrument |
US8893946B2 (en) | 2007-03-28 | 2014-11-25 | Ethicon Endo-Surgery, Inc. | Laparoscopic tissue thickness and clamp load measuring devices |
JP5090045B2 (ja) | 2007-04-03 | 2012-12-05 | テルモ株式会社 | マニピュレータ及びその制御方法 |
EP2152477B1 (en) * | 2007-05-10 | 2010-11-17 | Steven D. Somes | Robotic manipulator using rotary drives |
US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US11857181B2 (en) | 2007-06-04 | 2024-01-02 | Cilag Gmbh International | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US8444631B2 (en) | 2007-06-14 | 2013-05-21 | Macdonald Dettwiler & Associates Inc | Surgical manipulator |
US7753245B2 (en) | 2007-06-22 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments |
US8408439B2 (en) | 2007-06-22 | 2013-04-02 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with an articulatable end effector |
US11849941B2 (en) | 2007-06-29 | 2023-12-26 | Cilag Gmbh International | Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis |
JP2009028156A (ja) * | 2007-07-25 | 2009-02-12 | Terumo Corp | 医療用マニピュレータ及びその洗浄方法 |
US9539061B2 (en) | 2007-07-25 | 2017-01-10 | Karl Storz Gmbh & Co. Kg | Medical manipulator and welding method |
JP5128904B2 (ja) * | 2007-10-31 | 2013-01-23 | 株式会社東芝 | マニピュレータ |
JP5011067B2 (ja) * | 2007-10-31 | 2012-08-29 | 株式会社東芝 | マニピュレータシステム |
JP5364255B2 (ja) | 2007-10-31 | 2013-12-11 | テルモ株式会社 | 医療用マニピュレータ |
US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
US8758391B2 (en) | 2008-02-14 | 2014-06-24 | Ethicon Endo-Surgery, Inc. | Interchangeable tools for surgical instruments |
US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
RU2493788C2 (ru) | 2008-02-14 | 2013-09-27 | Этикон Эндо-Серджери, Инк. | Хирургический режущий и крепежный инструмент, имеющий радиочастотные электроды |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
US11986183B2 (en) | 2008-02-14 | 2024-05-21 | Cilag Gmbh International | Surgical cutting and fastening instrument comprising a plurality of sensors to measure an electrical parameter |
US8657174B2 (en) | 2008-02-14 | 2014-02-25 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument having handle based power source |
US20130153641A1 (en) | 2008-02-15 | 2013-06-20 | Ethicon Endo-Surgery, Inc. | Releasable layer of material and surgical end effector having the same |
US11272927B2 (en) | 2008-02-15 | 2022-03-15 | Cilag Gmbh International | Layer arrangements for surgical staple cartridges |
JP5377991B2 (ja) * | 2008-02-26 | 2013-12-25 | テルモ株式会社 | マニピュレータ |
US8540748B2 (en) | 2008-07-07 | 2013-09-24 | Intuitive Surgical Operations, Inc. | Surgical instrument wrist |
US9204923B2 (en) | 2008-07-16 | 2015-12-08 | Intuitive Surgical Operations, Inc. | Medical instrument electronically energized using drive cables |
US9386983B2 (en) | 2008-09-23 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Robotically-controlled motorized surgical instrument |
US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
US9005230B2 (en) | 2008-09-23 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
US8210411B2 (en) | 2008-09-23 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument |
US8608045B2 (en) | 2008-10-10 | 2013-12-17 | Ethicon Endo-Sugery, Inc. | Powered surgical cutting and stapling apparatus with manually retractable firing system |
JP5320093B2 (ja) * | 2009-02-03 | 2013-10-23 | テルモ株式会社 | 医療用マニピュレータ |
JP5320121B2 (ja) * | 2009-03-27 | 2013-10-23 | テルモ株式会社 | 医療用マニピュレータ |
WO2010090292A2 (en) | 2009-02-03 | 2010-08-12 | Terumo Kabushiki Kaisha | Medical manipulator |
US8517239B2 (en) | 2009-02-05 | 2013-08-27 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument comprising a magnetic element driver |
US8444036B2 (en) | 2009-02-06 | 2013-05-21 | Ethicon Endo-Surgery, Inc. | Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector |
US8453907B2 (en) | 2009-02-06 | 2013-06-04 | Ethicon Endo-Surgery, Inc. | Motor driven surgical fastener device with cutting member reversing mechanism |
RU2525225C2 (ru) | 2009-02-06 | 2014-08-10 | Этикон Эндо-Серджери, Инк. | Усовершенствование приводного хирургического сшивающего инструмента |
KR101117253B1 (ko) * | 2009-06-25 | 2012-03-15 | 고려대학교 산학협력단 | 로봇팔 |
US8220688B2 (en) | 2009-12-24 | 2012-07-17 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument with electric actuator directional control assembly |
US8851354B2 (en) | 2009-12-24 | 2014-10-07 | Ethicon Endo-Surgery, Inc. | Surgical cutting instrument that analyzes tissue thickness |
CN102711586B (zh) | 2010-02-11 | 2015-06-17 | 直观外科手术操作公司 | 在机器人内窥镜的远侧尖端自动维持操作者选择的滚动取向的方法和系统 |
US8783543B2 (en) | 2010-07-30 | 2014-07-22 | Ethicon Endo-Surgery, Inc. | Tissue acquisition arrangements and methods for surgical stapling devices |
US9204880B2 (en) | 2012-03-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising capsules defining a low pressure environment |
AU2011308701B2 (en) | 2010-09-30 | 2013-11-14 | Ethicon Endo-Surgery, Inc. | Fastener system comprising a retention matrix and an alignment matrix |
US9517063B2 (en) | 2012-03-28 | 2016-12-13 | Ethicon Endo-Surgery, Llc | Movable member for use with a tissue thickness compensator |
US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
US9282962B2 (en) | 2010-09-30 | 2016-03-15 | Ethicon Endo-Surgery, Llc | Adhesive film laminate |
US9220501B2 (en) | 2010-09-30 | 2015-12-29 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensators |
US11925354B2 (en) | 2010-09-30 | 2024-03-12 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US9320523B2 (en) | 2012-03-28 | 2016-04-26 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising tissue ingrowth features |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
US9055941B2 (en) | 2011-09-23 | 2015-06-16 | Ethicon Endo-Surgery, Inc. | Staple cartridge including collapsible deck |
US8777004B2 (en) | 2010-09-30 | 2014-07-15 | Ethicon Endo-Surgery, Inc. | Compressible staple cartridge comprising alignment members |
US9364233B2 (en) | 2010-09-30 | 2016-06-14 | Ethicon Endo-Surgery, Llc | Tissue thickness compensators for circular surgical staplers |
US9241714B2 (en) | 2011-04-29 | 2016-01-26 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator and method for making the same |
US9480476B2 (en) | 2010-09-30 | 2016-11-01 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising resilient members |
US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
JP6026509B2 (ja) | 2011-04-29 | 2016-11-16 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | ステープルカートリッジ自体の圧縮可能部分内に配置されたステープルを含むステープルカートリッジ |
KR101288771B1 (ko) * | 2011-05-26 | 2013-07-22 | (주)미래컴퍼니 | 1자유도 그리퍼 시스템의 동작 구조, 탈부착이 가능한 1자유도 그리퍼 시스템 및 그 구동 방법 |
US11207064B2 (en) | 2011-05-27 | 2021-12-28 | Cilag Gmbh International | Automated end effector component reloading system for use with a robotic system |
KR101494491B1 (ko) * | 2011-08-17 | 2015-02-23 | 고려대학교 산학협력단 | 로봇팔 |
US9050084B2 (en) | 2011-09-23 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Staple cartridge including collapsible deck arrangement |
US9044230B2 (en) | 2012-02-13 | 2015-06-02 | Ethicon Endo-Surgery, Inc. | Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status |
CN104321024B (zh) | 2012-03-28 | 2017-05-24 | 伊西康内外科公司 | 包括多个层的组织厚度补偿件 |
MX353040B (es) | 2012-03-28 | 2017-12-18 | Ethicon Endo Surgery Inc | Unidad retenedora que incluye un compensador de grosor de tejido. |
JP6105041B2 (ja) | 2012-03-28 | 2017-03-29 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | 低圧環境を画定するカプセルを含む組織厚コンペンセーター |
TW201348012A (zh) * | 2012-05-25 | 2013-12-01 | Hon Hai Prec Ind Co Ltd | 傳動軸制動裝置及傳動裝置 |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
US20140005678A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Rotary drive arrangements for surgical instruments |
US9649111B2 (en) | 2012-06-28 | 2017-05-16 | Ethicon Endo-Surgery, Llc | Replaceable clip cartridge for a clip applier |
US9204879B2 (en) | 2012-06-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Flexible drive member |
US11202631B2 (en) | 2012-06-28 | 2021-12-21 | Cilag Gmbh International | Stapling assembly comprising a firing lockout |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
BR112014032740A2 (pt) | 2012-06-28 | 2020-02-27 | Ethicon Endo Surgery Inc | bloqueio de cartucho de clipes vazio |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
BR112014032776B1 (pt) | 2012-06-28 | 2021-09-08 | Ethicon Endo-Surgery, Inc | Sistema de instrumento cirúrgico e kit cirúrgico para uso com um sistema de instrumento cirúrgico |
CN103085062B (zh) * | 2013-01-29 | 2015-02-25 | 东华大学 | 一种可用于机器人关节驱动的线管绳索传动系统 |
JP6382235B2 (ja) | 2013-03-01 | 2018-08-29 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | 信号通信用の導電路を備えた関節運動可能な外科用器具 |
JP6345707B2 (ja) | 2013-03-01 | 2018-06-20 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | ソフトストップを備えた外科用器具 |
US9782169B2 (en) | 2013-03-01 | 2017-10-10 | Ethicon Llc | Rotary powered articulation joints for surgical instruments |
US9314308B2 (en) | 2013-03-13 | 2016-04-19 | Ethicon Endo-Surgery, Llc | Robotic ultrasonic surgical device with articulating end effector |
US9345481B2 (en) | 2013-03-13 | 2016-05-24 | Ethicon Endo-Surgery, Llc | Staple cartridge tissue thickness sensor system |
US9629629B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgey, LLC | Control systems for surgical instruments |
US9687230B2 (en) | 2013-03-14 | 2017-06-27 | Ethicon Llc | Articulatable surgical instrument comprising a firing drive |
US9572577B2 (en) | 2013-03-27 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Fastener cartridge comprising a tissue thickness compensator including openings therein |
US9795384B2 (en) | 2013-03-27 | 2017-10-24 | Ethicon Llc | Fastener cartridge comprising a tissue thickness compensator and a gap setting element |
US9814460B2 (en) | 2013-04-16 | 2017-11-14 | Ethicon Llc | Modular motor driven surgical instruments with status indication arrangements |
BR112015026109B1 (pt) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | Instrumento cirúrgico |
US9574644B2 (en) | 2013-05-30 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Power module for use with a surgical instrument |
US10550918B2 (en) | 2013-08-15 | 2020-02-04 | Intuitive Surgical Operations, Inc. | Lever actuated gimbal plate |
MX369362B (es) | 2013-08-23 | 2019-11-06 | Ethicon Endo Surgery Llc | Dispositivos de retraccion de miembros de disparo para instrumentos quirurgicos electricos. |
US9987006B2 (en) | 2013-08-23 | 2018-06-05 | Ethicon Llc | Shroud retention arrangement for sterilizable surgical instruments |
TWI709185B (zh) * | 2013-08-26 | 2020-11-01 | 美商布魯克斯自動機械公司 | 基板搬運裝置 |
US11201073B2 (en) | 2013-08-26 | 2021-12-14 | Brooks Automation, Inc | Substrate transport apparatus |
US9724092B2 (en) | 2013-12-23 | 2017-08-08 | Ethicon Llc | Modular surgical instruments |
US10265065B2 (en) | 2013-12-23 | 2019-04-23 | Ethicon Llc | Surgical staples and staple cartridges |
US20150173756A1 (en) | 2013-12-23 | 2015-06-25 | Ethicon Endo-Surgery, Inc. | Surgical cutting and stapling methods |
US9839428B2 (en) | 2013-12-23 | 2017-12-12 | Ethicon Llc | Surgical cutting and stapling instruments with independent jaw control features |
US9962161B2 (en) | 2014-02-12 | 2018-05-08 | Ethicon Llc | Deliverable surgical instrument |
US9839422B2 (en) | 2014-02-24 | 2017-12-12 | Ethicon Llc | Implantable layers and methods for altering implantable layers for use with surgical fastening instruments |
CN106232029B (zh) | 2014-02-24 | 2019-04-12 | 伊西康内外科有限责任公司 | 包括击发构件锁定件的紧固系统 |
US9743929B2 (en) | 2014-03-26 | 2017-08-29 | Ethicon Llc | Modular powered surgical instrument with detachable shaft assemblies |
BR112016021943B1 (pt) | 2014-03-26 | 2022-06-14 | Ethicon Endo-Surgery, Llc | Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico |
US9820738B2 (en) | 2014-03-26 | 2017-11-21 | Ethicon Llc | Surgical instrument comprising interactive systems |
US9826977B2 (en) | 2014-03-26 | 2017-11-28 | Ethicon Llc | Sterilization verification circuit |
US9913642B2 (en) | 2014-03-26 | 2018-03-13 | Ethicon Llc | Surgical instrument comprising a sensor system |
US10542988B2 (en) | 2014-04-16 | 2020-01-28 | Ethicon Llc | End effector comprising an anvil including projections extending therefrom |
BR112016023807B1 (pt) | 2014-04-16 | 2022-07-12 | Ethicon Endo-Surgery, Llc | Conjunto de cartucho de prendedores para uso com um instrumento cirúrgico |
US20150297222A1 (en) | 2014-04-16 | 2015-10-22 | Ethicon Endo-Surgery, Inc. | Fastener cartridges including extensions having different configurations |
CN106456158B (zh) | 2014-04-16 | 2019-02-05 | 伊西康内外科有限责任公司 | 包括非一致紧固件的紧固件仓 |
US10206677B2 (en) | 2014-09-26 | 2019-02-19 | Ethicon Llc | Surgical staple and driver arrangements for staple cartridges |
CN106456176B (zh) | 2014-04-16 | 2019-06-28 | 伊西康内外科有限责任公司 | 包括具有不同构型的延伸部的紧固件仓 |
US9600999B2 (en) | 2014-05-21 | 2017-03-21 | Universal City Studios Llc | Amusement park element tracking system |
US10045781B2 (en) | 2014-06-13 | 2018-08-14 | Ethicon Llc | Closure lockout systems for surgical instruments |
US11311294B2 (en) | 2014-09-05 | 2022-04-26 | Cilag Gmbh International | Powered medical device including measurement of closure state of jaws |
BR112017004361B1 (pt) | 2014-09-05 | 2023-04-11 | Ethicon Llc | Sistema eletrônico para um instrumento cirúrgico |
US10016199B2 (en) | 2014-09-05 | 2018-07-10 | Ethicon Llc | Polarity of hall magnet to identify cartridge type |
US10105142B2 (en) | 2014-09-18 | 2018-10-23 | Ethicon Llc | Surgical stapler with plurality of cutting elements |
US11523821B2 (en) | 2014-09-26 | 2022-12-13 | Cilag Gmbh International | Method for creating a flexible staple line |
CN107427300B (zh) | 2014-09-26 | 2020-12-04 | 伊西康有限责任公司 | 外科缝合支撑物和辅助材料 |
US10076325B2 (en) | 2014-10-13 | 2018-09-18 | Ethicon Llc | Surgical stapling apparatus comprising a tissue stop |
US9924944B2 (en) | 2014-10-16 | 2018-03-27 | Ethicon Llc | Staple cartridge comprising an adjunct material |
US11141153B2 (en) | 2014-10-29 | 2021-10-12 | Cilag Gmbh International | Staple cartridges comprising driver arrangements |
US10517594B2 (en) | 2014-10-29 | 2019-12-31 | Ethicon Llc | Cartridge assemblies for surgical staplers |
US9844376B2 (en) | 2014-11-06 | 2017-12-19 | Ethicon Llc | Staple cartridge comprising a releasable adjunct material |
JP6497575B2 (ja) * | 2014-11-27 | 2019-04-10 | 株式会社リコー | 駆動制御装置及びマニピュレータ装置 |
US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument system |
US10188385B2 (en) | 2014-12-18 | 2019-01-29 | Ethicon Llc | Surgical instrument system comprising lockable systems |
US10117649B2 (en) | 2014-12-18 | 2018-11-06 | Ethicon Llc | Surgical instrument assembly comprising a lockable articulation system |
US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
US9844374B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member |
US9943309B2 (en) | 2014-12-18 | 2018-04-17 | Ethicon Llc | Surgical instruments with articulatable end effectors and movable firing beam support arrangements |
RU2703684C2 (ru) | 2014-12-18 | 2019-10-21 | ЭТИКОН ЭНДО-СЕРДЖЕРИ, ЭлЭлСи | Хирургический инструмент с упором, который выполнен с возможностью избирательного перемещения относительно кассеты со скобами вокруг дискретной неподвижной оси |
US9844375B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Drive arrangements for articulatable surgical instruments |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
US9993258B2 (en) | 2015-02-27 | 2018-06-12 | Ethicon Llc | Adaptable surgical instrument handle |
US10321907B2 (en) | 2015-02-27 | 2019-06-18 | Ethicon Llc | System for monitoring whether a surgical instrument needs to be serviced |
US11154301B2 (en) | 2015-02-27 | 2021-10-26 | Cilag Gmbh International | Modular stapling assembly |
US10180463B2 (en) | 2015-02-27 | 2019-01-15 | Ethicon Llc | Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band |
US9901342B2 (en) | 2015-03-06 | 2018-02-27 | Ethicon Endo-Surgery, Llc | Signal and power communication system positioned on a rotatable shaft |
US9895148B2 (en) | 2015-03-06 | 2018-02-20 | Ethicon Endo-Surgery, Llc | Monitoring speed control and precision incrementing of motor for powered surgical instruments |
US10687806B2 (en) | 2015-03-06 | 2020-06-23 | Ethicon Llc | Adaptive tissue compression techniques to adjust closure rates for multiple tissue types |
JP2020121162A (ja) | 2015-03-06 | 2020-08-13 | エシコン エルエルシーEthicon LLC | 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価 |
US9924961B2 (en) | 2015-03-06 | 2018-03-27 | Ethicon Endo-Surgery, Llc | Interactive feedback system for powered surgical instruments |
US10045776B2 (en) | 2015-03-06 | 2018-08-14 | Ethicon Llc | Control techniques and sub-processor contained within modular shaft with select control processing from handle |
US10617412B2 (en) | 2015-03-06 | 2020-04-14 | Ethicon Llc | System for detecting the mis-insertion of a staple cartridge into a surgical stapler |
US10052044B2 (en) | 2015-03-06 | 2018-08-21 | Ethicon Llc | Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures |
US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of powered surgical instruments |
US10245033B2 (en) | 2015-03-06 | 2019-04-02 | Ethicon Llc | Surgical instrument comprising a lockable battery housing |
US9808246B2 (en) | 2015-03-06 | 2017-11-07 | Ethicon Endo-Surgery, Llc | Method of operating a powered surgical instrument |
US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
US10390825B2 (en) | 2015-03-31 | 2019-08-27 | Ethicon Llc | Surgical instrument with progressive rotary drive systems |
GB2538710B (en) * | 2015-05-22 | 2020-09-23 | Cmr Surgical Ltd | Surgical robot driving mechanism |
US10182818B2 (en) | 2015-06-18 | 2019-01-22 | Ethicon Llc | Surgical end effectors with positive jaw opening arrangements |
US11058425B2 (en) | 2015-08-17 | 2021-07-13 | Ethicon Llc | Implantable layers for a surgical instrument |
RU2725081C2 (ru) | 2015-08-26 | 2020-06-29 | ЭТИКОН ЭлЭлСи | Полоски с хирургическими скобами, допускающие наличие скоб с переменными свойствами и обеспечивающие простую загрузку кассеты |
MX2022009705A (es) | 2015-08-26 | 2022-11-07 | Ethicon Llc | Metodo para formar una grapa contra un yunque de un instrumento de engrapado quirurgico. |
US10028744B2 (en) | 2015-08-26 | 2018-07-24 | Ethicon Llc | Staple cartridge assembly including staple guides |
MX2022006189A (es) | 2015-09-02 | 2022-06-16 | Ethicon Llc | Configuraciones de grapas quirurgicas con superficies de leva situadas entre porciones que soportan grapas quirurgicas. |
US10251648B2 (en) | 2015-09-02 | 2019-04-09 | Ethicon Llc | Surgical staple cartridge staple drivers with central support features |
US10363036B2 (en) | 2015-09-23 | 2019-07-30 | Ethicon Llc | Surgical stapler having force-based motor control |
US10105139B2 (en) | 2015-09-23 | 2018-10-23 | Ethicon Llc | Surgical stapler having downstream current-based motor control |
US10327769B2 (en) | 2015-09-23 | 2019-06-25 | Ethicon Llc | Surgical stapler having motor control based on a drive system component |
US10238386B2 (en) | 2015-09-23 | 2019-03-26 | Ethicon Llc | Surgical stapler having motor control based on an electrical parameter related to a motor current |
US10085751B2 (en) | 2015-09-23 | 2018-10-02 | Ethicon Llc | Surgical stapler having temperature-based motor control |
US10076326B2 (en) | 2015-09-23 | 2018-09-18 | Ethicon Llc | Surgical stapler having current mirror-based motor control |
US10299878B2 (en) | 2015-09-25 | 2019-05-28 | Ethicon Llc | Implantable adjunct systems for determining adjunct skew |
US10980539B2 (en) | 2015-09-30 | 2021-04-20 | Ethicon Llc | Implantable adjunct comprising bonded layers |
US10524788B2 (en) | 2015-09-30 | 2020-01-07 | Ethicon Llc | Compressible adjunct with attachment regions |
US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
US10285699B2 (en) | 2015-09-30 | 2019-05-14 | Ethicon Llc | Compressible adjunct |
GB201521807D0 (en) * | 2015-12-10 | 2016-01-27 | Cambridge Medical Robotics Ltd | Surgical instrument shaft spokes |
US10265068B2 (en) | 2015-12-30 | 2019-04-23 | Ethicon Llc | Surgical instruments with separable motors and motor control circuits |
US10292704B2 (en) | 2015-12-30 | 2019-05-21 | Ethicon Llc | Mechanisms for compensating for battery pack failure in powered surgical instruments |
US10368865B2 (en) | 2015-12-30 | 2019-08-06 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US11213293B2 (en) | 2016-02-09 | 2022-01-04 | Cilag Gmbh International | Articulatable surgical instruments with single articulation link arrangements |
US10653413B2 (en) | 2016-02-09 | 2020-05-19 | Ethicon Llc | Surgical instruments with an end effector that is highly articulatable relative to an elongate shaft assembly |
JP6911054B2 (ja) | 2016-02-09 | 2021-07-28 | エシコン エルエルシーEthicon LLC | 非対称の関節構成を備えた外科用器具 |
US10258331B2 (en) | 2016-02-12 | 2019-04-16 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10448948B2 (en) | 2016-02-12 | 2019-10-22 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US11224426B2 (en) | 2016-02-12 | 2022-01-18 | Cilag Gmbh International | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10413297B2 (en) | 2016-04-01 | 2019-09-17 | Ethicon Llc | Surgical stapling system configured to apply annular rows of staples having different heights |
US10617413B2 (en) | 2016-04-01 | 2020-04-14 | Ethicon Llc | Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts |
US10456137B2 (en) | 2016-04-15 | 2019-10-29 | Ethicon Llc | Staple formation detection mechanisms |
US10492783B2 (en) | 2016-04-15 | 2019-12-03 | Ethicon, Llc | Surgical instrument with improved stop/start control during a firing motion |
US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10335145B2 (en) | 2016-04-15 | 2019-07-02 | Ethicon Llc | Modular surgical instrument with configurable operating mode |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US11179150B2 (en) | 2016-04-15 | 2021-11-23 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10405859B2 (en) | 2016-04-15 | 2019-09-10 | Ethicon Llc | Surgical instrument with adjustable stop/start control during a firing motion |
US10426467B2 (en) | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
US11317917B2 (en) | 2016-04-18 | 2022-05-03 | Cilag Gmbh International | Surgical stapling system comprising a lockable firing assembly |
US10426469B2 (en) | 2016-04-18 | 2019-10-01 | Ethicon Llc | Surgical instrument comprising a primary firing lockout and a secondary firing lockout |
US20170296173A1 (en) | 2016-04-18 | 2017-10-19 | Ethicon Endo-Surgery, Llc | Method for operating a surgical instrument |
USD847989S1 (en) | 2016-06-24 | 2019-05-07 | Ethicon Llc | Surgical fastener cartridge |
US10702270B2 (en) | 2016-06-24 | 2020-07-07 | Ethicon Llc | Stapling system for use with wire staples and stamped staples |
USD826405S1 (en) | 2016-06-24 | 2018-08-21 | Ethicon Llc | Surgical fastener |
USD850617S1 (en) | 2016-06-24 | 2019-06-04 | Ethicon Llc | Surgical fastener cartridge |
JP6957532B2 (ja) | 2016-06-24 | 2021-11-02 | エシコン エルエルシーEthicon LLC | ワイヤステープル及び打ち抜き加工ステープルを含むステープルカートリッジ |
US10647007B2 (en) | 2016-09-16 | 2020-05-12 | Verb Surgical Inc. | Capacitor sensor including two plates having both conductive and non conductive regions |
US11345053B2 (en) | 2016-09-16 | 2022-05-31 | Verb Surgical Inc. | Belt termination and tensioning in a pulley arrangement for a robotic arm |
US10639035B2 (en) | 2016-12-21 | 2020-05-05 | Ethicon Llc | Surgical stapling instruments and replaceable tool assemblies thereof |
US10426471B2 (en) | 2016-12-21 | 2019-10-01 | Ethicon Llc | Surgical instrument with multiple failure response modes |
US10687810B2 (en) | 2016-12-21 | 2020-06-23 | Ethicon Llc | Stepped staple cartridge with tissue retention and gap setting features |
US11684367B2 (en) | 2016-12-21 | 2023-06-27 | Cilag Gmbh International | Stepped assembly having and end-of-life indicator |
JP2020501779A (ja) | 2016-12-21 | 2020-01-23 | エシコン エルエルシーEthicon LLC | 外科用ステープル留めシステム |
US10682138B2 (en) | 2016-12-21 | 2020-06-16 | Ethicon Llc | Bilaterally asymmetric staple forming pocket pairs |
US20180168647A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments having end effectors with positive opening features |
US10779823B2 (en) | 2016-12-21 | 2020-09-22 | Ethicon Llc | Firing member pin angle |
CN110114014B (zh) | 2016-12-21 | 2022-08-09 | 爱惜康有限责任公司 | 包括端部执行器闭锁件和击发组件闭锁件的外科器械系统 |
US20180168577A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Axially movable closure system arrangements for applying closure motions to jaws of surgical instruments |
US11090048B2 (en) | 2016-12-21 | 2021-08-17 | Cilag Gmbh International | Method for resetting a fuse of a surgical instrument shaft |
US11134942B2 (en) | 2016-12-21 | 2021-10-05 | Cilag Gmbh International | Surgical stapling instruments and staple-forming anvils |
CN110099619B (zh) | 2016-12-21 | 2022-07-15 | 爱惜康有限责任公司 | 用于外科端部执行器和可替换工具组件的闭锁装置 |
US10667809B2 (en) | 2016-12-21 | 2020-06-02 | Ethicon Llc | Staple cartridge and staple cartridge channel comprising windows defined therein |
US20180168615A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument |
JP7010956B2 (ja) | 2016-12-21 | 2022-01-26 | エシコン エルエルシー | 組織をステープル留めする方法 |
US10945727B2 (en) | 2016-12-21 | 2021-03-16 | Ethicon Llc | Staple cartridge with deformable driver retention features |
US10993715B2 (en) | 2016-12-21 | 2021-05-04 | Ethicon Llc | Staple cartridge comprising staples with different clamping breadths |
US10617414B2 (en) | 2016-12-21 | 2020-04-14 | Ethicon Llc | Closure member arrangements for surgical instruments |
US11419606B2 (en) | 2016-12-21 | 2022-08-23 | Cilag Gmbh International | Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems |
US10888322B2 (en) | 2016-12-21 | 2021-01-12 | Ethicon Llc | Surgical instrument comprising a cutting member |
US10835245B2 (en) | 2016-12-21 | 2020-11-17 | Ethicon Llc | Method for attaching a shaft assembly to a surgical instrument and, alternatively, to a surgical robot |
US10588630B2 (en) | 2016-12-21 | 2020-03-17 | Ethicon Llc | Surgical tool assemblies with closure stroke reduction features |
US10758230B2 (en) | 2016-12-21 | 2020-09-01 | Ethicon Llc | Surgical instrument with primary and safety processors |
US10893864B2 (en) | 2016-12-21 | 2021-01-19 | Ethicon | Staple cartridges and arrangements of staples and staple cavities therein |
KR101929507B1 (ko) * | 2017-06-15 | 2018-12-14 | (주)월성티엠피 | 원격 조종장치의 와이어 케이블 권취장치 |
US10624633B2 (en) | 2017-06-20 | 2020-04-21 | Ethicon Llc | Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument |
US11653914B2 (en) | 2017-06-20 | 2023-05-23 | Cilag Gmbh International | Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector |
US11071554B2 (en) | 2017-06-20 | 2021-07-27 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements |
US10813639B2 (en) | 2017-06-20 | 2020-10-27 | Ethicon Llc | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions |
US10888321B2 (en) | 2017-06-20 | 2021-01-12 | Ethicon Llc | Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument |
USD890784S1 (en) | 2017-06-20 | 2020-07-21 | Ethicon Llc | Display panel with changeable graphical user interface |
USD879808S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with graphical user interface |
US10307170B2 (en) | 2017-06-20 | 2019-06-04 | Ethicon Llc | Method for closed loop control of motor velocity of a surgical stapling and cutting instrument |
US11090046B2 (en) | 2017-06-20 | 2021-08-17 | Cilag Gmbh International | Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument |
US11382638B2 (en) | 2017-06-20 | 2022-07-12 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance |
US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument |
US10646220B2 (en) | 2017-06-20 | 2020-05-12 | Ethicon Llc | Systems and methods for controlling displacement member velocity for a surgical instrument |
US10980537B2 (en) | 2017-06-20 | 2021-04-20 | Ethicon Llc | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations |
US10327767B2 (en) | 2017-06-20 | 2019-06-25 | Ethicon Llc | Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation |
US10881396B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Surgical instrument with variable duration trigger arrangement |
US10390841B2 (en) | 2017-06-20 | 2019-08-27 | Ethicon Llc | Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation |
USD879809S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with changeable graphical user interface |
US10779820B2 (en) | 2017-06-20 | 2020-09-22 | Ethicon Llc | Systems and methods for controlling motor speed according to user input for a surgical instrument |
US11517325B2 (en) | 2017-06-20 | 2022-12-06 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval |
US10368864B2 (en) | 2017-06-20 | 2019-08-06 | Ethicon Llc | Systems and methods for controlling displaying motor velocity for a surgical instrument |
US11266405B2 (en) | 2017-06-27 | 2022-03-08 | Cilag Gmbh International | Surgical anvil manufacturing methods |
US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
US10772629B2 (en) | 2017-06-27 | 2020-09-15 | Ethicon Llc | Surgical anvil arrangements |
US11324503B2 (en) | 2017-06-27 | 2022-05-10 | Cilag Gmbh International | Surgical firing member arrangements |
US11090049B2 (en) | 2017-06-27 | 2021-08-17 | Cilag Gmbh International | Staple forming pocket arrangements |
US10856869B2 (en) | 2017-06-27 | 2020-12-08 | Ethicon Llc | Surgical anvil arrangements |
USD854151S1 (en) | 2017-06-28 | 2019-07-16 | Ethicon Llc | Surgical instrument shaft |
US10765427B2 (en) | 2017-06-28 | 2020-09-08 | Ethicon Llc | Method for articulating a surgical instrument |
US11000279B2 (en) | 2017-06-28 | 2021-05-11 | Ethicon Llc | Surgical instrument comprising an articulation system ratio |
EP4070740A1 (en) | 2017-06-28 | 2022-10-12 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
USD851762S1 (en) | 2017-06-28 | 2019-06-18 | Ethicon Llc | Anvil |
US10716614B2 (en) | 2017-06-28 | 2020-07-21 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies with increased contact pressure |
US10211586B2 (en) | 2017-06-28 | 2019-02-19 | Ethicon Llc | Surgical shaft assemblies with watertight housings |
US10588633B2 (en) | 2017-06-28 | 2020-03-17 | Ethicon Llc | Surgical instruments with open and closable jaws and axially movable firing member that is initially parked in close proximity to the jaws prior to firing |
USD869655S1 (en) | 2017-06-28 | 2019-12-10 | Ethicon Llc | Surgical fastener cartridge |
US11259805B2 (en) | 2017-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical instrument comprising firing member supports |
USD906355S1 (en) | 2017-06-28 | 2020-12-29 | Ethicon Llc | Display screen or portion thereof with a graphical user interface for a surgical instrument |
US10903685B2 (en) | 2017-06-28 | 2021-01-26 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies forming capacitive channels |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
US11246592B2 (en) | 2017-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical instrument comprising an articulation system lockable to a frame |
US10898183B2 (en) | 2017-06-29 | 2021-01-26 | Ethicon Llc | Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing |
US10258418B2 (en) | 2017-06-29 | 2019-04-16 | Ethicon Llc | System for controlling articulation forces |
US11007022B2 (en) | 2017-06-29 | 2021-05-18 | Ethicon Llc | Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
US10398434B2 (en) | 2017-06-29 | 2019-09-03 | Ethicon Llc | Closed loop velocity control of closure member for robotic surgical instrument |
WO2019012824A1 (ja) * | 2017-07-13 | 2019-01-17 | オリンパス株式会社 | 内視鏡 |
US11974742B2 (en) | 2017-08-03 | 2024-05-07 | Cilag Gmbh International | Surgical system comprising an articulation bailout |
US11944300B2 (en) | 2017-08-03 | 2024-04-02 | Cilag Gmbh International | Method for operating a surgical system bailout |
US11471155B2 (en) | 2017-08-03 | 2022-10-18 | Cilag Gmbh International | Surgical system bailout |
US11304695B2 (en) | 2017-08-03 | 2022-04-19 | Cilag Gmbh International | Surgical system shaft interconnection |
USD907648S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
USD917500S1 (en) | 2017-09-29 | 2021-04-27 | Ethicon Llc | Display screen or portion thereof with graphical user interface |
US10796471B2 (en) | 2017-09-29 | 2020-10-06 | Ethicon Llc | Systems and methods of displaying a knife position for a surgical instrument |
US10765429B2 (en) | 2017-09-29 | 2020-09-08 | Ethicon Llc | Systems and methods for providing alerts according to the operational state of a surgical instrument |
US11399829B2 (en) | 2017-09-29 | 2022-08-02 | Cilag Gmbh International | Systems and methods of initiating a power shutdown mode for a surgical instrument |
US10729501B2 (en) | 2017-09-29 | 2020-08-04 | Ethicon Llc | Systems and methods for language selection of a surgical instrument |
US10743872B2 (en) | 2017-09-29 | 2020-08-18 | Ethicon Llc | System and methods for controlling a display of a surgical instrument |
USD907647S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
US10973600B2 (en) | 2017-09-29 | 2021-04-13 | Ethicon Llc | Power axle wrist for robotic surgical tool |
US11134944B2 (en) | 2017-10-30 | 2021-10-05 | Cilag Gmbh International | Surgical stapler knife motion controls |
US11090075B2 (en) | 2017-10-30 | 2021-08-17 | Cilag Gmbh International | Articulation features for surgical end effector |
US10779903B2 (en) | 2017-10-31 | 2020-09-22 | Ethicon Llc | Positive shaft rotation lock activated by jaw closure |
US10842490B2 (en) | 2017-10-31 | 2020-11-24 | Ethicon Llc | Cartridge body design with force reduction based on firing completion |
CN111343939B (zh) * | 2017-12-14 | 2023-08-15 | 直观外科手术操作公司 | 具有张力带的医疗工具 |
US11197670B2 (en) | 2017-12-15 | 2021-12-14 | Cilag Gmbh International | Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed |
US10743875B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member |
US11033267B2 (en) | 2017-12-15 | 2021-06-15 | Ethicon Llc | Systems and methods of controlling a clamping member firing rate of a surgical instrument |
US10869666B2 (en) | 2017-12-15 | 2020-12-22 | Ethicon Llc | Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument |
US10779825B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments |
US10966718B2 (en) | 2017-12-15 | 2021-04-06 | Ethicon Llc | Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments |
US10828033B2 (en) | 2017-12-15 | 2020-11-10 | Ethicon Llc | Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto |
US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
US11071543B2 (en) | 2017-12-15 | 2021-07-27 | Cilag Gmbh International | Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges |
US10687813B2 (en) | 2017-12-15 | 2020-06-23 | Ethicon Llc | Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments |
US11006955B2 (en) | 2017-12-15 | 2021-05-18 | Ethicon Llc | End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments |
US10743874B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Sealed adapters for use with electromechanical surgical instruments |
USD910847S1 (en) | 2017-12-19 | 2021-02-16 | Ethicon Llc | Surgical instrument assembly |
US11045270B2 (en) | 2017-12-19 | 2021-06-29 | Cilag Gmbh International | Robotic attachment comprising exterior drive actuator |
US11020112B2 (en) | 2017-12-19 | 2021-06-01 | Ethicon Llc | Surgical tools configured for interchangeable use with different controller interfaces |
US10716565B2 (en) | 2017-12-19 | 2020-07-21 | Ethicon Llc | Surgical instruments with dual articulation drivers |
US10729509B2 (en) | 2017-12-19 | 2020-08-04 | Ethicon Llc | Surgical instrument comprising closure and firing locking mechanism |
US10835330B2 (en) | 2017-12-19 | 2020-11-17 | Ethicon Llc | Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly |
US11337691B2 (en) | 2017-12-21 | 2022-05-24 | Cilag Gmbh International | Surgical instrument configured to determine firing path |
US11129680B2 (en) | 2017-12-21 | 2021-09-28 | Cilag Gmbh International | Surgical instrument comprising a projector |
US11311290B2 (en) | 2017-12-21 | 2022-04-26 | Cilag Gmbh International | Surgical instrument comprising an end effector dampener |
US11076853B2 (en) | 2017-12-21 | 2021-08-03 | Cilag Gmbh International | Systems and methods of displaying a knife position during transection for a surgical instrument |
EP3761895A4 (en) | 2018-03-07 | 2021-11-24 | Intuitive Surgical Operations, Inc. | LOW-FRICTION MEDICAL TOOLS WITH ROLLER ASSISTED CLAMPING ELEMENTS |
US11253256B2 (en) | 2018-08-20 | 2022-02-22 | Cilag Gmbh International | Articulatable motor powered surgical instruments with dedicated articulation motor arrangements |
US10856870B2 (en) | 2018-08-20 | 2020-12-08 | Ethicon Llc | Switching arrangements for motor powered articulatable surgical instruments |
US11291440B2 (en) | 2018-08-20 | 2022-04-05 | Cilag Gmbh International | Method for operating a powered articulatable surgical instrument |
US11083458B2 (en) | 2018-08-20 | 2021-08-10 | Cilag Gmbh International | Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions |
US10779821B2 (en) | 2018-08-20 | 2020-09-22 | Ethicon Llc | Surgical stapler anvils with tissue stop features configured to avoid tissue pinch |
US11207065B2 (en) | 2018-08-20 | 2021-12-28 | Cilag Gmbh International | Method for fabricating surgical stapler anvils |
US11039834B2 (en) | 2018-08-20 | 2021-06-22 | Cilag Gmbh International | Surgical stapler anvils with staple directing protrusions and tissue stability features |
USD914878S1 (en) | 2018-08-20 | 2021-03-30 | Ethicon Llc | Surgical instrument anvil |
US10912559B2 (en) | 2018-08-20 | 2021-02-09 | Ethicon Llc | Reinforced deformable anvil tip for surgical stapler anvil |
US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
US10842492B2 (en) | 2018-08-20 | 2020-11-24 | Ethicon Llc | Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system |
US11045192B2 (en) | 2018-08-20 | 2021-06-29 | Cilag Gmbh International | Fabricating techniques for surgical stapler anvils |
JP6741731B2 (ja) * | 2018-08-28 | 2020-08-19 | 株式会社メディカロイド | ロボット手術器具およびその組み立て方法 |
US11147553B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11696761B2 (en) | 2019-03-25 | 2023-07-11 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11172929B2 (en) | 2019-03-25 | 2021-11-16 | Cilag Gmbh International | Articulation drive arrangements for surgical systems |
US11147551B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for a surgical instrument |
US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin for a surgical instrument |
US11452528B2 (en) | 2019-04-30 | 2022-09-27 | Cilag Gmbh International | Articulation actuators for a surgical instrument |
US11471157B2 (en) | 2019-04-30 | 2022-10-18 | Cilag Gmbh International | Articulation control mapping for a surgical instrument |
US11253254B2 (en) | 2019-04-30 | 2022-02-22 | Cilag Gmbh International | Shaft rotation actuator on a surgical instrument |
US11903581B2 (en) | 2019-04-30 | 2024-02-20 | Cilag Gmbh International | Methods for stapling tissue using a surgical instrument |
CN110116402B (zh) * | 2019-06-06 | 2022-03-25 | 哈尔滨工业大学 | 基于耦合钢丝绳传动的三自由度机械臂 |
US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
US11350938B2 (en) | 2019-06-28 | 2022-06-07 | Cilag Gmbh International | Surgical instrument comprising an aligned rfid sensor |
US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11259803B2 (en) | 2019-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling system having an information encryption protocol |
US12004740B2 (en) | 2019-06-28 | 2024-06-11 | Cilag Gmbh International | Surgical stapling system having an information decryption protocol |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
US11051807B2 (en) | 2019-06-28 | 2021-07-06 | Cilag Gmbh International | Packaging assembly including a particulate trap |
US11246678B2 (en) | 2019-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical stapling system having a frangible RFID tag |
US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
US11224497B2 (en) | 2019-06-28 | 2022-01-18 | Cilag Gmbh International | Surgical systems with multiple RFID tags |
US11298127B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Interational | Surgical stapling system having a lockout mechanism for an incompatible cartridge |
US11399837B2 (en) | 2019-06-28 | 2022-08-02 | Cilag Gmbh International | Mechanisms for motor control adjustments of a motorized surgical instrument |
US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
US11298132B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Inlernational | Staple cartridge including a honeycomb extension |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US11291451B2 (en) | 2019-06-28 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with battery compatibility verification functionality |
US11219455B2 (en) | 2019-06-28 | 2022-01-11 | Cilag Gmbh International | Surgical instrument including a lockout key |
US11234698B2 (en) | 2019-12-19 | 2022-02-01 | Cilag Gmbh International | Stapling system comprising a clamp lockout and a firing lockout |
US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
US11931033B2 (en) | 2019-12-19 | 2024-03-19 | Cilag Gmbh International | Staple cartridge comprising a latch lockout |
US11576672B2 (en) | 2019-12-19 | 2023-02-14 | Cilag Gmbh International | Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw |
US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
US11911032B2 (en) | 2019-12-19 | 2024-02-27 | Cilag Gmbh International | Staple cartridge comprising a seating cam |
US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
US11235935B2 (en) | 2020-01-23 | 2022-02-01 | Brooks Automation, Inc. | Substrate transport apparatus |
USD967421S1 (en) | 2020-06-02 | 2022-10-18 | Cilag Gmbh International | Staple cartridge |
USD975278S1 (en) | 2020-06-02 | 2023-01-10 | Cilag Gmbh International | Staple cartridge |
USD976401S1 (en) | 2020-06-02 | 2023-01-24 | Cilag Gmbh International | Staple cartridge |
USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
USD975851S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD966512S1 (en) | 2020-06-02 | 2022-10-11 | Cilag Gmbh International | Staple cartridge |
US11638582B2 (en) | 2020-07-28 | 2023-05-02 | Cilag Gmbh International | Surgical instruments with torsion spine drive arrangements |
USD1013170S1 (en) | 2020-10-29 | 2024-01-30 | Cilag Gmbh International | Surgical instrument assembly |
US11617577B2 (en) | 2020-10-29 | 2023-04-04 | Cilag Gmbh International | Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable |
US11844518B2 (en) | 2020-10-29 | 2023-12-19 | Cilag Gmbh International | Method for operating a surgical instrument |
US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
USD980425S1 (en) | 2020-10-29 | 2023-03-07 | Cilag Gmbh International | Surgical instrument assembly |
US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
US11627960B2 (en) | 2020-12-02 | 2023-04-18 | Cilag Gmbh International | Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
US11744581B2 (en) | 2020-12-02 | 2023-09-05 | Cilag Gmbh International | Powered surgical instruments with multi-phase tissue treatment |
US11737751B2 (en) | 2020-12-02 | 2023-08-29 | Cilag Gmbh International | Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings |
US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
US11678882B2 (en) | 2020-12-02 | 2023-06-20 | Cilag Gmbh International | Surgical instruments with interactive features to remedy incidental sled movements |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
CN112682483B (zh) * | 2020-12-02 | 2024-07-05 | 深圳康诺思腾科技有限公司 | 传动带接头结构及相关设备 |
CN112539256A (zh) * | 2020-12-02 | 2021-03-23 | 深圳康诺思腾科技有限公司 | 传动带轮耳及其与被驱动单元连接结构 |
US11950777B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Staple cartridge comprising an information access control system |
US11950779B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Method of powering and communicating with a staple cartridge |
US11812964B2 (en) | 2021-02-26 | 2023-11-14 | Cilag Gmbh International | Staple cartridge comprising a power management circuit |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
US11980362B2 (en) | 2021-02-26 | 2024-05-14 | Cilag Gmbh International | Surgical instrument system comprising a power transfer coil |
US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
US11826042B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Surgical instrument comprising a firing drive including a selectable leverage mechanism |
US11826012B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising a pulsed motor-driven firing rack |
US11806011B2 (en) | 2021-03-22 | 2023-11-07 | Cilag Gmbh International | Stapling instrument comprising tissue compression systems |
US11737749B2 (en) | 2021-03-22 | 2023-08-29 | Cilag Gmbh International | Surgical stapling instrument comprising a retraction system |
US11723658B2 (en) | 2021-03-22 | 2023-08-15 | Cilag Gmbh International | Staple cartridge comprising a firing lockout |
US11759202B2 (en) | 2021-03-22 | 2023-09-19 | Cilag Gmbh International | Staple cartridge comprising an implantable layer |
US11832816B2 (en) | 2021-03-24 | 2023-12-05 | Cilag Gmbh International | Surgical stapling assembly comprising nonplanar staples and planar staples |
US11786239B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Surgical instrument articulation joint arrangements comprising multiple moving linkage features |
US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
US11903582B2 (en) | 2021-03-24 | 2024-02-20 | Cilag Gmbh International | Leveraging surfaces for cartridge installation |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
US11786243B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Firing members having flexible portions for adapting to a load during a surgical firing stroke |
US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
US11944336B2 (en) | 2021-03-24 | 2024-04-02 | Cilag Gmbh International | Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
US11998201B2 (en) | 2021-05-28 | 2024-06-04 | Cilag CmbH International | Stapling instrument comprising a firing lockout |
US11980363B2 (en) | 2021-10-18 | 2024-05-14 | Cilag Gmbh International | Row-to-row staple array variations |
US11877745B2 (en) | 2021-10-18 | 2024-01-23 | Cilag Gmbh International | Surgical stapling assembly having longitudinally-repeating staple leg clusters |
US11957337B2 (en) | 2021-10-18 | 2024-04-16 | Cilag Gmbh International | Surgical stapling assembly with offset ramped drive surfaces |
US11937816B2 (en) | 2021-10-28 | 2024-03-26 | Cilag Gmbh International | Electrical lead arrangements for surgical instruments |
JP7390089B1 (ja) * | 2022-01-17 | 2023-12-01 | リバーフィールド株式会社 | 鉗子装置 |
WO2024070300A1 (ja) * | 2022-09-29 | 2024-04-04 | 村田機械株式会社 | 回転機構及び天井搬送車 |
CN116077144B (zh) * | 2023-04-10 | 2023-06-23 | 艺柏湾医疗科技(上海)有限公司 | 一种传动装置及多自由度手术器械 |
Family Cites Families (55)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US609037A (en) * | 1898-08-16 | Lix marchal | ||
US371057A (en) * | 1887-10-04 | Edwin gleadall | ||
US2718790A (en) * | 1954-09-29 | 1955-09-27 | Eastman Kodak Co | Power transmission mechanism |
JPS4912400U (zh) * | 1972-05-12 | 1974-02-01 | ||
JPS5546604B2 (zh) | 1972-05-16 | 1980-11-25 | ||
GB1498943A (en) | 1974-04-17 | 1978-01-25 | Itw Ltd | Plastics fasteners |
CA1011243A (en) | 1974-05-14 | 1977-05-31 | Paris Manufacturing Company | Pants presser |
JPS511793U (zh) * | 1974-06-19 | 1976-01-08 | ||
US4062455A (en) * | 1976-11-22 | 1977-12-13 | Flatau Carl R | Remote manipulator |
US4201177A (en) * | 1977-12-07 | 1980-05-06 | Amf Incorporated | Compound bow |
JPS6112961Y2 (zh) * | 1978-04-12 | 1986-04-22 | ||
FR2434685A1 (fr) * | 1978-09-04 | 1980-03-28 | Commissariat Energie Atomique | Manipulateur motorise |
US4241715A (en) * | 1978-11-17 | 1980-12-30 | Jennings Compound Bow, Inc. | Compound bow with adjustable eccentric wheel |
US4259876A (en) * | 1979-10-02 | 1981-04-07 | Belyanin Petr N | Mechanical arm |
JPS62113902A (ja) * | 1985-11-12 | 1987-05-25 | 石田 日出男 | 部材の条体への取付構造 |
JP2519749B2 (ja) | 1987-09-22 | 1996-07-31 | 株式会社東芝 | ロボットの動力伝達装置 |
JPH02110444A (ja) * | 1988-10-19 | 1990-04-23 | Canon Inc | 原稿走査装置 |
JPH02137521A (ja) | 1988-11-18 | 1990-05-25 | Sanyo Electric Co Ltd | 磁気記録再生装置のadコンバータ |
JPH02137521U (zh) * | 1989-04-19 | 1990-11-16 | ||
JPH0482688A (ja) | 1990-07-23 | 1992-03-16 | Res Dev Corp Of Japan | ワイヤ駆動多関節アーム |
US5055056A (en) * | 1990-11-16 | 1991-10-08 | Electric Motion Company, Inc. | Ground wire connector |
CA2046938A1 (en) | 1991-06-13 | 1992-12-14 | James S. Chang | Chain guide for overhead door operator |
JPH05333448A (ja) * | 1992-05-27 | 1993-12-17 | Canon Inc | 駆 動 装 置 |
US5791231A (en) * | 1993-05-17 | 1998-08-11 | Endorobotics Corporation | Surgical robotic system and hydraulic actuator therefor |
JP3278840B2 (ja) | 1993-12-22 | 2002-04-30 | 富士写真光機株式会社 | 内視鏡の湾曲操作装置 |
US5697355A (en) * | 1994-12-12 | 1997-12-16 | Schaffer; John P. | Cable adjuster and limb pocket assembly for compound bow |
JPH08173442A (ja) * | 1994-12-27 | 1996-07-09 | Sony Corp | マスタースレーブマニピュレータ |
US5797900A (en) | 1996-05-20 | 1998-08-25 | Intuitive Surgical, Inc. | Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5792135A (en) * | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5810687A (en) * | 1996-08-15 | 1998-09-22 | Yang; Nan-Shan | Power window transmission |
JPH10107954A (ja) * | 1996-09-30 | 1998-04-24 | Fuji Xerox Co Ltd | 画像読み取り装置 |
US5794488A (en) * | 1997-03-14 | 1998-08-18 | Triumph Controls, Inc | Core element connector for remote control assembly |
US6810281B2 (en) * | 2000-12-21 | 2004-10-26 | Endovia Medical, Inc. | Medical mapping system |
US6197017B1 (en) * | 1998-02-24 | 2001-03-06 | Brock Rogers Surgical, Inc. | Articulated apparatus for telemanipulator system |
JPH11282094A (ja) * | 1998-03-31 | 1999-10-15 | Fuji Photo Optical Co Ltd | 画像処理装置のキャリア駆動用ワイヤの固定構造 |
US6394998B1 (en) * | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
JP4469439B2 (ja) | 1999-06-11 | 2010-05-26 | 株式会社東芝 | 医療用マニピュレータ |
US6377011B1 (en) * | 2000-01-26 | 2002-04-23 | Massachusetts Institute Of Technology | Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus |
JP4014792B2 (ja) * | 2000-09-29 | 2007-11-28 | 株式会社東芝 | マニピュレータ |
US6994708B2 (en) * | 2001-04-19 | 2006-02-07 | Intuitive Surgical | Robotic tool with monopolar electro-surgical scissors |
JP2002339942A (ja) * | 2001-05-15 | 2002-11-27 | Kojima Press Co Ltd | 複線式ケーブルのアウターケーブル構造 |
JP3926119B2 (ja) | 2001-08-10 | 2007-06-06 | 株式会社東芝 | 医療用マニピュレータ |
JP3631450B2 (ja) * | 2001-08-22 | 2005-03-23 | 株式会社東芝 | マニピュレータ |
JP2003167301A (ja) * | 2001-11-30 | 2003-06-13 | Ricoh Co Ltd | 駆動装置および画像読み取り装置 |
JP4594620B2 (ja) * | 2001-12-06 | 2010-12-08 | フィッシャー−ローズマウント システムズ, インコーポレイテッド | 現場保守ツール |
US7331967B2 (en) * | 2002-09-09 | 2008-02-19 | Hansen Medical, Inc. | Surgical instrument coupling mechanism |
US6710249B1 (en) * | 2002-09-13 | 2004-03-23 | Sandra L. Denton | Wire separator |
JP3680050B2 (ja) | 2002-09-18 | 2005-08-10 | 株式会社東芝 | 医療用マニピュレータ及びその制御方法 |
US6936003B2 (en) * | 2002-10-29 | 2005-08-30 | Given Imaging Ltd | In-vivo extendable element device and system, and method of use |
JP3944108B2 (ja) | 2003-03-31 | 2007-07-11 | 株式会社東芝 | 医療用マニピュレータの動力伝達機構およびマニピュレータ |
JP3752494B2 (ja) | 2003-03-31 | 2006-03-08 | 株式会社東芝 | マスタスレーブマニピュレータ、その制御装置及び制御方法 |
JP4022526B2 (ja) | 2004-03-30 | 2007-12-19 | 株式会社東芝 | 医療用器具 |
EP1584300A3 (en) | 2004-03-30 | 2006-07-05 | Kabushiki Kaisha Toshiba | Manipulator apparatus |
CA2550077C (en) * | 2005-06-10 | 2014-01-21 | Mpb Technologies Inc. | Replaceable instrument mechanism for haptic devices |
WO2007075844A1 (en) * | 2005-12-20 | 2007-07-05 | Intuitive Surgical, Inc. | Telescoping insertion axis of a robotic surgical system |
-
2003
- 2003-03-31 JP JP2003096446A patent/JP3944108B2/ja not_active Expired - Lifetime
-
2004
- 2004-03-30 KR KR1020040021453A patent/KR100581298B1/ko active IP Right Grant
- 2004-03-30 US US10/811,848 patent/US7300373B2/en active Active
- 2004-03-31 CN CNB2006100801289A patent/CN100473870C/zh not_active Expired - Lifetime
- 2004-03-31 CN CNB2004100318909A patent/CN1282445C/zh not_active Expired - Lifetime
- 2004-03-31 CN CNB2006100801274A patent/CN100431802C/zh not_active Expired - Lifetime
-
2006
- 2006-01-31 KR KR1020060009281A patent/KR20060017658A/ko active Search and Examination
-
2007
- 2007-10-30 US US11/927,757 patent/US20080051239A1/en not_active Abandoned
- 2007-10-30 US US11/927,765 patent/US7850563B2/en active Active
- 2007-10-30 US US11/927,778 patent/US20080051238A1/en not_active Abandoned
-
2009
- 2009-07-29 US US12/511,390 patent/US20090291795A1/en not_active Abandoned
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102691766A (zh) * | 2011-09-13 | 2012-09-26 | 何树燕 | 往复运动与旋转运动相互转换装置 |
CN102691766B (zh) * | 2011-09-13 | 2016-05-11 | 何树燕 | 直线往复平动运动与旋转运动相互转换装置 |
CN105431105A (zh) * | 2013-08-01 | 2016-03-23 | 库卡罗伯特有限公司 | 外科手术器械 |
Also Published As
Publication number | Publication date |
---|---|
KR100581298B1 (ko) | 2006-05-22 |
CN1847698A (zh) | 2006-10-18 |
US20080051238A1 (en) | 2008-02-28 |
US20080051815A1 (en) | 2008-02-28 |
JP2004301275A (ja) | 2004-10-28 |
US20080051239A1 (en) | 2008-02-28 |
US20090291795A1 (en) | 2009-11-26 |
CN1840296A (zh) | 2006-10-04 |
CN100473870C (zh) | 2009-04-01 |
US7300373B2 (en) | 2007-11-27 |
KR20060017658A (ko) | 2006-02-24 |
KR20040085062A (ko) | 2004-10-07 |
JP3944108B2 (ja) | 2007-07-11 |
US20040266574A1 (en) | 2004-12-30 |
US7850563B2 (en) | 2010-12-14 |
CN100431802C (zh) | 2008-11-12 |
CN1282445C (zh) | 2006-11-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN1282445C (zh) | 动力传递机构和操纵装置 | |
US20240197351A1 (en) | Surgical instrument with increased actuation force | |
CN108472092A (zh) | 手术器械铰接部 | |
KR20120098744A (ko) | 최소로 절개하는 복강경 수술 집게 | |
CN108472094A (zh) | 手术器械铰接部的支撑体 | |
JP2007519444A (ja) | 精密機械適用または外科適用の器具 | |
EP2445386B1 (en) | Joint arrangement | |
CN1925805A (zh) | 具有接头的接骨螺钉 | |
CN108430371A (zh) | 手术器械轴辐条 | |
CN1910010A (zh) | 多向传动装置 | |
CN108366830A (zh) | 手术机器人与器械对接 | |
JP4309896B2 (ja) | マニピュレーター | |
US20230210630A1 (en) | Medical arm device | |
JP2016000443A (ja) | マニピュレータ | |
CN113662673B (zh) | 机械臂、从操作设备及手术机器人 | |
CN115605139B (zh) | 连续体器械及手术机器人 | |
CN114828760B (zh) | 手术器具 | |
US20220331035A1 (en) | Endoscopic surgery robot | |
JP2024503132A (ja) | 多重ヘリックスフレキシブルメカニズム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
ASS | Succession or assignment of patent right |
Owner name: TERUMO CO., LTD. Free format text: FORMER OWNER: TOSHIBA K.K. Effective date: 20120619 |
|
C41 | Transfer of patent application or patent right or utility model | ||
TR01 | Transfer of patent right |
Effective date of registration: 20120619 Address after: Tokyo, Japan Patentee after: Terumo Corp. Address before: Tokyo, Japan Patentee before: Toshiba Corp. |
|
CX01 | Expiry of patent term |
Granted publication date: 20061101 |
|
CX01 | Expiry of patent term |