CN2772442Y - Insertion ultrasonic myocardial detector - Google Patents
Insertion ultrasonic myocardial detector Download PDFInfo
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- CN2772442Y CN2772442Y CN 200520033252 CN200520033252U CN2772442Y CN 2772442 Y CN2772442 Y CN 2772442Y CN 200520033252 CN200520033252 CN 200520033252 CN 200520033252 U CN200520033252 U CN 200520033252U CN 2772442 Y CN2772442 Y CN 2772442Y
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- conduit
- ultrasonic
- hardness
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- pressure
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Abstract
The utility model relates to an insertion ultrasonic hardness detector, which comprises an ultrasonic hardness detection guide pipe and a host machine. The utility model is characterized in that the head end of the guide pipe is fixed with a liquid pocket 14 at the rear of which an ultrasonic transducer is fixed; the head end or the tail end of the guide pipe is provided with a pressure sensing device; the head end of the guide pipe is fixed with a support bustle pipe and a control pull steel wire; the tail end of the guide pipe is connected with an operating handle; the bottom of an outer sleeve of the tail end of the operating handle is connected with the control pull steel wire; a power supply line and a single line in the guide pipe are connected with the host machine through a cable wire. The utility model can directly obtain fundamental physical quantities, such as the hardness, the elastic modulus, etc. of the passive deformability of the tissue to provide direct and reliable information for the scientific research and the clinical tissue hardness detection.
Description
Technical field
This utility model relates to human body physical parameter deriving means and diagnostic ultrasonic equipment field, relates to the interventional minimally-invasive technology for information acquisition simultaneously.The obtaining of hardness number that is used for cardiac muscle, trunk and other human body deep viscera tissue.
Background technology:
The hardness of biological tissue is the whether important indicator of pathological changes of characterizing tissues, judges that cardiac muscle, blood vessel and viscera tissue stiffness changing have important function.Myocardial ischemia, old myocardial infarction, hypertension, arteriosclerosis, tissue canceration, tissue calcification, fibrosis etc. can make biological tissue or internal organs hardness increase, and pathological tissues hardness such as myocardium dysplasia, cyst reduce.But the increase of organizing hardness is the function of appreciable impact internal organs also.Can cause diastolic heart failure as myocardium stiffness index increase; The cicatrix that old myocardial infarction forms causes the remarkable increase of regional myocardial stiffness index and influences the contraction and the diastolic function of heart; The hardness of tremulous pulse increases infringement elasticity of blood vessels and function; " cancer " word of Chinese has stone-like to organize the meaning of cirrhosis, and the unusual increase of the hardness of local organization may be that pathological changes such as cancer has taken place.Therefore detection by quantitative tissue, the especially hardness of deep organs and tissues have important value in medical research and clinical practice.
Organize cirrhosis to occur in more in heart, blood vessel and other deep body cavity, and lack direct detection method.Obtain directly to organize hardness very important to clinical diagnosis, the diastolic heart failure that causes as myocardium stiffness index increase has 4,000,000 people at least in China, uses " exclusive method " to diagnose clinically.This passive elasticity physical features of myocardium hardness (hardness or stiffness reflecting myocardium is being subjected to stress generation adaptability to changes) is directly related with patient's clinical manifestation, but at present owing to can not directly measuring " goldstandard " that myocardium hardness lacks reference.This field scholar feels disappointed to present situation, calls new signal detecting method and standard in a hurry." sclerosis of blood vessels " this inherent pathological manifestations is not directly measurement but relies on other method to infer at present.Can be used as the important supplement that gastroscope is diagnosed in SM gastric cancer as detecting its hardness.But shortage can directly be measured method and the instrument of organizing stiffness index at the deep body cavity at present.
The at present existing coining principle of utilizing by the human body tissue is applied certain pressure, and detects the deformation quantity of tissue with means such as ultrasonic, thereby the relation detection by quantitative of analyzing stress-strain compares the method for biological tissue's hardness.Prior art is used the stiffness index of coining method appraiser soma, as measure superficial tumor and cicatrix etc., can only be at body surface, or undertaken measuring showing shallow fabric analysis by straight hard extension, these instruments are held or are installed on the machinery external by hands usually, volume is greatly and inadequately dexterous, more can not be implemented in the cardiac chambers, detect in the blood vessel and in other internal organs and organize hardness to be used to assist the requirement of medical diagnosis.But not coining technology (as doppler ultrasound etc.) is indirect to the detection of biological tissue stiffness indexs such as cardiovascular internal organs, and affected factor is more and accuracy is not high.Other class methods are to use core tube technology, the relationship change of the pressure-volume of analysis of cardiac detects the compliance of ventricle, thereby assess the method for myocardium stiffness index indirectly, this method adapts to the requirement of interventional minimally-invasive, that in fact obtain is ventricular chamber stiffness index constant (constant of chamber stiffness), be not the passive physical attribute of direct reflecting myocardium, be subjected to influence such as ventricle size and not accurate enough; Especially this method can not detect the variation of local organization (as the cicatrix that forms after the myocardium infarction, tumor by local tissue etc.) stiffness index.By the retrieval of follow-up study and dynamic document, obtain method and the instrument that structural stress-strain stress relation obtains cardiovascular organization and viscera tissue stiffness index in cardiovascular and other splanchnic cavity thereby still find no to enter by conduit.Enter in the cardiovascular system generally speaking, especially to obtain information in the chambers of the heart very difficult, along with the development and the standardization of cardiovascular interventional technique, the development and design of this instrument becomes possibility; On the other hand along with going deep into to disease Pathophysiology understanding, under some pathologic conditions, press for the stiffness index that obtains the human body biological tissue and be used for assisting diagnosis, as accurately obtaining myocardium stiffness index the diagnosis cardiac diastolic function there is decisive significance unusually, " the golden index " of quantification is provided for the hardened diagnosis of trunk.
The content of invention
The purpose of this utility model provides a kind of insertion type ultrasonic hardness detector.
For realizing that the technical scheme that the purpose of this utility model adopts is such, it is a kind of intervention ultrasonic hardness detector, comprise ultrasonic hardness detected catheter and main frame, it is characterized in that: the head end of conduit is fixed with the liquid capsule, be fixed with ultrasonic transducer after the liquid capsule, the head end or the end of conduit are equipped with pressure transducer, the conduit head end be fixed with support collar and be attached thereto control tension wire, the terminal attended operation handle of conduit, the terminal jacket bottom of described operating grip connects controls tension wire; The supply lines of described ultrasonic transducer and holding wire are passed with main frame by the end of conduit and are connected.
When described conduit was the single tube structure, fixed ultrasonic transducer was a cylinder after the liquid capsule, setting pressure pick off between liquid capsule and ultrasonic transducer; When conduit was the coaxial double-pipe structure, ultrasonic transducer was the ring-type cylinder, was installed between the central canal and outer tube of conduit head end, and the liquid capsule is communicated with the central canal head end, and pressure transducer is installed in the liquid capsule threeway that is communicated with the central canal end; The power line of conduit is connected with main frame with the signal wire via cable line.
Described main frame comprises ultrasonic amplifier, pressure amplifier, ecg amplifier, A/D conversion, the control CPU of central authorities, control panel, monitor; Wherein said ultrasonic transducer emission and the ultrasonic signal that receives are controlled the cpu data input with central authorities and are connected, and the signal that transducer receives is sent into the control CPU of central authorities after amplification and A/D conversion, show tested tissue thickness in M type mode; Described pressure transducer is accepted to be organized applied pressure to pressing in real time, and its pressure signal is sent into the control CPU of central authorities after amplification and A/D conversion, show the pressure variation with curve mode.Ecg amplifier is gathered electrocardiosignal in real time and send into central authorities' control after the A/D conversion, shows the electrocardiogram curve.The control CPU of central authorities is the main frame core, controls ultrasound transmit signal, analytical calculation and shows ultrasonic and pressure signal.Control panel improves on common diasonograph, is connected with central authorities control CPU, is used for control instrument state, input data and data, measures etc.Ultrasonic, pressure and electrocardiosignal are integrated the back and are shown ultrasonic signal at display with M pattern formula, and show physiological signals such as pressure electrocardiogram with the screen synchronous dynamic, press data such as this programme display organization hardness curve.This utility model is owing to the beneficial effect that described device produces is as follows:
A, this utility model are used for ultrasonic coining hardness detection method by microcatheter technology the detection of deep viscera tissue first, obtain the relation of some human body deep vital tissue stress-strains with the most direct method, thereby can directly obtain the quantitative hardness information of internal organs such as cardiovascular first, the hands that resembles us directly " touch " makes its quantification and more accurate to tissues such as cardiac muscles.
B, accurately seek and visit the hardness of human body deep tissue, for understand human pathology's state, diagnosing the illness provides important or even decisive foundation.As myocardium stiffness index increase is the principal element that causes the cardiac diastolic function obstacle, can directly detect myocardium stiffness index people and living animal without any method so far.This utility model can the direct quantitative collection obtains represent cardiac muscle or the signal parameter of the stiff degree organized, for cardiac diastolic function not the diagnosis of congruent disease objective direct foundation is provided.
This utility model can directly obtain the stress that tested tissue bears and the strain of this tissue generation simultaneously, and measuring, be provided with and calculating automatically by simple on the image intuitively, can obtain to organize the fundamental physical quantities such as consistency and elasticity modulus of passive deformability, organize hardness for scientific research and Clinical detection and provide directly, method easily.
Description of drawings:
Fig. 1 is an apparatus structure sketch map of the present utility model;
Fig. 2 is the section enlarged diagram of conduit head end
Fig. 3,4 is respectively A-A, the B-B generalized section of Fig. 2;
Fig. 5 is the structure principle chart of device of the present utility model.
Referring to accompanying drawing: 1-water pocket threeway among the figure, 2-power line plug receptacle, 3-conduit extension line, 4-conduit be super does that hands is bright, 5-guiding-tube bend pull bar, 6-catheter body, 7-conductor housing, 8-tension wire, 9-ultrasonic transducer power line, 10-support metal ring, 11-ultrasonic transducer backing, 12-piezoelectric ceramics, 13-matching layer, 14-water pocket, 15-catheter wall, 16-aqueduct, 17-tension wire attachment point, 18-are filled bonded adhesives.
The specific embodiment
The overall dimensions of detected catheter is similar to the radio-frequency ablation electrode conduit.Conduit external diameter 6F can enter left ventricle, aortic arch, thoracoabdominal aorta etc. through approach such as femoral artery, radial arterys by vagina vasorum, through femoral vein can enter caval vein, system is felt concerned about until pulmonary artery in the right side.Directly or by endoscope enter stomach, esophagus, colon or uterus; Enter (as by peritoneoscope) such as splanchnocoels by the celioscope technology and can enter the abdominal cavity.
The controlled deflection principle of detected catheter is similar to the radio-frequency ablation electrode conduit.By to the tested stress application of organizing, or obtain hardness parameter by easypro the contracting of internal organs self.The curved size of conduit is done different selections according to character such as tested internal organs different chamber sizes.
The liquid capsule that is installed in catheter tip requires when conduit is exerted pressure to tissue water pocket indeformable substantially, and ultrasonic detection to water pocket contact tissue thickness has very high precision.
The cylindric low conforming materials (as polyurethane film) of the top of described conduit molding in advance but fluid filled sac, the high about 2mm of liquid capsule, the about 2mm of diameter, cyst wall has enough tension force (more than 1 atmospheric pressure,＞760mmHg), the liquid capsule does not have obvious deformation when light pressure is organized, and the top of liquid capsule is similar to a plane.Ultrasonic transducer front end behind the liquid capsule has acoustic lens matching layer 13, can make it that higher accuracy of detection be arranged sound beam focusing.
Embodiment 2, get involved the basic operation process that ultrasonic tissue hardness information is obtained method
Conduit is sent in the body in common interposing catheter mode, conductor housing along vertical tested organizer to water pocket and tissue surface with different dynamics with contact, pressure to tissue obtains the real-time pressure curve by water pocket liquid conductive to pressure transducer, tissue is subjected to water pocket and presses the back in the certain deformation of conduit long axis direction generation, and this deformation shows and record with screen synchronously by high-resolution ultrasound detection and with M type ultrasound mode and pressure and electrocardiogram curve.Use the computer software that this programme provides, change organizing applied pressure and tissue thickness by some time period of synchro measure, can obtain hardness constant K value, and can calculate the Young's modulus of biological tissue according to formula.
Because tissues such as cardiac muscle, trunk are the pseudo-elastic approximation tissues, available elastomeric material method is similar to research.It is exponential curve in the pass of the deformation quantity of thickness direction generation that biological tissue is subjected to coining power, its stiffness index is the tangent slope of stress-strain curve, but its stress-strain relation is good linear relationship (＜137 gram/square centimeters when less stress, 2 mm dias probe), promptly so-called increment law.So, can obtain the hardness number of tissue by linear analysis by corresponding its strained measured value of 2 stress, and can utilize formula E=P (1-v as long as use suitable pressure
2(v a/h) obtains the Young's modulus of tested tissue to)/2aw κ, thereby is used for comparative study and assists medical diagnosis.
Embodiment 3 catheter-based ultrasound hardness information are obtained method
Method may further comprise the steps:
A, set up or set up ultrasonic transducer and pressure sensor structure by interposing catheter carrying;
B, by interposing catheter pressure is applied to tested tissue, this power that applies is by pressure transducer real-time continuous record; Simultaneously, the detected variation of organizing echo signal in the pressurized process of the acceptance of ultrasonic transducer real-time continuous, and the image by M type ultrasonic cardiography chart-pattern display organization varied in thickness.
Stack between the image of c, build-up pressure signal curve and M type ultrasonic cardiography chart-pattern display organization varied in thickness or contrast figure; Select detected pressures and deformation thickness to show that synchronously good image freezes frame on described stacking chart, pressurization or decompression time section on the pressure force curve are measured its pressure and are changed numerical value and change value of thickness then;
D, elastomer detection method: will organize and do pseudo-elastic approximation research, hardness and Young's modulus are organized in measurement: its hardness and Young's modulus are the common index of characterizing tissues hardness, by setting up the tested range of normal value of organizing hardness or Young's modulus, can judge whether organize hardness normal, thereby be used to assist medical research or clinical diagnosis.According to the relation of applied pressure and deformation, with the ratio characterizing tissues hardness of pressure and deformation; Utilize formula E=P (1-v
2(p is the power that applies to)/2aw κ in the formula for v, a/h) the Young's modulus E of the tested tissue of acquisition, w is a deformation quantity, and a is a coining water pocket radius, and v is Poisson's ratio (a general biological tissue value 0.45), h is tested tissue thickness, κ be scale factor (when a/h less than 1/2 the time, but the κ value is 1).As p=0.1N, W=1.2 * 10
-3M, a=1 * 10
-3M, κ=1, the Young's modulus that calculates this specimen according to following formula is E=3.33 * 10
4Pa.
E, synchronous monitoring electrocardiosignal are analyzed when assisting detection mutually.As can help us to differentiate the systole and the relaxing period of heart when carrying out cardiac measurement, when being measured, other guard.
(4), get involved ultrasonic tissue hardness information and obtain flow process
The ultrasound detection conduit enters in the body with X line, endoscope, celioscope, medical image technology guiding such as ultrasonic and arrives the test section position.Instrument host CPU sends control signal to supersonic signal generator, and the latter is activated at the ultrasonic transducer of catheter tip, transmitted pulse ultrasonic signal by lead.The water pocket of the ultrasound wave that transducer produces by the place ahead enters and is detected tissue, and the echo-signal of tissue is received by same transducer, shows along the time expansion mode with the one dimension gray scale after host process, promptly obtains M type ultrasound mode and shows.Tested thickness of tissue, position are over time by clear demonstration.Simultaneously to organizing applied pressure to be detected and show with screen with the mode of pressure curve and ultrasonic while of M type by pressure transducer, phase when demarcating cardiac cycle, electrocardiogram also shows with screen in real time.After obtaining satisfied image, freeze frame and to measure the deformation of section tissues, tissue applied pressure and same time period tissue generation sometime, measured value calculates after entering computer automatically, can obtain the consistency and elasticity parameter of detected portion bit organization.
Embodiment 4, intervention ultrasonic hardness detector
(1), the function of the structure of instrument and critical piece
Described instrument comprises ultrasonic hardness detected catheter and main frame, the head end of ultrasonic hardness detected catheter is fixed with liquid capsule 14, be fixed with ultrasonic transducer after the liquid capsule, the conduit head end be fixed with support ring 10 and be attached thereto control tension wire 8, ultrasonic transducer is by matching layer 13, piezoelectric ceramics 12 and the ultrasonic transducer backing is stacked is bonded as one; The supply lines of ultrasonic transduction element and holding wire are passed by the end of conduit; The terminal attended operation handle 4 of conduit, the terminal jacket bottom of described operating grip connects controls tension wire 8, the pull bar 5 of sliding catheter bending backward, tension wire tensioning, guiding-tube bend.
That accompanying drawing provides is the embodiment of an indefiniteness, when the detected catheter of ultrasonic hardness described in the embodiment is the double pipe structure of concentricity axle, ultrasonic transducer is the ring-type cylinder, be installed between the central canal and outer tube of conduit head end, the liquid capsule is communicated with the central canal head end, pressure transducer be installed in terminal with central canal or the liquid capsule threeway that is communicated with it in; The power line of conduit is connected with main frame with the signal wire via cable line.
Referring to accompanying drawing 4, described main frame comprises ultrasonic amplifier, pressure amplifier, ecg amplifier, A/D conversion, the control CPU of central authorities, control panel, monitor composition; Emission of wherein said ultrasonic transducer and the ultrasonic signal that receives are connected with the control CPU of central authorities by the mode of bus, the signal that transducer receives through amplify and the A/D conversion after send into the central CPU of control, show tested tissue thickness in M type mode; Described pressure transducer is accepted to be organized applied pressure to pressing in real time, and its pressure signal is sent into the control CPU of central authorities after amplification and A/D conversion, show the pressure variation with curve mode.Ecg amplifier is gathered electrocardiosignal in real time and send into central authorities' control after the A/D conversion, shows the electrocardiogram curve.The control CPU of central authorities is the main frame core, controls ultrasound transmit signal, analytical calculation and shows ultrasonic and pressure signal.Control panel improves on common diasonograph, is connected with central authorities control CPU, is used for control instrument state, input data and data, measures etc.Ultrasonic, pressure and electrocardiosignal are integrated the back and are shown ultrasonic signal at display with M pattern formula, and show physiological signals such as pressure electrocardiogram with the screen synchronous dynamic, press this programme display organization hardness curve etc.
It is AD623AN that described in an embodiment ultrasonic amplifier, pressure amplifier, ecg amplifier can adopt model respectively, ISO.ECG-1mV: the device of isolating ecg amplifier entirely.Wherein ultrasonic transducer and amplifier are bought by Shantou ultrasonic investigation.Pressure transducer and amplifier thereof are provided by Bangbu meridian instrument instruments and meters element factory.Ecg amplifier is gathered electrocardiosignal in real time and send into central authorities' control after the A/D conversion, shows the electrocardiogram curve, and ecg amplifier is provided by Haidian, Beijing auspicious cloud computer technology company.
The vertical liquid capsule of conductor housing in the said apparatus, harder column water pocket of feasible one-tenth (2 millimeters of diameters, high 2 millimeters) under setting pressure (1 atmospheric pressure); Ultrasonic transducer can and receive ultrasonic along the emission of conduit long axis direction; But the pressure transducer real-time continuous is the variation of monitoring pressure critically; The support metal ring is fixed on the inner catheter, controls the outer side that steel wire is connected support metal ring 10; With outer catheter bulk phase be connected the blended rubber sealing thereafter; Interior Guan Weiyi end water pocket is communicated with the other end and water pocket threeway 1 water pipe connecting 16.
When instrument is worked, after the ultrasonic hardness detected catheter enters heart, trunk or internal organs chamber or body cavity by cardiovascular intervention requirement, interior interface tube is connected with the static pressure pump by the water pocket threeway, compression pump feeds reason saline or contrast agent in interior pipe, give certain static pressure (an about atmospheric pressure), form a little column liquid capsule on the conductor housing top by interior pipe.Because 1 atmospheric static pressure arranged, to organizing the shape that can keep its water pocket when pressing gently.
Conductor housing is controlled to be adjusted under medical images monitoring guiding needs sites measured, the operation conduit applies certain pressure to tested tissue, ultrasonic transducer and pressure transducer synchronous working, detection simultaneously is organized in when bearing different pressures, organizes the variation of wall thickness.Ultrasonic transducer is along conduit long axis direction forward emitted and receive monophone bundle high frequency ultrasound (about 10MHz); The sampling of pressure transducer high frequency forms continuously dynamic pressure curve.The pressure that tissue bears changes.Be transferred to the usefulness of main frame during information of same that ultrasound catheter changes pressure and tissue thickness for analysis and research.
Main frame is handled the back with ultrasonic signal and is presented on the display with M type ultrasonic diagnosis pattern, and pressure and electrocardiogram curve also can be distinguished overlapping being presented in the same picture frame in ground simultaneously.The relation that the process of measurement of main frame (identical with high-resolution M type ultrasoundcardiogram process of measurement, vertically certainty of measurement is 0.1 millimeter) internal organs wall thickness and motion change and pressure change calculates the detected numerical value of organizing stiffness index.
Claims (4)
1, a kind of insertion type ultrasonic hardness detector comprises ultrasonic hardness detected catheter and main frame, it is characterized in that: the head end of conduit is fixed with liquid capsule (14), is fixed with ultrasonic transducer after the liquid capsule, and the head end or the end of conduit are equipped with pressure transducer; The conduit head end be fixed with support collar and be attached thereto control tension wire, the terminal attended operation handle of conduit, the terminal jacket bottom of described operating grip connects controls tension wire; Power line in the conduit is connected with main frame with the signal wire via cable line.
2, insertion type ultrasonic hardness detector according to claim 1, it is characterized in that: described conduit is the single tube structure, ultrasonic transducer is a cylinder, setting pressure pick off between liquid capsule and ultrasonic transducer.
3, insertion type ultrasonic hardness detector according to claim 1, it is characterized in that: conduit is concentricity axle double pipe structure, ultrasonic transducer is the ring-type cylinder, be installed between the central canal and outer tube of conduit head end, the liquid capsule is communicated with the central canal head end, and pressure transducer is installed in the liquid capsule threeway that is communicated with the central canal end.
4, according to claim 1 insertion type ultrasonic hardness detector, it is characterized in that: described ultrasonic transducer is bonded as one by matching layer (13), piezoelectric ceramics (12) and ultrasonic transducer backing are folded layer by layer; The supply lines of ultrasonic transduction element and holding wire are passed by the end of conduit; The terminal attended operation handle (4) of conduit, the terminal jacket bottom of described operating grip connects controls tension wire (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520033252 CN2772442Y (en) | 2005-02-05 | 2005-02-05 | Insertion ultrasonic myocardial detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520033252 CN2772442Y (en) | 2005-02-05 | 2005-02-05 | Insertion ultrasonic myocardial detector |
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| Publication Number | Publication Date |
|---|---|
| CN2772442Y true CN2772442Y (en) | 2006-04-19 |
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| CN 200520033252 Expired - Fee Related CN2772442Y (en) | 2005-02-05 | 2005-02-05 | Insertion ultrasonic myocardial detector |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107072691A (en) * | 2014-07-29 | 2017-08-18 | 直观外科手术操作公司 | The intubation of sensor with measurement patient's body wall power |
| US11726106B2 (en) | 2013-11-13 | 2023-08-15 | Intuitive Surgical Operations, Inc. | Integrated Fiber Bragg Grating accelerometer in a surgical instrument |
-
2005
- 2005-02-05 CN CN 200520033252 patent/CN2772442Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11726106B2 (en) | 2013-11-13 | 2023-08-15 | Intuitive Surgical Operations, Inc. | Integrated Fiber Bragg Grating accelerometer in a surgical instrument |
| CN107072691A (en) * | 2014-07-29 | 2017-08-18 | 直观外科手术操作公司 | The intubation of sensor with measurement patient's body wall power |
| CN107072691B (en) * | 2014-07-29 | 2019-09-03 | 直观外科手术操作公司 | The intubation of sensor with measurement patient's body wall power |
| US10470796B2 (en) | 2014-07-29 | 2019-11-12 | Intuitive Surgical Operations, Inc. | Cannula with sensors to measure patient bodywall forces |
| US11369411B2 (en) | 2014-07-29 | 2022-06-28 | Intuitive Surgical Operations, Inc. | Cannula with sensors to measure patient bodywall forces |
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| CF01 | Termination of patent right due to non-payment of annual fee |