DE602004004995T2 - Trocar device for the passage of a surgical instrument - Google Patents
Trocar device for the passage of a surgical instrument Download PDFInfo
- Publication number
- DE602004004995T2 DE602004004995T2 DE602004004995T DE602004004995T DE602004004995T2 DE 602004004995 T2 DE602004004995 T2 DE 602004004995T2 DE 602004004995 T DE602004004995 T DE 602004004995T DE 602004004995 T DE602004004995 T DE 602004004995T DE 602004004995 T2 DE602004004995 T2 DE 602004004995T2
- Authority
- DE
- Germany
- Prior art keywords
- instrument
- trocar
- sensor
- force
- gravity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 210000001835 viscera Anatomy 0.000 claims abstract description 26
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 description 33
- 230000003993 interaction Effects 0.000 description 13
- 210000000056 organ Anatomy 0.000 description 9
- 238000001356 surgical procedure Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 210000003815 abdominal wall Anatomy 0.000 description 5
- 238000002357 laparoscopic surgery Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 210000000779 thoracic wall Anatomy 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000002996 emotional effect Effects 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 238000010348 incorporation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000011477 surgical intervention Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Endoscopes (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP04290028A EP1552793B1 (fr) | 2004-01-07 | 2004-01-07 | Dispositif de trocart pour le passage d'un instrument chirurgical |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| DE602004004995D1 DE602004004995D1 (de) | 2007-04-12 |
| DE602004004995T2 true DE602004004995T2 (de) | 2007-11-22 |
Family
ID=34586007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE602004004995T Expired - Lifetime DE602004004995T2 (de) | 2004-01-07 | 2004-01-07 | Trocar device for the passage of a surgical instrument |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US20110178477A1 (https=) |
| EP (1) | EP1552793B1 (https=) |
| JP (1) | JP4767175B2 (https=) |
| KR (1) | KR20070037565A (https=) |
| AT (1) | ATE355023T1 (https=) |
| CA (1) | CA2552589A1 (https=) |
| DE (1) | DE602004004995T2 (https=) |
| WO (1) | WO2005067804A1 (https=) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013100605A1 (de) * | 2013-01-22 | 2014-07-24 | Rg Mechatronics Gmbh | Robotersystem und Verfahren zum Steuern eines Robotersystems für die minimal invasive Chirurgie |
| DE102016205085B3 (de) | 2016-03-29 | 2017-03-30 | Kuka Roboter Gmbh | Medizinischer Manipulator und Verfahren zum Steuern eines medizinischen Manipulators |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007147232A1 (en) * | 2006-06-19 | 2007-12-27 | Robarts Research Institute | Apparatus for guiding a medical tool |
| JP5464426B2 (ja) * | 2010-01-19 | 2014-04-09 | 独立行政法人産業技術総合研究所 | 穿刺針刺入装置 |
| KR101876386B1 (ko) * | 2011-12-29 | 2018-07-11 | 삼성전자주식회사 | 의료용 로봇 시스템 및 그 제어 방법 |
| US9817019B2 (en) | 2013-11-13 | 2017-11-14 | Intuitive Surgical Operations, Inc. | Integrated fiber bragg grating accelerometer in a surgical instrument |
| JP6542871B2 (ja) | 2014-07-29 | 2019-07-10 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | 患者の体壁力を測定するセンサを備えるカニューレ |
| WO2016064632A1 (en) | 2014-10-24 | 2016-04-28 | Covidien Lp | Sensorizing robotic surgical system access ports |
| CN104586479B (zh) * | 2015-01-07 | 2016-11-09 | 东南大学 | 一种可自动报警的腹腔镜手术用穿刺装置 |
| EP3282996A1 (en) * | 2015-04-15 | 2018-02-21 | Covidien LP | Methods for exchanging instruments using a surgical port assembly |
| CN105079896B (zh) * | 2015-10-12 | 2017-03-22 | 徐彬 | 随动式心包液抽液装置 |
| US10624671B2 (en) * | 2016-12-21 | 2020-04-21 | Ethicon Llc | Trocar attachment devices and methods |
| EP3685787B1 (en) | 2017-09-20 | 2023-10-04 | Shanghai Microport Medbot (Group) Co., Ltd. | Surgical robot system |
| KR102161142B1 (ko) * | 2018-09-14 | 2020-09-29 | (주)미래컴퍼니 | 수술용 트로카 |
| US12419713B2 (en) | 2018-11-15 | 2025-09-23 | Intuitive Surgical Operations, Inc. | Surgical instrument with sensor aligned cable guide |
| US12239393B2 (en) | 2020-05-18 | 2025-03-04 | Intuitive Surgical Operations, Inc. | Hard stop that produces a reactive moment upon engagement for cantilever-based force sensing |
| US20220022915A1 (en) * | 2020-07-22 | 2022-01-27 | Covidien Lp | Trocar system with force sensing |
| JP2022142902A (ja) * | 2021-03-17 | 2022-10-03 | ソニーグループ株式会社 | 力計測装置及び力計測方法、手術装置、及び手術システム |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3228541B2 (ja) * | 1991-12-03 | 2001-11-12 | オリンパス光学工業株式会社 | 気腹装置 |
| US5259385A (en) * | 1991-12-23 | 1993-11-09 | Advanced Cardiovascular Systems, Inc. | Apparatus for the cannulation of blood vessels |
| JPH05337127A (ja) * | 1992-06-04 | 1993-12-21 | Olympus Optical Co Ltd | トラカール刺入装置 |
| US5449370A (en) * | 1993-05-12 | 1995-09-12 | Ethicon, Inc. | Blunt tipped ultrasonic trocar |
| WO2001070117A2 (en) * | 2000-03-23 | 2001-09-27 | Microheart, Inc. | Pressure sensor for therapeutic delivery device and method |
| US20030040758A1 (en) * | 2001-08-21 | 2003-02-27 | Yulun Wang | Robotically controlled surgical instrument, visual force-feedback |
| JP4385118B2 (ja) * | 2002-08-07 | 2009-12-16 | 独立行政法人産業技術総合研究所 | 穿針装置及び該穿針装置の針の動作状態の検出方法 |
-
2004
- 2004-01-07 AT AT04290028T patent/ATE355023T1/de not_active IP Right Cessation
- 2004-01-07 EP EP04290028A patent/EP1552793B1/fr not_active Expired - Lifetime
- 2004-01-07 DE DE602004004995T patent/DE602004004995T2/de not_active Expired - Lifetime
-
2005
- 2005-01-07 US US10/585,412 patent/US20110178477A1/en not_active Abandoned
- 2005-01-07 KR KR1020067015893A patent/KR20070037565A/ko not_active Ceased
- 2005-01-07 WO PCT/FR2005/000042 patent/WO2005067804A1/fr not_active Ceased
- 2005-01-07 CA CA002552589A patent/CA2552589A1/fr not_active Abandoned
- 2005-01-07 JP JP2006548345A patent/JP4767175B2/ja not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013100605A1 (de) * | 2013-01-22 | 2014-07-24 | Rg Mechatronics Gmbh | Robotersystem und Verfahren zum Steuern eines Robotersystems für die minimal invasive Chirurgie |
| US9681921B2 (en) | 2013-01-22 | 2017-06-20 | Abb Gomtec Gmbh | Robot system and method for controlling a robot system for minimally invasive surgery |
| DE102016205085B3 (de) | 2016-03-29 | 2017-03-30 | Kuka Roboter Gmbh | Medizinischer Manipulator und Verfahren zum Steuern eines medizinischen Manipulators |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4767175B2 (ja) | 2011-09-07 |
| ATE355023T1 (de) | 2006-03-15 |
| DE602004004995D1 (de) | 2007-04-12 |
| KR20070037565A (ko) | 2007-04-05 |
| JP2007528238A (ja) | 2007-10-11 |
| US20110178477A1 (en) | 2011-07-21 |
| EP1552793A1 (fr) | 2005-07-13 |
| CA2552589A1 (fr) | 2005-07-28 |
| WO2005067804A1 (fr) | 2005-07-28 |
| EP1552793B1 (fr) | 2007-02-28 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 8364 | No opposition during term of opposition |