ES2616532T3 - Adaptador de dispositivo médico con mecanismo de articulación - Google Patents

Adaptador de dispositivo médico con mecanismo de articulación Download PDF

Info

Publication number
ES2616532T3
ES2616532T3 ES14192217.9T ES14192217T ES2616532T3 ES 2616532 T3 ES2616532 T3 ES 2616532T3 ES 14192217 T ES14192217 T ES 14192217T ES 2616532 T3 ES2616532 T3 ES 2616532T3
Authority
ES
Spain
Prior art keywords
joint
envelope
proximal
distal
surgical device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
ES14192217.9T
Other languages
English (en)
Inventor
Stanislaw Kostrzewski
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Covidien LP
Original Assignee
Covidien LP
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Covidien LP filed Critical Covidien LP
Application granted granted Critical
Publication of ES2616532T3 publication Critical patent/ES2616532T3/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D1/00—Couplings for rigidly connecting two coaxial shafts or other movable machine elements
    • F16D1/06—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end
    • F16D1/08—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with clamping hub; with hub and longitudinal key
    • 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
    • F16H35/00—Gearings or mechanisms with other special functional features
    • F16H35/008—Gearings or mechanisms with other special functional features for variation of rotational phase relationship, e.g. angular relationship between input and output shaft
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/32—Articulated members
    • Y10T403/32008—Plural distinct articulation axes

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)

Abstract

Un adaptador de dispositivo quirúrgico para acoplar un elemento terminal (300) a un dispositivo quirúrgico, comprendiendo el adaptador de dispositivo quirúrgico: una envoltura (206) de articulación proximal que incluye un extremo proximal y un extremo distal, pudiéndose acoplar la envoltura (206) de articulación proximal en el extremo proximal del mismo al dispositivo quirúrgico; una envoltura (204) de articulación media que tiene un extremo proximal y un extremo distal, acoplada la envoltura (204) de articulación media de forma pivotante en el extremo proximal de la misma al extremo distal de la envoltura (206) de articulación proximal, pudiendo la envoltura (204) de articulación media pivotar alrededor de un primer eje de pivote definido entre la envoltura (206) de articulación proximal y la envoltura (204) de articulación media; y una envoltura (202) de articulación distal que tiene un extremo proximal y un extremo distal, acoplada la envoltura (202) de articulación distal de forma pivotante en el extremo proximal de la misma al extremo distal de la envoltura (204) de articulación media, pudiéndose acoplar la envoltura (202) de articulación distal en el extremo distal de la misma al elemento terminal (300) y pudiendo pivotar alrededor de un segundo eje de pivote definido entre la envoltura (204) de articulación media y la envoltura (202) de articulación distal, siendo el segundo eje de pivote transversal al primer eje de pivote. Dicho adaptador de dispositivo quirúrgico comprende además: un mecanismo impulsor (330) que incluye una pluralidad de engranajes y que puede acoplarse al dispositivo quirúrgico y al elemento terminal (300), configurado el mecanismo impulsor (330) para accionar el elemento terminal (300) en respuesta a la entrada desde el dispositivo quirúrgico, en donde la pluralidad de engranajes están dispuestos entre las envolturas de articulaciones proximal (206), media (204) y distal (202); y comprende también un primer enlace (220) de articulación acoplado a la envoltura (204) de articulación media, el primer enlace (220) de articulación movible longitudinalmente en una dirección proximal para hacer pivotar la envoltura (204) de articulación media en una primera dirección alrededor del primer eje de pivote, y en una dirección distal para hacer pivotar la envoltura (204) de articulación media en una segunda dirección alrededor del primer eje de pivote.

Description

5
10
15
20
25
30
35
40
45
50
DESCRIPCION
Adaptador de dispositivo medico con mecanismo de articulacion Antecedentes
1. Campo tecnico
La presente descripcion se refiere a aparatos, dispositivos y/o sistemas quirurgicos para realizar procedimientos quirurgicos endoscopicos. Mas espedficamente, la presente descripcion se refiere a adaptadores, dispositivos y/o sistemas electromecanicos configurados para utilizar con aparatos quirurgicos de mano o roboticos y unidades de carga extrafoles desechables y/o unidades de carga de un solo uso para pinzar, cortar y/o grapar tejido.
2. Antecedentes de la tecnica relacionada
Actualmente hay varios sistemas impulsores para operar y/o manipular dispositivos quirurgicos electromecanicos. En muchos casos, los dispositivos quirurgicos electromecanicos incluyen un conjunto de accionamiento reutilizable (por ejemplo, mango de herramienta motorizado o manual o robotico) y unidades de carga desechables o de uso unico. Las unidades de carga son conectadas selectivamente al conjunto de accionamiento antes de su utilizacion y despues desconectadas del conjunto de accionamiento tras su utilizacion para ser desechadas o, en algunos casos, esterilizadas para su reutilizacion.
Muchos de los elementos terminales existentes para utilizar con los dispositivos quirurgicos existentes y/o conjuntos de accionamiento son impulsados por una fuerza lineal, tales como elementos terminales para realizar procedimientos de anastomosis endo-gastrointestinal, procedimientos de anastomosis de extremo a extremo y procedimientos de anastomosis transversa. Como tales, estos elementos terminales no son compatibles con dispositivos quirurgicos y/o conjuntos de accionamiento que utilicen movimiento rotativo para impartir potencia o similares.
Para hacer los elementos terminales impulsados linealmente compatibles con dispositivos quirurgicos y/o conjuntos de accionamiento que utilicen un movimiento rotativo para suministrar energfa, existe una necesidad de que los adaptadores y/o conjuntos adaptadores interrelacionen entre sf e interconecten los elementos terminales impulsados linealmente con los dispositivos quirurgicos y/o conjuntos de mango impulsados rotativamente.
El documento WO2009/039506 A1 describe un dispositivo quirurgico que comprende un primer eje giratorio y un segundo eje giratorio, que pueden girar utilizando al menos un primer y un segundo impulsores.
Compendio
Detalles adicionales y aspectos de realizaciones ejemplares de la presente invencion se describen mas adelante con referencia a las figuras adjuntas.
Segun una realizacion de la presente descripcion, se describe un adaptador de dispositivo quirurgico para acoplar un elemento terminal a un dispositivo quirurgico. El adaptador de dispositivo quirurgico incluye: una envoltura de articulacion proximal que incluye un extremo proximal y un extremo distal, pudiendo acoplarse la envoltura de articulacion proximal en el extremo proximal del mismo al dispositivo quirurgico; una envoltura de articulacion media que tiene un extremo proximal y un extremo distal, la envoltura de articulacion media acoplada de forma pivotante en el extremo proximal de la misma al extremo distal de la envoltura de articulacion proximal, pudiendo la envoltura de articulacion media pivotar alrededor de un primer eje de pivote definido entre la envoltura de articulacion proximal y la envoltura de articulacion media; y una envoltura de articulacion distal que tiene un extremo proximal y un extremo distal, la envoltura de articulacion distal acoplada de forma pivotante en el extremo proximal de la misma al extremo distal de la envoltura de articulacion media, pudiendo acoplarse la envoltura de articulacion distal en el extremo distal de la misma al elemento terminal y pudiendo pivotar alrededor de un segundo eje de pivote definido entre la envoltura de articulacion media y la envoltura de articulacion distal, siendo el segundo eje de pivote transversal al primer eje de pivote.
Segun un aspecto de la realizacion anterior, el dispositivo quirurgico es un dispositivo quirurgico de mano o un dispositivo quirurgico robotico.
Segun otro aspecto de la realizacion anterior, el adaptador incluye ademas: un primer enlace de articulacion acoplado a la envoltura de articulacion media, el primer enlace de articulacion movible longitudinalmente en una direccion proximal para hacer pivotar la envoltura de articulacion media en una primera direccion alrededor del primer eje de pivote, y en una direccion distal para hacer pivotar la envoltura de articulacion media en una segunda direccion alrededor del primer eje de pivote.
El adaptador puede incluir ademas: un segundo enlace de articulacion acoplado a la envoltura de articulacion distal, el segundo enlace de articulacion movible longitudinalmente en una direccion proximal para hacer pivotar la envoltura de articulacion distal en una primera direccion alrededor del segundo eje de pivote, y en una direccion
5
10
15
20
25
30
35
40
45
50
55
distal para hacer pivotar la envoltura de articulacion distal en una segunda direccion alrededor del segundo eje de pivote.
Segun un aspecto de la realizacion anterior, el segundo enlace de articulacion se puede doblar en respuesta al pivotamiento de la envoltura de articulacion media.
Segun otro aspecto de la realizacion anterior, el adaptador incluye ademas: un mecanismo impulsor acoplable al dispositivo quirurgico y al elemento terminal, configurado el mecanismo impulsor para accionar el elemento terminal en respuesta a la entrada desde el dispositivo quirurgico.
El mecanismo impulsor puede incluir tambien: un eje de transmision proximal dispuesto de forma giratoria dentro de la envoltura de articulacion proximal, incluyendo el eje de transmision proximal un manguito conector dispuesto en un extremo proximal del mismo, acoplable al dispositivo quirurgico, y un primer engranaje dispuesto en un extremo distal del mismo; un eje de transmision medio dispuesto de forma giratoria dentro de la envoltura de articulacion media, incluyendo el eje de transmision medio un segundo engranaje dispuesto en un extremo proximal del mismo y engranado de forma que encaje con el primer engranaje, y un tercer engranaje dispuesto en un extremo distal del mismo; y un eje de transmision distal dispuesto de forma giratoria dentro de la envoltura de articulacion distal, incluyendo el eje de transmision distal un cuarto engranaje dispuesto en un extremo proximal del mismo y engranado de forma que encaje con el tercer engranaje, y un extremo distal en llave configurado para encajar con el elemento terminal. Los engranajes primero, segundo, tercero y cuarto tienen una forma sustancialmente elipsoide.
Segun otra realizacion de la presente descripcion, se describe un adaptador de dispositivo quirurgico para acoplar un elemento terminal a un dispositivo quirurgico. El adaptador de dispositivo quirurgico incluye: una envoltura de articulacion proximal que incluye un extremo proximal y un extremo distal, pudiendo acoplarse la envoltura de articulacion proximal en el extremo proximal de la misma al dispositivo quirurgico; una envoltura de articulacion media que tiene un extremo proximal y un extremo distal, la envoltura de articulacion media acoplada de forma pivotante en el extremo proximal de la misma al extremo distal de la envoltura de articulacion proximal, pudiendo la envoltura de articulacion media pivotar alrededor de un primer eje de pivote definido entre la envoltura de articulacion proximal y la envoltura de articulacion media; y una envoltura de articulacion distal que tiene un extremo proximal y un extremo distal, la envoltura de articulacion distal acoplada de forma pivotante en el extremo proximal de la misma al extremo distal de la envoltura de articulacion media, pudiendo acoplarse la envoltura de articulacion distal en el extremo distal de la misma al elemento terminal, y pudiendo pivotar alrededor de un segundo eje de pivote definido entre la envoltura de articulacion media y la envoltura de articulacion distal, siendo el segundo eje de pivote transversal al primer eje de pivote; y un mecanismo impulsor que incluye una pluralidad de engranajes y puede acoplarse al dispositivo quirurgico y al elemento terminal, configurado el mecanismo impulsor para accionar el elemento terminal en respuesta a la entrada desde el dispositivo quirurgico, en donde la pluralidad de engranajes estan dispuestos entre las envolturas de articulaciones proximal, media y distal.
Segun un aspecto de la realizacion anterior, el dispositivo quirurgico es un dispositivo quirurgico de mano o un dispositivo quirurgico robotico.
Segun otro aspecto de la realizacion anterior, el adaptador incluye ademas: un primer enlace de articulacion acoplado a la envoltura de articulacion media, el primer enlace de articulacion movible longitudinalmente en una direccion proximal para hacer pivotar la envoltura de articulacion media en una primera direccion alrededor del primer eje de pivote, y en una direccion distal para hacer pivotar la envoltura de articulacion media en una segunda direccion alrededor del primer eje de pivote.
El adaptador puede incluir ademas: un segundo enlace de articulacion acoplado a la envoltura de articulacion distal, el segundo enlace de articulacion movible longitudinalmente en una direccion proximal para hacer pivotar la envoltura de articulacion distal en una primera direccion alrededor del segundo eje de pivote, y en una direccion distal para hacer pivotar la envoltura de articulacion distal en una segunda direccion alrededor del segundo eje de pivote.
Segun un aspecto de la realizacion anterior, el segundo enlace de articulacion puede doblarse en respuesta al pivotamiento de la envoltura de articulacion media.
Segun otro aspecto de la realizacion anterior, el mecanismo impulsor incluye: un eje de transmision proximal dispuesto de forma giratoria dentro de la envoltura de articulacion proximal, incluyendo el eje de transmision proximal un manguito conector dispuesto en un extremo proximal del mismo que puede acoplarse al dispositivo quirurgico, y un primer engranaje dispuesto en un extremo distal del mismo.
El mecanismo impulsor puede incluir tambien: un eje de transmision medio dispuesto de forma giratoria dentro de la envoltura de articulacion media, incluyendo el eje de transmision medio un segundo engranaje dispuesto en un extremo proximal del mismo y engranado de forma que encaje con el primer engranaje, y un tercer engranaje dispuesto en un extremo distal del mismo.
Segun un aspecto de la realizacion anterior, el mecanismo impulsor incluye: un eje de transmision distal dispuesto de forma giratoria dentro de la envoltura de articulacion distal, incluyendo el eje de transmision distal un cuarto
5
10
15
20
25
30
35
40
45
engranaje dispuesto en un extremo proximal del mismo y engranado de forma que encaje con el tercer engranaje, y un extremo distal en llave configurado para encajar con el elemento terminal.
Segun otro aspecto de la realizacion anterior, los engranajes primero, segundo, tercero y cuarto tienen una forma sustancialmente elipsoide.
Breve descripcion de los dibujos
Realizaciones de la presente descripcion se describen en la presente memoria con referencia a los dibujos adjuntos, en donde:
la fig. 1A es una ilustracion esquematica de un sistema quirurgico electromecanico que incluye un conjunto de accionamiento robotico, un elemento terminal y un conjunto adaptador segun la presente descripcion;
la fig. 1B es una vista en perspectiva de un sistema quirurgico electromecanico que incluye un conjunto de accionamiento manual segun la presente descripcion y el elemento terminal y el conjunto adaptador de la fig. 1A;
la fig. 2 es una vista en perspectiva del conjunto adaptador con el elemento terminal de la fig. 1A en una configuracion no articulada segun la presente descripcion;
la fig. 3 es una vista en perspectiva del conjunto adaptador con el elemento terminal de la fig. 1A en una configuracion articulada segun la presente descripcion;
la fig. 4 es una vista en perspectiva, ampliada, de un extremo proximal del conjunto adaptador de la fig. 1A segun la presente descripcion;
la fig. 5 es una vista en perspectiva, parcialmente desmontada, del extremo distal del conjunto adaptador de la fig. 1A con un mecanismo de articulacion proximal segun la presente descripcion;
la fig. 6 es una vista en perspectiva, parcialmente desmontada, del extremo proximal del conjunto adaptador de la fig. 1A con el mecanismo de articulacion proximal en una primera configuracion segun la presente descripcion;
la fig. 7 es una vista en perspectiva, parcialmente desmontada, del extremo proximal del conjunto adaptador de la fig. 1A con el mecanismo de articulacion proximal en una segunda configuracion segun la presente descripcion;
la fig. 8 es otra vista en perspectiva, parcialmente desmontada, del extremo proximal del conjunto adaptador de la fig. 1A con el mecanismo de articulacion proximal en la segunda configuracion segun la presente descripcion;
la fig. 9 es una vista en perspectiva, parcialmente desmontada, del extremo proximal del conjunto adaptador de la fig. 1A con el mecanismo de articulacion proximal en la segunda configuracion segun la presente descripcion;
la fig. 10 es una vista en perspectiva, parcialmente desmontada, de un extremo distal del conjunto adaptador de la fig. 1A ilustrado junto con un mecanismo de articulacion distal segun la presente descripcion;
la fig. 11 es una vista en perspectiva de un conjunto impulsor del conjunto adaptador de la fig. 1A segun la presente descripcion;
la fig. 12 es una vista en perspectiva de un eje medio del conjunto impulsor del conjunto adaptador de la fig. 1A segun la presente descripcion;
la fig. 13 es una vista en perspectiva de los ejes medio y de entrada del conjunto impulsor del conjunto adaptador de la fig. 1A en la configuracion no articulada segun la presente descripcion; y
la fig. 14 es una vista en perspectiva de los ejes media y de entrada del conjunto impulsor del conjunto adaptador de la fig. 1A en la configuracion articulada segun la presente descripcion.
Descripcion detallada de realizaciones
Realizaciones del sistema, aparato y/o dispositivo quirurgico electromecanico descrito en la presente memoria se describen en detalle con referencia a los dibujos, en los que numeros de referencia iguales designan elementos identicos o correspondientes en cada una de las distintas vistas. Como se emplea en esta memoria, el termino “distal” se refiere a aquella parte del sistema, aparato y/o dispositivo quirurgico electromecanico, o componente del mismo, que esta mas lejos del usuario, mientras que el termino “proximal” se refiere a aquella parte del sistema, aparato y/o dispositivo quirurgico electromecanico, o componente del mismo, que esta mas cerca del usuario. Los terminos “izquierda” y “derecha” se refieren a aquellas partes del sistema, aparato y/o dispositivo quirurgico electromecanico, o componente del mismo, que estan en los lados izquierdo y derecho, respectivamente, desde la perspectiva del usuario que mira al extremo distal del sistema, aparato y/o dispositivo quirurgico electromecanico desde el extremo proximal, mientras que el sistema, aparato y/o dispositivo quirurgico esta orientado en configuracion no giratoria (por ejemplo, base).
5
10
15
20
25
30
35
40
45
50
55
Con referencia a la fig. 1A, se muestra una realizacion del sistema quirurgico motorizado 10 electro-quirurgico. El sistema quirurgico electromecanico 10 incluye un aparato o dispositivo quirurgico en forma de aparato quirurgico robotico 20 que esta configurado para la fijacion selectiva al mismo de una pluralidad de diferentes elementos terminales 300, a traves de un primer conjunto adaptador 200 (por ejemplo, cuerpo alargado).
El aparato quirurgico robotico 20 incluye un brazo 22 de robot acoplado a una base 24. El brazo 22 de robot puede incluir una pluralidad de extremidades o palancas 37-40 interconectadas entre sf por una pluralidad de codos o ejes 31-34, y una placa 42 soportada sobre un eje 34 mas distal, al cual esta unido el elemento terminal 300 a traves del primer conjunto adaptador 200.
En el caso de la presente realizacion ejemplar, cada uno de los ejes 31-34 es movido por un impulsor electrico 5154, respectivamente, cada uno de los cuales esta conectado electricamente a un controlador 57 del aparato quirurgico robotico 20, para que el controlador 57, o un conjunto de instrucciones legible por ordenador que se ejecute en el controlador 57, sea capaz de accionar los impulsores electricos 51-56 de tal manera que la posicion y orientacion de la placa 42 del aparato quirurgico robotico 20 se puedan establecer esencialmente de forma libre en el espacio. Cada uno de los impulsores electricos 51-54 del aparato quirurgico robotico 20 incluye un motor electrico y cualquier sistema electronico de generacion de potencia o de control que accione los motores.
El aparato quirurgico robotico 20 tambien puede estar configurado para trabajar con sistemas quirurgicos roboticos. Tales sistemas emplean diversos elementos roboticos (por ejemplo, el aparato quirurgico robotico 20) para ayudar al cirujano en el quirofano y permiten el funcionamiento remoto o el funcionamiento remoto parcial de la instrumentacion quirurgica (por ejemplo, el elemento terminal 300). Varios brazos roboticos, engranajes, levas, poleas, motores electricos y mecanicos, etc. del aparato quirurgico robotico 20 pueden ser empleados con este proposito y pueden estar disenados para ayudar al cirujano en el transcurso de una operacion o tratamiento. El aparato quirurgico robotico 20 puede incluir sistemas dirigibles a distancia, sistemas quirurgicos automaticamente flexibles, sistemas quirurgicos flexibles a distancia, sistemas quirurgicos de articulacion remota, sistemas quirurgicos inalambricos, sistemas quirurgicos modulares o configurables selectivamente manejados a distancia, y combinaciones de los mismos.
El aparato quirurgico robotico 20 puede emplearse con una o mas consolas que esten proximas al quirofano o situadas en una ubicacion remota. Un equipo de cirujanos o enfermeras puede preparar al paciente para la cirugfa y configurar el aparato quirurgico robotico 20 con uno o mas de los elementos terminales 300 descritos en la presente memoria mientras que otro cirujano o grupo de cirujanos controla remotamente el elemento terminal 300 a traves del aparato quirurgico robotico 20. Como se puede apreciar, un cirujano altamente cualificado puede realizar multiples operaciones en multiples localizaciones sin abandonar su consola remota, lo que puede ser tanto economicamente ventajoso como beneficioso para el paciente o serie de pacientes.
El aparato quirurgico robotico 20 del sistema quirurgico puede estar acoplado a uno o mas mangos maestros (no mostrados) acoplados localmente o remotamente al controlador 57. Los mangos pueden ser movidos por el cirujano para producir un movimiento correspondiente de los extremos de trabajo de cualquier tipo de instrumento quirurgico (por ejemplo, elementos terminales 300, pinzas, cuchillos, tijeras, etc.) que pueden complementar el uso de una o mas de las realizaciones descritas en la presente memoria. El movimiento de los mangos maestros puede ser escalado de manera que los extremos de trabajo tengan un movimiento correspondiente que sea diferente, menor o mayor, del movimiento realizado por las manos que operan del cirujano. El factor de escala o relacion de transmision puede ser ajustable para que el cirujano pueda controlar la resolucion de los extremos de trabajo del instrumento o instrumentos quirurgicos.
Los mangos maestros pueden incluir varios sensores para proporcionar retroalimentacion (por ejemplo, haptica) al cirujano en relacion a varios parametros o condiciones del tejido, por ejemplo, resistencia debida a la manipulacion, corte u otro tratamiento del tejido, presion del instrumento sobre el tejido, temperatura del tejido, impedancia del tejido, y combinaciones de los mismos. Como se puede apreciar, tales sensores proporcionan al cirujano una realimentacion tactil mejorada que simula las condiciones reales de operacion. Los mangos maestros tambien pueden incluir una variedad de accionadores diferentes para la manipulacion o el tratamiento de tejidos delicados, mejorando aun mas la capacidad del cirujano de imitar las condiciones reales de operacion.
Haciendo referencia a la fig. 1B, se muestra otra realizacion del sistema quirurgico motorizado electromecanico 10'. El sistema quirurgico electromecanico 10' incluye un aparato o dispositivo quirurgico en forma de instrumento quirurgico motorizado 100, de mano, electromecanico, que esta configurado para la fijacion selectiva al mismo de una pluralidad de diferentes elementos terminales 300, a traves del primer conjunto adaptador 200 (por ejemplo, cuerpo alargado). Tambien se puede utilizar un conjunto adaptador secundario 200' para acoplar el primer conjunto adaptador 200, que se utiliza para acoplarse al aparato quirurgico robotico 20, al instrumento quirurgico motorizado 100. El elemento terminal 300 y los conjuntos adaptadores 200 y 200' estan configurados para ser accionados y manipulados por el instrumento quirurgico 100. En particular, el instrumento quirurgico 100, los conjuntos adaptadores 200 y 200' y el elemento terminal 300 son separables entre sf de modo que el instrumento quirurgico 100 este configurado para la conexion selectiva con el primer conjunto adaptador 200 a traves del conjunto adaptador 200', y, a su vez, el primer conjunto adaptador 200 este configurado para su conexion selectiva con
5
10
15
20
25
30
35
40
45
50
55
cualquiera de una pluralidad de diferentes elementos terminales 300. El instrumento quirurgico 100 puede ser manejado directamente con el primer conjunto adaptador 200.
Se puede hacer referencia a la solicitud internacional n° PCT/US2008/077249, presentada el 22 de septiembre de 2008 (Pub. Inter. n° WO 2009/039506), y a la patente de EE.UU. n° 2011/0121049, publicada el 26 de mayo de 2011, para una descripcion detallada de la construccion y el funcionamiento de instrumentos quirurgicos motorizados 100 de mano, electromecanicos, ejemplares.
Con referencia a la Fig. 1B, el instrumento quirurgico 100 incluye una envoltura 102 de mango que incluye uno o mas controladores, una fuente de energfa y un mecanismo impulsor que tiene uno o varios motores, cajas selectoras de engranajes, mecanismos de engranajes y similares. La envoltura 102 tambien soporta un conjunto 103 de control. El conjunto 103 de control puede incluir uno o mas botones de control, dispositivos basculantes, palancas de mando u otros controles direccionales accionados por dedos, cuya entrada se transfiere al mecanismo impulsor para accionar el primer conjunto adaptador 200 y el elemento terminal 300.
La envoltura 102 define una parte 108 saliente o de conexion, configurada para aceptar un conjunto 210' de acoplamiento impulsor correspondiente del conjunto adaptador secundario 200' (fig. 5). La parte 108 de conexion aloja uno o mas conectores impulsores giratorios que interconectan con los correspondientes manguitos conectores giratorios (no mostrados) del primer conjunto adaptador 200'. El conjunto adaptador secundario 200' esta configurado para aceptar un conjunto 210 de acoplamiento impulsor correspondiente del primer conjunto adaptador 200. El conjunto adaptador 200' y el aparato quirurgico robotico 20 incluyen uno o mas conectores impulsores giratorios y/o movibles longitudinalmente que interconectan con el correspondiente manguito conector giratorio 218 (figs. 2 y 4) y el primer y segundo enlaces 220 y 222 de articulacion movibles longitudinalmente (figs. 2 y 4) del primer conjunto adaptador 200, como se describe con mas detalle a continuacion.
Con referencia a la fig. 2, se muestra el primer conjunto adaptador 200 en una configuracion no articulada. El primer conjunto adaptador 200 incluye una envoltura 202 de articulacion distal configurada para acoplarse al elemento terminal 300. La envoltura 202 de articulacion distal esta acoplada de forma pivotante a una envoltura 204 de articulacion media que, a su vez, esta acoplada de forma pivotante a una envoltura 206 de articulacion proximal. Con referencia a la fig. 3, la envoltura 204 de articulacion media puede pivotar independientemente con respecto a la envoltura 206 de articulacion proximal mediante un conjunto 212 de articulacion proximal. La envoltura 202 de articulacion distal puede pivotar con respecto a la envoltura 204 de articulacion media mediante un conjunto 208 de articulacion distal.
Cuando el primer conjunto adaptador 200 esta encajado al conjunto adaptador secundario 200' (fig. 1B), o al aparato quirurgico robotico 20, los conectores impulsores (no ilustrados) del segundo conjunto adaptador 200', o del aparato quirurgico robotico 20, se acoplan con los manguitos conectores giratorios 218 (figs. 2 y 4) y los enlaces 220 y 222 de articulacion del primer conjunto adaptador 200 (figs. 2 y 4). A este respecto, la interfaz entre los conectores impulsores (no mostrados) y el manguito conector 218 y los enlaces 220 y 222 de articulacion esta enclavada de tal manera que la rotacion y/o el movimiento de cada uno de los conectores impulsores del conjunto adaptador secundario 200', o el aparato quirurgico robotico 20, causa una rotacion y/o movimiento correspondiente del manguito conector 218 y los enlaces 220 y 222 de articulacion correspondientes del primer conjunto adaptador 200. Esto permite que las fuerzas longitudinales y/o de rotacion se transmitan independientemente a traves de cada una de las tres interfaces de conexion respectivas.
Los mecanismos impulsores del instrumento quirurgico 100 y el aparato quirurgico robotico 20 estan configurados para impulsar ejes y/o componentes de engranaje para mover selectivamente el conjunto 304 de herramienta del elemento terminal 300 con respecto a la parte proximal 302 del cuerpo del elemento terminal 300, para girar el elemento terminal 300 con respecto al primer conjunto adaptador 200 alrededor de un eje longitudinal “X-X” (fig. 3) definido por el primer conjunto adaptador 200, accionar varios componentes del conjunto 304 de herramienta, por ejemplo, para mover el conjunto 306 de yunque con respecto al conjunto 308 de cartucho del elemento terminal 300, y/o para disparar un cartucho de grapado y de corte dentro del conjunto 308 de cartucho del elemento terminal 300 (fig. 2).
La rotacion y/o el movimiento selectivos del conector o conectores impulsores del instrumento quirurgico 100 y/o el aparato quirurgico robotico 20 permiten al instrumento quirurgico 100 y/o al aparato quirurgico robotico 20 accionar selectivamente diferentes funciones del elemento terminal 300. Como se explica con mayor detalle a continuacion, la rotacion selectiva e independiente del manguito conector 218 del primer conjunto adaptador 200 corresponde a la apertura y cierre selectivos e independientes del conjunto 304 de herramienta del elemento terminal 300, y la activacion de un componente de grapado/corte del conjunto 304 de herramienta del elemento terminal 300. La rotacion del manguito conector 218 puede utilizarse para rotar el elemento terminal 300 con respecto al primer conjunto adaptador 200 alrededor del eje longitudinal “X-X”.
Con referencia a las figs. 2 y 3, el movimiento selectivo e independiente de los enlaces 220 y 222 de articulacion corresponde al accionamiento selectivo e independiente de los conjuntos 208 y 212 de articulacion distal y proximal, respectivamente. Mas espedficamente, como se muestra en la fig. 3, la envoltura 204 de articulacion media puede pivotar con respecto a la envoltura 206 de articulacion proximal alrededor de un eje de pivote “A-A” en las
5
10
15
20
25
30
35
40
45
50
55
direcciones “C1” o “C2”. La envoltura 204 de articulacion media puede ser pivotada desde una configuracion no articulada en la que los ejes longitudinales “X-X” e “Y-Y” definidos por las envolturas 206 y 204 de articulaciones proximal y media, respectivamente, estan alineados (por ejemplo, angulo cero) como se muestra en la fig. 2, hasta una configuracion articulada en la que los ejes longitudinales “X-X” e “Y-Y” estan en alineacion no paralela (por ejemplo, angulo distinto de cero) como se muestra en la fig. 3. La envoltura 204 de articulacion media puede estar articulada alrededor del eje de pivote “A-A” de aproximadamente 5° a aproximadamente 170°, aproximadamente 60°.
La envoltura 202 de articulacion distal puede pivotar con respecto a la envoltura 204 de articulacion media alrededor de un eje de pivote “B-B” en las direcciones “D1” o “D2”. La envoltura 202 de articulacion distal puede ser pivotada desde una configuracion no articulada en la que los ejes longitudinales “Y-Y” y “Z-Z” definidos por las envolturas 204 y 202 de articulaciones media y distal, respectivamente, estan alineados (por ejemplo, angulo cero) como se muestra en la fig. 2, hasta una configuracion articulada en la que los ejes longitudinales “Y-Y” y “Z-Z” estan en alineacion no paralela (por ejemplo, angulo distinto de cero), como se muestra en la fig. 3. La envoltura 202 de articulacion distal puede estar articulada alrededor del eje de pivote “B-B” de aproximadamente 5° a aproximadamente l70°, aproximadamente 90°. Los ejes de pivote “A-A” y “B-B” son transversales uno con respecto al otro, permitiendo la articulacion bidimensional del elemento terminal 300 con respecto a la envoltura 206 de articulacion proximal.
Con referencia a las figs. 5-9, se muestra el conjunto 212 de articulacion proximal para pivotar la envoltura 204 de articulacion media con respecto a la envoltura 206 de articulacion proximal. El conjunto 212 de articulacion proximal incluye el segundo enlace 222 de articulacion movible longitudinalmente dentro de la envoltura 206 de articulacion proximal. La envoltura 206 de articulacion proximal esta acoplada de forma pivotante a la envoltura 204 de articulacion media mediante una palanca 224. La palanca 224 esta acoplada de forma pivotante en un extremo a un pasador 207 de pivote dispuesto en un extremo distal de la envoltura 206 de articulacion proximal, y en otro extremo a un pasador 205 de pivote dispuesto en un extremo proximal de la envoltura 204 de articulacion media.
El segundo enlace 222 de articulacion esta tambien acoplado de forma pivotante al pasador 205 de pivote. El pasador 207 de pivote define el eje de pivote “A-A” y actua como fulcro para la palanca 224, que pivota alrededor del pasador 207 de pivote cuando el segundo enlace 222 de articulacion es movido a lo largo de una direccion longitudinal “E” (fig. 5). En particular, cuando el segundo enlace 222 de articulacion es movido en la direccion proximal, como se muestra en las figs. 5 y 7, la envoltura 204 de articulacion media es pivotada alrededor del pasador 205 de pivote junto con la palanca 224 que es pivotada alrededor del pasador 207 de pivote en sentido “C1” contrario a las agujas del reloj (fig. 3). El movimiento distal del segundo enlace 222 de articulacion, como se muestra en la fig. 6, invierte el pivotamiento de la envoltura 204 de articulacion media en el sentido “C2” de las agujas del reloj.
Con referencia a las figs. 8 y 9, cada una de las envolturas 204 de articulacion media y 206 de articulacion proximal incluye una superficie dentada 209 y 211, respectivamente. La palanca 224 mantiene las superficies dentadas 209 y 211 engranadas de forma que encajen, permitiendo que la envoltura 204 de articulacion media mantenga su posicion angular con respecto a la envoltura 206 de articulacion proximal. Las envolturas 204 y 206 de articulaciones media y proximal pueden estar interconectadas por dos palancas 224, pasadores 205 y 207 de pivote y superficies dentadas 209 y 211 correspondientes en dos lados opuestos de las mismas.
Con referencia a la fig. 10, se muestra el conjunto 208 de articulacion distal para pivotar la envoltura 202 de articulacion distal con respecto a la envoltura 204 de articulacion media. El conjunto 212 de articulacion proximal incluye el primer enlace 220 de articulacion, movible longitudinalmente dentro de las envolturas 204 y 206 de articulaciones media y proximal. La envoltura 204 de articulacion media esta acoplada de forma pivotante a la envoltura 202 de articulacion distal por medio de palancas 226a, 226b (figs. 5 y 10). Las palancas 226a, 226b estan acopladas de forma pivotante en un extremo a los pasadores 217a, 217b de pivote, respectivamente, que estan dispuestos en un extremo distal de la envoltura 204 de articulacion media, y en otro extremo a los pasadores 215a, 215b de pivote, respectivamente, que estan dispuestos en un extremo proximal de la envoltura 202 de articulacion distal.
El primer enlace 220 de articulacion esta tambien acoplado de forma pivotante al pasador 215b de pivote. Los pasadores 217a, 217b de pivote definen el eje de pivote “B-B” (figs. 3 y 5) y actuan como fulcro para las palancas 226a, 226b, que pivotan alrededor de los pasadores 217a, 217b de pivote, respectivamente, cuando el primer enlace 220 de articulacion es movido a lo largo de una direccion longitudinal “F” (fig. 10). En particular, cuando el primer enlace 220 de articulacion es movido en la direccion proximal, como se muestra en la fig. 10, la envoltura 202 de articulacion distal es pivotada alrededor de los pasadores 215a, 215b de pivote junto con las palancas 226a, 226b, que son pivotadas alrededor de los pasadores 217a, 217b de pivote en sentido contrario a las agujas del reloj “D1”. El movimiento distal del primer enlace 220 de articulacion invierte el pivotamiento de la envoltura 202 de articulacion distal en el sentido de las agujas del reloj “D2”. El primer enlace 220 de articulacion esta tambien formado de un material flexible elastico, de manera que el movimiento longitudinal del primer enlace 220 de articulacion se traslade a la envoltura 204 de articulacion media. La flexibilidad del primer enlace 220 de articulacion le permite doblarse al articularse las envolturas 202 y 204 de articulaciones distal y media.
5
10
15
20
25
30
35
40
Con referencia a las figs. 6-9, la envoltura 202 de articulacion proximal y la envoltura 204 de articulacion media incluyen cada una superficies dentadas 219a, 219b y 221a, 221b, respectivamente. Las palancas 226a, 226b mantienen las superficies dentadas 219a, 219b y 221a, 221b engranadas para que encajen, permitiendo que la envoltura 202 de articulacion proximal mantenga su posicion angular con respecto a la envoltura 206 de articulacion media.
Con referencia a las figs. 5 y 11-14, se muestra el mecanismo impulsor 330. El mecanismo impulsor 330 incluye ejes 332, 334, 336 de transmision proximal, medio y distal, que transmiten la rotacion del manguito conector giratorio 218 al elemento terminal 300. Los ejes 332, 334, 336 de transmision distal, medio y proximal estan dispuestos dentro de las envolturas proximal, media y distal 206, 204 y 202, respectivamente, y estan configurados para girar dentro de las mismas. El eje 336 de transmision proximal esta acoplado en su extremo proximal al manguito conector giratorio 218. El eje 336 de transmision proximal incluye un engranaje distal 336a en su extremo distal acoplado a un engranaje proximal 334b del eje 334 de transmision medio. El eje 334 de transmision medio incluye tambien en su extremo distal un engranaje distal 334a acoplado a un engranaje proximal 332b del eje 332 de transmision distal.
Los engranajes 332b, 334a, 334b, 336a tienen una forma sustancialmente de elipsoide tridimensional (por ejemplo, cada uno de los dientes tiene forma de elipse bidimensional) que permite que los engranajes 332b y 334a y los engranajes 334b y 336a engranen de forma que encajen entre sf mientras los ejes 332, 334, 336 de transmision son pivotados uno con respecto a otro durante la articulacion de las envolturas 202 y 204 de articulaciones distal y media. Cada uno de los engranajes puede ser un engranaje cilmdrico en forma de bola para transmitir el movimiento impulsor giratorio a traves de una primera, segunda y tercera envolturas, tales como las envolturas 202, 204, 206 de articulaciones proximal, media y distal. En particular, los engranajes 332b, 334a, 334b, 336a estan dispuestos entre las envolturas 202, 204, 206 de articulaciones distal, media y proximal, permitiendo que los engranajes 332b, 334a, 334b, 336a se acoplen a los ejes 332, 334, 336 de transmision distal, medio y proximal independientemente del pivotamiento de las envolturas 202 y 204 de articulaciones distal y media, como se muestra en las figs. 11, 13 y 1.
Con referencia a la Fig. 5, la envoltura distal 202 incluye tambien una brida 203 para acoplar selectivamente el elemento terminal 300 a la misma. El eje 332 de transmision distal tambien incluye un extremo distal 332a en llave, dimensionado y configurado para encajar con un manguito conector (no mostrado) del elemento terminal 300. Durante el funcionamiento, cuando el manguito conector 218 es girado, cada uno de los ejes 332, 334, 336 de transmision es girado a su vez a traves de los engranajes 332b, 334a, 334b, 336a, que a su vez hacen girar el extremo distal 332a en llave, accionando asf el elemento terminal 300.
Se entendera que se pueden hacer varias modificaciones a las realizaciones descritas en la presente memoria. Por ejemplo, el elemento terminal 300 no necesita aplicar grapas, sino que puede aplicar fasteneres de dos partes como se conoce en la tecnica. Ademas, la longitud de la fila lineal de grapas o fasteneres puede modificarse para satisfacer los requisitos de un procedimiento quirurgico particular. Asf, la longitud de una sola carrera del eje de accionamiento y/o la longitud de la fila lineal de grapas y/o fasteneres dentro de una unidad desechable de carga se puede variar en consecuencia.
En cualquiera de las realizaciones descritas en la presente memoria, el elemento terminal puede configurarse para conectarse con adaptadores para instrumentos de mano motorizados, accionados manualmente, o roboticos. Ademas, el elemento terminal puede incorporar instrumentos electro-quirurgicos, tales como cuchillas y/o abrazaderas que vibran de manera ultrasonica. Los ejes de transmision de potencia y los engranajes dentados elfpticos se pueden utilizar en otros tipos de instrumentos, incluyendo instrumentos para sistemas manuales, roboticos, motorizados, de mano u otros. Por lo tanto, la descripcion anterior no debe interpretarse como limitativa, sino meramente como ejemplificaciones de realizaciones preferidas. Los expertos en la tecnica imaginaran otras modificaciones dentro del alcance de las reivindicaciones adjuntas a la misma.

Claims (9)

  1. 5
    10
    15
    20
    25
    30
    35
    40
    45
    50
    REIVINDICACIONES
    1. Un adaptador de dispositivo quirurgico para acoplar un elemento terminal (300) a un dispositivo quirurgico, comprendiendo el adaptador de dispositivo quirurgico:
    una envoltura (206) de articulacion proximal que incluye un extremo proximal y un extremo distal, pudiendose acoplar la envoltura (206) de articulacion proximal en el extremo proximal del mismo al dispositivo quirurgico;
    una envoltura (204) de articulacion media que tiene un extremo proximal y un extremo distal, acoplada la envoltura (204) de articulacion media de forma pivotante en el extremo proximal de la misma al extremo distal de la envoltura (206) de articulacion proximal, pudiendo la envoltura (204) de articulacion media pivotar alrededor de un primer eje de pivote definido entre la envoltura (206) de articulacion proximal y la envoltura (204) de articulacion media; y
    una envoltura (202) de articulacion distal que tiene un extremo proximal y un extremo distal, acoplada la envoltura (202) de articulacion distal de forma pivotante en el extremo proximal de la misma al extremo distal de la envoltura (204) de articulacion media, pudiendose acoplar la envoltura (202) de articulacion distal en el extremo distal de la misma al elemento terminal (300) y pudiendo pivotar alrededor de un segundo eje de pivote definido entre la envoltura (204) de articulacion media y la envoltura (202) de articulacion distal, siendo el segundo eje de pivote transversal al primer eje de pivote.
    Dicho adaptador de dispositivo quirurgico comprende ademas:
    un mecanismo impulsor (330) que incluye una pluralidad de engranajes y que puede acoplarse al dispositivo quirurgico y al elemento terminal (300), configurado el mecanismo impulsor (330) para accionar el elemento terminal (300) en respuesta a la entrada desde el dispositivo quirurgico, en donde la pluralidad de engranajes estan dispuestos entre las envolturas de articulaciones proximal (206), media (204) y distal (202); y comprende tambien
    un primer enlace (220) de articulacion acoplado a la envoltura (204) de articulacion media, el primer enlace (220) de articulacion movible longitudinalmente en una direccion proximal para hacer pivotar la envoltura (204) de articulacion media en una primera direccion alrededor del primer eje de pivote, y en una direccion distal para hacer pivotar la envoltura (204) de articulacion media en una segunda direccion alrededor del primer eje de pivote.
  2. 2. El adaptador de dispositivo quirurgico segun la reivindicacion 1, que comprende ademas:
    un segundo enlace (222) de articulacion acoplado a la envoltura (202) de articulacion distal, el segundo enlace (222) de articulacion movible longitudinalmente en una direccion proximal para hacer pivotar la envoltura (202) de articulacion distal en una primera direccion alrededor del segundo eje de pivote, y en una direccion distal para hacer pivotar la envoltura (202) de articulacion distal en una segunda direccion alrededor del segundo eje de pivote, preferiblemente en donde el segundo enlace (222) de articulacion puede doblarse en respuesta al pivotamiento de la envoltura (204) de articulacion media.
  3. 3. El adaptador de dispositivo quirurgico segun cualquier reivindicacion precedente, en donde el mecanismo impulsor comprende:
    un eje (336) de transmision proximal dispuesto de forma giratoria dentro de la envoltura (206) de articulacion proximal, incluyendo el eje (336) de transmision proximal un manguito conector (218) dispuesto en un extremo proximal del mismo, acoplable al dispositivo quirurgico, y un primer engranaje dispuesto en un extremo distal del mismo;
    un eje (334) de transmision medio dispuesto de forma giratoria dentro de la envoltura (204) de articulacion media, incluyendo el eje (334) de transmision medio un segundo engranaje dispuesto en un extremo proximal del mismo y engranado de forma que encaje con el primer engranaje y un tercer engranaje dispuesto en un extremo distal del mismo; y
    un eje (332) de transmision distal dispuesto de forma giratoria dentro de la envoltura (202) de articulacion distal, incluyendo el eje (332) de transmision distal un cuarto engranaje dispuesto en un extremo proximal del mismo y engranado de forma que encaje con el tercer engranaje, y un extremo distal en llave, configurado para encajar con el elemento terminal (300).
  4. 4. El dispositivo quirurgico segun la reivindicacion 3, en donde los engranajes primero, segundo, tercero y cuarto tienen una forma sustancialmente elipsoide.
  5. 5. El dispositivo quirurgico segun la reivindicacion 3 o 4, en donde los ejes de transmision proximal (336), medio (334) y distal (332) pueden pivotar uno con respecto a otro.
  6. 6. El dispositivo quirurgico segun cualquiera de las reivindicaciones 3-5, en donde el eje (332) de transmision distal tiene un extremo distal en llave, configurado para encajar con el elemento terminal (300).
  7. 7. El dispositivo quirurgico segun cualquier reivindicacion precedente, en donde las envolturas de articulaciones proximal (206) y media (204) estan conectadas por al menos una primera palanca (224), y las envolturas de
    5 articulaciones media (204) y distal (202) estan conectadas por al menos una segunda palanca (226a, 226b).
  8. 8. El dispositivo quirurgico segun la reivindicacion 7, en donde la envoltura (204) de articulacion media y la envoltura (206) de articulacion proximal comprenden cada una superficies dentadas (209 y 211 respectivamente) y en donde al menos una palanca (224) mantiene las superficies dentadas (209 y 211) engranadas de forma que encajen para permitir que la envoltura (204) de articulacion media mantenga una posicion angular con respecto a la envoltura
    10 (206) de articulacion proximal.
  9. 9. El dispositivo quirurgico segun la reivindicacion 7 o la reivindicacion 8, en donde la envoltura (206) de articulacion proximal y la envoltura (204) de articulacion media incluyen cada una superficies dentadas (219a, 219b, 221a, 221b); y en donde las palancas (226a, 226b) mantienen las superficies dentadas (219a, 219b, 221a, 221b) engranadas de forma que encajen para permitir que la envoltura (206) de articulacion proximal mantenga una posicion angular con
    15 respecto a la envoltura (204) de articulacion media.
ES14192217.9T 2013-11-08 2014-11-07 Adaptador de dispositivo médico con mecanismo de articulación Active ES2616532T3 (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201314075180 2013-11-08
US14/075,180 US9295522B2 (en) 2013-11-08 2013-11-08 Medical device adapter with wrist mechanism

Publications (1)

Publication Number Publication Date
ES2616532T3 true ES2616532T3 (es) 2017-06-13

Family

ID=51862214

Family Applications (2)

Application Number Title Priority Date Filing Date
ES16178492T Active ES2864903T3 (es) 2013-11-08 2014-11-07 Adaptador para dispositivos médicos con mecanismo de muñeca
ES14192217.9T Active ES2616532T3 (es) 2013-11-08 2014-11-07 Adaptador de dispositivo médico con mecanismo de articulación

Family Applications Before (1)

Application Number Title Priority Date Filing Date
ES16178492T Active ES2864903T3 (es) 2013-11-08 2014-11-07 Adaptador para dispositivos médicos con mecanismo de muñeca

Country Status (7)

Country Link
US (3) US9295522B2 (es)
EP (2) EP3097868B1 (es)
JP (3) JP6517492B2 (es)
CN (1) CN104622528B (es)
AU (2) AU2014227482B2 (es)
CA (1) CA2865105A1 (es)
ES (2) ES2864903T3 (es)

Families Citing this family (557)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10285694B2 (en) 2001-10-20 2019-05-14 Covidien Lp Surgical stapler with timer and feedback display
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US10022123B2 (en) 2012-07-09 2018-07-17 Covidien Lp Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors
US9055943B2 (en) 2007-09-21 2015-06-16 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
US10105140B2 (en) 2009-11-20 2018-10-23 Covidien Lp Surgical console and hand-held surgical device
US11311291B2 (en) 2003-10-17 2022-04-26 Covidien Lp Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors
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
WO2006015319A2 (en) 2004-07-30 2006-02-09 Power Medical Interventions, Inc. Flexible shaft extender and method of using same
US11291443B2 (en) 2005-06-03 2022-04-05 Covidien Lp Surgical stapler with timer and feedback display
JP5043842B2 (ja) 2005-07-27 2012-10-10 タイコ ヘルスケア グループ リミテッド パートナーシップ 電気機械的手術装置用のシャフト
US7669746B2 (en) 2005-08-31 2010-03-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US9237891B2 (en) 2005-08-31 2016-01-19 Ethicon Endo-Surgery, Inc. Robotically-controlled 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
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
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
US11224427B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Surgical stapling system including a console and retraction assembly
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US20110024477A1 (en) 2009-02-06 2011-02-03 Hall Steven G Driven Surgical Stapler Improvements
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US11278279B2 (en) 2006-01-31 2022-03-22 Cilag Gmbh International Surgical instrument assembly
US20110290856A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument with force-feedback capabilities
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US8322455B2 (en) 2006-06-27 2012-12-04 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
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
US20080078802A1 (en) 2006-09-29 2008-04-03 Hess Christopher J Surgical staples and stapling instruments
US11980366B2 (en) 2006-10-03 2024-05-14 Cilag Gmbh International Surgical instrument
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
US11291441B2 (en) 2007-01-10 2022-04-05 Cilag Gmbh International Surgical instrument with wireless communication between control unit and remote sensor
US8652120B2 (en) 2007-01-10 2014-02-18 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US8701958B2 (en) 2007-01-11 2014-04-22 Ethicon Endo-Surgery, Inc. Curved end effector for a surgical stapling device
US11039836B2 (en) 2007-01-11 2021-06-22 Cilag Gmbh International Staple cartridge for use with a surgical stapling instrument
US7604151B2 (en) 2007-03-15 2009-10-20 Ethicon Endo-Surgery, Inc. Surgical stapling systems and staple cartridges for deploying surgical staples with tissue compression features
US8893946B2 (en) 2007-03-28 2014-11-25 Ethicon Endo-Surgery, Inc. Laparoscopic tissue thickness and clamp load measuring devices
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US11564682B2 (en) 2007-06-04 2023-01-31 Cilag Gmbh International Surgical stapler device
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
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
EP3097869B1 (en) 2007-09-21 2020-03-11 Covidien LP Surgical device
US8517241B2 (en) 2010-04-16 2013-08-27 Covidien Lp Hand-held surgical devices
US10779818B2 (en) 2007-10-05 2020-09-22 Covidien Lp Powered surgical stapling device
US10498269B2 (en) 2007-10-05 2019-12-03 Covidien Lp Powered surgical stapling device
RU2493788C2 (ru) 2008-02-14 2013-09-27 Этикон Эндо-Серджери, Инк. Хирургический режущий и крепежный инструмент, имеющий радиочастотные электроды
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
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US8573465B2 (en) 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US8758391B2 (en) 2008-02-14 2014-06-24 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
US8636736B2 (en) 2008-02-14 2014-01-28 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
US11272927B2 (en) 2008-02-15 2022-03-15 Cilag Gmbh International Layer arrangements for surgical staple cartridges
US9770245B2 (en) 2008-02-15 2017-09-26 Ethicon Llc Layer arrangements for surgical staple cartridges
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
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled 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
US8517239B2 (en) 2009-02-05 2013-08-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
CA2751664A1 (en) 2009-02-06 2010-08-12 Ethicon Endo-Surgery, Inc. Driven surgical stapler improvements
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
US8851354B2 (en) 2009-12-24 2014-10-07 Ethicon Endo-Surgery, Inc. Surgical cutting instrument that analyzes tissue thickness
US8220688B2 (en) 2009-12-24 2012-07-17 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument with electric actuator directional control assembly
US8783543B2 (en) 2010-07-30 2014-07-22 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
US9386988B2 (en) 2010-09-30 2016-07-12 Ethicon End-Surgery, LLC Retainer assembly including a tissue thickness compensator
US11298125B2 (en) 2010-09-30 2022-04-12 Cilag Gmbh International Tissue stapler having a thickness compensator
US8857694B2 (en) 2010-09-30 2014-10-14 Ethicon Endo-Surgery, Inc. Staple cartridge loading assembly
US9241714B2 (en) 2011-04-29 2016-01-26 Ethicon Endo-Surgery, Inc. Tissue thickness compensator and method for making the same
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US9232941B2 (en) 2010-09-30 2016-01-12 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a reservoir
US11849952B2 (en) 2010-09-30 2023-12-26 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
US9364233B2 (en) 2010-09-30 2016-06-14 Ethicon Endo-Surgery, Llc Tissue thickness compensators for circular surgical staplers
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US9272406B2 (en) 2010-09-30 2016-03-01 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a cutting member for releasing a tissue thickness compensator
US8695866B2 (en) 2010-10-01 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
US8292150B2 (en) 2010-11-02 2012-10-23 Tyco Healthcare Group Lp Adapter for powered surgical devices
US9549758B2 (en) 2011-03-23 2017-01-24 Covidien Lp Surgical access assembly with adapter
BR112013027794B1 (pt) 2011-04-29 2020-12-15 Ethicon Endo-Surgery, Inc Conjunto de cartucho de grampos
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
WO2013009887A1 (en) 2011-07-11 2013-01-17 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US9492146B2 (en) 2011-10-25 2016-11-15 Covidien Lp Apparatus for endoscopic procedures
US9480492B2 (en) 2011-10-25 2016-11-01 Covidien Lp Apparatus for endoscopic procedures
US11207089B2 (en) 2011-10-25 2021-12-28 Covidien Lp Apparatus for endoscopic procedures
US9364231B2 (en) 2011-10-27 2016-06-14 Covidien Lp System and method of using simulation reload to optimize staple formation
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
CN104334098B (zh) 2012-03-28 2017-03-22 伊西康内外科公司 包括限定低压强环境的胶囊剂的组织厚度补偿件
MX353040B (es) 2012-03-28 2017-12-18 Ethicon Endo Surgery Inc Unidad retenedora que incluye un compensador de grosor de tejido.
BR112014024102B1 (pt) 2012-03-28 2022-03-03 Ethicon Endo-Surgery, Inc Conjunto de cartucho de prendedores para um instrumento cirúrgico, e conjunto de atuador de extremidade para um instrumento cirúrgico
JP2015531608A (ja) 2012-05-01 2015-11-05 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 単孔式ロボット機器および関連システムと方法
US9868198B2 (en) 2012-06-01 2018-01-16 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical loading units, and methods of use
US10080563B2 (en) 2012-06-01 2018-09-25 Covidien Lp Loading unit detection assembly and surgical device for use therewith
US9597104B2 (en) 2012-06-01 2017-03-21 Covidien Lp Handheld surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
RU2636861C2 (ru) 2012-06-28 2017-11-28 Этикон Эндо-Серджери, Инк. Блокировка пустой кассеты с клипсами
US9204879B2 (en) 2012-06-28 2015-12-08 Ethicon Endo-Surgery, Inc. Flexible drive member
US9282974B2 (en) 2012-06-28 2016-03-15 Ethicon Endo-Surgery, Llc Empty clip cartridge lockout
US20140001234A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Coupling arrangements for attaching surgical end effectors to drive systems therefor
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
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
US10492814B2 (en) 2012-07-09 2019-12-03 Covidien Lp Apparatus for endoscopic procedures
US9839480B2 (en) 2012-07-09 2017-12-12 Covidien Lp Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors
WO2014025399A1 (en) 2012-08-08 2014-02-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9421014B2 (en) 2012-10-18 2016-08-23 Covidien Lp Loading unit velocity and position feedback
US9782187B2 (en) 2013-01-18 2017-10-10 Covidien Lp Adapter load button lockout
US10918364B2 (en) 2013-01-24 2021-02-16 Covidien Lp Intelligent adapter assembly for use with an electromechanical surgical system
US9216013B2 (en) 2013-02-18 2015-12-22 Covidien Lp Apparatus for endoscopic procedures
RU2672520C2 (ru) 2013-03-01 2018-11-15 Этикон Эндо-Серджери, Инк. Шарнирно поворачиваемые хирургические инструменты с проводящими путями для передачи сигналов
RU2669463C2 (ru) 2013-03-01 2018-10-11 Этикон Эндо-Серджери, Инк. Хирургический инструмент с мягким упором
US9492189B2 (en) 2013-03-13 2016-11-15 Covidien Lp Apparatus for endoscopic procedures
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
US10470762B2 (en) 2013-03-14 2019-11-12 Ethicon Llc Multi-function motor for a surgical instrument
US9700318B2 (en) 2013-04-09 2017-07-11 Covidien Lp Apparatus for endoscopic procedures
US9775610B2 (en) 2013-04-09 2017-10-03 Covidien Lp Apparatus for endoscopic procedures
US9649110B2 (en) 2013-04-16 2017-05-16 Ethicon Llc Surgical instrument comprising a closing drive and a firing drive operated from the same rotatable output
BR112015026109B1 (pt) 2013-04-16 2022-02-22 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
US9801646B2 (en) 2013-05-30 2017-10-31 Covidien Lp Adapter load button decoupled from loading unit sensor
US9797486B2 (en) 2013-06-20 2017-10-24 Covidien Lp Adapter direct drive with manual retraction, lockout and connection mechanisms
US9629633B2 (en) 2013-07-09 2017-04-25 Covidien Lp Surgical device, surgical adapters for use between surgical handle assembly and surgical loading units, and methods of use
CA2918531A1 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
CN106028966B (zh) 2013-08-23 2018-06-22 伊西康内外科有限责任公司 用于动力外科器械的击发构件回缩装置
US20150053737A1 (en) 2013-08-23 2015-02-26 Ethicon Endo-Surgery, Inc. End effector detection systems for surgical instruments
US9662108B2 (en) * 2013-08-30 2017-05-30 Covidien Lp Surgical stapling apparatus
US9955966B2 (en) 2013-09-17 2018-05-01 Covidien Lp Adapter direct drive with manual retraction, lockout, and connection mechanisms for improper use prevention
US9962157B2 (en) 2013-09-18 2018-05-08 Covidien Lp Apparatus and method for differentiating between tissue and mechanical obstruction in a surgical instrument
US9974540B2 (en) 2013-10-18 2018-05-22 Covidien Lp Adapter direct drive twist-lock retention mechanism
US9295522B2 (en) 2013-11-08 2016-03-29 Covidien Lp Medical device adapter with wrist mechanism
US10236616B2 (en) 2013-12-04 2019-03-19 Covidien Lp Adapter assembly for interconnecting surgical devices and surgical attachments, and surgical systems thereof
US9918713B2 (en) 2013-12-09 2018-03-20 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
ES2755485T3 (es) 2013-12-09 2020-04-22 Covidien Lp Conjunto de adaptador para la interconexión de dispositivos quirúrgicos electromecánicos y unidades de carga quirúrgica, y sistemas quirúrgicos de los mismos
US9937626B2 (en) 2013-12-11 2018-04-10 Covidien Lp Wrist and jaw assemblies for robotic surgical systems
US10220522B2 (en) 2013-12-12 2019-03-05 Covidien Lp Gear train assemblies for robotic surgical systems
US9808245B2 (en) 2013-12-13 2017-11-07 Covidien Lp Coupling assembly for interconnecting an adapter assembly and a surgical device, and surgical systems thereof
US9839424B2 (en) 2014-01-17 2017-12-12 Covidien Lp Electromechanical surgical assembly
US9962161B2 (en) 2014-02-12 2018-05-08 Ethicon Llc Deliverable surgical instrument
US10226305B2 (en) 2014-02-12 2019-03-12 Covidien Lp Surgical end effectors and pulley assemblies thereof
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
US10028761B2 (en) 2014-03-26 2018-07-24 Ethicon Llc Feedback algorithms for manual bailout systems for surgical instruments
BR112016021943B1 (pt) 2014-03-26 2022-06-14 Ethicon Endo-Surgery, Llc Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico
US9804618B2 (en) 2014-03-26 2017-10-31 Ethicon Llc Systems and methods for controlling a segmented circuit
US10004497B2 (en) 2014-03-26 2018-06-26 Ethicon Llc Interface systems for use with surgical instruments
CN106132322B (zh) 2014-03-31 2019-11-08 柯惠Lp公司 机器人手术系统的腕组件和钳夹组件
CN106456159B (zh) 2014-04-16 2019-03-08 伊西康内外科有限责任公司 紧固件仓组件和钉保持器盖布置结构
US9844369B2 (en) 2014-04-16 2017-12-19 Ethicon Llc Surgical end effectors with firing element monitoring arrangements
JP6612256B2 (ja) 2014-04-16 2019-11-27 エシコン エルエルシー 不均一な締結具を備える締結具カートリッジ
BR112016023698B1 (pt) 2014-04-16 2022-07-26 Ethicon Endo-Surgery, Llc 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
US9801627B2 (en) 2014-09-26 2017-10-31 Ethicon Llc Fastener cartridge for creating a flexible staple line
US10164466B2 (en) 2014-04-17 2018-12-25 Covidien Lp Non-contact surgical adapter electrical interface
US10080552B2 (en) 2014-04-21 2018-09-25 Covidien Lp Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US9913643B2 (en) 2014-05-09 2018-03-13 Covidien Lp Interlock assemblies for replaceable loading unit
US9713466B2 (en) 2014-05-16 2017-07-25 Covidien Lp Adaptor for surgical instrument for converting rotary input to linear output
US10163589B2 (en) 2014-06-26 2018-12-25 Covidien Lp Adapter assemblies for interconnecting surgical loading units and handle assemblies
US9839425B2 (en) 2014-06-26 2017-12-12 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US9763661B2 (en) 2014-06-26 2017-09-19 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US9987095B2 (en) 2014-06-26 2018-06-05 Covidien Lp Adapter assemblies for interconnecting electromechanical handle assemblies and surgical loading units
US10561418B2 (en) 2014-06-26 2020-02-18 Covidien Lp Adapter assemblies for interconnecting surgical loading units and handle assemblies
US11311294B2 (en) 2014-09-05 2022-04-26 Cilag Gmbh International Powered medical device including measurement of closure state of jaws
US10111679B2 (en) 2014-09-05 2018-10-30 Ethicon Llc Circuitry and sensors for powered medical device
BR112017004361B1 (pt) 2014-09-05 2023-04-11 Ethicon Llc Sistema eletrônico para um instrumento cirúrgico
US10105142B2 (en) 2014-09-18 2018-10-23 Ethicon Llc Surgical stapler with plurality of cutting elements
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
US11523821B2 (en) 2014-09-26 2022-12-13 Cilag Gmbh International Method for creating a flexible staple line
US10603128B2 (en) 2014-10-07 2020-03-31 Covidien Lp Handheld electromechanical surgical system
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
US10226254B2 (en) 2014-10-21 2019-03-12 Covidien Lp Adapter, extension, and connector assemblies for surgical devices
US10729443B2 (en) 2014-10-21 2020-08-04 Covidien Lp Adapter, extension, and connector assemblies for surgical devices
US10085750B2 (en) 2014-10-22 2018-10-02 Covidien Lp Adapter with fire rod J-hook lockout
US9949737B2 (en) 2014-10-22 2018-04-24 Covidien Lp Adapter assemblies for interconnecting surgical loading units and handle assemblies
US10517594B2 (en) 2014-10-29 2019-12-31 Ethicon Llc Cartridge assemblies for surgical staplers
US11141153B2 (en) 2014-10-29 2021-10-12 Cilag Gmbh International Staple cartridges comprising driver arrangements
US9844376B2 (en) 2014-11-06 2017-12-19 Ethicon Llc Staple cartridge comprising a releasable adjunct material
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
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
US10188385B2 (en) * 2014-12-18 2019-01-29 Ethicon Llc Surgical instrument system comprising lockable systems
US9943309B2 (en) 2014-12-18 2018-04-17 Ethicon Llc Surgical instruments with articulatable end effectors and movable firing beam support arrangements
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
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
US10111665B2 (en) 2015-02-19 2018-10-30 Covidien Lp Electromechanical surgical systems
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
US9931118B2 (en) 2015-02-27 2018-04-03 Ethicon Endo-Surgery, Llc Reinforced battery for a surgical instrument
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US9924961B2 (en) 2015-03-06 2018-03-27 Ethicon Endo-Surgery, Llc Interactive feedback system for powered surgical instruments
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
US9901342B2 (en) 2015-03-06 2018-02-27 Ethicon Endo-Surgery, Llc Signal and power communication system positioned on a rotatable shaft
US10245033B2 (en) 2015-03-06 2019-04-02 Ethicon Llc Surgical instrument comprising a lockable battery housing
US10617412B2 (en) 2015-03-06 2020-04-14 Ethicon Llc System for detecting the mis-insertion of a staple cartridge into a surgical stapler
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
US9808246B2 (en) 2015-03-06 2017-11-07 Ethicon Endo-Surgery, Llc Method of operating a powered surgical instrument
US10687806B2 (en) 2015-03-06 2020-06-23 Ethicon Llc Adaptive tissue compression techniques to adjust closure rates for multiple tissue types
US10441279B2 (en) 2015-03-06 2019-10-15 Ethicon Llc Multiple level thresholds to modify operation of powered surgical instruments
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
US10433844B2 (en) 2015-03-31 2019-10-08 Ethicon Llc Surgical instrument with selectively disengageable threaded drive systems
US11432902B2 (en) 2015-04-10 2022-09-06 Covidien Lp Surgical devices with moisture control
US10226239B2 (en) 2015-04-10 2019-03-12 Covidien Lp Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US10327779B2 (en) 2015-04-10 2019-06-25 Covidien Lp Adapter, extension, and connector assemblies for surgical devices
WO2016171947A1 (en) 2015-04-22 2016-10-27 Covidien Lp Handheld electromechanical surgical system
US11278286B2 (en) 2015-04-22 2022-03-22 Covidien Lp Handheld electromechanical surgical system
US10299789B2 (en) 2015-05-05 2019-05-28 Covidie LP Adapter assembly for surgical stapling devices
US10117650B2 (en) 2015-05-05 2018-11-06 Covidien Lp Adapter assembly and loading units for surgical stapling devices
US10751058B2 (en) 2015-07-28 2020-08-25 Covidien Lp Adapter assemblies for surgical devices
WO2017024081A1 (en) 2015-08-03 2017-02-09 Board Of Regents Of The University Of Nebraska Robotic surgical devices systems and related methods
US11058425B2 (en) 2015-08-17 2021-07-13 Ethicon Llc Implantable layers for a surgical instrument
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
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10363036B2 (en) 2015-09-23 2019-07-30 Ethicon Llc Surgical stapler having force-based motor control
US10299878B2 (en) 2015-09-25 2019-05-28 Ethicon Llc Implantable adjunct systems for determining adjunct skew
CN108024835B (zh) 2015-09-25 2021-08-31 柯惠Lp公司 机器人外科手术组件及其器械驱动连接器
US10172620B2 (en) 2015-09-30 2019-01-08 Ethicon Llc Compressible adjuncts with bonding nodes
US20170086829A1 (en) 2015-09-30 2017-03-30 Ethicon Endo-Surgery, Llc Compressible adjunct with intermediate supporting structures
US10980539B2 (en) 2015-09-30 2021-04-20 Ethicon Llc Implantable adjunct comprising bonded layers
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10371238B2 (en) 2015-10-09 2019-08-06 Covidien Lp Adapter assembly for surgical device
US10413298B2 (en) 2015-10-14 2019-09-17 Covidien Lp Adapter assembly for surgical devices
US10729435B2 (en) 2015-11-06 2020-08-04 Covidien Lp Adapter assemblies for interconnecting surgical loading units and handle assemblies
US10939952B2 (en) 2015-11-06 2021-03-09 Covidien Lp Adapter, extension, and connector assemblies for surgical devices
US10292705B2 (en) 2015-11-06 2019-05-21 Covidien Lp Surgical apparatus
US10617411B2 (en) 2015-12-01 2020-04-14 Covidien Lp Adapter assembly for surgical device
US10433841B2 (en) 2015-12-10 2019-10-08 Covidien Lp Adapter assembly for surgical device
US10253847B2 (en) 2015-12-22 2019-04-09 Covidien Lp Electromechanical surgical devices with single motor drives and adapter assemblies therfor
US10420554B2 (en) 2015-12-22 2019-09-24 Covidien Lp Personalization of powered surgical devices
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
US10265068B2 (en) 2015-12-30 2019-04-23 Ethicon Llc Surgical instruments with separable motors and motor control circuits
US10368865B2 (en) 2015-12-30 2019-08-06 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10314579B2 (en) 2016-01-07 2019-06-11 Covidien Lp Adapter assemblies for interconnecting surgical loading units and handle assemblies
US10524797B2 (en) 2016-01-13 2020-01-07 Covidien Lp Adapter assembly including a removable trocar assembly
US10660623B2 (en) 2016-01-15 2020-05-26 Covidien Lp Centering mechanism for articulation joint
US10508720B2 (en) 2016-01-21 2019-12-17 Covidien Lp Adapter assembly with planetary gear drive for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
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
US20170224332A1 (en) 2016-02-09 2017-08-10 Ethicon Endo-Surgery, Llc Surgical instruments with non-symmetrical articulation arrangements
US10398439B2 (en) 2016-02-10 2019-09-03 Covidien Lp Adapter, extension, and connector assemblies for surgical devices
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
US10258331B2 (en) 2016-02-12 2019-04-16 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10376263B2 (en) 2016-04-01 2019-08-13 Ethicon Llc Anvil modification members for surgical staplers
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
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
US10456137B2 (en) 2016-04-15 2019-10-29 Ethicon Llc Staple formation detection mechanisms
US11179150B2 (en) 2016-04-15 2021-11-23 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10335145B2 (en) 2016-04-15 2019-07-02 Ethicon Llc Modular surgical instrument with configurable operating mode
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
US10405859B2 (en) 2016-04-15 2019-09-10 Ethicon Llc Surgical instrument with adjustable stop/start control during a firing motion
US10828028B2 (en) 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10478181B2 (en) 2016-04-18 2019-11-19 Ethicon Llc Cartridge lockout arrangements for rotary powered surgical cutting and stapling instruments
US11317917B2 (en) 2016-04-18 2022-05-03 Cilag Gmbh International Surgical stapling system comprising a lockable firing assembly
US20170296173A1 (en) 2016-04-18 2017-10-19 Ethicon Endo-Surgery, Llc Method for operating a surgical instrument
US10799239B2 (en) 2016-05-09 2020-10-13 Covidien Lp Adapter assembly with pulley system and worm gear drive for interconnecting electromechanical surgical devices and surgical end effectors
US10588610B2 (en) 2016-05-10 2020-03-17 Covidien Lp Adapter assemblies for surgical devices
US10736637B2 (en) 2016-05-10 2020-08-11 Covidien Lp Brake for adapter assemblies for surgical devices
US10702302B2 (en) 2016-05-17 2020-07-07 Covidien Lp Adapter assembly including a removable trocar assembly
US10463374B2 (en) 2016-05-17 2019-11-05 Covidien Lp Adapter assembly for a flexible circular stapler
EP4353182A2 (en) 2016-05-18 2024-04-17 Virtual Incision Corporation Robotic surgical devices and systems
CN109219414B (zh) 2016-05-26 2021-11-19 柯惠Lp公司 机器人手术组合件
US10653398B2 (en) 2016-08-05 2020-05-19 Covidien Lp Adapter assemblies for surgical devices
US10736702B2 (en) * 2016-08-16 2020-08-11 Ethicon Llc Activating and rotating surgical end effectors
CN106438901B (zh) * 2016-09-01 2018-10-30 宁波天弘电力器具有限公司 一种可弯折的旋转动力机构
KR102662094B1 (ko) * 2016-09-09 2024-05-03 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 리스트 구조
US11116594B2 (en) 2016-11-08 2021-09-14 Covidien Lp Surgical systems including adapter assemblies for interconnecting electromechanical surgical devices and end effectors
US10736629B2 (en) 2016-12-21 2020-08-11 Ethicon Llc Surgical tool assemblies with clutching arrangements for shifting between closure systems with closure stroke reduction features and articulation and firing systems
US10675026B2 (en) 2016-12-21 2020-06-09 Ethicon Llc Methods of stapling tissue
US10881401B2 (en) 2016-12-21 2021-01-05 Ethicon Llc Staple firing member comprising a missing cartridge and/or spent cartridge lockout
US10426471B2 (en) 2016-12-21 2019-10-01 Ethicon Llc Surgical instrument with multiple failure response modes
US10835246B2 (en) 2016-12-21 2020-11-17 Ethicon Llc Staple cartridges and arrangements of staples and staple cavities therein
US10448950B2 (en) 2016-12-21 2019-10-22 Ethicon Llc Surgical staplers with independently actuatable closing and firing systems
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
US10856868B2 (en) 2016-12-21 2020-12-08 Ethicon Llc Firing member pin configurations
US10492785B2 (en) 2016-12-21 2019-12-03 Ethicon Llc Shaft assembly comprising a lockout
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
JP6983893B2 (ja) 2016-12-21 2021-12-17 エシコン エルエルシーEthicon LLC 外科用エンドエフェクタ及び交換式ツールアセンブリのためのロックアウト構成
US10695055B2 (en) 2016-12-21 2020-06-30 Ethicon Llc Firing assembly comprising a lockout
US11134942B2 (en) 2016-12-21 2021-10-05 Cilag Gmbh International Surgical stapling instruments and staple-forming anvils
US20180168625A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling instruments with smart staple cartridges
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
US11191540B2 (en) 2016-12-21 2021-12-07 Cilag Gmbh International Protective cover arrangements for a joint interface between a movable jaw and actuator shaft of a surgical instrument
US10682138B2 (en) 2016-12-21 2020-06-16 Ethicon Llc Bilaterally asymmetric staple forming pocket pairs
MX2019007299A (es) * 2016-12-21 2019-10-15 Ethicon Llc Método para acoplar una unidad de vástago a un instrumento quirúrgico y, alternativamente, a un robot quirúrgico.
MX2019007311A (es) 2016-12-21 2019-11-18 Ethicon Llc Sistemas de engrapado quirurgico.
US10639035B2 (en) * 2016-12-21 2020-05-05 Ethicon Llc Surgical stapling instruments and replaceable tool assemblies thereof
US10631945B2 (en) 2017-02-28 2020-04-28 Covidien Lp Autoclavable load sensing device
US11272929B2 (en) 2017-03-03 2022-03-15 Covidien Lp Dynamically matching input and output shaft speeds of articulating adapter assemblies for surgical instruments
US10299790B2 (en) 2017-03-03 2019-05-28 Covidien Lp Adapter with centering mechanism for articulation joint
US10660641B2 (en) 2017-03-16 2020-05-26 Covidien Lp Adapter with centering mechanism for articulation joint
US10603035B2 (en) 2017-05-02 2020-03-31 Covidien Lp Surgical loading unit including an articulating end effector
US11324502B2 (en) 2017-05-02 2022-05-10 Covidien Lp Surgical loading unit including an articulating end effector
US10390858B2 (en) 2017-05-02 2019-08-27 Covidien Lp Powered surgical device with speed and current derivative motor shut off
US11311295B2 (en) 2017-05-15 2022-04-26 Covidien Lp Adaptive powered stapling algorithm with calibration factor
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
US10368864B2 (en) 2017-06-20 2019-08-06 Ethicon Llc Systems and methods for controlling displaying motor velocity for a surgical instrument
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity 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
US10881396B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Surgical instrument with variable duration trigger arrangement
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
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
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
US10624633B2 (en) 2017-06-20 2020-04-21 Ethicon Llc Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument
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
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
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
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
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
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
US10646220B2 (en) 2017-06-20 2020-05-12 Ethicon Llc Systems and methods for controlling displacement member velocity for a surgical instrument
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
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
US11324503B2 (en) 2017-06-27 2022-05-10 Cilag Gmbh International Surgical firing member arrangements
US10856869B2 (en) 2017-06-27 2020-12-08 Ethicon Llc Surgical anvil arrangements
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
US11141154B2 (en) 2017-06-27 2021-10-12 Cilag Gmbh International Surgical end effectors and anvils
US10772629B2 (en) 2017-06-27 2020-09-15 Ethicon Llc Surgical anvil arrangements
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
JP7150765B2 (ja) * 2017-06-28 2022-10-11 エシコン エルエルシー 関節運動システムの比率を含む外科用器具
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
USD851762S1 (en) 2017-06-28 2019-06-18 Ethicon Llc Anvil
USD869655S1 (en) 2017-06-28 2019-12-10 Ethicon Llc Surgical fastener cartridge
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
US11246592B2 (en) 2017-06-28 2022-02-15 Cilag Gmbh International Surgical instrument comprising an articulation system lockable to a frame
US10211586B2 (en) 2017-06-28 2019-02-19 Ethicon Llc Surgical shaft assemblies with watertight housings
US11058424B2 (en) 2017-06-28 2021-07-13 Cilag Gmbh International Surgical instrument comprising an offset articulation joint
USD854151S1 (en) 2017-06-28 2019-07-16 Ethicon Llc Surgical instrument shaft
EP3420947B1 (en) 2017-06-28 2022-05-25 Cilag GmbH International Surgical instrument comprising selectively actuatable rotatable couplers
US10716614B2 (en) 2017-06-28 2020-07-21 Ethicon Llc Surgical shaft assemblies with slip ring assemblies with increased contact pressure
US11259805B2 (en) 2017-06-28 2022-03-01 Cilag Gmbh International Surgical instrument comprising firing member supports
US11478242B2 (en) 2017-06-28 2022-10-25 Cilag Gmbh International Jaw retainer arrangement for retaining a pivotable surgical instrument jaw in pivotable retaining engagement with a second surgical instrument jaw
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
US10258418B2 (en) 2017-06-29 2019-04-16 Ethicon Llc System for controlling articulation forces
US10398434B2 (en) 2017-06-29 2019-09-03 Ethicon Llc Closed loop velocity control of closure member for robotic surgical instrument
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
CN107320188B (zh) * 2017-07-31 2021-03-30 成都博恩思医学机器人有限公司 一种用于微创手术机器人的手术器械及微创手术机器人
US11974742B2 (en) 2017-08-03 2024-05-07 Cilag Gmbh International Surgical system comprising an articulation bailout
US11304695B2 (en) 2017-08-03 2022-04-19 Cilag Gmbh International Surgical system shaft interconnection
US11471155B2 (en) 2017-08-03 2022-10-18 Cilag Gmbh International Surgical system bailout
US11944300B2 (en) 2017-08-03 2024-04-02 Cilag Gmbh International Method for operating a surgical system bailout
US11406441B2 (en) * 2017-08-16 2022-08-09 Covidien Lp End effector including wrist assembly and monopolar tool for robotic surgical systems
US10772700B2 (en) 2017-08-23 2020-09-15 Covidien Lp Contactless loading unit detection
NZ735256A (en) * 2017-09-05 2018-06-29 Railblaza Ltd An extender for holding accessories
WO2019050878A2 (en) 2017-09-06 2019-03-14 Covidien Lp SCALE OF LIMITS OF SURGICAL ROBOTS
EP3687370A4 (en) 2017-09-27 2021-06-30 Virtual Incision Corporation ROBOTIC SURGICAL DEVICES WITH TRACK CAMERA TECHNOLOGY AND RELATED SYSTEMS AND PROCEDURES
USD907647S1 (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
US10729501B2 (en) 2017-09-29 2020-08-04 Ethicon Llc Systems and methods for language selection of a surgical instrument
USD907648S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US11399829B2 (en) 2017-09-29 2022-08-02 Cilag Gmbh International Systems and methods of initiating a power shutdown mode for a surgical instrument
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
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
US10687813B2 (en) 2017-12-15 2020-06-23 Ethicon Llc Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments
US10743875B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member
US10743874B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Sealed adapters for use with electromechanical surgical instruments
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
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
US11071543B2 (en) 2017-12-15 2021-07-27 Cilag Gmbh International Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges
US10869666B2 (en) 2017-12-15 2020-12-22 Ethicon Llc Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument
US11033267B2 (en) 2017-12-15 2021-06-15 Ethicon Llc Systems and methods of controlling a clamping member firing rate of a surgical instrument
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
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
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
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
US10729509B2 (en) 2017-12-19 2020-08-04 Ethicon Llc Surgical instrument comprising closure and firing locking mechanism
US11045270B2 (en) 2017-12-19 2021-06-29 Cilag Gmbh International Robotic attachment comprising exterior drive actuator
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
US11020112B2 (en) 2017-12-19 2021-06-01 Ethicon Llc Surgical tools configured for interchangeable use with different controller interfaces
USD910847S1 (en) 2017-12-19 2021-02-16 Ethicon Llc Surgical instrument assembly
US10716565B2 (en) 2017-12-19 2020-07-21 Ethicon Llc Surgical instruments with dual articulation drivers
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
US11129680B2 (en) 2017-12-21 2021-09-28 Cilag Gmbh International Surgical instrument comprising a projector
US10743868B2 (en) 2017-12-21 2020-08-18 Ethicon Llc Surgical instrument comprising a pivotable distal head
US11311290B2 (en) 2017-12-21 2022-04-26 Cilag Gmbh International Surgical instrument comprising an end effector dampener
JP6770206B2 (ja) 2017-12-29 2020-10-14 ザ ボード オブ リージェンツ オブ ザ ユニバーシティー オブ テキサス システム エンドエフェクタおよびエンドエフェクタドライブ装置
WO2019136041A1 (en) 2018-01-04 2019-07-11 Covidien Lp Robotic surgical instrument including high articulation wrist assembly with torque transmission and mechanical manipulation
CN117140580A (zh) 2018-01-05 2023-12-01 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
KR102498764B1 (ko) 2018-04-09 2023-02-13 콘메드 코포레이션 말단에 위치된 액추에이터와 함께 작동되는 펜슬-그립 와이어 드라이버
CN108852440B (zh) * 2018-04-10 2019-07-30 中国人民解放军陆军军医大学第二附属医院 用于单孔腔镜的可弯曲的切割闭合器
US11160556B2 (en) 2018-04-23 2021-11-02 Covidien Lp Threaded trocar for adapter assemblies
US11534172B2 (en) 2018-05-07 2022-12-27 Covidien Lp Electromechanical surgical stapler including trocar assembly release mechanism
US11399839B2 (en) 2018-05-07 2022-08-02 Covidien Lp Surgical devices including trocar lock and trocar connection indicator
US11896230B2 (en) 2018-05-07 2024-02-13 Covidien Lp Handheld electromechanical surgical device including load sensor having spherical ball pivots
US20190388091A1 (en) 2018-06-21 2019-12-26 Covidien Lp Powered surgical devices including strain gauges incorporated into flex circuits
CN108742733A (zh) * 2018-06-29 2018-11-06 哈尔滨理工大学 新型可收缩式微创手术操作臂
US11241233B2 (en) 2018-07-10 2022-02-08 Covidien Lp Apparatus for ensuring strain gauge accuracy in medical reusable device
US11596496B2 (en) 2018-08-13 2023-03-07 Covidien Lp Surgical devices with moisture control
US11076858B2 (en) 2018-08-14 2021-08-03 Covidien Lp Single use electronics for surgical devices
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
US10912559B2 (en) 2018-08-20 2021-02-09 Ethicon Llc Reinforced deformable anvil tip for surgical stapler anvil
US11253256B2 (en) 2018-08-20 2022-02-22 Cilag Gmbh International Articulatable motor powered surgical instruments with dedicated articulation motor arrangements
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
US11324501B2 (en) 2018-08-20 2022-05-10 Cilag Gmbh International Surgical stapling devices with improved closure members
US11045192B2 (en) 2018-08-20 2021-06-29 Cilag Gmbh International Fabricating techniques for surgical stapler anvils
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
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
USD914878S1 (en) 2018-08-20 2021-03-30 Ethicon Llc Surgical instrument anvil
US11039834B2 (en) 2018-08-20 2021-06-22 Cilag Gmbh International Surgical stapler anvils with staple directing protrusions and tissue stability features
US10856870B2 (en) 2018-08-20 2020-12-08 Ethicon Llc Switching arrangements for motor powered articulatable surgical instruments
AU2019344528B2 (en) * 2018-09-17 2021-09-23 Covidien Lp Highly articulated laparoscopic joint including electrical signal transmission therethrough
US11510669B2 (en) 2020-09-29 2022-11-29 Covidien Lp Hand-held surgical instruments
US11717276B2 (en) 2018-10-30 2023-08-08 Covidien Lp Surgical devices including adapters and seals
CN109464192B (zh) * 2018-12-29 2023-11-14 黄振宇 一种三维控弯的机械臂
US11903658B2 (en) 2019-01-07 2024-02-20 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
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
US11241228B2 (en) 2019-04-05 2022-02-08 Covidien Lp Surgical instrument including an adapter assembly and an articulating surgical loading unit
US11369378B2 (en) 2019-04-18 2022-06-28 Covidien Lp Surgical instrument including an adapter assembly and an articulating surgical loading unit
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US11432816B2 (en) 2019-04-30 2022-09-06 Cilag Gmbh International Articulation pin for a surgical instrument
US11253254B2 (en) 2019-04-30 2022-02-22 Cilag Gmbh International Shaft rotation actuator on a surgical instrument
US11648009B2 (en) 2019-04-30 2023-05-16 Cilag Gmbh International Rotatable jaw tip for a surgical instrument
US11471157B2 (en) 2019-04-30 2022-10-18 Cilag Gmbh International Articulation control mapping for a surgical instrument
US11123101B2 (en) 2019-07-05 2021-09-21 Covidien Lp Retaining mechanisms for trocar assemblies
US11446035B2 (en) 2019-06-24 2022-09-20 Covidien Lp Retaining mechanisms for trocar assemblies
US11464541B2 (en) 2019-06-24 2022-10-11 Covidien Lp Retaining mechanisms for trocar assembly
US11058429B2 (en) 2019-06-24 2021-07-13 Covidien Lp Load sensing assemblies and methods of manufacturing load sensing assemblies
US11426168B2 (en) 2019-07-05 2022-08-30 Covidien Lp Trocar coupling assemblies for a surgical stapler
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
US11051807B2 (en) 2019-06-28 2021-07-06 Cilag Gmbh International Packaging assembly including a particulate trap
US11399837B2 (en) 2019-06-28 2022-08-02 Cilag Gmbh International Mechanisms for motor control adjustments of a motorized surgical instrument
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11246678B2 (en) 2019-06-28 2022-02-15 Cilag Gmbh International Surgical stapling system having a frangible RFID tag
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
US11219455B2 (en) 2019-06-28 2022-01-11 Cilag Gmbh International Surgical instrument including a lockout key
US11298132B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Inlernational Staple cartridge including a honeycomb extension
US11350938B2 (en) 2019-06-28 2022-06-07 Cilag Gmbh International Surgical instrument comprising an aligned rfid sensor
US11291451B2 (en) 2019-06-28 2022-04-05 Cilag Gmbh International Surgical instrument with battery compatibility verification functionality
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11224497B2 (en) 2019-06-28 2022-01-18 Cilag Gmbh International Surgical systems with multiple RFID tags
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
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
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
US11298127B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Interational Surgical stapling system having a lockout mechanism for an incompatible cartridge
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US11076850B2 (en) 2019-11-26 2021-08-03 Covidien Lp Surgical instrument including an adapter assembly and an articulating surgical loading unit
US11737747B2 (en) 2019-12-17 2023-08-29 Covidien Lp Hand-held surgical instruments
US11291446B2 (en) 2019-12-18 2022-04-05 Covidien Lp Surgical instrument including an adapter assembly and an articulating surgical loading unit
US11931033B2 (en) 2019-12-19 2024-03-19 Cilag Gmbh International Staple cartridge comprising a latch lockout
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
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
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
US11304696B2 (en) 2019-12-19 2022-04-19 Cilag Gmbh International Surgical instrument comprising a powered articulation system
US11291447B2 (en) 2019-12-19 2022-04-05 Cilag Gmbh International Stapling instrument comprising independent jaw closing and staple firing systems
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
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
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
US11234698B2 (en) 2019-12-19 2022-02-01 Cilag Gmbh International Stapling system comprising a clamp lockout and a firing lockout
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11583275B2 (en) 2019-12-27 2023-02-21 Covidien Lp Surgical instruments including sensor assembly
US11504117B2 (en) 2020-04-02 2022-11-22 Covidien Lp Hand-held surgical instruments
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
USD966512S1 (en) 2020-06-02 2022-10-11 Cilag Gmbh International Staple cartridge
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
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
US11737748B2 (en) 2020-07-28 2023-08-29 Cilag Gmbh International Surgical instruments with double spherical articulation joints with pivotable links
CN114483808A (zh) * 2020-11-13 2022-05-13 北京术锐技术有限公司 连接适配器、机械臂组件和手术机器人系统
US11660091B2 (en) 2020-09-08 2023-05-30 Covidien Lp Surgical device with seal assembly
US11571192B2 (en) 2020-09-25 2023-02-07 Covidien Lp Adapter assembly for surgical devices
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
USD980425S1 (en) 2020-10-29 2023-03-07 Cilag Gmbh International Surgical instrument assembly
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
US11452526B2 (en) 2020-10-29 2022-09-27 Cilag Gmbh International Surgical instrument comprising a staged voltage regulation start-up system
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
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
US11678882B2 (en) 2020-12-02 2023-06-20 Cilag Gmbh International Surgical instruments with interactive features to remedy incidental sled movements
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US11944296B2 (en) 2020-12-02 2024-04-02 Cilag Gmbh International Powered surgical instruments with external connectors
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
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
CN112754564B (zh) * 2021-01-18 2022-07-19 常州安康医疗器械有限公司 一种便于调节夹持角度的微创腔镜吻合器
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
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
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US11950777B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Staple cartridge comprising an information access control system
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11950779B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11980362B2 (en) 2021-02-26 2024-05-14 Cilag Gmbh International Surgical instrument system comprising a power transfer coil
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
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
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11737749B2 (en) 2021-03-22 2023-08-29 Cilag Gmbh International Surgical stapling instrument comprising a retraction system
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
US11786239B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Surgical instrument articulation joint arrangements comprising multiple moving linkage features
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
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
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US11896218B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Method of using a powered stapling device
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
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
CN113100949B (zh) * 2021-04-16 2022-03-29 天津大学医疗机器人与智能系统研究院 手术机器人用前端执行装置
US20220378426A1 (en) 2021-05-28 2022-12-01 Cilag Gmbh International Stapling instrument comprising a mounted shaft orientation sensor
US11786248B2 (en) 2021-07-09 2023-10-17 Covidien Lp Surgical stapling device including a buttress retention assembly
US11819209B2 (en) 2021-08-03 2023-11-21 Covidien Lp Hand-held surgical instruments
US11862884B2 (en) 2021-08-16 2024-01-02 Covidien Lp Surgical instrument with electrical connection
US11877745B2 (en) 2021-10-18 2024-01-23 Cilag Gmbh International Surgical stapling assembly having longitudinally-repeating staple leg clusters
US11980363B2 (en) 2021-10-18 2024-05-14 Cilag Gmbh International Row-to-row staple array variations
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

Family Cites Families (399)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US562173A (en) 1896-06-16 Ligature-receptacle
US942545A (en) * 1909-03-31 1909-12-07 Paul Colidge Adjusting device for supports.
GB202406A (en) 1922-05-18 1923-08-20 Antonio Costa Huguet Improvements in or relating to lathes and like machines
US2777340A (en) 1955-09-28 1957-01-15 Leonard J Hettwer Offset drilling attachment
US2957353A (en) 1958-08-26 1960-10-25 Teleflex Inc Connector
US3111328A (en) 1961-07-03 1963-11-19 Rito Vincent L J Di Multiuse adapter for manipulators
US3734515A (en) 1971-01-29 1973-05-22 Thor Power Tool Co Power wrench with interchangeable adapters
US3695058A (en) 1971-05-26 1972-10-03 Marvin W Keith Jr Flexible link rotatable drive coupling
US3759336A (en) 1972-01-21 1973-09-18 D Marcovitz Interchangeable power operated tools
US4162399A (en) 1977-09-16 1979-07-24 Bei Electronics, Inc. Optical encoder with fiber optics
US4606343A (en) 1980-08-18 1986-08-19 United States Surgical Corporation Self-powered surgical fastening instrument
US4705038A (en) 1985-01-23 1987-11-10 Dyonics, Inc. Surgical system for powered instruments
US4722685A (en) 1985-05-30 1988-02-02 Estrada Juan M De Tool for adapting a portable lathe to treat the back molar teeth of horses
US4823807A (en) 1988-02-11 1989-04-25 Board Of Regents, Univ. Of Texas System Device for non-invasive diagnosis and monitoring of articular and periarticular pathology
US4874181A (en) 1988-05-31 1989-10-17 Hsu Shing Wang Coupling member for securing a drilling head to the rotatable rod of a pneumatic tool body
US5301061A (en) 1989-07-27 1994-04-05 Olympus Optical Co., Ltd. Endoscope system
US5152744A (en) 1990-02-07 1992-10-06 Smith & Nephew Dyonics Surgical instrument
JP3034019B2 (ja) 1990-11-26 2000-04-17 旭光学工業株式会社 内視鏡の先端部
US5129570A (en) 1990-11-30 1992-07-14 Ethicon, Inc. Surgical stapler
US5413267A (en) 1991-05-14 1995-05-09 United States Surgical Corporation Surgical stapler with spent cartridge sensing and lockout means
US5129118A (en) 1991-07-29 1992-07-14 Walmesley Mark W Accessory tool apparatus for use on power drills
US5326013A (en) 1991-10-18 1994-07-05 United States Surgical Corporation Self contained gas powered surgical apparatus
US5312023A (en) 1991-10-18 1994-05-17 United States Surgical Corporation Self contained gas powered surgical apparatus
US5478003A (en) 1991-10-18 1995-12-26 United States Surgical Corporation Surgical apparatus
US5197649A (en) 1991-10-29 1993-03-30 The Trustees Of Columbia University In The City Of New York Gastrointestinal endoscoptic stapler
US5383874A (en) 1991-11-08 1995-01-24 Ep Technologies, Inc. Systems for identifying catheters and monitoring their use
US5383880A (en) 1992-01-17 1995-01-24 Ethicon, Inc. Endoscopic surgical system with sensing means
US5433721A (en) 1992-01-17 1995-07-18 Ethicon, Inc. Endoscopic instrument having a torsionally stiff drive shaft for applying fasteners to tissue
US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical method
US5350355A (en) 1992-02-14 1994-09-27 Automated Medical Instruments, Inc. Automated surgical instrument
US5389098A (en) 1992-05-19 1995-02-14 Olympus Optical Co., Ltd. Surgical device for stapling and/or fastening body tissues
US5658300A (en) 1992-06-04 1997-08-19 Olympus Optical Co., Ltd. Tissue fixing surgical instrument, tissue-fixing device, and method of fixing tissues
US5609560A (en) 1992-08-19 1997-03-11 Olympus Optical Co., Ltd. Medical operation device control system for controlling a operation devices accessed respectively by ID codes
US5601224A (en) 1992-10-09 1997-02-11 Ethicon, Inc. Surgical instrument
US5626587A (en) 1992-10-09 1997-05-06 Ethicon Endo-Surgery, Inc. Method for operating a surgical instrument
US5400267A (en) 1992-12-08 1995-03-21 Hemostatix Corporation Local in-device memory feature for electrically powered medical equipment
US5540706A (en) 1993-01-25 1996-07-30 Aust; Gilbert M. Surgical instrument
US5540375A (en) 1993-04-20 1996-07-30 United States Surgical Corporation Endoscopic stapler
US5467911A (en) 1993-04-27 1995-11-21 Olympus Optical Co., Ltd. Surgical device for stapling and fastening body tissues
CA2124109A1 (en) 1993-05-24 1994-11-25 Mark T. Byrne Endoscopic surgical instrument with electromagnetic sensor
US5542594A (en) 1993-10-06 1996-08-06 United States Surgical Corporation Surgical stapling apparatus with biocompatible surgical fabric
US5487499A (en) 1993-10-08 1996-01-30 United States Surgical Corporation Surgical apparatus for applying surgical fasteners including a counter
US5476379A (en) 1993-11-04 1995-12-19 Disel; Jimmy D. Illumination system and connector assembly for a dental handpiece
AU1558995A (en) 1994-01-04 1995-08-01 Alpha Surgical Technologies, Inc. Stapling device
US6165169A (en) 1994-03-04 2000-12-26 Ep Technologies, Inc. Systems and methods for identifying the physical, mechanical, and functional attributes of multiple electrode arrays
US5526822A (en) 1994-03-24 1996-06-18 Biopsys Medical, Inc. Method and apparatus for automated biopsy and collection of soft tissue
CA2145723A1 (en) 1994-03-30 1995-10-01 Steven W. Hamblin Surgical stapling instrument with remotely articulated stapling head assembly on rotatable support shaft
US5529235A (en) 1994-04-28 1996-06-25 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
US5553675A (en) 1994-06-10 1996-09-10 Minnesota Mining And Manufacturing Company Orthopedic surgical device
US5779130A (en) 1994-08-05 1998-07-14 United States Surgical Corporation Self-contained powered surgical apparatus
EP0699418A1 (en) 1994-08-05 1996-03-06 United States Surgical Corporation Self-contained powered surgical apparatus
EP0705571A1 (en) 1994-10-07 1996-04-10 United States Surgical Corporation Self-contained powered surgical apparatus
US5549637A (en) 1994-11-10 1996-08-27 Crainich; Lawrence Articulated medical instrument
US5868760A (en) 1994-12-07 1999-02-09 Mcguckin, Jr.; James F. Method and apparatus for endolumenally resectioning tissue
US5632432A (en) 1994-12-19 1997-05-27 Ethicon Endo-Surgery, Inc. Surgical instrument
US5704534A (en) 1994-12-19 1998-01-06 Ethicon Endo-Surgery, Inc. Articulation assembly for surgical instruments
US5713505A (en) 1996-05-13 1998-02-03 Ethicon Endo-Surgery, Inc. Articulation transmission mechanism for surgical instruments
US6321855B1 (en) 1994-12-29 2001-11-27 George Edward Barnes Anti-vibration adaptor
US5649956A (en) 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
US5782396A (en) 1995-08-28 1998-07-21 United States Surgical Corporation Surgical stapler
US5762256A (en) 1995-08-28 1998-06-09 United States Surgical Corporation Surgical stapler
US6032849A (en) 1995-08-28 2000-03-07 United States Surgical Surgical stapler
BR9607702A (pt) 1995-09-15 1998-01-13 Robert Lee Thompson Dispositivo cirurgico/diagnóstico de imagem
US7141049B2 (en) 1999-03-09 2006-11-28 Thermage, Inc. Handpiece for treatment of tissue
US5820009A (en) 1996-02-20 1998-10-13 Richard-Allan Medical Industries, Inc. Articulated surgical instrument with improved jaw closure mechanism
US6010054A (en) 1996-02-20 2000-01-04 Imagyn Medical Technologies Linear stapling instrument with improved staple cartridge
US6699177B1 (en) 1996-02-20 2004-03-02 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5807377A (en) 1996-05-20 1998-09-15 Intuitive Surgical, Inc. Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity
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
US6119913A (en) 1996-06-14 2000-09-19 Boston Scientific Corporation Endoscopic stapler
US6017354A (en) 1996-08-15 2000-01-25 Stryker Corporation Integrated system for powered surgical tools
US6364888B1 (en) 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
US6132441A (en) 1996-11-22 2000-10-17 Computer Motion, Inc. Rigidly-linked articulating wrist with decoupled motion transmission
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6129547A (en) 1997-05-06 2000-10-10 Ballard Medical Products Oral care system
WO1999007441A1 (en) 1997-08-11 1999-02-18 Mayer Paul W Motorized motion-canceling suture tool holder
US6434507B1 (en) 1997-09-05 2002-08-13 Surgical Navigation Technologies, Inc. Medical instrument and method for use with computer-assisted image guided surgery
EP2362286B1 (en) 1997-09-19 2015-09-02 Massachusetts Institute Of Technology Robotic apparatus
US5865361A (en) 1997-09-23 1999-02-02 United States Surgical Corporation Surgical stapling apparatus
US6460718B1 (en) 1997-10-28 2002-10-08 Gateway Plastics Incorporated Container with a threaded cap having a stepped sealing ring with a plurality of narrow sealing surfaces
US5863159A (en) 1997-12-12 1999-01-26 Lasko; Leonard J. Drill angle attachment coupling
EP1056388B1 (en) 1998-02-19 2004-12-22 California Institute Of Technology Apparatus for providing spherical viewing during endoscopic procedures
US7090683B2 (en) 1998-02-24 2006-08-15 Hansen Medical, Inc. Flexible instrument
US7297142B2 (en) 1998-02-24 2007-11-20 Hansen Medical, Inc. Interchangeable surgical instrument
US7775972B2 (en) 1998-02-24 2010-08-17 Hansen Medical, Inc. Flexible instrument
US7758569B2 (en) 1998-02-24 2010-07-20 Hansen Medical, Inc. Interchangeable surgical instrument
US7169141B2 (en) 1998-02-24 2007-01-30 Hansen Medical, Inc. Surgical instrument
US7789875B2 (en) 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
US6554844B2 (en) * 1998-02-24 2003-04-29 Endovia Medical, Inc. Surgical instrument
US6239732B1 (en) 1998-04-13 2001-05-29 Dallas Semiconductor Corporation One-wire device with A-to-D converter
US6126058A (en) 1998-06-19 2000-10-03 Scimed Life Systems, Inc. Method and device for full thickness resectioning of an organ
US6256859B1 (en) 1998-09-25 2001-07-10 Sherwood Services Ag Method of manufacturing an aspiring tool
US5993454A (en) 1998-09-29 1999-11-30 Stryker Corporation Drill attachment for a surgical drill
US7238021B1 (en) 1998-12-03 2007-07-03 Johnson Gary E Powered cutting surface with protective guard for equine teeth
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
DE60029234T2 (de) 1999-05-10 2007-05-31 Hansen Medical, Inc., Mountain View Chirurgisches Instrument
US6860892B1 (en) 1999-05-28 2005-03-01 General Surgical Innovations, Inc. Specially shaped balloon device for use in surgery and method of use
US8241322B2 (en) 2005-07-27 2012-08-14 Tyco Healthcare Group Lp Surgical device
US7032798B2 (en) 1999-06-02 2006-04-25 Power Medical Interventions, Inc. Electro-mechanical surgical device
US8025199B2 (en) 2004-02-23 2011-09-27 Tyco Healthcare Group Lp Surgical cutting and stapling device
US6315184B1 (en) 1999-06-02 2001-11-13 Powermed, Inc. Stapling device for use with an electromechanical driver device for use with anastomosing, stapling, and resecting instruments
US6264087B1 (en) 1999-07-12 2001-07-24 Powermed, Inc. Expanding parallel jaw device for use with an electromechanical driver device
US6793652B1 (en) 1999-06-02 2004-09-21 Power Medical Interventions, Inc. Electro-mechanical surgical device
US7951071B2 (en) 1999-06-02 2011-05-31 Tyco Healthcare Group Lp Moisture-detecting shaft for use with an electro-mechanical surgical device
US6491201B1 (en) 2000-02-22 2002-12-10 Power Medical Interventions, Inc. Fluid delivery mechanism for use with anastomosing, stapling, and resecting instruments
US6981941B2 (en) 1999-06-02 2006-01-03 Power Medical Interventions Electro-mechanical surgical device
US6443973B1 (en) 1999-06-02 2002-09-03 Power Medical Interventions, Inc. Electromechanical driver device for use with anastomosing, stapling, and resecting instruments
US6716233B1 (en) 1999-06-02 2004-04-06 Power Medical Interventions, Inc. Electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
US6422411B1 (en) 1999-07-09 2002-07-23 J. L. Clark, Inc. Tamper resistant closure overcap for metal spice can
US6451007B1 (en) 1999-07-29 2002-09-17 Dale E. Koop Thermal quenching of tissue
US6611793B1 (en) 1999-09-07 2003-08-26 Scimed Life Systems, Inc. Systems and methods to identify and disable re-use single use devices based on detecting environmental changes
US8004229B2 (en) 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US6368324B1 (en) 1999-09-24 2002-04-09 Medtronic Xomed, Inc. Powered surgical handpiece assemblies and handpiece adapter assemblies
US6533157B1 (en) 2000-02-22 2003-03-18 Power Medical Interventions, Inc. Tissue stapling attachment for use with an electromechanical driver device
US6488197B1 (en) 2000-02-22 2002-12-03 Power Medical Interventions, Inc. Fluid delivery device for use with anastomosing resecting and stapling instruments
US6348061B1 (en) 2000-02-22 2002-02-19 Powermed, Inc. Vessel and lumen expander attachment for use with an electromechanical driver device
US8016855B2 (en) 2002-01-08 2011-09-13 Tyco Healthcare Group Lp Surgical device
US7770773B2 (en) 2005-07-27 2010-08-10 Power Medical Interventions, Llc Surgical device
JP3897962B2 (ja) 2000-07-19 2007-03-28 株式会社モリタ製作所 識別型のインスツルメント体、識別型のアダプタ、識別型のチューブ、これらを用いた診療装置
US6902560B1 (en) 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
US6746443B1 (en) 2000-07-27 2004-06-08 Intuitive Surgical Inc. Roll-pitch-roll surgical tool
US6830174B2 (en) 2000-08-30 2004-12-14 Cerebral Vascular Applications, Inc. Medical instrument
US6817508B1 (en) 2000-10-13 2004-11-16 Tyco Healthcare Group, Lp Surgical stapling device
US6716226B2 (en) 2001-06-25 2004-04-06 Inscope Development, Llc Surgical clip
US20050004559A1 (en) 2003-06-03 2005-01-06 Senorx, Inc. Universal medical device control console
US20030135204A1 (en) 2001-02-15 2003-07-17 Endo Via Medical, Inc. Robotically controlled medical instrument with a flexible section
US7699835B2 (en) 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
US7905897B2 (en) 2001-03-14 2011-03-15 Tyco Healthcare Group Lp Trocar device
US8398634B2 (en) 2002-04-18 2013-03-19 Intuitive Surgical Operations, Inc. Wristed robotic surgical tool for pluggable end-effectors
US6994708B2 (en) 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
AU2002254712A1 (en) 2001-04-20 2002-11-05 Power Medical Interventions, Inc. Bipolar or ultrasonic surgical device
CN103065025A (zh) 2001-06-20 2013-04-24 柯惠Lp公司 用于集成医疗跟踪的方法和系统
EP1408843A2 (en) 2001-06-22 2004-04-21 Power Medical Interventions, Inc. Electro-mechanical surgical device
CA2451824C (en) 2001-06-29 2015-02-24 Intuitive Surgical, Inc. Platform link wrist mechanism
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US7044911B2 (en) 2001-06-29 2006-05-16 Philometron, Inc. Gateway platform for biological monitoring and delivery of therapeutic compounds
EP2314233B1 (en) 2001-08-08 2013-06-12 Stryker Corporation A surgical tool system with an intermediate attachment located between the handpiece and an accessory or an implant, the attachment able to transmit energy from the handpiece to the accessory or the implant and the transmission of data signals from the accessory or implant to the handpiece
US6676684B1 (en) 2001-09-04 2004-01-13 Intuitive Surgical, Inc. Roll-pitch-roll-yaw surgical tool
DE10147145C2 (de) 2001-09-25 2003-12-18 Kunz Reiner Multifunktionsinstrument für die mikroinvasive Chirurgie
ES2547219T3 (es) 2001-10-05 2015-10-02 Covidien Lp Dispositivo de grapado quirúrgico
US7464847B2 (en) 2005-06-03 2008-12-16 Tyco Healthcare Group Lp Surgical stapler with timer and feedback display
US10285694B2 (en) 2001-10-20 2019-05-14 Covidien Lp Surgical stapler with timer and feedback display
US6783533B2 (en) 2001-11-21 2004-08-31 Sythes Ag Chur Attachable/detachable reaming head for surgical reamer
CA2466812C (en) 2001-12-04 2012-04-03 Michael P. Whitman System and method for calibrating a surgical instrument
IL148702A (en) 2002-03-14 2008-04-13 Innoventions Inc Insertion and retrieval system for inflatable devices
US20050131390A1 (en) 2002-04-25 2005-06-16 Russell Heinrich Surgical instruments including mems devices
ES2278167T3 (es) 2002-06-14 2007-08-01 Power Medical Interventions, Inc. Dispositivo para pinzar, cortar y grapar tejido.
US20030038938A1 (en) 2002-06-20 2003-02-27 Jung Wayne D. Apparatus and method for measuring optical characteristics of an object or material
US8182494B1 (en) 2002-07-31 2012-05-22 Cardica, Inc. Minimally-invasive surgical system
US6645218B1 (en) 2002-08-05 2003-11-11 Endius Incorporated Surgical instrument
US20040176751A1 (en) 2002-08-14 2004-09-09 Endovia Medical, Inc. Robotic medical instrument system
CN101904734B (zh) 2002-09-30 2013-01-02 Tyco医疗健康集团 整装的可灭菌外科系统
AU2003279151A1 (en) 2002-10-04 2004-05-04 Tyco Healthcare Group, Lp Pneumatic powered surgical stapling device
KR101026692B1 (ko) 2002-12-06 2011-04-07 인튜어티브 서지컬 인코포레이티드 긴 샤프트를 포함하는 장치
US7559927B2 (en) 2002-12-20 2009-07-14 Medtronic Xomed, Inc. Surgical instrument with telescoping attachment
JP2004208922A (ja) 2002-12-27 2004-07-29 Olympus Corp 医療装置及び医療用マニピュレータ並びに医療装置の制御方法
DE10330604A1 (de) * 2003-04-01 2004-10-28 Tuebingen Scientific Surgical Products Gmbh Chirurgisches Instrument
US7143923B2 (en) 2003-05-20 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a firing lockout for an unclosed anvil
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US7380696B2 (en) 2003-05-20 2008-06-03 Ethicon Endo-Surgery, Inc. Articulating surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US7140528B2 (en) 2003-05-20 2006-11-28 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated single lockout mechanism for prevention of firing
US6988649B2 (en) 2003-05-20 2006-01-24 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a spent cartridge lockout
US7044352B2 (en) 2003-05-20 2006-05-16 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a single lockout mechanism for prevention of firing
US7380695B2 (en) 2003-05-20 2008-06-03 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a single lockout mechanism for prevention of firing
WO2005009482A2 (en) 2003-05-21 2005-02-03 The Johns Hopkins University Devices, systems and methods for minimally invasive surgery of the throat and other portions of mammalian body
US7121781B2 (en) 2003-06-11 2006-10-17 Intuitive Surgical Surgical instrument with a universal wrist
EP2428168B1 (en) * 2003-06-17 2014-09-17 Covidien LP Surgical stapling device
EP2633822B1 (en) 2003-06-20 2015-09-23 Covidien LP Surgical stapling device
US7055731B2 (en) 2003-07-09 2006-06-06 Ethicon Endo-Surgery Inc. Surgical stapling instrument incorporating a tapered firing bar for increased flexibility around the articulation joint
US6964363B2 (en) * 2003-07-09 2005-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having articulation joint support plates for supporting a firing bar
US7111769B2 (en) 2003-07-09 2006-09-26 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an articulation mechanism having rotation about the longitudinal axis
US6981628B2 (en) 2003-07-09 2006-01-03 Ethicon Endo-Surgery, Inc. Surgical instrument with a lateral-moving articulation control
JP4398813B2 (ja) 2003-07-18 2010-01-13 ヤーマン株式会社 美肌装置
US6905057B2 (en) 2003-09-29 2005-06-14 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a firing mechanism having a linked rack transmission
US7364061B2 (en) 2003-09-29 2008-04-29 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multistroke firing position indicator and retraction mechanism
US7303108B2 (en) * 2003-09-29 2007-12-04 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multi-stroke firing mechanism with a flexible rack
US6959852B2 (en) 2003-09-29 2005-11-01 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with multistroke firing incorporating an anti-backup mechanism
US10022123B2 (en) 2012-07-09 2018-07-17 Covidien Lp Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors
US20090090763A1 (en) 2007-10-05 2009-04-09 Tyco Healthcare Group Lp Powered surgical stapling device
US9113880B2 (en) 2007-10-05 2015-08-25 Covidien Lp Internal backbone structural chassis for a surgical device
CA2542532C (en) 2003-10-17 2012-08-14 Tyco Healthcare Group, Lp Surgical stapling device with independent tip rotation
US8806973B2 (en) 2009-12-02 2014-08-19 Covidien Lp Adapters for use between surgical handle assembly and surgical end effector
US10105140B2 (en) 2009-11-20 2018-10-23 Covidien Lp Surgical console and hand-held surgical device
US10588629B2 (en) 2009-11-20 2020-03-17 Covidien Lp Surgical console and hand-held surgical device
US9055943B2 (en) 2007-09-21 2015-06-16 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
US8968276B2 (en) 2007-09-21 2015-03-03 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
US7641655B2 (en) 2003-10-31 2010-01-05 Medtronic, Inc. Coupling system for surgical instrument
US7172415B2 (en) 2003-11-22 2007-02-06 Flexi-Float, Llc Equine dental grinding apparatus
DE10357105B3 (de) 2003-12-06 2005-04-07 Richard Wolf Gmbh Medizinisches Instrument
EP1563793B1 (en) 2004-02-17 2007-06-13 Tyco Healthcare Group Lp Surgical stapling apparatus
EP1723913A1 (en) 2004-03-10 2006-11-22 Olympus Corporation Treatment tool for surgery
US7059508B2 (en) 2004-06-30 2006-06-13 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an uneven multistroke firing mechanism having a rotary transmission
US7147138B2 (en) 2004-07-28 2006-12-12 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated buttress deployment mechanism
US7143926B2 (en) 2005-02-07 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multi-stroke firing mechanism with return spring rotary manual retraction system
US7487899B2 (en) 2004-07-28 2009-02-10 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating EAP complete firing system lockout mechanism
US7143925B2 (en) 2004-07-28 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating EAP blocking lockout mechanism
WO2006015319A2 (en) 2004-07-30 2006-02-09 Power Medical Interventions, Inc. Flexible shaft extender and method of using same
US20060027467A1 (en) 2004-08-04 2006-02-09 Ferguson Patrick J Anti-microbial suture material dispenser system
US7922719B2 (en) 2004-10-06 2011-04-12 Biodynamics, Llc Adjustable angle pawl handle for surgical instruments
PL1802245T3 (pl) 2004-10-08 2017-01-31 Ethicon Endosurgery Llc Ultradźwiękowy przyrząd chirurgiczny
WO2006063156A1 (en) 2004-12-09 2006-06-15 Stryker Corporation Wireless system for providing instrument and implant data to a surgical navigation unit
US20060142740A1 (en) 2004-12-29 2006-06-29 Sherman Jason T Method and apparatus for performing a voice-assisted orthopaedic surgical procedure
US7822458B2 (en) 2005-05-19 2010-10-26 The Johns Hopkins University Distal bevel-tip needle control device and algorithm
EP1736112B1 (en) 2005-06-20 2011-08-17 Heribert Schmid Medical device
US8579176B2 (en) 2005-07-26 2013-11-12 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting device and method for using the device
US8627995B2 (en) 2006-05-19 2014-01-14 Ethicon Endo-Sugery, Inc. Electrically self-powered surgical instrument with cryptographic identification of interchangeable part
JP5043842B2 (ja) 2005-07-27 2012-10-10 タイコ ヘルスケア グループ リミテッド パートナーシップ 電気機械的手術装置用のシャフト
US20070029363A1 (en) 2005-08-07 2007-02-08 Sergey Popov Surgical apparatus with remote drive
US8160743B2 (en) 2005-08-16 2012-04-17 Brainlab Ag Anthropomorphic medical robot arm with movement restrictions
WO2007026354A1 (en) 2005-08-29 2007-03-08 Galil Medical Ltd. Multiple sensor device for measuring tissue temperature during thermal treatment
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
US7407078B2 (en) 2005-09-21 2008-08-05 Ehthicon Endo-Surgery, Inc. Surgical stapling instrument having force controlled spacing end effector
AU2006222756B2 (en) 2005-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Electroactive polymer-based articulation mechanism for linear surgical stapler
US7641091B2 (en) 2005-10-04 2010-01-05 Tyco Healthcare Group Lp Staple drive assembly
CA2563147C (en) 2005-10-14 2014-09-23 Tyco Healthcare Group Lp Surgical stapling device
US20070102472A1 (en) 2005-11-04 2007-05-10 Ethicon Endo-Surgery, Inc. Electrosurgical stapling instrument with disposable severing / stapling unit
US7328828B2 (en) 2005-11-04 2008-02-12 Ethicon Endo-Surgery, Inc, Lockout mechanisms and surgical instruments including same
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US7799039B2 (en) 2005-11-09 2010-09-21 Ethicon Endo-Surgery, Inc. Surgical instrument having a hydraulically actuated end effector
US7673780B2 (en) 2005-11-09 2010-03-09 Ethicon Endo-Surgery, Inc. Articulation joint with improved moment arm extension for articulating an end effector of a surgical instrument
US7246734B2 (en) 2005-12-05 2007-07-24 Ethicon Endo-Surgery, Inc. Rotary hydraulic pump actuated multi-stroke surgical instrument
US8182470B2 (en) 2005-12-20 2012-05-22 Intuitive Surgical Operations, Inc. Telescoping insertion axis of a robotic surgical system
US7481824B2 (en) 2005-12-30 2009-01-27 Ethicon Endo-Surgery, Inc. Surgical instrument with bending articulation controlled articulation pivot joint
US7670334B2 (en) 2006-01-10 2010-03-02 Ethicon Endo-Surgery, Inc. Surgical instrument having an articulating end effector
US7464849B2 (en) 2006-01-31 2008-12-16 Ethicon Endo-Surgery, Inc. Electro-mechanical surgical instrument with closure system and anvil alignment components
US20070175955A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Surgical cutting and fastening instrument with closure trigger locking mechanism
US7416101B2 (en) 2006-01-31 2008-08-26 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with loading force feedback
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US7464846B2 (en) 2006-01-31 2008-12-16 Ethicon Endo-Surgery, Inc. Surgical instrument having a removable battery
US20070175950A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Disposable staple cartridge having an anvil with tissue locator for use with a surgical cutting and fastening instrument and modular end effector system therefor
US7644848B2 (en) 2006-01-31 2010-01-12 Ethicon Endo-Surgery, Inc. Electronic lockouts and surgical instrument including same
US7766210B2 (en) 2006-01-31 2010-08-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with user feedback system
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US7770775B2 (en) 2006-01-31 2010-08-10 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with adaptive user feedback
US7575144B2 (en) 2006-01-31 2009-08-18 Ethicon Endo-Surgery, Inc. Surgical fastener and cutter with single cable actuator
US20110006101A1 (en) 2009-02-06 2011-01-13 EthiconEndo-Surgery, Inc. Motor driven surgical fastener device with cutting member lockout arrangements
US7568603B2 (en) 2006-01-31 2009-08-04 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with articulatable end effector
US20070175951A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Gearing selector for a powered surgical cutting and fastening instrument
US7422139B2 (en) 2006-01-31 2008-09-09 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting fastening instrument with tactile position feedback
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
CN102247183A (zh) 2006-05-19 2011-11-23 爱惜康内镜外科公司 电动手术器械
US8551076B2 (en) 2006-06-13 2013-10-08 Intuitive Surgical Operations, Inc. Retrograde instrument
CN104688327B (zh) 2006-06-13 2017-06-09 直观外科手术操作公司 微创手术系统
US20080029574A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Pneumatically powered surgical cutting and fastening instrument with actuator at distal end
US7740159B2 (en) 2006-08-02 2010-06-22 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with a variable control of the actuating rate of firing with mechanical power assist
US20080029575A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Surgical cutting and fastening instrument with distally mounted pneumatically powered rotary drive member
US9554843B2 (en) 2006-09-01 2017-01-31 Conmed Corporation Adapter and method for converting gas-enhanced electrosurgical coagulation instrument for cutting
US8733614B2 (en) * 2006-10-06 2014-05-27 Covidien Lp End effector identification by mechanical features
US8584921B2 (en) 2006-10-06 2013-11-19 Covidien Lp Surgical instrument with articulating tool assembly
US7967178B2 (en) 2006-10-06 2011-06-28 Tyco Healthcare Group Lp Grasping jaw mechanism
JP5085996B2 (ja) 2006-10-25 2012-11-28 テルモ株式会社 マニピュレータシステム
US20080109012A1 (en) 2006-11-03 2008-05-08 General Electric Company System, method and apparatus for tableside remote connections of medical instruments and systems using wireless communications
JP2008114339A (ja) 2006-11-06 2008-05-22 Terumo Corp マニピュレータ
US8882113B2 (en) 2006-11-09 2014-11-11 Westport Medical, Inc. Bit holders
US7721930B2 (en) 2006-11-10 2010-05-25 Thicon Endo-Surgery, Inc. Disposable cartridge with adhesive for use with a stapling device
WO2008061313A1 (en) 2006-11-24 2008-05-29 Mems-Id Pty Ltd Tagging methods and apparatus
US7721931B2 (en) 2007-01-10 2010-05-25 Ethicon Endo-Surgery, Inc. Prevention of cartridge reuse in a surgical instrument
US7738971B2 (en) 2007-01-10 2010-06-15 Ethicon Endo-Surgery, Inc. Post-sterilization programming of surgical instruments
US7900805B2 (en) 2007-01-10 2011-03-08 Ethicon Endo-Surgery, Inc. Surgical instrument with enhanced battery performance
US7954682B2 (en) 2007-01-10 2011-06-07 Ethicon Endo-Surgery, Inc. Surgical instrument with elements to communicate between control unit and end effector
US7950562B2 (en) 2007-01-31 2011-05-31 Tyco Healthcare Group Lp Surgical instrument with replaceable loading unit
EP2131773B1 (en) 2007-02-05 2011-11-23 Novian Health Inc. Interstitial laser therapy kits and interstitial laser therapy control system
US8011550B2 (en) 2009-03-31 2011-09-06 Tyco Healthcare Group Lp Surgical stapling apparatus
CA2680148C (en) 2007-03-06 2015-09-01 Tyco Healthcare Group Lp Surgical stapling apparatus
US7422136B1 (en) 2007-03-15 2008-09-09 Tyco Healthcare Group Lp Powered surgical stapling device
US8391957B2 (en) 2007-03-26 2013-03-05 Hansen Medical, Inc. Robotic catheter systems and methods
US8893946B2 (en) 2007-03-28 2014-11-25 Ethicon Endo-Surgery, Inc. Laparoscopic tissue thickness and clamp load measuring devices
US8056787B2 (en) 2007-03-28 2011-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with travel-indicating retraction member
US20080255413A1 (en) 2007-04-13 2008-10-16 Michael Zemlok Powered surgical instrument
US8800837B2 (en) 2007-04-13 2014-08-12 Covidien Lp Powered surgical instrument
US20080251561A1 (en) 2007-04-13 2008-10-16 Chad Eades Quick connect base plate for powder actuated tool
JP2010524593A (ja) 2007-04-20 2010-07-22 ドヘニー アイ インスティテュート 独立手術センター
US20080281301A1 (en) 2007-04-20 2008-11-13 Deboer Charles Personal Surgical Center
US20090012533A1 (en) 2007-04-23 2009-01-08 Hansen Medical, Inc. Robotic instrument control system
US7549564B2 (en) 2007-06-22 2009-06-23 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulating end effector
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US8534528B2 (en) 2007-06-04 2013-09-17 Ethicon Endo-Surgery, Inc. Surgical instrument having a multiple rate directional switching mechanism
US7588175B2 (en) 2007-06-18 2009-09-15 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with improved firing system
US7556185B2 (en) * 2007-08-15 2009-07-07 Tyco Healthcare Group Lp Surgical instrument with flexible drive mechanism
JP5425786B2 (ja) 2007-09-21 2014-02-26 コヴィディエン リミテッド パートナーシップ 外科用装置
US9023014B2 (en) 2007-09-21 2015-05-05 Covidien Lp Quick connect assembly for use between surgical handle assembly and surgical accessories
EP3097869B1 (en) * 2007-09-21 2020-03-11 Covidien LP Surgical device
US7703653B2 (en) * 2007-09-28 2010-04-27 Tyco Healthcare Group Lp Articulation mechanism for surgical instrument
US8960520B2 (en) 2007-10-05 2015-02-24 Covidien Lp Method and apparatus for determining parameters of linear motion in a surgical instrument
US20130214025A1 (en) 2007-10-05 2013-08-22 Covidien Lp Powered surgical stapling device
US8517241B2 (en) 2010-04-16 2013-08-27 Covidien Lp Hand-held surgical devices
US8012170B2 (en) 2009-04-27 2011-09-06 Tyco Healthcare Group Lp Device and method for controlling compression of tissue
CA2640345C (en) 2007-10-05 2017-11-07 Tyco Healthcare Group Lp Surgical stapler having an articulation mechanism
US8967443B2 (en) 2007-10-05 2015-03-03 Covidien Lp Method and apparatus for determining parameters of linear motion in a surgical instrument
US7922063B2 (en) 2007-10-31 2011-04-12 Tyco Healthcare Group, Lp Powered surgical instrument
US8758342B2 (en) 2007-11-28 2014-06-24 Covidien Ag Cordless power-assisted medical cauterization and cutting device
EP2214575A2 (en) 2007-11-29 2010-08-11 SurgiQuest, Incorporated Surgical instruments with improved dexterity for use in minimally invasive surgical procedures
US20090171147A1 (en) 2007-12-31 2009-07-02 Woojin Lee Surgical instrument
US8647258B2 (en) 2008-01-10 2014-02-11 Covidien Lp Apparatus for endoscopic procedures
CN101969858B (zh) 2008-01-10 2013-11-27 柯惠Lp公司 用于手术装置的成像系统
TW200934621A (en) 2008-02-01 2009-08-16 Mobiletron Electronics Co Ltd Extended transmission rod for power tool
US8752749B2 (en) 2008-02-14 2014-06-17 Ethicon Endo-Surgery, Inc. Robotically-controlled disposable motor-driven loading unit
US8758391B2 (en) 2008-02-14 2014-06-24 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
US7793812B2 (en) 2008-02-14 2010-09-14 Ethicon Endo-Surgery, Inc. Disposable motor-driven loading unit for use with a surgical cutting and stapling apparatus
US7857185B2 (en) 2008-02-14 2010-12-28 Ethicon Endo-Surgery, Inc. Disposable loading unit for surgical stapling apparatus
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
US8657174B2 (en) 2008-02-14 2014-02-25 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument having handle based power source
US7959051B2 (en) 2008-02-15 2011-06-14 Ethicon Endo-Surgery, Inc. Closure systems for a surgical cutting and stapling instrument
US20090206131A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. End effector coupling arrangements for a surgical cutting and stapling instrument
US8733611B2 (en) 2008-03-12 2014-05-27 Covidien Lp Ratcheting mechanism for surgical stapling device
US8282653B2 (en) * 2008-03-24 2012-10-09 Board Of Regents Of The University Of Nebraska System and methods for controlling surgical tool elements
US20090254094A1 (en) 2008-04-08 2009-10-08 Knapp Troy D Ratcheting mechanical driver for cannulated surgical systems
EP2278927A2 (en) 2008-04-25 2011-02-02 Downey, Earl C. Laparoscopic surgical instrument
US7922061B2 (en) 2008-05-21 2011-04-12 Ethicon Endo-Surgery, Inc. Surgical instrument with automatically reconfigurable articulating end effector
US8403926B2 (en) 2008-06-05 2013-03-26 Ethicon Endo-Surgery, Inc. Manually articulating devices
US8303581B2 (en) 2008-09-02 2012-11-06 Covidien Lp Catheter with remotely extendible instruments
KR101056232B1 (ko) 2008-09-12 2011-08-11 정창욱 최소 침습 수술 도구 및 그 사용 방법
US20100069942A1 (en) 2008-09-18 2010-03-18 Ethicon Endo-Surgery, Inc. Surgical instrument with apparatus for measuring elapsed time between actions
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US8372057B2 (en) 2008-10-10 2013-02-12 Coeur, Inc. Luer lock adapter
US8020743B2 (en) 2008-10-15 2011-09-20 Ethicon Endo-Surgery, Inc. Powered articulatable surgical cutting and fastening instrument with flexible drive member
DE102008053842B4 (de) 2008-10-30 2010-08-26 Kirchner, Hilmar O. Chirurgische Zerspanvorrichtung
US8517239B2 (en) 2009-02-05 2013-08-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
US8365972B2 (en) 2009-03-31 2013-02-05 Covidien Lp Surgical stapling apparatus
US8016178B2 (en) 2009-03-31 2011-09-13 Tyco Healthcare Group Lp Surgical stapling apparatus
US8348126B2 (en) 2009-03-31 2013-01-08 Covidien Lp Crimp and release of suture holding buttress material
US7967179B2 (en) 2009-03-31 2011-06-28 Tyco Healthcare Group Lp Center cinch and release of buttress material
US8827134B2 (en) 2009-06-19 2014-09-09 Covidien Lp Flexible surgical stapler with motor in the head
US8146790B2 (en) 2009-07-11 2012-04-03 Tyco Healthcare Group Lp Surgical instrument with safety mechanism
US8314354B2 (en) 2009-07-27 2012-11-20 Apple Inc. Accessory controller for electronic devices
US20110077673A1 (en) 2009-09-29 2011-03-31 Cardiovascular Systems, Inc. Rotational atherectomy device with frictional clutch having magnetic normal force
ES2333509B2 (es) 2009-10-07 2011-01-03 Universidad De Cantabria Instrumento para cirugia endoscopica.
US8157151B2 (en) 2009-10-15 2012-04-17 Tyco Healthcare Group Lp Staple line reinforcement for anvil and cartridge
US20110118708A1 (en) 2009-11-13 2011-05-19 Intuitive Surgical Operations, Inc. Double universal joint
EP4059460A1 (en) 2009-11-13 2022-09-21 Intuitive Surgical Operations, Inc. Surgical tool with a compact wrist
EP2333509A1 (en) 2009-12-08 2011-06-15 Dingens BG bvba Precision Anaeroid barometer with a capillary tube as a pressure indicator.
US8561871B2 (en) 2009-12-31 2013-10-22 Covidien Lp Indicators for surgical staplers
WO2011108840A2 (ko) 2010-03-05 2011-09-09 주식회사 이턴 수술용 인스트루먼트, 수술용 인스트루먼트의 커플링 구조 및 원점 조정 방법
KR101765727B1 (ko) 2010-09-01 2017-08-08 (주)미래컴퍼니 수술용 인스트루먼트의 커플링 구조 및 원점 조정 방법
IT1399603B1 (it) * 2010-04-26 2013-04-26 Scuola Superiore Di Studi Universitari E Di Perfez Apparato robotico per interventi di chirurgia minimamente invasiva
US8562592B2 (en) 2010-05-07 2013-10-22 Ethicon Endo-Surgery, Inc. Compound angle laparoscopic methods and devices
CN101856251B (zh) 2010-06-07 2011-10-05 常州威克医疗器械有限公司 一次性直线形吻合器
US8968337B2 (en) 2010-07-28 2015-03-03 Covidien Lp Articulating clip applier
CN101966093B (zh) 2010-09-28 2012-01-11 常州市康迪医用吻合器有限公司 带有可更换钉仓的腔镜外科切割吻合器
US8292150B2 (en) 2010-11-02 2012-10-23 Tyco Healthcare Group Lp Adapter for powered surgical devices
US20120116368A1 (en) 2010-11-10 2012-05-10 Viola Frank J Surgical instrument with add-on power adapter for accessory
US8523043B2 (en) 2010-12-07 2013-09-03 Immersion Corporation Surgical stapler having haptic feedback
US8348130B2 (en) 2010-12-10 2013-01-08 Covidien Lp Surgical apparatus including surgical buttress
US8936614B2 (en) 2010-12-30 2015-01-20 Covidien Lp Combined unilateral/bilateral jaws on a surgical instrument
US8578810B2 (en) * 2011-02-14 2013-11-12 Intuitive Surgical Operations, Inc. Jointed link structures exhibiting preferential bending, and related methods
US20120211542A1 (en) 2011-02-23 2012-08-23 Tyco Healthcare Group I.P Controlled tissue compression systems and methods
US9549758B2 (en) 2011-03-23 2017-01-24 Covidien Lp Surgical access assembly with adapter
CN102247182A (zh) 2011-04-29 2011-11-23 常州市康迪医用吻合器有限公司 外科用电动吻合器
US9017314B2 (en) 2011-06-01 2015-04-28 Covidien Lp Surgical articulation assembly
US9381010B2 (en) 2011-06-27 2016-07-05 Covidien Lp Surgical instrument with adapter for facilitating multi-direction end effector articulation
DE102011084499A1 (de) 2011-10-14 2013-04-18 Robert Bosch Gmbh Werkzeugvorsatz
US8899462B2 (en) 2011-10-25 2014-12-02 Covidien Lp Apparatus for endoscopic procedures
US9480492B2 (en) 2011-10-25 2016-11-01 Covidien Lp Apparatus for endoscopic procedures
US8657177B2 (en) 2011-10-25 2014-02-25 Covidien Lp Surgical apparatus and method for endoscopic surgery
US9492146B2 (en) 2011-10-25 2016-11-15 Covidien Lp Apparatus for endoscopic procedures
US8672206B2 (en) 2011-10-25 2014-03-18 Covidien Lp Apparatus for endoscopic procedures
US9168042B2 (en) 2012-01-12 2015-10-27 Covidien Lp Circular stapling instruments
US9241757B2 (en) 2012-01-13 2016-01-26 Covidien Lp System and method for performing surgical procedures with a reusable instrument module
AU2013203675B2 (en) 2012-05-31 2014-11-27 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
US9597104B2 (en) 2012-06-01 2017-03-21 Covidien Lp Handheld surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
US9868198B2 (en) 2012-06-01 2018-01-16 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical loading units, and methods of use
US10080563B2 (en) 2012-06-01 2018-09-25 Covidien Lp Loading unit detection assembly and surgical device for use therewith
US9364220B2 (en) 2012-06-19 2016-06-14 Covidien Lp Apparatus for endoscopic procedures
US9839480B2 (en) 2012-07-09 2017-12-12 Covidien Lp Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors
US10492814B2 (en) 2012-07-09 2019-12-03 Covidien Lp Apparatus for endoscopic procedures
US9402604B2 (en) 2012-07-20 2016-08-02 Covidien Lp Apparatus for endoscopic procedures
US9421014B2 (en) 2012-10-18 2016-08-23 Covidien Lp Loading unit velocity and position feedback
US9782187B2 (en) 2013-01-18 2017-10-10 Covidien Lp Adapter load button lockout
US10918364B2 (en) 2013-01-24 2021-02-16 Covidien Lp Intelligent adapter assembly for use with an electromechanical surgical system
US9216013B2 (en) 2013-02-18 2015-12-22 Covidien Lp Apparatus for endoscopic procedures
US9421003B2 (en) 2013-02-18 2016-08-23 Covidien Lp Apparatus for endoscopic procedures
US9307986B2 (en) 2013-03-01 2016-04-12 Ethicon Endo-Surgery, Llc Surgical instrument soft stop
US9492189B2 (en) 2013-03-13 2016-11-15 Covidien Lp Apparatus for endoscopic procedures
US9700318B2 (en) 2013-04-09 2017-07-11 Covidien Lp Apparatus for endoscopic procedures
US9775610B2 (en) 2013-04-09 2017-10-03 Covidien Lp Apparatus for endoscopic procedures
US9801646B2 (en) 2013-05-30 2017-10-31 Covidien Lp Adapter load button decoupled from loading unit sensor
US9797486B2 (en) 2013-06-20 2017-10-24 Covidien Lp Adapter direct drive with manual retraction, lockout and connection mechanisms
US9955966B2 (en) 2013-09-17 2018-05-01 Covidien Lp Adapter direct drive with manual retraction, lockout, and connection mechanisms for improper use prevention
US9962157B2 (en) 2013-09-18 2018-05-08 Covidien Lp Apparatus and method for differentiating between tissue and mechanical obstruction in a surgical instrument
US9295522B2 (en) 2013-11-08 2016-03-29 Covidien Lp Medical device adapter with wrist mechanism
US9918713B2 (en) 2013-12-09 2018-03-20 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US9808245B2 (en) 2013-12-13 2017-11-07 Covidien Lp Coupling assembly for interconnecting an adapter assembly and a surgical device, and surgical systems thereof
US10164466B2 (en) 2014-04-17 2018-12-25 Covidien Lp Non-contact surgical adapter electrical interface
US10080552B2 (en) 2014-04-21 2018-09-25 Covidien Lp Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US9913643B2 (en) 2014-05-09 2018-03-13 Covidien Lp Interlock assemblies for replaceable loading unit
US9713466B2 (en) 2014-05-16 2017-07-25 Covidien Lp Adaptor for surgical instrument for converting rotary input to linear output
US10561418B2 (en) 2014-06-26 2020-02-18 Covidien Lp Adapter assemblies for interconnecting surgical loading units and handle assemblies
US9987095B2 (en) 2014-06-26 2018-06-05 Covidien Lp Adapter assemblies for interconnecting electromechanical handle assemblies and surgical loading units
US10163589B2 (en) 2014-06-26 2018-12-25 Covidien Lp Adapter assemblies for interconnecting surgical loading units and handle assemblies
US20150374372A1 (en) 2014-06-26 2015-12-31 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
US9839425B2 (en) 2014-06-26 2017-12-12 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US9763661B2 (en) 2014-06-26 2017-09-19 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US10603128B2 (en) 2014-10-07 2020-03-31 Covidien Lp Handheld electromechanical surgical system
US10226254B2 (en) 2014-10-21 2019-03-12 Covidien Lp Adapter, extension, and connector assemblies for surgical devices
US9949737B2 (en) 2014-10-22 2018-04-24 Covidien Lp Adapter assemblies for interconnecting surgical loading units and handle assemblies
US10085750B2 (en) 2014-10-22 2018-10-02 Covidien Lp Adapter with fire rod J-hook lockout

Also Published As

Publication number Publication date
US10390897B2 (en) 2019-08-27
US20160166346A1 (en) 2016-06-16
JP2019111356A (ja) 2019-07-11
US11497572B2 (en) 2022-11-15
AU2014227482B2 (en) 2018-09-27
US20150133957A1 (en) 2015-05-14
CN104622528A (zh) 2015-05-20
EP3097868A1 (en) 2016-11-30
ES2864903T3 (es) 2021-10-14
CN104622528B (zh) 2019-08-06
US20190365492A1 (en) 2019-12-05
JP6517492B2 (ja) 2019-05-22
EP3097868B1 (en) 2021-03-10
JP2015093190A (ja) 2015-05-18
US9295522B2 (en) 2016-03-29
JP2021006270A (ja) 2021-01-21
AU2018271364A1 (en) 2018-12-20
AU2014227482A1 (en) 2015-05-28
EP2870931B1 (en) 2017-01-25
EP2870931A1 (en) 2015-05-13
CA2865105A1 (en) 2015-05-08
AU2018271364B2 (en) 2019-12-05

Similar Documents

Publication Publication Date Title
ES2616532T3 (es) Adaptador de dispositivo médico con mecanismo de articulación
US20210401525A1 (en) Surgical systems including adapter assemblies for interconnecting electromechanical surgical devices and end effectors
US11337717B2 (en) Articulating ultrasonic surgical instruments and systems
JP6301442B2 (ja) 関節接合エンドエフェクタを有するロボット超音波外科用装置
ES2856865T3 (es) Dispositivo quirúrgico modular que comprende brazos mecánicos
US10265129B2 (en) Mechanical teleoperated device comprising an interchangeable distal instrument
ES2638664T3 (es) Conjunto de asidero quirúrgico electromecánico de mano para usar con efectores finales quirúrgicos y métodos de uso
ES2291112B1 (es) Instrumento quirurgico para cirugia endoscopica.
ES2960531T3 (es) Dispositivo médico dirigible
EP3912573A2 (en) Articulating ultrasonic surgical instruments and systems
KR101693355B1 (ko) 외과 수술용 장치의 인스트루먼트
US20220125529A1 (en) Surgical robotic systems
ES2932159T3 (es) Dispositivo de grapado con mordazas continuamente paralelas
US20230056953A1 (en) Surgical instruments having a rotatable blade member for treating tissue
JP6430050B1 (ja) 医療用処置具及びエンドエフェクタ機構
CN113679450A (zh) 铰接超声手术仪器和系统