JP2006508765A5 - - Google Patents
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- Publication number
- JP2006508765A5 JP2006508765A5 JP2004559257A JP2004559257A JP2006508765A5 JP 2006508765 A5 JP2006508765 A5 JP 2006508765A5 JP 2004559257 A JP2004559257 A JP 2004559257A JP 2004559257 A JP2004559257 A JP 2004559257A JP 2006508765 A5 JP2006508765 A5 JP 2006508765A5
- Authority
- JP
- Japan
- Prior art keywords
- flexible tube
- instrument
- wrist
- spring
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000707 wrist Anatomy 0.000 claims description 134
- 239000012636 effector Substances 0.000 claims description 46
- 230000013011 mating Effects 0.000 claims description 23
- 239000012811 non-conductive material Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 description 13
- 230000007246 mechanism Effects 0.000 description 12
- 238000001356 surgical procedure Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 238000002324 minimally invasive surgery Methods 0.000 description 8
- 238000010618 wire wrap Methods 0.000 description 6
- HLXZNVUGXRDIFK-UHFFFAOYSA-N nickel titanium Chemical compound [Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni] HLXZNVUGXRDIFK-UHFFFAOYSA-N 0.000 description 5
- 229910001000 nickel titanium Inorganic materials 0.000 description 5
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- 238000004804 winding Methods 0.000 description 5
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 4
- 229910052710 silicon Inorganic materials 0.000 description 4
- 239000010703 silicon Substances 0.000 description 4
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- 230000006835 compression Effects 0.000 description 3
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- 229920001971 elastomer Polymers 0.000 description 3
- 239000012212 insulator Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 239000011324 bead Substances 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000806 elastomer Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000002350 laparotomy Methods 0.000 description 2
- 238000012978 minimally invasive surgical procedure Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
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- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 229920002379 silicone rubber Polymers 0.000 description 2
- 238000009941 weaving Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
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- 229920002457 flexible plastic Polymers 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 229910052697 platinum Inorganic materials 0.000 description 1
- 229920003223 poly(pyromellitimide-1,4-diphenyl ether) Polymers 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000002210 silicon-based material Substances 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US43163602P | 2002-12-06 | 2002-12-06 | |
| PCT/US2003/038462 WO2004052171A2 (en) | 2002-12-06 | 2003-12-02 | Flexible wrist for surgical tool |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2010026006A Division JP5455171B2 (ja) | 2002-12-06 | 2010-02-08 | 手術用具のためのフレキシブルリスト |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2006508765A JP2006508765A (ja) | 2006-03-16 |
| JP2006508765A5 true JP2006508765A5 (enExample) | 2007-01-25 |
| JP4486503B2 JP4486503B2 (ja) | 2010-06-23 |
Family
ID=32507770
Family Applications (12)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2004559257A Expired - Lifetime JP4486503B2 (ja) | 2002-12-06 | 2003-12-02 | 手術用具のためのフレキシブルリスト |
| JP2010026006A Expired - Lifetime JP5455171B2 (ja) | 2002-12-06 | 2010-02-08 | 手術用具のためのフレキシブルリスト |
| JP2011025457A Expired - Lifetime JP5339472B2 (ja) | 2002-12-06 | 2011-02-08 | 手術用具のためのフレキシブルリスト |
| JP2011025456A Expired - Lifetime JP5437288B2 (ja) | 2002-12-06 | 2011-02-08 | 手術用具のためのフレキシブルリスト |
| JP2013013947A Expired - Lifetime JP6097085B2 (ja) | 2002-12-06 | 2013-01-29 | 手術用具のためのフレキシブルリスト |
| JP2015033633A Pending JP2015126892A (ja) | 2002-12-06 | 2015-02-24 | 手術用具のためのフレキシブルリスト |
| JP2015033632A Expired - Lifetime JP6155292B2 (ja) | 2002-12-06 | 2015-02-24 | 手術用具のためのフレキシブルリスト |
| JP2016201465A Withdrawn JP2017038947A (ja) | 2002-12-06 | 2016-10-13 | 手術用具のためのフレキシブルリスト |
| JP2016201464A Expired - Lifetime JP6305489B2 (ja) | 2002-12-06 | 2016-10-13 | 手術用具のためのフレキシブルリスト |
| JP2018114594A Pending JP2018140241A (ja) | 2002-12-06 | 2018-06-15 | 手術用具のためのフレキシブルリスト |
| JP2018114595A Pending JP2018140242A (ja) | 2002-12-06 | 2018-06-15 | 手術用具のためのフレキシブルリスト |
| JP2019225732A Pending JP2020044376A (ja) | 2002-12-06 | 2019-12-13 | 手術用具のためのフレキシブルリスト |
Family Applications After (11)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2010026006A Expired - Lifetime JP5455171B2 (ja) | 2002-12-06 | 2010-02-08 | 手術用具のためのフレキシブルリスト |
| JP2011025457A Expired - Lifetime JP5339472B2 (ja) | 2002-12-06 | 2011-02-08 | 手術用具のためのフレキシブルリスト |
| JP2011025456A Expired - Lifetime JP5437288B2 (ja) | 2002-12-06 | 2011-02-08 | 手術用具のためのフレキシブルリスト |
| JP2013013947A Expired - Lifetime JP6097085B2 (ja) | 2002-12-06 | 2013-01-29 | 手術用具のためのフレキシブルリスト |
| JP2015033633A Pending JP2015126892A (ja) | 2002-12-06 | 2015-02-24 | 手術用具のためのフレキシブルリスト |
| JP2015033632A Expired - Lifetime JP6155292B2 (ja) | 2002-12-06 | 2015-02-24 | 手術用具のためのフレキシブルリスト |
| JP2016201465A Withdrawn JP2017038947A (ja) | 2002-12-06 | 2016-10-13 | 手術用具のためのフレキシブルリスト |
| JP2016201464A Expired - Lifetime JP6305489B2 (ja) | 2002-12-06 | 2016-10-13 | 手術用具のためのフレキシブルリスト |
| JP2018114594A Pending JP2018140241A (ja) | 2002-12-06 | 2018-06-15 | 手術用具のためのフレキシブルリスト |
| JP2018114595A Pending JP2018140242A (ja) | 2002-12-06 | 2018-06-15 | 手術用具のためのフレキシブルリスト |
| JP2019225732A Pending JP2020044376A (ja) | 2002-12-06 | 2019-12-13 | 手術用具のためのフレキシブルリスト |
Country Status (8)
| Country | Link |
|---|---|
| US (9) | US7320700B2 (enExample) |
| EP (7) | EP2359767B1 (enExample) |
| JP (12) | JP4486503B2 (enExample) |
| KR (4) | KR101026692B1 (enExample) |
| CN (2) | CN101181167B (enExample) |
| AT (1) | ATE551964T1 (enExample) |
| AU (1) | AU2003293353A1 (enExample) |
| WO (1) | WO2004052171A2 (enExample) |
Families Citing this family (392)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7713190B2 (en) * | 1998-02-24 | 2010-05-11 | Hansen Medical, Inc. | Flexible instrument |
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| US8768516B2 (en) | 2009-06-30 | 2014-07-01 | Intuitive Surgical Operations, Inc. | Control of medical robotic system manipulator about kinematic singularities |
| WO2002007608A2 (en) * | 2000-07-20 | 2002-01-31 | Tiva Medical, Inc. | Hand-actuated articulating surgical tool |
| US7766894B2 (en) * | 2001-02-15 | 2010-08-03 | Hansen Medical, Inc. | Coaxial catheter system |
| US8414505B1 (en) | 2001-02-15 | 2013-04-09 | Hansen Medical, Inc. | Catheter driver system |
| US20060178556A1 (en) | 2001-06-29 | 2006-08-10 | Intuitive Surgical, Inc. | Articulate and swapable endoscope for a surgical robot |
| US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
| US7331967B2 (en) * | 2002-09-09 | 2008-02-19 | Hansen Medical, Inc. | Surgical instrument coupling mechanism |
| JP4384439B2 (ja) | 2002-11-21 | 2009-12-16 | 富士機械製造株式会社 | 対基板作業機、対基板作業システムおよび対基板作業機用作業ヘッド使用準備処理プログラム |
| KR101026692B1 (ko) | 2002-12-06 | 2011-04-07 | 인튜어티브 서지컬 인코포레이티드 | 긴 샤프트를 포함하는 장치 |
| US8100824B2 (en) | 2003-05-23 | 2012-01-24 | Intuitive Surgical Operations, Inc. | Tool with articulation lock |
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| US8562640B2 (en) * | 2007-04-16 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Tool with multi-state ratcheted end effector |
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