JP2008520362A - 器具およびツールの遠隔操作においてトルク伝達を伴う関節機構およびリンクシステム - Google Patents
器具およびツールの遠隔操作においてトルク伝達を伴う関節機構およびリンクシステム Download PDFInfo
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Abstract
Description
101 ケーブル固定機構
102 関節機構
104 近位リンクの組
106 遠位リンクの組
107 ステープラツール
108,109 顎部
110 ステープラハンドル
112 細長いシャフト
122 シャフト
122,122a,122b,124,124a,124b リンク
126 ブッシング
126a,126b リンク
128 突起
130 ボール部分
132 突起
134 ボール部分
135 ケーブル
136,138 ソケット
140,142 ケーブルチャネル
144,146 中央のチャネル
148 面
162 突起
164 ボール部分
166,168 リセス
170,172 頂部
176 面
180 ブッシングリム
182 窪み
222,224 リンク
226 ブッシング
228 突起
230 ボール部分
232 突起
234 ボール部分
236,238 ソケット
240,242 ケーブルチャネル
244,246 中央のチャネル
262 突起
264 ボール部分
266,268 リセス
300 リンクシステム
302,304 リンク
310 トルクを与える突起
312 ソケット
314 ケーブルチャネル
316,318 中央のチャネル
320,324,325 面
400 リンクシステム
401 凸状の突起
402 リンク
403 凸状の突起
404 リンク
405 凹状の窪み
406 ブッシング
407 凹状の窪み
412 三角形タブ
412a,412b,412c タブ
413a,413b,413c ボールソケット継手
414 三角形タブ
414a,414b,414c タブ
420 ボール
422 ソケット
424,426 ケーブルチャネル
430,432 中央のチャネル
500 リンク-ブッシング-リンクシステム
502,504 リンク
506 ブッシング
600 リンクシステム
602,604 リンク
606 ブッシング
607a,607b,607c,607d クリアランスチャネル
609a,609b,609c,609d,611a,611b,611c,611d 窪み
612,613a,613b,613c,613d,614,615a,615b,615c,615d タブ
616a,616b,616c,616d ボール部分
617 ソケット
618a,618b,618c,618d ボール部分
620a,620b,620c,620d ヒンジ
621 ベース
622a,622b,622c,622d ヒンジ
623 ベース
624a,624b,624c,624d ヒンジ
624,626 ケーブルチャネル
630,632 中央のチャネル
700 リンクシステム
722,724 リンク
726 ソケット
732 突起
734 ボール部分
740,742 ケーブルチャネル
744,746 中央のチャネル
800 リンクシステム
802 リンク
803 凸状の突起
804 リンク
806 ブッシング
807 凹状の窪み
812 タブ
812a,812b,812c 三角形タブ
813a,813b,813c ボール
814a,814b,814c 溝
824,826 ケーブルチャネル
1000 リンク
1001 リンクシステム
1002 ボール部分
1004 ソケット
1006,1007 ピン
1008,1009 スロット
1010 中央のチャネル
1012,1014 ケーブルチャネル
1101 リンクシステム
1102 リンク
1106 ブッシング
1108 ボール部分
1110 ソケット
1112,1113 ピン
1114,1115 スロット
1132,1134 ケーブルチャネル
1136,1138 中央のチャネル
Claims (87)
- 医療用または診断用のツールの遠隔操作のためのトルクを伝達することが可能な関節機構であって、
各リンクが対の他方のリンクに対して離隔した関係に維持される、少なくとも1つの対のリンクと、
少なくとも2つの隣接するリンク、および該隣接するリンク間に配置されたブッシングと、を備え、
少なくとも1つの前記隣接するリンクがi)ソケットまたはii)トルクを与える突起を備え、その少なくとも一部分が非円形の緯度方向外周部を有し、
対面するブッシングが、i)少なくとも一部分が非円形の緯度方向外周部を有するトルクを与える突起またはii)ソケットを備え、
前記ブッシングのトルクを与える突起またはソケットが、前記リンクの前記ソケットまたはトルクを与える突起に係合し、それによって第2の隣接するリンクに対して第1の隣接するリンクが旋回動作できるようにしながら前記リンク間のトルク伝達をもたらす関節機構であり、
さらに関節機構は、対の一方のリンクの動作が該対の他方のリンクの対応する相対的な動作を生じるように、各セットが個別の対の前記リンクを互いに連結する少なくとも1つの組のケーブルを備えることを特徴とする関節機構。 - 前記トルクを与える突起の前記部分が前記長手方向の外周部に沿って湾曲していることを特徴とする請求項1に記載の関節機構。
- 前記トルクを与える突起を備える前記リンクまたはブッシングが、湾曲した緯度方向外周部を有するボール部分をさらに備えることを特徴とする請求項2に記載の関節機構。
- 前記ソケットがさらに、前記ボール部分を受けるように構成されたことを特徴とする請求項3に記載の関節機構。
- 前記非円形の緯度方向外周部が長手方向に湾曲した複数の面を備えることを特徴とする請求項4に記載の関節機構。
- 前記少なくとも1つの隣接するリンクがトルクを与える突起を備え、前記ブッシングが前記ソケットを備えることを特徴とする請求項1に記載の関節機構。
- 前記少なくとも1つの隣接するリンクが前記ソケットを備え、前記ブッシングの対面する表面がトルクを与える突起を備えることを特徴とする請求項1に記載の関節機構。
- 前記第2の隣接するリンクが、i)少なくとも一部分が非円形の緯度方向外周部を備えるトルクを与える突起またはii)ソケットを備え、前記ブッシングの前記対面する表面が、i)ソケットまたはii)少なくとも一部分が非円形の緯度方向外周部を備えるトルクを与える突起を備えることを特徴とする請求項1に記載の関節機構。
- 前記第2の隣接するリンクがトルクを与える突起を備え、前記ブッシングがソケットを備えることを特徴とする請求項8に記載の関節機構。
- 前記第2の隣接するリンクがソケットを備え、前記ブッシングがトルクを与える突起を備えることを特徴とする請求項8に記載の関節機構。
- 前記リンクが近位端および遠位端を形成し、対応する対のリンクがそれぞれ前記近位端および遠位端に配置され、前記近位端の動作が前記遠位端の対応する相対的な動作を生じることを特徴とする請求項1に記載の関節機構。
- 前記遠位端の前記対応する相対的な動作が、前記近位端の前記動作と相補的であることを特徴とする請求項11に記載の関節機構。
- 前記遠位端の前記対応する相対的な動作が、前記近位端の前記動作を鏡映することを特徴とする請求項11に記載の関節機構。
- 外科用または診断用ツールが前記遠位端に取り付けられたことを特徴とする請求項11に記載の関節機構。
- 前記ツールが、ステープラ、鉗子、グラスパー、鋏、カッター、切除要素、内視鏡、光源、焼灼要素、カテーテル、ペースメーカーリード配置デバイス、からなる群から選択されることを特徴とする請求項14に記載の関節機構。
- 離隔した関係に前記対のリンクを維持する前記対のリンク間に配置された細長いシャフトをさらに備えることを特徴とする請求項1に記載の関節機構。
- 前記細長いシャフトが前記複数の組のケーブルを収容することを特徴とする請求項16に記載の関節機構。
- 複数の組のリンクが、リンクの隣接する組と関連付けられた複数の組のケーブルを受け、通過させるためのチャネルを備えることを特徴とする請求項1に記載の関節機構。
- 個別の組のケーブルによって連結されない1つまたは複数のスペーサリンクをさらに備えることを特徴とする請求項1に記載の関節機構。
- 前記対の一方のリンクの動作が、前記対の前記他方のリンクの、対応するより大きな動作を生じることを特徴とする請求項1に記載の関節機構。
- トルクを伝達することが可能な関節リンクシステムであって、
少なくとも2つの隣接するリンクと、
前記隣接するリンク間に配置されたブッシングと、を備え、
少なくとも1つの前記隣接するリンクがi)ソケットまたはii)トルクを与える突起を備え、その少なくとも一部分が非円形の緯度方向外周部を有し、
前記ブッシングが、i)少なくとも一部分が非円形の緯度方向外周部を備えるトルクを与える突起またはii)ソケットを備え、前記ブッシングのトルクを与える突起またはソケットが、前記リンクの前記ソケットまたはトルクを与える突起に係合し、それによって第2の隣接するリンクに対して第1の隣接するリンクが旋回動作できるようにしながら前記リンク間のトルク伝達をもたらすようになっていることを特徴とする関節リンクシステム。 - 前記トルクを与える突起の前記部分が前記長手方向の外周部に沿って湾曲していることを特徴とする請求項21に記載の関節リンクシステム。
- トルクを与える突起を備える前記リンクまたは前記ブッシングが、湾曲した緯度方向外周部を有するボール部分をさらに備えることを特徴とする請求項22に記載の関節リンクシステム。
- 前記ソケットがさらに、前記ボール部分を受けるように構成されたことを特徴とする請求項23に記載の関節リンクシステム。
- 前記非円形の緯度方向外周部が複数の面を備える、該面のそれぞれが長手方向に湾曲していることを特徴とする請求項24に記載の関節リンクシステム。
- 前記少なくとも1つの隣接するリンクが、トルクを与える突起を備え、前記ブッシングがソケットを備えることを特徴とする請求項21に記載の関節リンクシステム。
- 前記少なくとも1つの隣接するリンクが前記ソケットを備え、前記ブッシングが前記トルクを与える突起を備えることを特徴とする請求項1に記載の関節リンクシステム。
- 前記第2の隣接するリンクが、i)少なくとも一部分が非円形の緯度方向外周部を備えるトルクを与える突起またはii)ソケットをさらに備え、前記ブッシングの対面する表面が、i)ソケットまたはii)少なくとも一部分が非円形の緯度方向外周部を備えるトルクを与える突起を備えることを特徴とする請求項1に記載の関節リンクシステム。
- 前記第2の隣接するリンクがトルクを与える突起を備え、前記ブッシングがソケットを備えることを特徴とする請求項28に記載の関節リンクシステム。
- 前記第2の隣接するリンクがソケットを備え、前記ブッシングがトルクを与える突起を備えることを特徴とする請求項28に記載の関節リンクシステム。
- トルクを伝達することが可能な外科用器具であって、
外科用または診断用ツールと、
前記外科用または診断用ツールの近位の請求項21に記載の前記関節リンクシステムと、
前記複数のリンクの近位の細長いシャフトと、を備えることを特徴とする外科用器具。 - 医療用または診断用ツールの遠隔操作のためのトルクを伝達することが可能な関節機構であって、
各リンクが対の他方のリンクに対して離隔した関係で維持される、少なくとも1つの対のリンクと、
少なくとも2つの隣接するリンクであって、少なくとも1つの隣接するリンクがトルクを与える突起を有し、その少なくとも一部分が非円形の緯度方向外周部を備え、第1のリンクが第2のリンクに対して旋回動作ができるようにしながら、前記リンク間にトルク伝達をもたらすために第2の隣接するリンクが前記トルクを与える突起に係合するように構成されたソケットを有し、少なくとも2つの隣接するリンクと、
対の一方のリンクの動作が前記対の他方のリンクの対応する相対的な動作を生じるように、各セットが個別の対の前記リンクを互いに連結する少なくとも1つの組のケーブルと、を備えることを特徴とする関節機構。 - 前記トルクを与える突起の前記部分の前記表面が、前記長手方向の湾曲を有することを特徴とする請求項32に記載の関節機構。
- 前記第1の隣接するリンクが、湾曲した長手方向の外周部を有するボール部分をさらに備えることを特徴とする請求項33に記載の関節機構。
- 前記非円形の緯度方向外周部が、複数の長手方向に湾曲した面を備えることを特徴とする請求項34に記載の関節機構。
- 前記第2の隣接するリンクの前記ソケットが、前記第1の隣接するリンクの前記トルクを与える突起に係合するように構成された、複数の径方向に分布する、長手方向に湾曲した面を有することを特徴とする請求項35に記載の関節機構。
- トルクを伝達することが可能な関節リンクシステムであって、
少なくとも2つの隣接するリンクを備え、少なくとも1つの前記リンクがトルクを与える突起を有し、その少なくとも一部分が非円形の緯度方向外周部を備え、第1のリンクが第2のリンクに対して旋回動作ができるようにしながら、前記リンク間にトルク伝達をもたらすために第2の隣接するリンクが第1の隣接するリンクの前記トルクを与える突起に係合するように構成されたソケットを有することを特徴とする関節リンクシステム。 - 前記トルクを与える突起の前記部分が前記長手方向の湾曲を有することを特徴とする請求項37に記載の関節リンクシステム。
- 前記第1の隣接するリンクが、湾曲した長手方向の外周部を有するボール部分をさらに備えることを特徴とする請求項38に記載の関節リンクシステム。
- 前記非円形の緯度方向外周部が複数の長手方向に湾曲した面を備えることを特徴とする請求項39に記載の関節リンクシステム。
- 前記第2の隣接するリンクの前記ソケットが、前記第1の隣接するリンクの前記トルクを与える突起に係合するように構成された、複数の径方向に分布する湾曲した面を有することを特徴とする請求項40に記載の関節リンクシステム。
- トルクを伝達することが可能な外科用器具であって、
外科用または診断用ツールと、
前記外科用または診断用ツールの近位の請求項32に記載の関節リンクシステムと、
前記複数のリンクの近位の細長いシャフトと、を備えることを特徴とする外科用器具。 - 医療用または診断用ツールの遠隔操作のためのトルクを伝達することが可能な関節機構であって、
各リンクが対の他方のリンクに対して離隔した関係に維持される、少なくとも1つの対のリンクと、
第1および第2の隣接するリンクと、を備え、
第1の組のタブが、前記第1と第2の隣接するリンク間で前記第1の隣接するリンクに配置され、
前記第1の隣接するリンクが前記第2の隣接するリンクに対して旋回動作ができるようにしながら、前記リンク間のトルク伝達をもたらすために、前記第2の隣接するリンクが前記第1の隣接するリンクに配置された前記タブに動作可能に連結され、
関節機構はさらに、対の一方のリンクの動作が該対の他方のリンクの対応する相対的な動作を生じるように、各セットが個別の対の該リンクを互いに連結する少なくとも1つの組のケーブルを備えることを特徴とする関節機構。 - 第2の組のタブが前記第2の隣接するリンクに配置され、
前記第1および第2の組のタブの対応するタブの末端部が互いに動作可能に連結されることを特徴とする請求項43に記載の関節機構。 - ブッシングが前記少なくとも2つの隣接するリンク間に配置されることを特徴とする請求項44に記載の関節機構。
- 対応する向かい合うタブの前記末端部が2自由度の継手によって連結されることを特徴とする請求項44に記載の関節機構。
- 各タブが1自由度の継手によってリンクに連結することを特徴とする請求項46に記載の関節機構。
- 前記第1の隣接するリンクが複数の径方向に配分された窪みを備え、
第2の組のタブが前記第2の隣接するリンクに配置され、各リンクに関連する前記複数のタブが前記関節リンクシステムの各リンクの軸の周りに径方向に配分され、前記タブの末端部で前記隣接するリンクが互いに動作可能に連結されるように、各タブが前記リンクの1つの径方向に配分された窪みに係合することを特徴とする請求項43に記載の関節機構。 - 前記2つの隣接するリンク間に配置されたブッシングをさらに備えることを特徴とする請求項48に記載の関節機構。
- 各タブがその対応するリンクに対して1自由度で移動可能なことを特徴とする請求項48に記載の関節機構。
- 対応する向かい合うタブの前記末端部が2自由度の継手によって連結されることを特徴とする請求項48に記載の関節機構。
- 各タブの末端がその対応する溝の内部で移動できるように、前記第1の隣接するリンクに配置された各タブの該末端が前記第2の隣接するリンクに配置された溝に動作可能に連結されることを特徴とする請求項43に記載の関節機構。
- 前記少なくとも2つの隣接するリンク間に配置されたブッシングをさらに備えることを特徴とする請求項52に記載の関節機構。
- 各タブが1自由度の継手によってその対応するリンクに連結することを特徴とする請求項52に記載の関節機構。
- 医療用または診断用ツールの遠隔操作のためのトルクを伝達することが可能な関節リンクシステムであって、
少なくとも第1および第2の隣接するリンク、および前記第1の隣接するリンクが前記第2の隣接するリンクに対して旋回動作できるようにしながら前記リンク間にトルク伝達をもたらすように、前記第2の隣接するリンクに動作可能に連結された複数のタブを備えることを特徴とする関節リンクシステム。 - 第2の組のタブが前記第2の隣接するリンクに配置され、
前記隣接するリンクが、前記第1および第2の組のタブの対応するタブの末端部で互いに動作可能に連結されることを特徴とする請求項55に記載の関節リンクシステム。 - 前記少なくとも2つの隣接するリンク間に配置されたブッシングをさらに備えることを特徴とする請求項56に記載の関節リンクシステム。
- 対応する向かい合うタブの末端部が2自由度の継手によって連結されることを特徴とする請求項57に記載の関節リンクシステム。
- 各タブが1自由度の継手によってリンクに連結することを特徴とする請求項58に記載の関節リンクシステム。
- 前記第1の隣接するリンクが複数の円周方向に配分された窪みを備え、
タブの第2の組が前記第2の隣接するリンクに配置され、
前記隣接するリンクが、各隣接するリンクに配置された前記タブの末端部で互いに動作可能に連結され、
各リンクに関連付けられた前記複数のタブが各リンクの中心軸の周りに径方向に配分され、各タブが前記リンクの円周方向に配分された1つの溝に係合するようになっていることを特徴とする請求項55に記載の関節リンクシステム。 - 前記2つの隣接するリンクのそれぞれの間に配置されたブッシングをさらに備えることを特徴とする請求項60に記載の関節リンクシステム。
- 各タブがその対応するリンクに対して1自由度で移動可能なことを特徴とする請求項61に記載の関節リンクシステム。
- 対応する向かい合うタブの末端部が2自由度の継手によって連結されることを特徴とする請求項62に記載の関節リンクシステム。
- 各タブの末端がその対応する溝の内部で移動できるように、前記第1の隣接するリンクに配置された各タブの前記末端が前記第2の隣接するリンクに径方向に配置された対応する溝に動作可能に連結されることを特徴とする請求項55に記載の関節リンクシステム。
- 前記少なくとも2つの隣接するリンク間に配置されたブッシングをさらに備えることを特徴とする請求項64に記載の関節機構。
- 各タブが1自由度の継手によってその対応するリンクに連結することを特徴とする請求項65に記載の関節機構。
- トルクを伝達することが可能な外科用器具であって、
外科用または診断用ツールと、
前記外科用または診断用ツールの近位の請求項55の前記関節リンクシステムと、
前記複数のリンクの近位の細長いシャフトと、
1つまたは複数のケーブルの動作が1つまたは複数のリンクの動作を生じるように、1つまたは複数のリンクに遠位に連結され、前記細長いシャフトによって近位に受けられた1つまたは複数のケーブルと、を備えることを特徴とする外科用器具。 - 医療用または診断用ツールの遠隔操作のためのトルクを伝達することが可能な関節機構であって、
各リンクが対の他方のリンクに対して離隔した関係に維持される、少なくとも1つの対のリンクと、
少なくとも1つの隣接するリンクがボールを有し、第2の隣接するリンクが該ボールを受けるためのソケットを有し、さらに、該ボールおよびソケットが、第1のリンクの第2のリンクに対する旋回動作も可能にしながら該リンク間にトルク伝達をもたらす、少なくとも1つの係合ピンおよび相補的なスロットを備える少なくとも2つの隣接するリンクと、
対の一方のリンクの動作が該対の他方のリンクの対応する相対的な動作を生じるように、各セットが個別の対の前記リンクを互いに連結する少なくとも1つの組のケーブルと、を備えることを特徴とする関節機構。 - 前記ピンが前記ボールから延出し、前記スロットが前記ソケットに陥凹するようになっていることを特徴とする請求項68に記載の関節機構。
- 前記ピンが前記ソケットから延出し、前記スロットが前記ボールに陥凹するようになっていることを特徴とする請求項68に記載の関節機構。
- 少なくとも1つのリンクが、ボール、および隣接するリンクを受けるためのソケットの両方を備え、前記少なくとも1つのリンクの前記ボールおよびソケットが少なくとも1つの係合ピンおよび少なくとも1つの相補的なスロットを有することを特徴とする請求項68に記載の関節機構。
- トルクを伝達することが可能な関節リンクシステムであって、
少なくとも1つの隣接するリンクがボールを有し、第2の隣接するリンクが該ボールを受けるためのソケットを有し、さらに、該ボールおよびソケットが、前記第1のリンクの前記第2のリンクに対する旋回動作も可能にしながら該リンク間にトルク伝達をもたらす、少なくとも1つの係合ピンおよび相補的なスロットを備える少なくとも2つの隣接するリンクを備えることを特徴とする関節リンクシステム。 - 前記ピンが前記ボールから延出し、前記スロットが前記ソケットに陥凹するようになっていることを特徴とする請求項72に記載の関節リンクシステム。
- 前記ピンが前記ソケットから延出し、前記スロットが前記ボールに陥凹するようになっていることを特徴とする請求項72に記載の関節リンクシステム。
- 少なくとも1つのリンクが、ボール、および隣接するリンクを受けるためのソケットの両方を備え、少なくとも1つのリンクの前記ボールおよびソケットが少なくとも1つの係合ピンおよび少なくとも1つの相補的なスロットを有することを特徴とする請求項72に記載の関節リンクシステム。
- トルクを伝達することが可能な外科用器具であって、
外科用または診断用ツールと、
前記外科用または診断用ツールの近位の請求項72に記載の前記関節リンクシステムと、
前記複数のリンクの近位の細長いシャフトと、を備えることを特徴とする外科用器具。 - 医療用または診断用ツールの遠隔操作のためのトルクを伝達することが可能な関節機構であって、
各リンクが対の他方のリンクに対して離隔した関係に維持される、少なくとも1つの対のリンクと、
少なくとも2つの隣接するリンク、および前記隣接するリンク間に配置されたブッシングと、を備え、
少なくとも1つの隣接するリンクがボールまたはソケットを備え、
前記ブッシングが、前記1つの隣接するリンクの対応するボールまたはソケットに係合するためにソケットまたはボールを備え、
前記係合されたボールおよびソケットが、第2の隣接するリンクに対して第1の隣接するリンクが旋回動作できるようにしながら前記リンク間のトルク伝達をもたらす、少なくとも1つの係合ピンおよび相補的なスロットを備える関節機構であって、
さらに間接機構は、対の一方のリンクの動作が該対の他方のリンクの対応する相対的な動作を生じるように、各セットが個別の対の前記リンクを互いに連結する少なくとも1つの組のケーブルを備えることを特徴とする関節機構。 - 前記ピンが前記ボールから延出し、前記スロットが前記ソケットに陥凹するようになっていることを特徴とする請求項77に記載の関節機構。
- 前記ピンが前記ソケットから延出し、前記スロットが前記ボールに陥凹するようになっていることを特徴とする請求項77に記載の関節機構。
- 少なくとも1つのリンクが、少なくとも(i)2つのボール、または(ii)ボールおよびソケット、または(iii)少なくとも2つのブッシングに係合するための2つのソケットを備え、前記少なくとも1つのリンクの各ボールまたはソケットが、少なくとも1つの係合ピンまたは少なくとも1つの相補的なスロットを有することを特徴とする請求項77に記載の関節機構。
- 前記ブッシングが、少なくとも(i)2つのボール、または(ii)ボールおよびソケット、または(iii)少なくとも2つのブッシングに係合するための2つのソケットを備え、前記ブッシングの各ボールまたはソケットが、少なくとも1つの係合ピンまたは少なくとも1つの相補的なスロットを有することを特徴とする請求項77に記載の関節機構。
- トルクを伝達することが可能な関節リンクシステムであって、
少なくとも2つの隣接するリンクと、
前記隣接するリンク間に配置されたブッシングと、を備え、
少なくとも1つの隣接するリンクがボールまたはソケットを備え、
前記ブッシングが、前記1つの隣接するリンクの対応するボールまたはソケットに係合するためにソケットまたはボールを備え、
前記係合されたボールおよびソケットが、前記第2の隣接するリンクに対して前記第1の隣接するリンクが旋回動作できるようにしながら、前記リンク間のトルク伝達をもたらす、少なくとも1つの係合ピンおよび相補的なスロットを備えることを特徴とする関節リンクシステム。 - 前記ピンが前記ボールから延出し、前記スロットが前記ソケットに陥凹するようになっていることを特徴とすることを特徴とする請求項82に記載の関節リンクシステム。
- 前記ピンが前記ソケットから延出し、前記スロットが前記ボールに陥凹するようになっていることを特徴とする請求項82に記載の関節リンクシステム。
- 少なくとも1つのリンクが、少なくとも(i)2つのボール、または(ii)ボールおよびソケット、または(iii)少なくとも2つのブッシングに係合するための2つのソケットを備え、前記少なくとも1つのリンクの各ボールまたはソケットが、少なくとも1つの係合ピンまたは少なくとも1つの相補的なスロットを有することを特徴とする請求項82に記載の関節機構。
- 前記ブッシングが、少なくとも(i)2つのボール、または(ii)ボールおよびソケット、または(iii)少なくとも2つのリンクに係合するための2つのソケットを備え、前記ブッシングの各ボールまたはソケットが、少なくとも1つの係合ピンまたは少なくとも1つの相補的なスロットを有することを特徴とする請求項82に記載の関節機構。
- トルクを伝達することが可能な外科用器具であって、
外科用または診断用ツールと、
前記外科用または診断用ツールの近位の請求項82に記載の前記関節リンクシステムと、
前記複数のリンクの近位の細長いシャフトと、を備えることを特徴とする外科用器具。
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US11/122,598 US10321927B2 (en) | 2004-11-23 | 2005-05-04 | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
US11/122,598 | 2005-05-04 | ||
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Also Published As
Publication number | Publication date |
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US9700334B2 (en) | 2017-07-11 |
JP5283384B2 (ja) | 2013-09-04 |
US20060111209A1 (en) | 2006-05-25 |
JP2013081827A (ja) | 2013-05-09 |
US10321927B2 (en) | 2019-06-18 |
CN100558301C (zh) | 2009-11-11 |
EP1955659B1 (en) | 2011-03-23 |
US20190290309A1 (en) | 2019-09-26 |
US20060111210A1 (en) | 2006-05-25 |
JP2013081828A (ja) | 2013-05-09 |
JP5655102B2 (ja) | 2015-01-14 |
US11638590B2 (en) | 2023-05-02 |
JP5661823B2 (ja) | 2015-01-28 |
DE602005027132D1 (de) | 2011-05-05 |
EP1955659A1 (en) | 2008-08-13 |
ATE502581T1 (de) | 2011-04-15 |
CN101106945A (zh) | 2008-01-16 |
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