JP2010099530A5 - - Google Patents
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- JP2010099530A5 JP2010099530A5 JP2010026006A JP2010026006A JP2010099530A5 JP 2010099530 A5 JP2010099530 A5 JP 2010099530A5 JP 2010026006 A JP2010026006 A JP 2010026006A JP 2010026006 A JP2010026006 A JP 2010026006A JP 2010099530 A5 JP2010099530 A5 JP 2010099530A5
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- flexible tube
- instrument
- axis
- distal
- wrist
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Claims (27)
- 作業端部と近接端部と、該作業端部と該近接端部との間のシャフト軸とを有する細長いシャフトと、
エンドエフェクタと、
壁に囲まれた内部を通って延びる軸を含むフレキシブルチューブを有するリスト部材であって、該フレキシブルチューブの壁は該フレキシブルチューブの軸に概ね平行するように方向付けられた複数の内腔を含み、該リスト部材は細長いシャフトの作業端部に接続される近接部分とエンドエフェクタに接続される遠位部分とを有するリスト部材と、
エンドエフェクタに接続される遠位部分を有し、該遠位部分からリスト部材を通って細長いシャフトに向かって近接部分まで延びており、ピッチ回転およびヨー回転でリスト部材を屈折させるように作動可能な複数の作動ケーブルと、
を含む低侵襲手術器具。 - 前記フレキシブルチューブの壁は12個の内腔を含む、請求項1に記載の器具。
- 各作動ケーブルは、2つの隣接する内腔を通って延びるように、フレキシブルチューブの壁の遠位部分の周りで輪状にされる、請求項1に記載の器具。
- 前記フレキシブルチューブは、フレキシブルチューブの軸に対して概ね横断する複数の横切込みを含む、請求項1に記載の器具。
- フレキシブルチューブの外面の周囲に巻かれた外側カバーをさらに含む、請求項4に記載の器具。
- 前記横切込みは、各々が互いに対向して配置される1対の切込みを有する切込みの交互の層を含み、各層の切込みは、隣接する層の切込みから約90度ずつ離間される方向に向けられた、請求項4に記載の器具。
- 前記横切込みは、リブの上下のディスク部分の間でリブを接続したままにして、概ねフレキシブルチューブの軸に沿って、ディスク部分内に延びるスリットがリブの両側に設けられる、請求項6に記載の器具。
- 前記フレキシブルチューブは、フレキシブルチューブの軸に概ね平行するように方向付けられた複数のスロットを有する内側チューブと、スロットで内腔を形成するように内側チューブの周囲に巻かれた外側カバーとを含む、請求項1に記載の器具。
- 前記外側カバーは外バネを含む、請求項8に記載の器具。
- 前記フレキシブルチューブは、各々が複数のスロットの1つの周囲に配置される複数のバネを含む、請求項1に記載の器具。
- 前記フレキシブルチューブの内部の周囲に配置される内バネをさらに含む、請求項1に記載の器具。
- フレキシブルチューブの外面上に編組カバーをさらに含み、該編組カバーはフレキシブルチューブの近接端部と遠位端部との間で時計回りの方向に巻かれる第1のセットのワイヤーと、フレキシブルチューブの近接端部と遠位端部との間で反時計回りの方向に巻かれ、第1のセットのワイヤーとともに織り込まれる第2のセットのワイヤーとを有する、請求項1に記載の器具。
- 前記フレキシブルチューブの壁は、フレキシブルチューブの軸に概ね平行に、軸接続部により摺動可能に互いに接続される複数の軸方向摺動部材を含む、請求項1に記載の器具。
- 前記軸接続部はタングおよび溝接続部を含む、請求項13に記載の器具。
- 各軸方向摺動部材は作動ケーブルの1つを受けるための内腔を含む、請求項13に記載の器具。
- 各軸方向摺動部材は、一体化された摺動要素として作動ケーブルの1つと一体的に形成される、請求項13に記載の器具。
- 前記フレキシブルチューブは、互いに連結され、フレキシブルチューブの円周の周りに配置される複数の軸バネを含み、各軸バネは、作動ケーブルの1つを受けるための内腔の1つを提供するように隣接する軸バネのコイルと重なり合うコイルを有する、請求項1に記載の器具。
- 前記フレキシブルチューブは、フレキシブルチューブの軸に沿って連続して接続される高点と低点とを含む複数の波形バネセグメントを有する波形バネを含み、1つの波形バネセグメントの高点は隣接する波形バネセグメントの低点に接続される、請求項1に記載の器具。
- 前記リストは、フレキシブルチューブの遠位端部に接続される遠位終端ディスクを含み、前記遠位終端ディスクはフレキシブルチューブより実質的に堅い、請求項1に記載の器具。
- 方法であって、以下:
リスト部材の遠位部分から該リスト部材を通って細長いシャフトに延びる複数の作動ケーブルの近接部分を作動させる工程であって、該複数の作動ケーブルの遠位部分が該リスト部材の遠位部分に接続されている、工程と、
該複数の作動ケーブルの近接部分の作動に対応してピッチ回転およびヨー回転で該リスト部材を作動させる工程であって、該リスト部材が壁に囲まれた内部を通って延びる軸を含むフレキシブルチューブを有し、該フレキシブルチューブの壁は該フレキシブルチューブの軸に概ね平行するように方向付けられた複数の内腔を含み、該作動ケーブルは該内腔を通り、該リスト部材は細長いシャフトの作業端部に接続される近接部分とエンドエフェクタに接続される遠位部分とを有する工程と、
を包含する、方法。 - 各作動ケーブルは、2つの隣接する内腔を通って延びるように、フレキシブルチューブの壁の遠位部分の周りで輪状にされる、請求項20に記載の方法。
- 前記フレキシブルチューブは、フレキシブルチューブの軸に対して概ね横断する複数の横切込みを含む、請求項20に記載の方法。
- フレキシブルチューブの外面の周囲に巻かれた外側カバーをさらに含む、請求項20に記載の方法。
- 前記フレキシブルチューブは、フレキシブルチューブの軸に概ね平行するように方向付けられた複数のスロットを有する内側チューブと、スロットで内腔を形成するように内側チューブの周囲に巻かれた外側カバーとを含む、請求項20に記載の方法。
- 前記フレキシブルチューブは、各々が複数のスロットの1つの周囲に配置される複数のバネを含む、請求項20に記載の方法。
- 前記フレキシブルチューブの内部の周囲に配置される内バネをさらに含む、請求項20に記載の方法。
- 装置であって、以下:
作業端部と近接端部と、該作業端部と該近接端部との間のシャフト軸とを有する細長いシャフトと、
エンドエフェクタと、
複数のケーブルの近接部分を操作することによって該細長いシャフトの作業端部に対して該エンドエフェクタを移動させるためのフレキシブルリスト手段であって、該複数のケーブルが該フレキシブルリスト手段に配置される複数の内腔を通っている、フレキシブルリスト手段と、
を備える、装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US43163602P | 2002-12-06 | 2002-12-06 | |
US60/431,636 | 2002-12-06 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2004559257A Division 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 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
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JP2011025457A Division 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 Division 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 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2010099530A JP2010099530A (ja) | 2010-05-06 |
JP2010099530A5 true JP2010099530A5 (ja) | 2011-03-31 |
JP5455171B2 JP5455171B2 (ja) | 2014-03-26 |
Family
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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 |
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 |
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 |
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 |
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 |
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 |
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 Before (1)
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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 |
Family Applications After (10)
Application Number | Title | Priority Date | Filing Date |
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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 |
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 |
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 |
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 |
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 |
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 (ja) |
EP (7) | EP2865351B1 (ja) |
JP (12) | JP4486503B2 (ja) |
KR (4) | KR101118049B1 (ja) |
CN (2) | CN100389730C (ja) |
AT (1) | ATE551964T1 (ja) |
AU (1) | AU2003293353A1 (ja) |
WO (1) | WO2004052171A2 (ja) |
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2003
- 2003-12-02 KR KR1020107027331A patent/KR101118049B1/ko active IP Right Grant
- 2003-12-02 EP EP14193162.6A patent/EP2865351B1/en not_active Expired - Lifetime
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