JP2012110675A - 外科手術用デバイス - Google Patents
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- 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
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- 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
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- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00371—Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00734—Aspects not otherwise provided for battery operated
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
- A61B2017/00818—Treatment of the gastro-intestinal system
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- 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
- A61B2017/07214—Stapler heads
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2925—Pistol grips
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
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- 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
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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Abstract
【解決手段】外科手術用デバイスは、ハンドルに結合されたシャフト部分を備え、このハンドルは、長手方向軸を規定する。この外科手術用デバイスはまた、第一の駆動シャフトを介して回転運動を起動するように構成された第一のドライバ、および第二の駆動シャフトを介して関節運動を起動するように構成された第二のドライバを備える。この外科手術用デバイスはまた、第一のダイヤルおよび第二のダイヤルを有する制御器を備え、この第一のダイヤルは、この第一のドライバを起動させるように構成され、そしてこの第二のダイヤルは、この第二のドライバを起動させるように構成される。この第二のダイヤルは、この第一のダイヤルの内部に配置される。
【選択図】なし
Description
本願は、2010年11月19日に出願された米国仮特許出願番号61/415,430の利益および優先権を主張する。この米国仮特許出願の全内容は、本明細書中に参考として援用される。
(技術分野)
本開示は、外科手術用デバイスに関し、そしてより特定すると、キャブ・フォワード(cab−forward)構成を有するハンドルに支持された制御器を有する、電力で回転および/または関節運動する外科手術用デバイスに関する。
1つの型の外科手術用デバイスは、直線状にクランプし、切断し、そしてステープル留めするデバイスである。このようなデバイスは、例えば、胃腸管から癌性組織または異常な組織を切除するために、外科手術手順において使用され得る。従来の直線状にクランプし、切断し、そしてステープル留めするデバイスは、細長シャフトおよび遠位部分を有する、ピストルグリップ様式の構造体を備え得る。この遠位部分は、鋏様式の把持要素を備え得る。このデバイスにおいて、この鋏様式の把持要素の一方の部材(例えば、アンビル部分)は、この構造体全体に対して移動または旋回し、一方で、この鋏様式の把持要素の他方の部材は、この構造体全体に対して固定されたままである。この把持要素の起動は、このハンドルの内部または表面に保持されたトリガによって、制御され得る。
(項目1)
外科手術用デバイスであって、
操作者の手によって保持されるように構成されたハンドル;
該ハンドルに結合されたシャフト部分であって、該シャフト部分は、シャフト長手方向軸を規定する、シャフト部分;
該シャフト部分に対して回転および旋回するように該シャフト部分の遠位端に支持されているエンドエフェクタ;
該シャフト部分を通って延びる第一の駆動シャフトであって、該シャフト部分の該シャフト長手方向軸の周りでの該エンドエフェクタの回転を引き起こすように該エンドエフェクタに作動可能に接続されている、第一の駆動シャフト;
該シャフト部分を通って延びる第二の駆動シャフトであって、該シャフト部分の該シャフト長手方向軸に対する該エンドエフェクタの旋回を引き起こすように該エンドエフェクタに作動可能に接続されている、第二の駆動シャフト;ならびに
該ハンドルを保持する該操作者の手の親指によって起動されるように該ハンドルに支持されている制御器であって、該制御器は、
第一の回転可能部材;および
第二の回転可能部材;
を備える、制御器、
を備え、
該第一の回転可能部材は、該第一の回転可能部材の第一の方向および第二の方向への回転の際に、対応して、該第一の駆動シャフトを第一の方向および第二の方向のうちの一方に回転させて、該シャフト部分に対する該エンドエフェクタの対応する第一の方向への回転および第二の方向への回転を引き起こすように構成されており;そして
該第二の回転可能部材は、該第二の回転可能部材の第一の方向および第二の方向への回転の際に、対応して、該第二の駆動シャフトを第一の方向および第二の方向のうちの一方に回転させて、シャフト部分に対する該エンドエフェクタの対応する第一の方向への旋回および第二の方向への旋回を引き起こすように構成されている、
外科手術用デバイス。
(項目2)
前記第一の回転可能部材が回転軸を規定し、そして前記第二の回転可能部材が回転軸を規定し、ここで該第二の回転可能部材の該回転軸が、該第一の回転可能部材の該回転軸に対して直交して配向している、上記項目に記載の外科手術用デバイス。
(項目3)
前記第一の回転可能部材が回転軸を規定し、そして該第二の回転可能部材が回転軸を規定し、ここで該第二の回転可能部材の該回転軸が、該第一の回転可能部材の該回転軸に対して実質的に平行である、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目4)
前記第二の回転可能部材の前記回転軸が、前記第一の回転可能部材の前記回転軸に対して同心状である、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目5)
前記第一の回転可能部材と前記第二の回転可能部材とが、互いの内部に入れ子状である、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目6)
前記制御器が、
前記第一の駆動シャフトの回転を引き起こすための、前記第一の回転可能部材に関連する第一のホール効果スイッチ;および
前記第二の駆動シャフトの回転を引き起こすための、前記第二の回転可能部材に関連する第二のホール効果スイッチ、
を備える、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目7)
前記エンドエフェクタの前記回転運動および前記旋回運動に関する触知フィードバックおよび可聴フィードバックのうちの少なくとも1つを提供するためのフィードバック機構をさらに備える、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目8)
前記フィードバック機構が、前記第一の回転可能部材および前記第二の回転可能部材の各々に提供された歯と係合する板ばねを備える、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目9)
前記エンドエフェクタが、前記シャフト長手方向軸に対して実質的に直交して延びる旋回軸の周りで単一面内で旋回するように、前記シャフト部分の前記遠位端に旋回可能に接続されている、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目10)
前記エンドエフェクタの回転速度は、前記第一の回転可能部材の回転速度と相応し、そして該エンドエフェクタの旋回速度は、前記第二の回転可能部材の回転速度と相応する、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目11)
前記第一の回転可能部材の比較的遅い回転速度は、約1:1の比を有する前記エンドエフェクタの回転速度をもたらし;前記第二の回転可能部材の比較的遅い回転速度は、約1:1の比を有する該エンドエフェクタの旋回速度をもたらし;該第一の回転可能部材の比較的速い回転速度は、1:1より大きい比を有する該エンドエフェクタの回転速度をもたらし;該第二の回転可能部材の比較的速い回転速度は、1:1より大きい比を有する該エンドエフェクタの旋回速度をもたらす、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目12)
前記ハンドルが、
前記シャフト部分を支持している上部分;および
該上部分から延びる中間部分であって、該中間部分は、長手方向軸を規定し、そして該中間部分の該長手方向軸は、前記シャフト長手方向軸に対して約30°の角度で配向している、中間部分、
を備える、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目13)
前記エンドエフェクタが顎部分を備える、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目14)
外科手術用デバイスであって、
ピストルグリップの様式で操作者の手によって保持されるように構成されたハンドル;
該ハンドルから延びるシャフト部分であって、該シャフト部分は、シャフト長手方向軸を規定する、シャフト部分;
該シャフト部分の遠位端に支持されているエンドエフェクタであって、該エンドエフェクタは、該シャフト部分に対して回転および旋回し得る、エンドエフェクタ;ならびに
該ハンドルを保持する該操作者の手の親指によって片手で起動されるように該ハンドルに支持されている制御器であって、該制御器は、
第一の回転可能部材;および
第二の回転可能部材;
を備える、制御器、
を備え、
該第一の回転可能部材は、第一の方向および第二の方向のうちの一方に回転して、該シャフト部分に対する該エンドエフェクタの対応する第一の方向への回転および第二の方向への回転を引き起こすように構成されており;そして
該第二の回転可能部材は、第一の方向および第二の方向のうちの一方に回転して、シャフト部分に対する該エンドエフェクタの対応する第一の方向への旋回および第二の方向への旋回を引き起こすように構成されている、
外科手術用デバイス。
(項目15)
前記第一の回転可能部材が回転軸を規定し、そして前記第二の回転可能部材が回転軸を規定し、ここで該第二の回転可能部材の該回転軸が、該第一の回転可能部材の該回転軸に対して直交して配向している、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目16)
前記制御器が、
前記エンドエフェクタの回転を引き起こすための、前記第一の回転可能部材に関連する第一のホール効果スイッチ;および
前記エンドエフェクタの回転を引き起こすための、前記第二の回転可能部材に関連する第二のホール効果スイッチ、
を備える、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目17)
前記エンドエフェクタが、前記シャフト長手方向軸に対して実質的に直交して延びる旋回軸の周りで単一面内で旋回するように、前記シャフト部分の前記遠位端に旋回可能に接続されている、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目18)
前記エンドエフェクタの回転速度は、前記第一の回転可能部材の回転速度と相応し、そして該エンドエフェクタの旋回速度は、前記第二の回転可能部材の回転速度と相応する、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目19)
前記第一の回転可能部材の比較的遅い回転速度は、約1:1の比を有する前記エンドエフェクタの回転速度をもたらし;前記第二の回転可能部材の比較的遅い回転速度は、約1:1の比を有する該エンドエフェクタの旋回速度をもたらし;該第一の回転可能部材の比較的速い回転速度は、1:1より大きい比を有する該エンドエフェクタの回転速度をもたらし;該第二の回転可能部材の比較的速い回転速度は、1:1より大きい比を有する該エンドエフェクタの旋回速度をもたらす、上記項目のいずれか一項に記載の外科手術用デバイス。
(項目20)
外科手術用デバイスを操作する方法であって、該方法は、
外科手術用デバイスを提供する工程であって、該外科手術用デバイスは、
ピストルグリップの様式で操作者の手によって保持されるように構成されたハンドル;
該ハンドルから延びるシャフト部分であって、該シャフト部分は、シャフト長手方向軸を規定する、シャフト部分;
該シャフト部分の遠位端に支持されているエンドエフェクタであって、該エンドエフェクタは、該シャフト部分に対して回転および旋回し得る、エンドエフェクタ;ならびに
該ハンドルを保持する該操作者の手の親指によって片手で起動されるように該ハンドルに支持されている制御器であって、該制御器は、
第一の回転可能部材;および
第二の回転可能部材;
を備える、制御器、
を備え、
該第一の回転可能部材は、第一の方向および第二の方向のうちの一方に回転して、該シャフト部分に対する該エンドエフェクタの対応する第一の方向への回転および第二の方向への回転を引き起こすように構成されており;そして
該第二の回転可能部材は、第一の方向および第二の方向のうちの一方に回転して、シャフト部分に対する該エンドエフェクタの対応する第一の方向への旋回および第二の方向への旋回を引き起こすように構成されている、
工程;ならびに
該第一の回転可能部材を回転させて、該シャフト部分に対する該エンドエフェクタの回転を引き起こす工程;または
該第二の回転可能部材を回転させて、該シャフト部分に対する該エンドエフェクタの旋回を引き起こす工程、
のうちの少なくとも一方を行う工程、
を包含する、方法。
外科手術用デバイスは、ハンドルに結合されたシャフト部分を備え、このハンドルは、長手方向軸を規定する。この外科手術用デバイスはまた、第一の駆動シャフトを介して回転運動を起動するように構成された第一のドライバ、および第二の駆動シャフトを介して関節運動を起動するように構成された第二のドライバを備える。この外科手術用デバイスはまた、第一のダイヤルおよび第二のダイヤルを有する制御器を備え、この第一のダイヤルは、この第一のドライバを起動させるように構成され、そしてこの第二のダイヤルは、この第二のドライバを起動させるように構成される。この第二のダイヤルは、この第一のダイヤルの内部に配置される。
本開示は、キャブ・フォワード構成を有するハンドルに支持された制御器を有する、電力で回転および/または関節運動する外科手術用デバイスに関する。
図面および以下の説明において、同じ参照番号は、類似の要素または同一の要素を確認する役に立ち、慣習的であるように、用語「近位」とは、装置の使用中に操作者に最も近い端部をいい、一方で、用語「遠位」とは、操作者から最も遠い端部をいう。
811a エンドエフェクタまたは顎部分
811b シャフト部分
811c ヒンジ部分
850 第一の顎
880 第二の顎
8103 ハンドル
8101a 遠位部分
8101b 近位部分
2000 制御器
2100 第一の回転可能部材
2200 第二の回転可能部材
Claims (19)
- 外科手術用デバイスであって、
操作者の手によって保持されるように構成されたハンドル;
該ハンドルに結合されたシャフト部分であって、該シャフト部分は、シャフト長手方向軸を規定する、シャフト部分;
該シャフト部分に対して回転および旋回するように該シャフト部分の遠位端に支持されているエンドエフェクタ;
該シャフト部分を通って延びる第一の駆動シャフトであって、該シャフト部分の該シャフト長手方向軸の周りでの該エンドエフェクタの回転を引き起こすように該エンドエフェクタに作動可能に接続されている、第一の駆動シャフト;
該シャフト部分を通って延びる第二の駆動シャフトであって、該シャフト部分の該シャフト長手方向軸に対する該エンドエフェクタの旋回を引き起こすように該エンドエフェクタに作動可能に接続されている、第二の駆動シャフト;ならびに
該ハンドルを保持する該操作者の手の親指によって起動されるように該ハンドルに支持されている制御器であって、該制御器は、
第一の回転可能部材;および
第二の回転可能部材;
を備える、制御器、
を備え、
該第一の回転可能部材は、該第一の回転可能部材の第一の方向および第二の方向への回転の際に、対応して、該第一の駆動シャフトを第一の方向および第二の方向のうちの一方に回転させて、該シャフト部分に対する該エンドエフェクタの対応する第一の方向への回転および第二の方向への回転を引き起こすように構成されており;そして
該第二の回転可能部材は、該第二の回転可能部材の第一の方向および第二の方向への回転の際に、対応して、該第二の駆動シャフトを第一の方向および第二の方向のうちの一方に回転させて、シャフト部分に対する該エンドエフェクタの対応する第一の方向への旋回および第二の方向への旋回を引き起こすように構成されている、
外科手術用デバイス。 - 前記第一の回転可能部材が回転軸を規定し、そして前記第二の回転可能部材が回転軸を規定し、ここで該第二の回転可能部材の該回転軸が、該第一の回転可能部材の該回転軸に対して直交して配向している、請求項1に記載の外科手術用デバイス。
- 前記第一の回転可能部材が回転軸を規定し、そして該第二の回転可能部材が回転軸を規定し、ここで該第二の回転可能部材の該回転軸が、該第一の回転可能部材の該回転軸に対して実質的に平行である、請求項1に記載の外科手術用デバイス。
- 前記第二の回転可能部材の前記回転軸が、前記第一の回転可能部材の前記回転軸に対して同心状である、請求項3に記載の外科手術用デバイス。
- 前記第一の回転可能部材と前記第二の回転可能部材とが、互いの内部に入れ子状である、請求項1に記載の外科手術用デバイス。
- 前記制御器が、
前記第一の駆動シャフトの回転を引き起こすための、前記第一の回転可能部材に関連する第一のホール効果スイッチ;および
前記第二の駆動シャフトの回転を引き起こすための、前記第二の回転可能部材に関連する第二のホール効果スイッチ、
を備える、請求項1に記載の外科手術用デバイス。 - 前記エンドエフェクタの前記回転運動および前記旋回運動に関する触知フィードバックおよび可聴フィードバックのうちの少なくとも1つを提供するためのフィードバック機構をさらに備える、請求項1に記載の外科手術用デバイス。
- 前記フィードバック機構が、前記第一の回転可能部材および前記第二の回転可能部材の各々に提供された歯と係合する板ばねを備える、請求項7に記載の外科手術用デバイス。
- 前記エンドエフェクタが、前記シャフト長手方向軸に対して実質的に直交して延びる旋回軸の周りで単一面内で旋回するように、前記シャフト部分の前記遠位端に旋回可能に接続されている、請求項1に記載の外科手術用デバイス。
- 前記エンドエフェクタの回転速度は、前記第一の回転可能部材の回転速度と相応し、そして該エンドエフェクタの旋回速度は、前記第二の回転可能部材の回転速度と相応する、請求項1に記載の外科手術用デバイス。
- 前記第一の回転可能部材の比較的遅い回転速度は、約1:1の比を有する前記エンドエフェクタの回転速度をもたらし;前記第二の回転可能部材の比較的遅い回転速度は、約1:1の比を有する該エンドエフェクタの旋回速度をもたらし;該第一の回転可能部材の比較的速い回転速度は、1:1より大きい比を有する該エンドエフェクタの回転速度をもたらし;該第二の回転可能部材の比較的速い回転速度は、1:1より大きい比を有する該エンドエフェクタの旋回速度をもたらす、請求項10に記載の外科手術用デバイス。
- 前記ハンドルが、
前記シャフト部分を支持している上部分;および
該上部分から延びる中間部分であって、該中間部分は、長手方向軸を規定し、そして該中間部分の該長手方向軸は、前記シャフト長手方向軸に対して約30°の角度で配向している、中間部分、
を備える、請求項1に記載の外科手術用デバイス。 - 前記エンドエフェクタが顎部分を備える、請求項1に記載の外科手術用デバイス。
- 外科手術用デバイスであって、
ピストルグリップの様式で操作者の手によって保持されるように構成されたハンドル;
該ハンドルから延びるシャフト部分であって、該シャフト部分は、シャフト長手方向軸を規定する、シャフト部分;
該シャフト部分の遠位端に支持されているエンドエフェクタであって、該エンドエフェクタは、該シャフト部分に対して回転および旋回し得る、エンドエフェクタ;ならびに
該ハンドルを保持する該操作者の手の親指によって片手で起動されるように該ハンドルに支持されている制御器であって、該制御器は、
第一の回転可能部材;および
第二の回転可能部材;
を備える、制御器、
を備え、
該第一の回転可能部材は、第一の方向および第二の方向のうちの一方に回転して、該シャフト部分に対する該エンドエフェクタの対応する第一の方向への回転および第二の方向への回転を引き起こすように構成されており;そして
該第二の回転可能部材は、第一の方向および第二の方向のうちの一方に回転して、シャフト部分に対する該エンドエフェクタの対応する第一の方向への旋回および第二の方向への旋回を引き起こすように構成されている、
外科手術用デバイス。 - 前記第一の回転可能部材が回転軸を規定し、そして前記第二の回転可能部材が回転軸を規定し、ここで該第二の回転可能部材の該回転軸が、該第一の回転可能部材の該回転軸に対して直交して配向している、請求項14に記載の外科手術用デバイス。
- 前記制御器が、
前記エンドエフェクタの回転を引き起こすための、前記第一の回転可能部材に関連する第一のホール効果スイッチ;および
前記エンドエフェクタの回転を引き起こすための、前記第二の回転可能部材に関連する第二のホール効果スイッチ、
を備える、請求項14に記載の外科手術用デバイス。 - 前記エンドエフェクタが、前記シャフト長手方向軸に対して実質的に直交して延びる旋回軸の周りで単一面内で旋回するように、前記シャフト部分の前記遠位端に旋回可能に接続されている、請求項14に記載の外科手術用デバイス。
- 前記エンドエフェクタの回転速度は、前記第一の回転可能部材の回転速度と相応し、そして該エンドエフェクタの旋回速度は、前記第二の回転可能部材の回転速度と相応する、請求項14に記載の外科手術用デバイス。
- 前記第一の回転可能部材の比較的遅い回転速度は、約1:1の比を有する前記エンドエフェクタの回転速度をもたらし;前記第二の回転可能部材の比較的遅い回転速度は、約1:1の比を有する該エンドエフェクタの旋回速度をもたらし;該第一の回転可能部材の比較的速い回転速度は、1:1より大きい比を有する該エンドエフェクタの回転速度をもたらし;該第二の回転可能部材の比較的速い回転速度は、1:1より大きい比を有する該エンドエフェクタの旋回速度をもたらす、請求項18に記載の外科手術用デバイス。
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EP2455007A2 (en) | 2012-05-23 |
CA2751089A1 (en) | 2012-05-19 |
AU2011218768A1 (en) | 2012-06-07 |
CN102475557B (zh) | 2017-06-23 |
EP2893885A1 (en) | 2015-07-15 |
EP2455007A3 (en) | 2014-07-30 |
US9364224B2 (en) | 2016-06-14 |
US8480703B2 (en) | 2013-07-09 |
CN102475557A (zh) | 2012-05-30 |
JP5777212B2 (ja) | 2015-09-09 |
US20120130420A1 (en) | 2012-05-24 |
EP2893885B1 (en) | 2019-07-03 |
EP2455007B1 (en) | 2016-04-20 |
US20130274797A1 (en) | 2013-10-17 |
AU2011218768B2 (en) | 2014-05-22 |
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