JP2014079653A5 - - Google Patents

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JP2014079653A5
JP2014079653A5 JP2014021913A JP2014021913A JP2014079653A5 JP 2014079653 A5 JP2014079653 A5 JP 2014079653A5 JP 2014021913 A JP2014021913 A JP 2014021913A JP 2014021913 A JP2014021913 A JP 2014021913A JP 2014079653 A5 JP2014079653 A5 JP 2014079653A5
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rotatable
feature
alignment feature
medical
capstan
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JP2014079653A (ja
JP5951658B2 (ja
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Claims (20)

  1. システムであって、以下:
    回転可能なキャプスタンを含む医療器具であって、該回転可能なキャプスタンが第1の連結特徴を含む、医療器具、および
    回転可能な駆動要素を含む駆動システムであって、該回転可能な駆動要素が第2の連結特徴を含む、駆動システムを備え、
    該第1の連結特徴および該第2の連結特徴が整列された係合構成および整列されない係合構成を有し、該整列された係合構成において、該回転可能な駆動要素の回転が該回転可能なキャプスタンの回転を引き起こし、そして該整列されない係合構成において、該回転可能な駆動要素の回転が該回転可能なキャプスタンの回転を引き起こさない、システム。
  2. 前記第1の連結特徴または前記第2の連結特徴の一方がシャフトを含み、そして該第1の連結特徴または該第2の連結特徴の他方がボアを含み、該シャフトが、前記整列されない係合構成におい該ボア内で回転可能であり、そして前記整列された係合構成において該ボア内で回転可能でない、請求項1に記載のシステム。
  3. 前記ボアが、円形断面を有する、請求項2に記載のシステム。
  4. 前記第1の連結特徴または前記第2の連結特徴のいずれかが、圧縮可能な突起部を含み、そして該第1の連結特徴または該第2の連結特徴の他方がスロットを含み、そして該圧縮可能な突起部が、前記整列された係合構成において該スロットと係合し、前記整列されない係合構成において該スロットと係合しない、請求項1に記載のシステム。
  5. 前記圧縮可能な突起部が、バネ負荷型である、請求項4に記載のシステム。
  6. 前記圧縮可能な突起部が、前記整列されない係合構成において圧縮され、そして前記整列された係合構成において圧縮されない、請求項4に記載のシステム。
  7. 前記駆動システムが、前記回転可能な駆動要素に連結されたモータを含む、請求項1に記載のシステム。
  8. 前記医療器具が、前記回転可能なキャプスタンの周りに巻かれたテンドンを含む、請求項1に記載のシステム。
  9. 前記医療器具が、前記テンドンが通って延びる可撓性シャフトを含む、請求項8に記載のシステム。
  10. 前記医療器具がエンドエフェクタを含む請求項8に記載のシステムであって、前記回転可能な駆動要素の回転が、前記整列された係合構成において該エンドエフェクタの作動を引き起こし、そして前記整列されない係合構成において該エンドエフェクタの作動を引き起こさない、システム。
  11. 前記整列されない係合構成において、前記第2の連結特徴が、前記第1の連結特徴に対して回転可能である、請求項1に記載のシステム。
  12. 医療システムであって、以下:
    回転可能なキャプスタンを含む医療器具であって、該キャプスタンがボアおよび第1の整列特徴を含む、医療器具、および
    該ボア内に受容されるためのサイズの駆動シャフトを含む駆動モータであって、該駆動シャフトが第2の整列特徴を含む、駆動モータ、を備え、
    該シャフトが、該第1の整列特徴と該第2の整列特徴とが係合するまで、該キャプスタンを回転することなく該ボア内で回転可能である、医療システム。
  13. 該ボアが、円形断面を有する、請求項12に記載の医療システム。
  14. 前記第1の整列特徴または前記第2の整列特徴のいずれかが圧縮可能な突起部を含み、そして該第1の整列特徴または該第2の整列特徴の他方がスロットを含み、該第1の整列特徴と該第2の整列特徴とが係合するとき、該圧縮可能な突起部が該スロットとともに延びる、請求項12に記載の医療システム。
  15. 前記圧縮可能な突起部が、レバーを含む、請求項14に記載の医療システム。
  16. 前記圧縮可能な突起部が、バネ負荷型である、請求項14に記載の医療システム。
  17. 前記圧縮可能な突起部が、前記シャフトが前記ボア内で回転可能であるとき圧縮され、そして前記第1の整列特徴と前記第2の整列特徴とが係合するとき圧縮されない、請求項14に記載の医療システム。
  18. 前記医療器具が、前記回転可能なキャプスタンの周りに巻かれたテンドンを含む、請求項12に記載の医療システム。
  19. 前記医療器具が、前記テンドンが通って延びる可撓性シャフトを含む、請求項18に記載の医療システム。
  20. 前記医療器具がエンドエフェクタを含む請求項18に記載の医療システムであって、前記第1の整列特徴と前記第2の整列特徴とが係合するとき、キャプスタンを回転することによって前記テンドンに付与された力が、該エンドエフェクタを作動する、医療システム。
JP2014021913A 2008-09-30 2014-02-07 手術器具のための受動的事前負荷およびキャプスタン駆動 Active JP5951658B2 (ja)

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US12/286,644 US9259274B2 (en) 2008-09-30 2008-09-30 Passive preload and capstan drive for surgical instruments
US12/286,644 2008-09-30

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US (5) US9259274B2 (ja)
EP (2) EP2361170B1 (ja)
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KR (4) KR101765094B1 (ja)
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