JP2014534863A - 一体型ナイフ刃を有する手術用器具 - Google Patents
一体型ナイフ刃を有する手術用器具 Download PDFInfo
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Abstract
Description
以下、図面(いくつかの図面を通して、同様の参照符号は同様の部位を表す)を参照して、図1は、手術台14に横たわる患者12に低侵襲診断又は外科的処置を行うのに一般的に用いられる低侵襲ロボット手術(MIRS)システム10の平面図である。該システムは、処置の間外科医18によって用いられる外科医コンソール16を含み得る。1人以上の助手20も処置に参加し得る。MIRSシステム10は、患者側カート22(手術ロボット)及び電動カート24をさらに含み得る。外科医18がコンソール16を介して手術部位を観察する間、患者側カート22は、患者12の体に形成された低侵襲切開を介して、着脱可能に連結された少なくとも1つのツールアセンブリ26(以下、単に「ツール」と呼ぶ)を操作できる。手術部位の画像は、立体内視鏡等の内視鏡28によって得ることができる。内視鏡28は患者側カート22によって操作することができ、内視鏡28が正しい位置に合わせられる。電動カート24は、手術部位の画像を処理するのに用いることができ、処理された画像は、後に外科医コンソール16を介して外科医18に表示される。一度に使用される手術用ツール26の数は、概して、数ある要因の中でも診断又は外科的処置及び手術室内の空間的な制限要因に左右される。処置の間に使用されているツール26のうちの1つ以上を交換する必要がある場合は、助手20が患者側カート22からツール26を取り外して、手術室内のトレイ26から別のツール26に交換する。
図6は、近位シャーシ72と、器具シャフト74と、患者の組織を把持するために関節運動させることができる顎部78を有する遠位端エンドエフェクタ76とを含む手術用ツール70を示す。近位シャーシは入力連結器を含み、該入力連結器は、それらに対応する患者側カート22の出力連結器と接触し且つ該出力連結器によって駆動されるように構成されている。入力連結器は、器具シャフト74内に配置された駆動軸と駆動自在に連結されている。駆動軸はエンドエフェクタ76と駆動自在に連結されている。
図7は、多くの実施形態に係る、手術用直線ステープル留め/切断器具の着脱式のカートリッジ100を示す。カートリッジ100は、エンドエフェクタの顎部に着脱可能に取り付けられるように構成されている。該カートリッジは、エンドエフェクタの顎部に取り付けられる近位端102と、エンドエフェクタの顎部の対応する遠位端に配置される遠位端104とを有する。カートリッジ100は、6列のステープル開口106と、長手方向スロット108と、近位側ナイフ収容部(proximal knife garage)110と、遠位側ナイフ収容部(distal knife garage)112と、回転入力部(rotational input)114とを含む。多くの実施形態では、ステープルは各ステープル開口内に配置され、各ステープル開口から展開される。長手方向スロット108は、ナイフ部材が近位側ナイフ収容部110から遠位側ナイフ収容部112に移動した時に、そこから延びたナイフ部材の切刃(図示せず)を収容する。動作時、ステープルの展開は、カートリッジ近位端102で始まり、カートリッジ遠位端104に進むような形で行われる。切刃は、完全にステープル留めされた組織のみが切断されるのを確実にするために、組織がステープル留めされるのを追うような形で移動する。図8は、ステープル保持器116が取り付けられたカートリッジ100を示す。ステープル保持器116はカートリッジ100の使用前に取り外される。
図17は、多くの実施形態に係る手術用直線ステープル留め/切断器具からステープルを展開する/手術用直線ステープル留め/切断器具内の切刃を関節運動させる方法210の接触工程を示す。方法210を実施するのに任意の好適な手術用直線ステープル留め/切断器具を用いることができる。例えば、方法210を実施するのに、本明細書で説明した手術用直線ステープル留め/切断器具及びカートリッジを用いることができる。
Claims (24)
- 手術用器具内の切刃を関節運動させる方法であって、
切刃を有するナイフ部材を前記手術用器具の筐体内で支持する工程と、
駆動部材を第1の動作により第1の位置から第2の位置に遠位方向に移動する工程と、
前記駆動部材の第1の動作の間、前記ナイフ部材を前記筐体と連結させて前記ナイフ部材が遠位方向に移動するのを抑制する工程と、
前記駆動部材が前記第2の位置から第3の位置に移動する第2の遠位方向動作の間、前記駆動部材を用いて前記ナイフ部材を遠位方向に駆動する工程とを含み、
前記筐体は近位端及び遠位端を有し、前記切刃は前記ナイフ部材が遠位方向に移動した場合に切断を行うように構成された、方法。 - 前記駆動部材が遠位方向に約4mm移動する間を通して、前記ナイフ部材は遠位方向への移動が抑制されている、請求項1に記載の方法。
- 前記ナイフ部材を前記筐体と連結させる工程は、前記駆動部材を用いて前記ナイフ部材と前記筐体との係合を確保する工程を含む、請求項1に記載の方法。
- 前記駆動部材を用いて前記ナイフ部材と前記筐体との係合を確保する工程は、前記駆動部材を前記ナイフ部材と接触させる工程を含む、請求項3に記載の方法。
- 前記ナイフ部材は第1の突起部を含み、該第1の突起部は前記駆動部材及び前記筐体のレセプタクルと接触して、前記ナイフ部材が前記駆動部材の第1の動作の間に遠位方向に移動するのを抑制する、請求項4に記載の方法。
- 前記ナイフ部材を回転させて前記第1の突起部を前記筐体レセプタクルから取り外す工程を含む、請求項5に記載の方法。
- 前記第1の突起部を前記駆動部材のレセプタクル内で受容する工程と、
前記駆動部材の第2の動作の間、前記第1の突起部を前記駆動部材レセプタクル内で収容する工程とを含む、請求項6に記載の方法。 - 前記ナイフ部材は、前記駆動部材の第1の動作の間は前記駆動部材と接触しないが、前記駆動部材の第2の動作の間は前記駆動部材と接触するナイフ駆動特徴を含む、請求項1に記載の方法。
- 前記ナイフ駆動特徴は第2の突起部を含む、請求項8に記載の方法。
- 前記ナイフ部材をカム面に沿って駆動させることによって、前記ナイフ部材の遠位端を持ち上げ且つ前記筐体内に入るように前記切刃を下げる工程を含む、請求項1に記載の方法。
- 前記駆動部材の第2の動作の間、前記駆動部材を用いてステープルを展開する工程をさらに含む、請求項1に記載の方法。
- シャフト遠位端及びシャフト近位端を有する細長のシャフト;
前記シャフト遠位端に連結され、対向する顎部を含むエンドエフェクタ;
前記顎部の一方内に含まれ、筐体近位端、筐体遠位端、該筐体近位端と該筐体遠位端との間に延在する上面、該筐体近位端と該筐体遠位端との間に延在する中央空洞部及び該上面に延在する縦長のスロットを含む筐体;
遠位方向に移動するように前記筐体内で支持されたナイフ部材;及び
遠位方向に移動するように前記筐体内に摺動自在に取り付けられた駆動部材;
を含む手術用器具であって、
前記ナイフ部材は、前記ナイフ部材が遠位方向に移動した場合に切断を行うように構成された切刃を有し、
前記駆動部材が第1の位置から第2の位置に遠位方向に移動する第1の動作の間、前記ナイフ部材は前記筐体と連結されて、前記ナイフ部材が遠位方向に移動するのが抑制され、
前記駆動部材が前記第2の位置から第3の位置に遠位方向に移動する第2の動作の間、前記ナイフ部材は前記駆動部材によって遠位方向に駆動される、手術用器具。 - 前記駆動部材が遠位方向に約4mm移動する間を通して、前記ナイフ部材は遠位方向への移動が抑制されている、請求項12に記載の手術用器具。
- 前記駆動部材の第1の動作の間、前記駆動部材を用いて前記ナイフ部材と前記筐体との係合を確保して、前記ナイフ部材が遠位方向に移動するのを抑制する、請求項12に記載の手術用器具。
- 前記駆動部材は前記ナイフ部材と接触して、前記駆動部材の第1の動作の間前記ナイフ部材と前記筐体との係合を確保して、前記ナイフ部材が遠位方向に移動するのを抑制する、請求項14に記載の手術用器具。
- 前記ナイフ部材は第1の突起部を含み、該第1の突起部は前記駆動部材及び前記筐体のレセプタクルと接触して、前記ナイフ部材が前記駆動部材の第1の動作の間に遠位方向に移動するのを抑制する、請求項15に記載の手術用器具。
- 前記駆動部材が前記第3の位置に達する前に、前記ナイフ部材を回転させて前記第1の突起部を前記筐体レセプタクルから取り外す、請求項16に記載の手術用器具。
- 前記駆動部材のレセプタクルは、前記第1の突起部を受容するように、且つ前記駆動部材の第2の動作の間は前記第1の突起部を収容するように構成されている、請求項17に記載の手術用器具。
- 前記ナイフ部材は駆動特徴を含み、
前記駆動部材の第1の動作の間は前記駆動部材は前記駆動特徴と接触せず、前記駆動部材の第2の動作の間は前記駆動部材は前記駆動特徴と接触して前記ナイフ部材を遠位方向に駆動する、請求項12に記載の手術器具。 - 前記駆動特徴は第2の突起部を含む、請求項19に記載の手術用器具。
- 前記駆動部材が第3の動作により前記第3の位置から第4の位置に遠位方向に移動した時に、前記ナイフ部材と接触して前記ナイフ部材の遠位端を持ち上げ且つ前記筐体に入るように前記切刃を下げるように構成されたカム面を含む、請求項12に記載の手術器具。
- 前記筐体は、前記上面と前記中央空洞部との間に延在する複数のステープル開口を含み、
前記手術用器具は前記ステープル開口内に配置された複数のステープルをさらに含み、該各ステープルは、前記駆動部材が遠位方向に移動するのに反応して展開される、請求項12に記載の手術用器具。 - 手術用器具の着脱式のカートリッジであって、
前記手術用器具のエンドエフェクタに着脱可能で、近位端、遠位端、該近位端と該遠位端との間に延在する上面、該近位端と該遠位端との間に延在する中央空洞部及び該上面に延在する縦長のスロットを含む筐体;
前記筐体に対して回転するように前記筐体と連結されたリードスクリュー;
前記リードスクリューと回転連結され、前記筐体が前記エンドエフェクタに取り付けられた場合に前記手術用器具の回転出力部と連結されるように構成された回転入力部;
遠位方向に移動するように前記筐体内で支持されたナイフ部材;及び
前記リードスクリューの回転に反応して、前記リードスクリューに沿って移動するように前記筐体内に取り付けられ且つ前記リードスクリューと連結された駆動部材;
を含み、
前記ナイフ部材は、前記ナイフ部材が遠位方向に移動した場合に切断を行うように構成された切刃を有し、
前記駆動部材が第1の位置から第2の位置に遠位方向に移動する第1の動作の間、前記ナイフ部材は前記筐体と連結されて、前記ナイフ部材が遠位方向に移動するのが抑制され、
前記駆動部材が前記第2の位置から第3の位置に遠位方向に移動する第2の動作の間、前記ナイフ部材は前記駆動部材によって遠位方向に駆動される、カートリッジ。 - 前記筐体は、前記上面と前記中央空洞部との間に延在する複数のステープル開口を含み、
前記カートリッジは前記ステープル開口内に配置された複数のステープルをさらに含み、該各ステープルは、前記駆動部材が遠位方向に移動するのに反応して展開される、請求項23に記載のカートリッジ。
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CN104039251B (zh) | 2017-09-08 |
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KR102073600B1 (ko) | 2020-03-03 |
CN107348981A (zh) | 2017-11-17 |
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JP6210994B2 (ja) | 2017-10-11 |
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EP3513746A1 (en) | 2019-07-24 |
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WO2013063525A1 (en) | 2013-05-02 |
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EP2770921A4 (en) | 2015-07-15 |
US20180168572A1 (en) | 2018-06-21 |
EP3513746B1 (en) | 2023-01-11 |
KR20190105246A (ko) | 2019-09-16 |
EP2770921B1 (en) | 2019-02-27 |
CN104039251A (zh) | 2014-09-10 |
KR102019754B1 (ko) | 2019-09-10 |
US20130105545A1 (en) | 2013-05-02 |
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