JP2015061671A - 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 - Google Patents
向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 Download PDFInfo
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- JP2015061671A JP2015061671A JP2014254795A JP2014254795A JP2015061671A JP 2015061671 A JP2015061671 A JP 2015061671A JP 2014254795 A JP2014254795 A JP 2014254795A JP 2014254795 A JP2014254795 A JP 2014254795A JP 2015061671 A JP2015061671 A JP 2015061671A
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- 238000002324 minimally invasive surgery Methods 0.000 title abstract description 12
- 230000035945 sensitivity Effects 0.000 title description 7
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- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000002708 enhancing effect Effects 0.000 abstract description 2
- 238000012978 minimally invasive surgical procedure Methods 0.000 abstract description 2
- 238000001356 surgical procedure Methods 0.000 description 22
- 238000000034 method Methods 0.000 description 13
- 210000001519 tissue Anatomy 0.000 description 8
- 210000003857 wrist joint Anatomy 0.000 description 7
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- 238000002674 endoscopic surgery Methods 0.000 description 2
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- 210000000056 organ Anatomy 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000005476 soldering Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 238000012084 abdominal surgery Methods 0.000 description 1
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- 238000002574 cystoscopy Methods 0.000 description 1
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B17/28—Surgical forceps
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
【解決手段】本発明は、最低侵襲性外科手術手順の動作を向上させる連結外科手術用器具(12)である。器具(12)は、高度の巧緻性、低い摩擦、低い慣性、および良好な力反映を有する。独特なケーブルおよびプーリー駆動システムにより、摩擦が減少し力反映が向上する。独特なリスト機構により、標準的な腹腔鏡器具(12)に比べて外科手術の巧緻性が向上する。システムを最適化することにより、必要なアクチュエータ数が減少し、これにより最小サイズで十分に機能的な連結外科手術用器具が製造される。
【選択図】図6
Description
Claims (7)
- 装置であって、該装置は、
摺動ブラケットと、
該摺動ブラケットに連結された近位端を有する支持部材と、
該支持部材の遠位端に連結されたリスト部材であって、該支持部材に対して第1の軸のまわりで回転可能なリスト部材と、
該リスト部材に連結されたエンドエフェクタであって、該リスト部材に対して第2の軸のまわりで回転可能な第1の作業部材を含むエンドエフェクタと、
該摺動ブラケットに配置された作動機構であって、該作動機構は、ケーブルによって該リスト部材に連結されて該リスト部材を該第1の軸のまわりで回転させ、該作動機構は、さらに、ケーブルによって該第1の作業部材に連結されて該第1の作業部材を該第2の軸のまわりで回転させる、作動機構と
を含み、
該第1の軸は、該第2の軸に直交し、
該装置は、該第1の軸と同軸に位置決めされるプーリーをさらに含み、該プーリーは、該ケーブルが該作動機構を該第1の作業部材に連結することによって係合される、装置。 - 請求項1に記載の装置であって、補助ケーブルによって前記支持部材の近位端に連結された補助作動機構をさらに含み、前記作動機構は、前記摺動ブラケット上に配置され、該補助作動機構は、該補助ケーブルを引くことによって、該支持部材を該摺動ブラケットに対して長軸のまわりで回転させる、装置。
- 請求項1に記載の装置であって、前記摺動ブラケットに連結された取り付けブラケットをさらに含み、該取り付けブラケットは、前記装置を位置決め機構に取り外し可能に接続するように適合される、装置。
- 請求項3に記載の器具であって、前記位置決め機構は、該器具を最低侵襲性外科手術の入口点のまわりで旋回させるための遠隔センタリング機構を含む、器具。
- 請求項1に記載の器具であって、前記摺動ブラケットに配置された作動機構は、前記支持部材を長軸に沿って並進移動させるように構成可能である、器具。
- 装置であって、該装置は、
摺動ブラケットと、
該摺動ブラケットに連結された近位端を有する支持部材と、
細長い支持部材の遠位端に連結されたリスト部材であって、該細長い支持部材に対して第1の軸のまわりで回転可能なリスト部材と、
該リスト部材に連結されたエンドエフェクタであって、該リスト部材に対して該第1の軸に直交する第2の軸のまわりで回転可能な第1の作業部材を含むエンドエフェクタと、
該リスト部材および該エンドエフェクタの移動のために該リスト部材に配置されるプーリー手段であって、該第1の軸と同軸に位置決めされたプーリー手段と、
該プーリー手段を選択的に作動するための該摺動ブラケットに配置された作動手段と
を含み、
該装置は、該作動手段からの作動を該プーリー手段へと伝達するケーブル手段をさらに含む、装置。 - 前記作動手段は、前記支持部材を駆動して該支持部材を長軸に沿って移動させる手段をさらに含む、請求項6に記載の装置。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US1798196P | 1996-05-20 | 1996-05-20 | |
US60/017,981 | 1996-05-20 | ||
US08/857,776 | 1997-05-16 | ||
US08/857,776 US5792135A (en) | 1996-05-20 | 1997-05-16 | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
Related Parent Applications (1)
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JP2013027668A Division JP2013081870A (ja) | 1996-05-20 | 2013-02-15 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
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JP2016076314A Division JP2016152939A (ja) | 1996-05-20 | 2016-04-06 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
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JP2015061671A true JP2015061671A (ja) | 2015-04-02 |
Family
ID=26690586
Family Applications (8)
Application Number | Title | Priority Date | Filing Date |
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JP54259997A Expired - Lifetime JP3999816B2 (ja) | 1996-05-20 | 1997-05-20 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2007161954A Expired - Lifetime JP4799489B2 (ja) | 1996-05-20 | 2007-06-19 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2007161955A Expired - Lifetime JP4799490B2 (ja) | 1996-05-20 | 2007-06-19 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2011113996A Expired - Lifetime JP5289504B2 (ja) | 1996-05-20 | 2011-05-20 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2013027668A Withdrawn JP2013081870A (ja) | 1996-05-20 | 2013-02-15 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2014104961A Withdrawn JP2014236976A (ja) | 1996-05-20 | 2014-05-21 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2014254795A Withdrawn JP2015061671A (ja) | 1996-05-20 | 2014-12-17 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2016076314A Withdrawn JP2016152939A (ja) | 1996-05-20 | 2016-04-06 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
Family Applications Before (6)
Application Number | Title | Priority Date | Filing Date |
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JP54259997A Expired - Lifetime JP3999816B2 (ja) | 1996-05-20 | 1997-05-20 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2007161954A Expired - Lifetime JP4799489B2 (ja) | 1996-05-20 | 2007-06-19 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2007161955A Expired - Lifetime JP4799490B2 (ja) | 1996-05-20 | 2007-06-19 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2011113996A Expired - Lifetime JP5289504B2 (ja) | 1996-05-20 | 2011-05-20 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2013027668A Withdrawn JP2013081870A (ja) | 1996-05-20 | 2013-02-15 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
JP2014104961A Withdrawn JP2014236976A (ja) | 1996-05-20 | 2014-05-21 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016076314A Withdrawn JP2016152939A (ja) | 1996-05-20 | 2016-04-06 | 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 |
Country Status (4)
Country | Link |
---|---|
US (10) | US5792135A (ja) |
JP (8) | JP3999816B2 (ja) |
CA (2) | CA2255934C (ja) |
WO (1) | WO1997043942A1 (ja) |
Families Citing this family (1927)
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US6436107B1 (en) * | 1996-02-20 | 2002-08-20 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US5792135A (en) * | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
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US6132441A (en) | 1996-11-22 | 2000-10-17 | Computer Motion, Inc. | Rigidly-linked articulating wrist with decoupled motion transmission |
US6132368A (en) * | 1996-12-12 | 2000-10-17 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
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US8206406B2 (en) | 1996-12-12 | 2012-06-26 | Intuitive Surgical Operations, Inc. | Disposable sterile surgical adaptor |
US7666191B2 (en) | 1996-12-12 | 2010-02-23 | Intuitive Surgical, Inc. | Robotic surgical system with sterile surgical adaptor |
US6607509B2 (en) | 1997-12-31 | 2003-08-19 | Medtronic Minimed, Inc. | Insertion device for an insertion set and method of using the same |
US6231565B1 (en) * | 1997-06-18 | 2001-05-15 | United States Surgical Corporation | Robotic arm DLUs for performing surgical tasks |
US6711436B1 (en) | 1997-08-08 | 2004-03-23 | Duke University | Compositions, apparatus and methods for facilitating surgical procedures |
US6714839B2 (en) | 1998-12-08 | 2004-03-30 | Intuitive Surgical, Inc. | Master having redundant degrees of freedom |
EP2362283B1 (en) * | 1997-09-19 | 2015-11-25 | Massachusetts Institute Of Technology | Robotic apparatus |
US5865361A (en) | 1997-09-23 | 1999-02-02 | United States Surgical Corporation | Surgical stapling apparatus |
US6247738B1 (en) | 1998-01-20 | 2001-06-19 | Daum Gmbh | Robot hand |
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1997
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- 1997-05-20 CA CA002255934A patent/CA2255934C/en not_active Expired - Lifetime
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- 1997-05-20 CA CA002498922A patent/CA2498922C/en not_active Expired - Lifetime
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1998
- 1998-02-25 US US09/030,661 patent/US5976122A/en not_active Expired - Lifetime
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1999
- 1999-06-28 US US09/340,946 patent/US6371952B1/en not_active Expired - Lifetime
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2002
- 2002-02-15 US US10/076,812 patent/US6991627B2/en not_active Expired - Lifetime
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2005
- 2005-10-04 US US11/243,730 patent/US7316681B2/en not_active Expired - Fee Related
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2007
- 2007-06-19 JP JP2007161954A patent/JP4799489B2/ja not_active Expired - Lifetime
- 2007-06-19 JP JP2007161955A patent/JP4799490B2/ja not_active Expired - Lifetime
- 2007-11-27 US US11/945,424 patent/US7780651B2/en not_active Expired - Fee Related
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2010
- 2010-07-09 US US12/833,766 patent/US8343141B2/en not_active Expired - Fee Related
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2011
- 2011-05-20 JP JP2011113996A patent/JP5289504B2/ja not_active Expired - Lifetime
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2012
- 2012-12-20 US US13/721,508 patent/US8709000B2/en not_active Expired - Fee Related
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2013
- 2013-02-15 JP JP2013027668A patent/JP2013081870A/ja not_active Withdrawn
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2014
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- 2014-12-17 JP JP2014254795A patent/JP2015061671A/ja not_active Withdrawn
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2016
- 2016-02-09 US US15/019,439 patent/US9999473B2/en not_active Expired - Fee Related
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