JP2017205562A - しまい込めるナイフブレードを持つ手術器具 - Google Patents
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Abstract
【解決手段】しまい込まれるナイフブレードを持つ手術器具は、細長いシャフト、シャフトに結合されるとともに2つの対向ジョーを含むエンドエフェクタ、ジョーの一方に含まれるハウジング、ハウジングに取付けられるとともに遠位に移動可能である第1の部材144、第1の部材と枢動可能に結合されるナイフ146、及び第2の部材145を含む。ナイフは、遠位に進められるとき切るように構成される。第1及び前記第2の部材は、ナイフの切断運動中、遠位に同じ速度で動かされ、第2の部材は、ナイフの切断運動中、第1の部材に対するナイフの回転を妨げる。第1の距離だけ動いた後、第1と第2の部材との間の相対運動が、ナイフがしまい込まれることができるようにナイフの以前に妨げられた回転を可能にする又は引き起こすように、生じる。
【選択図】図13A
Description
ここで図面を参照すると、いくつかの図を通して同様の参照番号は同様の部分を表し、図1は、低侵襲ロボット手術(MIRS)システム10の平面図であり、典型的には、手術台14の上に横になっている患者12に低侵襲診断又は外科的処置を行うために使用される。システムは、手術中の外科医18による使用のための外科医用コンソール16を含むことができる。1又は複数の助手20もまた手術に参加し得る。MIRSシステム10はさらに患者側カート22(手術ロボット)及びエレクトロニクスカート24を含むことができる。患者側カート22は、外科医18がコンソール16を通して手術野を見ながら、患者12の体の低侵襲切開部を通って少なくとも1つの取り外し可能に結合されるツール組立体26(以下単純に「ツール」と称される)を操作することができる。手術野の画像は、内視鏡28、例えば、立体内視鏡によって得られることができ、この内視鏡は内視鏡28をある方向に向けるために患者側カート22によって操作されることができる。エレクトロニクスカート24は、外科医用コンソール16を通じた外科医18へのその後の表示のために手術野の画像を処理するために使用されることができる。一度に使用される手術ツール26の数は一般的に、他の要因の中で、診断又は手術及び手術室内のスペースの制約に依存する。手術中に使用されているツール26の1又は複数を交換する必要がある場合、助手20は、患者側カート22からツール26を取り外し得るとともに、それを手術室のトレイ30から他のツール26に交換し得る。
図6は、近位シャシー72、器具シャフト74、及び患者の組織を把持するように関節動作されることができるジョー78を有する遠位エンドエフェクタ76を含む、手術ツール70を示す。近位シャシーは、患者側カート22の対応する出力カプラと相互作用するとともに同出力カプラによって駆動されるように構成される入力カプラを含む。入力カプラは、器具シャフト74内に配置される駆動シャフトと駆動式に結合される。駆動シャフトは、エンドエフェクタ76と駆動式に結合される。
図7は、多くの実施形態による、リニアステープリング及び切断手術器具の取外し可能に取付け可能なカートリッジ100を示す。カートリッジ100は、エンドエフェクタのジョーに取り外し可能に取り付けるように構成される。カートリッジは、エンドエフェクタのジョーに取付けられる近位端102及びエンドエフェクタのジョーの対応する遠位端に配置される遠位端104を有する。カートリッジ100は、6列のステープル開口106、長手方向スロット108、近位ナイフガレージ110、遠位ナイフガレージ112、及び回転入力部114を含む。多くの実施形態では、ステープルは、ステープル開口それぞれに、そこからの展開のために配置される。長手方向スロット108は、ナイフ部材(図示せず)が近位ナイフガレージ110から遠位ナイフガレージ112に動かされるとき、そこに延びるナイフ部材の切断刃を収容する。動作において、ステープルは、カートリッジ近位端102において始まりカートリッジ遠位端103まで進んで展開される。切断刃は、完全にステープルされた組織のみが切られることを確実にするように組織のステープリングを追跡するように動かされる。図8は、取付けられるステープル保持器116を持つカートリッジ100を示し、この保持器116はカートリッジ100を使用する前に取り外される。
ここに開示される手術器具、組立体、及びカートリッジは、任意の適切な方法で、変更される及び/又は組み合わされることができる。例えば、ここに記載されるカートリッジ100は、ここに記載される手術器具210で実施されるナイフ関節動作アプローチを用いるように、ここに記載されるナイフ作動組立体240を用いるように、ここに記載されるナイフ作動組立体260を用いるように、又はここに記載されるナイフ作動組立体280を用いるように、変更されることができる。同様に、ここに開示される手術器具210は、ここに記載されるナイフ作動組立体200を用いるように、ここに記載されるようなナイフ作動組立体240を用いるように、ここに記載されるようなナイフ作動組立体260を用いるように、又はここに記載されるようなナイフ作動組立体280を用いるように、変更されることができる。そして、ここに開示される、又は前述の変更から生じる手術器具、組立体、及びカートリッジは、カートリッジ100等取外し可能に取付け可能なカートリッジに統合されることができ、手術器具のエンドエフェクタに取り外し可能に取付け可能であることなしに手術器具に直接統合されることができる。
図18は、多くの実施形態による、手術器具にナイフを関節動作させる方法300の動作を示す。任意の適切な手術器具(例えば、ステープル及び切断手術器具、電気手術血管シール装置)が、方法300を実施するために使用されることができる。例えば、ここに記載されるリニアステープル及び切断手術器具、カートリッジ、及び関連する組立体が方法300を実施するために使用されることができる。
Claims (8)
- 手術器具の作動方法であって、前記器具は、近位端、遠位端、ナイフ、前記ナイフを枢動可能に支持する第1の部材、前記第1の部材に対する前記ナイフの回転を妨げる第2の部材、前記第1の部材又は前記第2の部材を駆動するためのネジ部及び非ネジ部を有するリードスクリュー、及び制御装置を有し、前記方法は:
前記制御装置が、前記ナイフの切断刃を前記遠位端に向けて、前記リードスクリューに前記第1の部材及び前記第2の部材を前記遠位端に向かって同じ速度で動かす、ステップ;
前記第1及び前記第2の部材を前記遠位端に向かって前記同じ速度で動かすステップの間、前記第2の部材が、前記第1の部材に対する前記ナイフの回転を妨げるステップ;及び
前記第1及び前記第2の部材を前記遠位端に向かって前記同じ速度で動かす前記ステップの後、前記ナイフの回転を許容するステップ又は前記ナイフの回転を引き起こすステップの少なくとも一つを達成するように、前記リードスクリューが、前記第1と前記第2の部材との間の相対運動を発生させるステップ;を有し、
前記第1及び前記第2の部材を前記遠位端に向かって前記同じ速度で動かす前記ステップは、前記リードスクリューを回転させるステップを含み、前記ネジ部は、前記第1の部材又は前記第2の部材の少なくとも一方に動作可能に結合される;及び
前記第1と前記第2の部材との間に相対運動を発生させる前記ステップは、前記リードスクリューを回転させるステップを含み、前記リードスクリューの前記ネジ部は、前記第1及び前記第2の部材の一方と動作可能に結合し、前記非ネジ部は、前記第1及び前記第2の部材の他方と相互作用する、
方法。 - 前記第1と前記第2の部材との間に相対運動を発生させる前記ステップは、前記第1の部材又は前記第2の部材を前記遠位端に向かって動かす一方、前記ナイフの前記回転を妨げないように前記第1の部材に対して前記第2の部材を再位置決めするために、前記第1の部材及び前記第2の部材の他方が前記遠位端に向かって動くことを防ぐステップを含む、
請求項1に記載の方法。 - 前記第1と前記第2の部材との間に相対運動を発生させる前記ステップは、前記第1の部材又は前記第2の部材を前記近位端に向かって動かす一方、前記ナイフの前記回転を妨げないように前記第1の部材に対して前記第2の部材を再位置決めするために、前記第1の部材及び前記第2の部材の他方が前記近位端に向かって動くことを防ぐステップを含む、
請求項1に記載の方法。 - 前記第1と前記第2の部材との間の前記相対運動に応じて、前記ナイフを前記第1の部材に対して回転させるステップを有する、
請求項1に記載の方法。 - 前記ナイフの切断刃を前記手術器具のハウジングの上面の下にしまい込むために前記第1の部材に対して前記ナイフを回転させるように前記ナイフをキックダウン機構と係合させるステップを有する、
請求項2に記載の方法。 - 前記第1及び前記第2の部材を前記遠位端へ向かって前記同じ速度で動かす前記ステップの間に、前記ナイフを切断位置に回転させるように前記ナイフをキックアップ機構と係合させるステップを有する、
請求項1に記載の方法。 - 前記ナイフの切断刃を前記手術器具のハウジングの上面の下にしまい込むために前記第1の部材に対して前記ナイフを回転させるように、前記ナイフを前記第2の部材に結合されるキックダウン機構と係合させるステップを有する、
請求項1に記載の方法。 - 前記第1及び前記第2の部材を前記遠位端へ向かって前記同じ速度で動かす前記ステップの間に、ステープルを展開するステップを有する、
請求項1に記載の方法。
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WO2013074272A3 (en) | 2014-01-09 |
CN103945783B (zh) | 2016-10-26 |
EP3527151A1 (en) | 2019-08-21 |
EP2779921B1 (en) | 2019-03-27 |
EP3527151B1 (en) | 2020-09-16 |
JP6230541B2 (ja) | 2017-11-15 |
US10610223B2 (en) | 2020-04-07 |
CN111281457A (zh) | 2020-06-16 |
EP2779921A4 (en) | 2015-07-29 |
KR20200055144A (ko) | 2020-05-20 |
CN106377291A (zh) | 2017-02-08 |
JP6442572B2 (ja) | 2018-12-19 |
KR20140093996A (ko) | 2014-07-29 |
CN111281457B (zh) | 2023-10-20 |
US20170333037A1 (en) | 2017-11-23 |
WO2013074272A2 (en) | 2013-05-23 |
US20130123822A1 (en) | 2013-05-16 |
US9757125B2 (en) | 2017-09-12 |
JP6778246B2 (ja) | 2020-10-28 |
KR20190095506A (ko) | 2019-08-14 |
JP2019048153A (ja) | 2019-03-28 |
US20150230794A1 (en) | 2015-08-20 |
US20200187939A1 (en) | 2020-06-18 |
KR102111471B1 (ko) | 2020-05-19 |
CN103945783A (zh) | 2014-07-23 |
EP2779921A2 (en) | 2014-09-24 |
US11350933B2 (en) | 2022-06-07 |
CN106377291B (zh) | 2020-03-13 |
KR102153406B1 (ko) | 2020-09-08 |
JP2015504334A (ja) | 2015-02-12 |
KR102008221B1 (ko) | 2019-08-07 |
US8991678B2 (en) | 2015-03-31 |
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