JP4486503B2 - 手術用具のためのフレキシブルリスト - Google Patents

手術用具のためのフレキシブルリスト Download PDF

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Publication number
JP4486503B2
JP4486503B2 JP2004559257A JP2004559257A JP4486503B2 JP 4486503 B2 JP4486503 B2 JP 4486503B2 JP 2004559257 A JP2004559257 A JP 2004559257A JP 2004559257 A JP2004559257 A JP 2004559257A JP 4486503 B2 JP4486503 B2 JP 4486503B2
Authority
JP
Japan
Prior art keywords
flexible tube
wrist member
axis
instrument
wrist
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP2004559257A
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English (en)
Japanese (ja)
Other versions
JP2006508765A5 (OSRAM
JP2006508765A (ja
Inventor
トーマス ジー． クーパー，
エス． クリストファー アンダーソン，
Original Assignee
イントゥイティブ サージカル， インコーポレイテッド
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=32507770&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=JP4486503(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by イントゥイティブ サージカル， インコーポレイテッド filed Critical イントゥイティブ サージカル， インコーポレイテッド
Publication of JP2006508765A publication Critical patent/JP2006508765A/ja
Publication of JP2006508765A5 publication Critical patent/JP2006508765A5/ja
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Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/008—Articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/04—Surgical instruments, devices or methods for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/42—Gynaecological or obstetrical instruments or methods
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00142—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with means for preventing contamination, e.g. by using a sanitary sheath
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0058—Flexible endoscopes using shape-memory elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
    • A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
    • A61B17/128—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
    • A61B17/1285—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00309—Cut-outs or slits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Rehabilitation Therapy (AREA)
  • Ophthalmology & Optometry (AREA)
  • Reproductive Health (AREA)
  • Plasma & Fusion (AREA)
  • Otolaryngology (AREA)
  • Vascular Medicine (AREA)
  • Gynecology & Obstetrics (AREA)
  • Pregnancy & Childbirth (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
JP2004559257A 2002-12-06 2003-12-02 手術用具のためのフレキシブルリスト Expired - Lifetime JP4486503B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US43163602P 2002-12-06 2002-12-06
PCT/US2003/038462 WO2004052171A2 (en) 2002-12-06 2003-12-02 Flexible wrist for surgical tool

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2010026006A Division JP5455171B2 (ja) 2002-12-06 2010-02-08 手術用具のためのフレキシブルリスト

Publications (3)

Publication Number Publication Date
JP2006508765A JP2006508765A (ja) 2006-03-16
JP2006508765A5 JP2006508765A5 (OSRAM) 2007-01-25
JP4486503B2 true JP4486503B2 (ja) 2010-06-23

Family

ID=32507770

Family Applications (12)

Application Number Title Priority Date Filing Date
JP2004559257A Expired - Lifetime JP4486503B2 (ja) 2002-12-06 2003-12-02 手術用具のためのフレキシブルリスト
JP2010026006A Expired - Lifetime JP5455171B2 (ja) 2002-12-06 2010-02-08 手術用具のためのフレキシブルリスト
JP2011025456A Expired - Lifetime JP5437288B2 (ja) 2002-12-06 2011-02-08 手術用具のためのフレキシブルリスト
JP2011025457A Expired - Lifetime JP5339472B2 (ja) 2002-12-06 2011-02-08 手術用具のためのフレキシブルリスト
JP2013013947A Expired - Lifetime JP6097085B2 (ja) 2002-12-06 2013-01-29 手術用具のためのフレキシブルリスト
JP2015033633A Pending JP2015126892A (ja) 2002-12-06 2015-02-24 手術用具のためのフレキシブルリスト
JP2015033632A Expired - Lifetime JP6155292B2 (ja) 2002-12-06 2015-02-24 手術用具のためのフレキシブルリスト
JP2016201465A Withdrawn JP2017038947A (ja) 2002-12-06 2016-10-13 手術用具のためのフレキシブルリスト
JP2016201464A Expired - Lifetime JP6305489B2 (ja) 2002-12-06 2016-10-13 手術用具のためのフレキシブルリスト
JP2018114594A Pending JP2018140241A (ja) 2002-12-06 2018-06-15 手術用具のためのフレキシブルリスト
JP2018114595A Pending JP2018140242A (ja) 2002-12-06 2018-06-15 手術用具のためのフレキシブルリスト
JP2019225732A Pending JP2020044376A (ja) 2002-12-06 2019-12-13 手術用具のためのフレキシブルリスト

Family Applications After (11)

Application Number Title Priority Date Filing Date
JP2010026006A Expired - Lifetime JP5455171B2 (ja) 2002-12-06 2010-02-08 手術用具のためのフレキシブルリスト
JP2011025456A Expired - Lifetime JP5437288B2 (ja) 2002-12-06 2011-02-08 手術用具のためのフレキシブルリスト
JP2011025457A Expired - Lifetime JP5339472B2 (ja) 2002-12-06 2011-02-08 手術用具のためのフレキシブルリスト
JP2013013947A Expired - Lifetime JP6097085B2 (ja) 2002-12-06 2013-01-29 手術用具のためのフレキシブルリスト
JP2015033633A Pending JP2015126892A (ja) 2002-12-06 2015-02-24 手術用具のためのフレキシブルリスト
JP2015033632A Expired - Lifetime JP6155292B2 (ja) 2002-12-06 2015-02-24 手術用具のためのフレキシブルリスト
JP2016201465A Withdrawn JP2017038947A (ja) 2002-12-06 2016-10-13 手術用具のためのフレキシブルリスト
JP2016201464A Expired - Lifetime JP6305489B2 (ja) 2002-12-06 2016-10-13 手術用具のためのフレキシブルリスト
JP2018114594A Pending JP2018140241A (ja) 2002-12-06 2018-06-15 手術用具のためのフレキシブルリスト
JP2018114595A Pending JP2018140242A (ja) 2002-12-06 2018-06-15 手術用具のためのフレキシブルリスト
JP2019225732A Pending JP2020044376A (ja) 2002-12-06 2019-12-13 手術用具のためのフレキシブルリスト

Country Status (8)

Country Link
US (9) US7320700B2 (OSRAM)
EP (7) EP2359767B1 (OSRAM)
JP (12) JP4486503B2 (OSRAM)
KR (4) KR101087996B1 (OSRAM)
CN (2) CN101181167B (OSRAM)
AT (1) ATE551964T1 (OSRAM)
AU (1) AU2003293353A1 (OSRAM)
WO (1) WO2004052171A2 (OSRAM)

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