JP5073184B2 - 電気的に作動する関節運動固定機構を含む外科器具 - Google Patents
電気的に作動する関節運動固定機構を含む外科器具 Download PDFInfo
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Description
図1に、細長いシャフト16によってハンドル14から離間したステープル止め組立体12のエンドエフェクタを先端部に有する外科用切断/ステープル止め器具10として外科器具が示されている。ステープル止め組立体12は、交換可能なステープルカートリッジ20を受容するためのステープル溝18を有する。ステープル止め及び切断のためにステープルカートリッジ20に対して組織をクランプするアンビル22が、ステープル溝18に回動可能に取り付けられている。ステープル止め組立体12が閉じると、その断面積及び細長いシャフト16が、トロカール(不図示)のカニューレなどを介して小さな切開部から挿入するのに適した大きさとなる。
図1に示されているステープル止め組立体12では、2つの異なった運動をシャフト16を介してシャフトフレーム(図1には示されていないが図7に詳細に示されている)に長手方向に伝達し、組織をクランプし、ステープル止めし、組織を切断することができる。このシャフトフレーム組立体は、基端側がハンドル14に取り付けられ、回動ノブ30と共に回動できるよう結合されている。図1の外科用ステープル止め/切断器具10に用いられるマルチストロークハンドル14の例が、スウェイズ(Swayze)及びシェルトン(Shelton)による同時係属中の自己の米国特許出願第10/674,026号(名称「マルチストローク発射位置表示器及び引き戻し機構を含む外科用ステープル止め器具(SURGICAL STAPLING INSTRUMENT INCORPORATING A MULTISTROKE FIRING POSITION INDICATOR AND RETRACTION MECHANISM)」、及びケビン・ドール(Kevin Doll)、ジェフリー S.スウェイズ(Jeffrey S. Swayze)、フレデリック E.シェルトン4世(Frederick E. Shelton IV)、ダグラス・ホフマン(Douglas Hoffman)、及びマイケル・セッツァー(Michael Setser)による2005年2月7日出願の米国特許出願第11/052,632号(名称「発射運動の引き戻しが自動で終了するマルチストローク発射機構を含む外科用ステープル止め器具(SURGICAL STAPLING INSTRUMENT INCORPORATING A MULTI-STROKE FIRING MECHANISM WITH AUTOMATIC END OF FIRING TRAVEL RETRACTION)」に開示されている。これらの特許文献には、様々な別の特徴や形態が示されており、言及することを以ってその開示内容の全てを本明細書の一部とする。
電気活性ポリマー(EAPs)は、電圧が加えられると形状が変化する導電物質がドープされた一連のポリマーである。要するに、この導電ポリマーを、一定の形態のイオン流体またはゲル及び電極と組み合わせることができる。電圧を加えると、この流体/ゲルからのイオンが導電ポリマーに対して流入または流出し、このイオンの流れによりポリマーの形状が変化する。加える電圧は、使用するポリマー及びイオン流体によって1V〜4kVの範囲である。電圧が加えられると、ある種のEAPsは収縮し、別のEAPsは膨張する。EAPsをばねや可撓性プレートなどの機械手段に組み合わせて、電圧を加えた際のこれらの効果を変更することができる。
図6‐図13に示されているように、外科用切断/ステープル止め器具200が、細長いシャフト204に形成されたEAP作動関節運動接合部202をエンドエフェクタの基端側に有する。このエンドエフェクタは、細長いシャフト204によって長手方向に伝達される別々の閉止運動及び発射運動に有利に応答する外科用ステープル止め/切断組立体12として例示されている。EAP作動関節運動接合部202は、ステープル止め組立体12に関節運動に所望の臨床的柔軟性を有利に付与する。
図20‐図27に示されているように、長手方向のEAP作動関節運動ロック700が、外科器具704の回動関節運動接合部702に設けられている。分かり易くするために、シングルピボットフレーム機構706が、先端側に延出した上下の回動タブ710及び712を有する基端フレームグランド708で示されている。これらの回動タブはそれぞれ、エンドエフェクタ720に取り付けられる先端フレームグランド718の基端側に延出した上下のタング714及び716のそれぞれに回動可能に係合する。上部回動タブ710の上部内側孔722が、上部タング714の上部外側孔724の下側に整合し、上部回動ピン726によって互いに回動可能にピンで止められる。下部回動タブ712の下部内側孔728が、下部タング716の下部外側孔730の上に整合し、下部回動ピン732によって互いに回動可能にピンで止められる。上下のモーメントアーム734及び736がそれぞれ、上下の回動タブ710及び712から先端側に延出している。上部モーメントアーム734は、概ね水平な左上部EAPファイバーアクチュエータ740によって先端フレームグランド718に形成された左上部取付け点738に向かって近づくことができる。上部モーメントアーム734はまた、概ね水平な右上部EAPファイバーアクチュエータ744によって先端フレームグランド718に形成された右上部取付け点742に向かって近づくことができる。下部モーメントアーム736は、概ね水平な左下部EAPファイバーアクチュエータ748によって先端フレームグランド718に形成された左下部取付け点746に向かって近づくことができる。下部モーメントアーム736はまた、概ね水平な右下部EAPファイバーアクチュエータ752によって先端フレームグランド718に形成された右下部取付け点750に向かって近づくことができる。
図34に示されているように、外科器具1200が、EAP作動関節運動接合部1202を有利に含む。このEAP作動関節運動接合部1202は、ハンドル1208からエンドエフェクタ1210に閉止運動と発射運動を別々に伝達する細長いシャフト1206の関節運動フレーム組立体1204と一体である。エンドエフェクタ1210は、ステープル止め組立体1212として示され、交換可能なステープルカートリッジ1218を保持する細長い溝1216に対して回動可能に取り付けられた閉止可能なアンビル1214を有する。ハンドル1208は、ピストルグリップ1222に向かって基端側に引いてアンビル1214を閉止することができる閉止トリガー1220を含む。閉止スリーブ組立体1223または他の閉止手段(例えば、EAP作動アンビル及び長手方向に内部を移動する部材など)(不図示)がアンビル閉止構造1224に作用して、アンビル1214を開閉できることを理解されたい。アンビルが閉じて組織をクランプしたら、より先端側の発射トリガー1226をピストルグリップ1222に向かって引いて発射部材1228を発射し、発射部材1228を細長いシャフト1206を長手方向先端側に移動させ、組織の切断及び切断した端部のステープル止めを行うことができる。発射トリガー1226を解放したら、閉止トリガー1220を僅かに押すと同時に閉止解除ボタン1230を押して、クランプ構成要素を解放し、閉止トリガー1220を解放してアンビル1214を開け、ステープル止めされた切断組織を解放することができる。回動ノブ1232により、細長いシャフト1206の長軸を中心に選択的に回動させることができる。
図43‐図45に示されているように、横方向EAP作動関節運動ロック1700が、外科器具1704の回動関節運動接合部1702に設けられている。分かり易くするために、シングルピボットフレーム組立体1706が、先端側に延出した上部回動タブ1710及び下部回動タブ1712を有する基端フレームグランド1708を備えるとして示されている。上部回動タブ1710及び下部回動タブ1712はそれぞれ、エンドエフェクタ(図43‐図45には不図示)に取り付けられた先端フレームグランド1718の基端側に延出した上部タング1714及び下部タング1716に回動可能に係合している。上部回動タブ1710の上部内側孔1722が、上部タング1714の上部外側孔1724の下に整合し、これらの孔は上部回動ピン1726によって互いに回動可能にピン止めされている。下部回動タブ1712の下部内側孔1728が、下部タング1716の下部外側孔1730の上に整合し、これらの孔1728及び1712は下部回動ピン1732によって互いに回動可能にピン止めされている。上部及び下部モーメントアーム1734及び1736がそれぞれ、上部及び下部回動タブ1710及び1712から先端側に延出し、図20‐図27を用いて説明したようにEAPファイバーアクチュエータ(不図示)によって横方向に付勢される。
(1)外科器具であって、
エンドエフェクタと、
関節運動制御部、及び関節運動固定信号を生成するように機能的に構成された関節運動固定制御回路を含むハンドル部分と、
細長いシャフトと、
関節運動機構と、を含み、前記関節運動機構が、
前記細長いシャフトに取り付けられ、その細長いシャフトを介して前記関節運動固定信号に電気的に接続された基端フレーム部分と、
前記エンドエフェクタに取り付けられ、前記基端フレーム部分に回動可能に結合された先端フレーム部分と、
前記ハンドル部分の前記関節運動制御部に応答し、前記基端フレーム部分と前記先端フレーム部分の間に結合され、これらの間で関節運動するように機能的に構成された関節運動アクチュエータと、
前記基端フレーム部分と前記先端フレーム部分との間に係合して前記エンドエフェクタの関節運動の状態を維持する電気式関節運動固定機構と、を含む、外科器具。
(2)前記関節運動制御部が、関節運動電気信号を生成するように機能的に構成された回路を含み、
前記関節運動アクチュエータが、前記関節運動電気信号に応答する電気アクチュエータを含む、実施態様(1)に記載の外科器具。
(3)前記電気式関節運動固定機構が電気活性ポリマーアクチュエータを含む、実施態様(1)に記載の外科器具。
(4)前記関節運動機構の前記基端フレーム部分及び前記先端フレーム部分が回動可能に取り付けられて回動関節運動接合部が形成されている、実施態様(1)に記載の外科器具。
(5)前記電気式関節運動固定機構が、
前記先端フレーム部分及び前記基端フレーム部分の選択された一方に取り付けられ、エネルギーの供給が停止されると前記先端フレーム部分及び前記基端フレーム部分の他方に向かって延出して係合するように付勢される固定部材と、
作動されると前記固定部材に対する付勢に打ち勝って前記関節運動接合部の固定を解除するように機能的に構成及び配置された電気活性ポリマーアクチュエータとを含む、実施態様(4)に記載の外科器具。
(7)前記電気式関節運動機構が、エネルギーが供給されると固定解除の位置に曲がるように機能的に構成及び配置された横方向に移動する電気活性ポリマーラッチをさらに含む、実施態様(5)に記載の外科器具。
(8)前記細長いシャフトが、フレーム組立体及び閉止スリーブ組立体を含み、
前記関節運動接合部により、前記エンドエフェクタの下側ジョーが前記フレーム組立体の先端部に回動可能に取り付けられており、
前記ハンドル部分が、閉止運動を長手方向に前記閉止スリーブ組立体に対して結合させるように機能的に構成されており、
前記閉止スリーブ組立体のマルチピボット接合部が前記関節運動接合部を覆い、そのマルチピボット接合部の先端側が上側ジョーを回動させるためにその上側ジョーに係合している、実施態様(4)に記載の外科器具。
(9)前記関節運動制御部が、関節運動電気信号を生成するように機能的に構成された回路を含み、
前記関節運動アクチュエータが、前記関節運動電気信号に応答する電気アクチュエータを含む、実施態様(4)に記載の外科器具。
(10)前記基端フレーム部分及び前記先端フレーム部分の選択された一方が、前記基端フレーム部分及び前記先端フレーム部分の他方にピンで止められたモーメントアームを有しており、
前記電気アクチュエータが、関節運動を行うために、前記モーメントアームと前記他方のフレーム部分との間に互いに反対側を向いて結合された一対の電気活性ポリマーアクチュエータを含む、実施態様(9)に記載の外科器具。
前記各リブが、前記上部バンドと前記下部バンドとの間のそれぞれの側面に連結されており、
前記複数の左垂直リブ及び前記複数の右垂直リブのそれぞれが固定凹部を含み、
前記電気式関節運動固定機構が、前記左固定凹部及び前記右固定凹部に配置された左固定バンド及び右固定バンドを含み、
前記各固定バンドが、対応する前記左右の固定凹部に配置され、近接するリブ及び前記固定バンドの両方が長手方向に膨張してリブの間隔が広がった状態に維持されている時に、長手方向の長さが変化して複数の固定突出部を長手方向に整合させて前記近接するリブの間に挿入するように機能的に構成されている、実施態様(1)に記載の外科器具。
(12)前記関節運動制御部が、関節運動電気信号を生成するように機能的に構成された回路を含み、
前記関節運動アクチュエータが、前記関節運動電気信号に応答して前記近接するリブの間隔を変更するように前記近接するリブの間に連結された電気活性ポリマーアクチュエータを含む、実施態様(11)に記載の外科器具。
(13)前記左右の電気活性ポリマーアクチュエータのそれぞれが、エネルギーが供給された時に少なくとも1つの横方向に曲がるように機能的に構成されたプレートアクチュエータを含む、実施態様(12)に記載の外科器具。
(14)前記左右の電気活性ポリマーアクチュエータのそれぞれが、作動した時に長手方向に収縮するように機能的に構成された少なくとも1つの電気活性ポリマーファイバーアクチュエータを含み、
前記左右の電気活性ポリマーファイバーアクチュエータの先端部及び基端部がそれぞれ、前記関節運動接合部の先端部及び基端部に取り付けられている、実施態様(12)に記載の外科器具。
(15)複数の左電気活性ポリマースタックアクチュエータ及び複数の右電気活性ポリマースタックアクチュエータをさらに含み、前記左スタックアクチュエータのそれぞれが、前記複数の左垂直リブの近接したリブの間に位置し、前記右スタックアクチュエータのそれぞれが、前記複数の右垂直リブの近接したリブの間に位置する、実施態様(12)に記載の外科器具。
フレーム組立体を含む細長いシャフトと、
エンドエフェクタと、
前記フレーム組立体に形成された回動関節運動接合部であって、前記フレーム組立体が、前記エンドエフェクタに取り付けられた先端フレーム部分及びその先端フレーム部分に回動可能に取り付けられた基端フレーム部分を含む、前記回動関節運動接合部と、
前記細長いシャフトの基端部に取り付けられ、作動電気信号及び固定解除電気信号を選択的に前記細長いシャフトに伝達するように機能的に構成されたハンドル部分と、
前記回動関節運動接合部内に配置され、前記作動電気信号に応答して前記基端フレーム部分に対して前記先端フレーム部分を関節運動させる電気活性ポリマー関節運動アクチュエータと、
前記回動関節運動接合部に連結され、前記固定解除電気信号に応答して関節運動の間に前記関節運動接合部の固定を解除する電気活性ポリマー固定解除アクチュエータと、を含む、外科器具。
(17)前記エンドエフェクタが、細長い溝、その細長い溝に係合したステープルカートリッジ、及び、そのステープルカートリッジにステープル形成面を提供する前記細長い溝に回動可能に取り付けられたアンビルを有するステープル止め組立体を含み、
前記細長いシャフトが、前記ステープル止め組立体と共に移動して前記アンビルと前記ステープルカートリッジとの間にクランプされた組織を切断すると共に前記ステープルカートリッジによるステープル止めを作動させる発射バーをさらに含む、実施態様(16)に記載の外科器具。
(18)関節運動固定機構をさらに含み、この関節運動固定機構が、
前記基端フレーム部分及び前記先端フレーム部分の選択された一方に取り付けられ、前記基端フレーム部分及び前記先端フレーム部分の他方に向かって延出して係合するように付勢された長手方向に移動する固定部材と、
作動されると前記長手方向に移動する固定部材に対する付勢に打ち勝って前記関節運動接合部を固定解除するように機能的に構成及び配置された電気活性ポリマー固定解除アクチュエータとを有する、実施態様(16)に記載の外科器具。
(19)前記関節運動固定機構が、前記基端フレーム部分及び前記先端フレーム部分の他方に歯車部分をさらに含み、
前記長手方向に移動する固定部材が、
前記基端フレーム部分及び前記先端フレーム部分の選択された一方の凹部内に拘束された基端クロスバー部分を有する固定ボルトと、
前記固定バーが前記歯車部分に係合するように前記クロスバー部分を付勢する前記凹部内に配置されたばねと、
前記固定解除電気信号によって作動された場合に前記ばね付勢に対して前記クロスバーを引張るように配置された収縮EAPアクチュエータ、及び、前記固定解除電気信号によって作動された場合に前記ばねの付勢に対して前記クロスバーを押すように配置された膨張EAPアクチュエータの選択された一方を含む、前記凹部内に配置された前記電気活性ポリマー固定解除アクチュエータと、を含む、実施態様(18)に記載の外科器具。
(20)外科器具であって、
フレーム組立体を含む細長いシャフトと、
エンドエフェクタと、
前記フレーム組立体に形成された可撓性関節運動接合部であって、前記フレーム組立体は、前記エンドエフェクタに取り付けられた先端フレーム部分、その先端フレーム部分に回動可能に取り付けられた基端フレーム部分、前記先端フレーム部分と前記基端フレーム部分とを連結する上部バンド及び下部バンドを備える可撓性関節運動接合部、並びに、複数の左垂直リブ及び複数の右垂直リブを含み、前記各リブが前記上部バンドと前記下部バンドの間のそれぞれの側面に連結され、前記複数の左垂直リブ及び前記複数の右垂直リブのそれぞれが固定凹部を含む、前記可撓性関節運動接合部と、
前記細長いシャフトの基端部に取り付けられ、固定解除電気信号を選択的に前記細長いシャフトに伝達するように機能的に構成されたハンドル部分と、
左固定バンド及び右固定バンドを含む電気活性ポリマー関節運動固定機構であって、前記各固定バンドが、対応する前記左右の固定凹部に配置され、近接するリブ及び前記固定バンドの両方が長手方向に膨張してリブの間隔が広がった状態に維持されている時に、長手方向の長さが変化して複数の固定突出部を長手方向に整合させて前記近接するリブの間に挿入するように機能的に構成されている、前記電気活性ポリマー関節運動固定機構と、を含む、外科器具。
前記可撓性関節運動接合部が、前記関節運動電気信号に応答して前記基端フレーム部分に対して前記先端フレーム部分を関節運動させる、前記可撓性関節運動接合部内に配置された電気活性ポリマー関節運動アクチュエータをさらに含む、実施態様(20)に記載の外科器具。
(22)前記電気活性ポリマー関節運動アクチュエータが、
エネルギーが供給されると少なくとも1つの横方向に曲がるように機能的に構成された電気活性ポリマープレートアクチュエータと、
作動されると長手方向に収縮するように機能的に構成された電気活性ポリマーファイバーアクチュエータであって、その左右の電気活性ポリマーファイバーアクチュエータの先端部及び基端部のそれぞれが、前記関節運動接合部の前記先端フレーム部分及び前記基端フレーム部分に取り付けられた、前記電気活性ポリマーファイバーアクチュエータと、
それぞれが前記複数の左垂直リブの近接したリブの間に配置された複数の左電気活性ポリマースタックアクチュエータ及びそれぞれが前記複数の右垂直リブの近接したリブの間に配置された複数の右電気活性ポリマースタックアクチュエータと、から成る群から選択される1つをさらに含む、実施態様(21)に記載の外科器具。
12 ステープル止め組立体
14 ハンドル
16 シャフト
18 ステープル溝
20 ステープルカートリッジ
22 アンビル
30 回動ノブ
32 関節運動接合部
34 関節運動制御スイッチ
36 EAPアクチュエータ
38 電源
40 閉止トリガー
42 ピストルグリップ
44 発射トリガー
46 引き戻しレバー
48 閉止解除ボタン
100 ラミネートEAP複合材
102 プレート陽極層
104 EAP層
106 イオンセル層
108 プレート陰極層
110 接着層
120 EAPプレートアクチュエータ
140 収縮EAPファイバーアクチュエータ
142 プラチナ陰極ワイヤ
144、150 エンドキャップ
146 円柱キャビティ
148 プラスチック円柱壁
152 収縮ポリマーファイバー
200 外科用切断/ステープル止め器具
202 EAP作動関節運動接合部
204 シャフト
210 関節運動接合部
214 基端閉止チューブ
216 先端閉止リング
218 可撓性閉止チューブ
220、222 垂直スリット
224 長手方向バンド
226 馬蹄開口
228 アンビル閉止構造
230 回動ピン
234 シングルピボットフレーム組立体
238 上部回動タブ
240 下部回動タブ
242、252 上部回動ピンホール
244、254 下部回動ピンホール
246 上部回動タング
248 下部回動タング
250 先端フレームグランド
256 上部フレーム回動ピン
258 下部フレーム回動ピン
270 発射バー
272 発射スロット
274 矩形開口
278 クリップバー
280 上部アーム
282 クリップばね
284 アーム
286 隆起部分
288 Eビーム
292 ステープルドライバ
296 ウェッジスレッド
298 カートリッジトレイ
300 切断面
302 上部ピン
304 中間ピン
306 上部脚
308 長手方向スロット
310 長手方向開口
312 垂直スロット
400 EAPアクチュエータシステム
402、404 EAPファイバーアクチュエータ
406 上部モーメントアーム
416 下部モーメントアーム
504 ダブルピボット閉止スリーブ組立体
506 シングルピボットフレーム組立体
514 上部タング
516 下部タング
518 先端閉止チューブ
522 先端閉止リング
528 上部ダブルピボットリンク
530 先端回動ピン
532 基端回動ピン
534 上部先端ピンホール
536 上部基端ピンホール
538 下部ダブルピボットリンク
540 先端回動ピン
542 基端回動ピン
544 下部先端ピンホール
550 基端フレームグランド
552 回動ピンホール
554 回動凹部
556、558 モーメントアーム
560 ドッグボーン型リンク
562 基端ピン
566 先端ピン
570 先端フレームグランド
572 先端横ガイド
574 基端ガイド
580 EAP作動システム
582、584 EAPスタックアクチュエータ
600 EAP作動関節運動接合部
602 外科器具
604 シングルピボットフレーム組立体
606 基端フレームグランド
608 タング
610 先端フレームグランド
612 回動ピン
614 半涙型プーリー
616 収縮EAPファイバーアクチュエータ
700 EAP作動関節運動ロック
702 回動関節運動接合部
704 外科器具
706 シングルピボットフレーム機構
708 基端フレームグランド
710 上部回動タブ
712 下部回動タブ
714 上部タング
716 下部タング
720 エンドエフェクタ
722 上部内側孔
724 上部外側孔
726 上部回動ピン
728 下部内側孔
730 下部外側孔
732 下部回動ピン
734 上部モーメントアーム
736 下部モーメントアーム
740744 上部EAPファイバーアクチュエータ
748、752 下部EAPファイバーアクチュエータ
800 上部EAP作動関節運動固定機構
802 上部固定ボルト組立体
804 上部固定凹部
808 固定先端
810 先端スロット
812 歯車の谷
814 歯車部分
816 クロスプレート
818 圧縮ばね
820、822 EAPスタックアクチュエータ
824 上部固定カバー
830 下部EAP作動関節運動固定機構
900 EAP関節運動システム
901 シングルピボット関節運動接合部
902、904 上部EAPファイバーアクチュエータ
906、908 下部EAPファイバーアクチュエータ
910 上部モーメントアーム
912 下部モーメントアーム
914 上部回動タブ
916 下部回動タブ
918 基端フレームグランド
920 左上部取付け点
924 右上部取付け点
926 左下部取付け点
928 右下部取付け点
1000 EAP関節運動システム
1001 シングルピボット関節運動接合部
1002、1004 上部EAPスタックアクチュエータ
1006、1008 下部EAPスタックアクチュエータ
1014 上部モーメントアーム
1016 上部回動タブ
1020、1030 チップピン
1022 先端フレームグランド
1024 下部モーメントアーム
1026 下部回動タブ
1200 外科器具
1202 EAP作動関節運動接合部
1204 関節運動フレーム組立体
1206 シャフト
1208 ハンドル
1210 エンドエフェクタ
1212 ステープル止め組立体
1214 アンビル
1220 閉止トリガー
1222 ピストルグリップ
1226 発射トリガー
1228 発射部材
1230 閉止解除ボタン
1232 回動ノブ
1240 基端フレームグランド
1242 関節運動フレームグランド
1244 先端フレームグランド
1300 EAP作動システム
1302、1304 EAPプレートアクチュエータ
1306、1308 矩形アクチュエータ凹部
1310 弾性フレーム本体
1312 矩形ナイフスロット
1314 発射バー
1320 長手方向バンド
1322、1324 垂直凹部
1326 矩形貫通孔
1328 横ギャップ
1330 リブ
1332 内部壁
1334 外側スライス
1350 EAP関節運動固定機構
1354、1358 EAP固定ストリップ
1362 垂直固定リッジ
1370 上部ガイドピン
1372 下部ガイドピン
1400 EAP動作システム
1402 EAPリブスプレッダープレートアクチュエータ
1404 先端側に開口した矩形アクチュエータ凹部
1406 基端側に開口した矩形アクチュエータ凹部
1410 リブ
1412 垂直スロット
1414 矩形貫通孔
1416 外側垂直スロット
1500 EAP動作システム
1502 弾性フレーム本体
1504 EAPファイバーアクチュエータ
1506、1508 垂直スタック
1510 リブ
1512 内側垂直壁
1514 長手方向バンド
1516 外側スライス
1518 長手方向貫通孔
1520 先端横カバー
1522 基端横カバー
1524 ナイフスロット
1700 横方向EAP作動関節運動ロック
1702 回動関節運動接合部
1704 外科器具
1706 シングルピボットフレーム組立体
1708 基端フレームグランド
1710 上部回動タブ
1712 下部回動タブ
1714 上部タング
1716 下部タング
1722 上部内側孔
1724 上部外側孔
1726 上部回動ピン
1728 下部内側孔
1730 下部外側孔
1732 下部回動ピン
1734 上部モーメントアーム
1736 下部モーメントアーム
1800、1830 上部EAP作動関節運動固定機構
1802 上部固定フック組立体
1804 矩形上部固定凹部
1806 上部EAP固定フックラッチ
1808 固定チップ
1814 固定プレート
1824 上部固定カバー
Claims (4)
- 外科器具であって、
エンドエフェクタと、
関節運動制御部、及び関節運動固定信号を生成するように機能的に構成された関節運動固定制御回路を含むハンドル部分と、
細長いシャフトと、
関節運動機構と、を含み、前記関節運動機構が、
前記細長いシャフトに取り付けられ、その細長いシャフトを介して前記関節運動固定信号に電気的に接続された基端フレーム部分と、
前記エンドエフェクタに取り付けられ、前記基端フレーム部分に回動可能に結合された先端フレーム部分と、
前記ハンドル部分の前記関節運動制御部に応答し、前記基端フレーム部分と前記先端フレーム部分の間に結合され、これらの間で関節運動するように機能的に構成された関節運動アクチュエータと、
前記基端フレーム部分と前記先端フレーム部分との間に係合して前記エンドエフェクタの関節運動の状態を維持する電気式関節運動固定機構と、を含み、
前記関節運動機構の前記基端フレーム部分及び前記先端フレーム部分は、回動可能に取り付けられて回動関節運動接合部が形成されており、
前記電気式関節運動固定機構は、
前記先端フレーム部分及び前記基端フレーム部分の選択された一方に取り付けられ、前記先端フレーム部分及び前記基端フレーム部分の他方に対し、延出しかつ係合するように、前記先端フレーム部分及び前記基端フレーム部分の前記選択された前記一方における長手方向に付勢された固定部材と、
作動されると前記固定部材に対する付勢に打ち勝って前記回動関節運動接合部の固定を解除するように、前記先端フレーム部分及び前記基端フレーム部分の前記選択された前記一方における長手方向に前記固定部材を付勢する電気活性ポリマーアクチュエータとを含む、外科器具。 - 請求項1に記載の外科器具において、
前記関節運動制御部が、関節運動電気信号を生成するように機能的に構成された回路を含み、
前記関節運動アクチュエータが、前記関節運動電気信号に応答する電気アクチュエータを含む、外科器具。 - 請求項1に記載の外科器具において、
前記固定部材は長手方向に移動可能な固定ボルトであり、この固定ボルトは、弾性部材によって長手方向に付勢されており、前記電気活性ポリマーアクチュエータが作動すると当該電気活性ポリマーアクチュエータによって反対側の長手方向に付勢される、外科器具。 - 請求項1〜3のいずれかに記載の外科器具において、
前記関節運動アクチュエータは、前記回動関節運動接合部内に配置され、前記作動電気信号に応答して前記基端フレーム部分に対して前記先端フレーム部分を関節運動させる電気活性ポリマー関節運動アクチュエータを含む、外科器具。
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US59169404P | 2004-07-28 | 2004-07-28 | |
US60/591,694 | 2004-07-28 | ||
US11/092,053 US8057508B2 (en) | 2004-07-28 | 2005-03-29 | Surgical instrument incorporating an electrically actuated articulation locking mechanism |
US11/092,053 | 2005-03-29 |
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JP (1) | JP5073184B2 (ja) |
KR (1) | KR20060092839A (ja) |
AT (1) | ATE508693T1 (ja) |
AU (1) | AU2005203216B2 (ja) |
CA (1) | CA2514212C (ja) |
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-
2005
- 2005-03-29 US US11/092,053 patent/US8057508B2/en active Active
- 2005-07-22 AU AU2005203216A patent/AU2005203216B2/en not_active Ceased
- 2005-07-27 JP JP2005216963A patent/JP5073184B2/ja not_active Expired - Fee Related
- 2005-07-27 RU RU2005123950/14A patent/RU2005123950A/ru not_active Application Discontinuation
- 2005-07-27 KR KR1020050068376A patent/KR20060092839A/ko not_active Application Discontinuation
- 2005-07-27 EP EP05254703A patent/EP1621146B1/en not_active Not-in-force
- 2005-07-27 AT AT05254703T patent/ATE508693T1/de not_active IP Right Cessation
- 2005-07-28 CA CA2514212A patent/CA2514212C/en not_active Expired - Fee Related
- 2005-07-28 MX MXPA05008042A patent/MXPA05008042A/es active IP Right Grant
Also Published As
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US8057508B2 (en) | 2011-11-15 |
MXPA05008042A (es) | 2006-02-10 |
AU2005203216A1 (en) | 2006-02-16 |
EP1621146A2 (en) | 2006-02-01 |
RU2005123950A (ru) | 2007-02-10 |
JP2006051347A (ja) | 2006-02-23 |
CA2514212C (en) | 2014-12-23 |
AU2005203216B2 (en) | 2012-03-08 |
EP1621146A3 (en) | 2008-07-23 |
CA2514212A1 (en) | 2006-01-28 |
EP1621146B1 (en) | 2011-05-11 |
KR20060092839A (ko) | 2006-08-23 |
US20060025810A1 (en) | 2006-02-02 |
ATE508693T1 (de) | 2011-05-15 |
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