JP5258314B2 - 医療用マニピュレータ及び医療用ロボットシステム - Google Patents
医療用マニピュレータ及び医療用ロボットシステム Download PDFInfo
- Publication number
- JP5258314B2 JP5258314B2 JP2008022669A JP2008022669A JP5258314B2 JP 5258314 B2 JP5258314 B2 JP 5258314B2 JP 2008022669 A JP2008022669 A JP 2008022669A JP 2008022669 A JP2008022669 A JP 2008022669A JP 5258314 B2 JP5258314 B2 JP 5258314B2
- Authority
- JP
- Japan
- Prior art keywords
- needle
- medical
- medical manipulator
- coaxial cable
- shaft
- 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.)
- Active
Links
Images
Classifications
-
- 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
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
-
- 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
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/1815—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using microwaves
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- 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
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
Description
18a〜18d…ロボットアーム 20…コンソール
24…内視鏡 25…トラカール
27…体腔 29…マイクロ波発生装置
30a、30b…モータ(アクチュエータ) 44…連結シャフト
46…先端動作部 48a、48b…プーリ
50a、50b…ワイヤ 74…ヨー軸
76…ピッチ軸 78、78a〜78c…針
80、80a〜80c…マイクロ波供給手段 82、82a〜82c…同軸ケーブル
84、84a〜84c…同軸コネクタ 86…インピーダンスマッチング回路
88、88a〜88c…外部ケーブル 90…小基板
92、101…芯線 98、103…シールド網線
104…コイル(誘導手段) 106…コンデンサ(容量手段)
202…針離間機構 204…中心支軸
206a〜206c…スリーブ 208a〜208c…前方アーム
210a〜210c…後方アーム 212a〜212c…板バネ(弾性体)
Claims (12)
- シャフトの先端に、アクチュエータで駆動される少なくとも1つの関節を備えた医療用マニピュレータであって、
前記関節によって向きが可変の針と、
前記シャフトより基端側に設けられたコネクタと、
前記コネクタと前記針との間の電気的な接続で、少なくとも一部分を接続している同軸ケーブルと、
を有し、
前記同軸ケーブルにおいて、2極のうち、外周側に位置する筒状の外被導体は、可撓性を有する金属メッシュからなる部位と、前記金属メッシュよりも剛性の大きい金属チューブからなる部位とを含んでいることを特徴とする医療用マニピュレータ。 - 請求項1記載の医療用マニピュレータにおいて、
前記同軸ケーブルは、少なくとも前記シャフトの内部又は前記シャフトに沿う部分に設けられていることを特徴とする医療用マニピュレータ。 - 請求項1又は2に記載の医療用マニピュレータにおいて、
前記コネクタと前記同軸ケーブルとの間に、誘導手段と容量手段とを含む回路を有することを特徴とする医療用マニピュレータ。 - 請求項3記載の医療用マニピュレータにおいて、
前記回路は、前記コネクタにマイクロ波発振源が接続され、前記針が生体に刺された場合における前記マイクロ波発振源の出力インピーダンスと、前記コネクタにおける入力インピーダンスを略等しくするためのマッチング回路であることを特徴とする医療用マニピュレータ。 - 請求項1又は2に記載の医療用マニピュレータにおいて、
前記コネクタと前記同軸ケーブルとの間に、金属パイプを含む回路を有することを特徴とする医療用マニピュレータ。 - 請求項1〜5のいずれか1項に記載の医療用マニピュレータにおいて、
前記針は、生体に刺した状態でマイクロ波を通電することにより、生体組織の焼灼を行うことを特徴とする医療用マニピュレータ。 - 請求項1〜6のいずれか1項に記載の医療用マニピュレータにおいて、
前記針、前記同軸ケーブル及び前記コネクタを含むマイクロ波供給手段は、複数組設けられていることを特徴とする医療用マニピュレータ。 - 請求項7記載の医療用マニピュレータにおいて、
複数の前記針の相対距離を離間させる針離間手段を有することを特徴とする医療用マニピュレータ。 - 請求項8記載の医療用マニピュレータにおいて、
前記針離間手段は、複数の前記針が互いに離間する方向に付勢する弾性体を有することを特徴とする医療用マニピュレータ。 - 請求項8又は9記載の医療用マニピュレータにおいて、
前記針離間手段は、前記針の向きを略同じ状態に保ったまま変位させるリンク機構を有することを特徴とする医療用マニピュレータ。 - 請求項8〜10のいずれか1項に記載の医療用マニピュレータにおいて、
前記針離間手段は、前記シャフトをトラカールから引き抜くときに、該トラカールの端部に当接して傾動し、複数の前記針が互いに接近する方向に復帰させるアームを有することを特徴とする医療用マニピュレータ。 - シャフトの先端に、アクチュエータで駆動される少なくとも1つの関節を備える医療用マニピュレータと、
前記医療用マニピュレータを保持するロボットアームと、
前記医療用マニピュレータと前記ロボットアームを操作するための制御部と、
を有する医療用ロボットシステムであって、
前記医療用マニピュレータは、
前記関節によって向きが可変の針と、
前記シャフトより基端側に設けられたコネクタと、
前記コネクタと前記針との間の電気的な接続で、少なくとも一部分を接続している同軸ケーブルと、
を有し、
前記同軸ケーブルにおいて、2極のうち、外周側に位置する筒状の外被導体は、可撓性を有する金属メッシュからなる部位と、前記金属メッシュよりも剛性の大きい金属チューブからなる部位とを含んでいることを特徴とする医療用ロボットシステム。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008022669A JP5258314B2 (ja) | 2008-02-01 | 2008-02-01 | 医療用マニピュレータ及び医療用ロボットシステム |
US12/176,000 US8246633B2 (en) | 2008-02-01 | 2008-07-18 | Medical manipulator and medical robot system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008022669A JP5258314B2 (ja) | 2008-02-01 | 2008-02-01 | 医療用マニピュレータ及び医療用ロボットシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009178506A JP2009178506A (ja) | 2009-08-13 |
JP5258314B2 true JP5258314B2 (ja) | 2013-08-07 |
Family
ID=40932414
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008022669A Active JP5258314B2 (ja) | 2008-02-01 | 2008-02-01 | 医療用マニピュレータ及び医療用ロボットシステム |
Country Status (2)
Country | Link |
---|---|
US (1) | US8246633B2 (ja) |
JP (1) | JP5258314B2 (ja) |
Families Citing this family (73)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7655004B2 (en) | 2007-02-15 | 2010-02-02 | Ethicon Endo-Surgery, Inc. | Electroporation ablation apparatus, system, and method |
US8579897B2 (en) | 2007-11-21 | 2013-11-12 | Ethicon Endo-Surgery, Inc. | Bipolar forceps |
US8568410B2 (en) | 2007-08-31 | 2013-10-29 | Ethicon Endo-Surgery, Inc. | Electrical ablation surgical instruments |
US8262655B2 (en) | 2007-11-21 | 2012-09-11 | Ethicon Endo-Surgery, Inc. | Bipolar forceps |
US20090112059A1 (en) | 2007-10-31 | 2009-04-30 | Nobis Rudolph H | Apparatus and methods for closing a gastrotomy |
US8480657B2 (en) | 2007-10-31 | 2013-07-09 | Ethicon Endo-Surgery, Inc. | Detachable distal overtube section and methods for forming a sealable opening in the wall of an organ |
JP5017065B2 (ja) * | 2007-11-21 | 2012-09-05 | 日野自動車株式会社 | 排気浄化装置 |
US8262680B2 (en) | 2008-03-10 | 2012-09-11 | Ethicon Endo-Surgery, Inc. | Anastomotic device |
US8679003B2 (en) | 2008-05-30 | 2014-03-25 | Ethicon Endo-Surgery, Inc. | Surgical device and endoscope including same |
US8771260B2 (en) | 2008-05-30 | 2014-07-08 | Ethicon Endo-Surgery, Inc. | Actuating and articulating surgical device |
US8906035B2 (en) | 2008-06-04 | 2014-12-09 | Ethicon Endo-Surgery, Inc. | Endoscopic drop off bag |
US8403926B2 (en) | 2008-06-05 | 2013-03-26 | Ethicon Endo-Surgery, Inc. | Manually articulating devices |
US8361112B2 (en) | 2008-06-27 | 2013-01-29 | Ethicon Endo-Surgery, Inc. | Surgical suture arrangement |
US8262563B2 (en) | 2008-07-14 | 2012-09-11 | Ethicon Endo-Surgery, Inc. | Endoscopic translumenal articulatable steerable overtube |
US8888792B2 (en) | 2008-07-14 | 2014-11-18 | Ethicon Endo-Surgery, Inc. | Tissue apposition clip application devices and methods |
US8241204B2 (en) | 2008-08-29 | 2012-08-14 | Ethicon Endo-Surgery, Inc. | Articulating end cap |
US8409200B2 (en) | 2008-09-03 | 2013-04-02 | Ethicon Endo-Surgery, Inc. | Surgical grasping device |
US8337394B2 (en) | 2008-10-01 | 2012-12-25 | Ethicon Endo-Surgery, Inc. | Overtube with expandable tip |
US8157834B2 (en) | 2008-11-25 | 2012-04-17 | Ethicon Endo-Surgery, Inc. | Rotational coupling device for surgical instrument with flexible actuators |
US8361066B2 (en) | 2009-01-12 | 2013-01-29 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US9226772B2 (en) * | 2009-01-30 | 2016-01-05 | Ethicon Endo-Surgery, Inc. | Surgical device |
JP2011072570A (ja) * | 2009-09-30 | 2011-04-14 | Terumo Corp | 医療用マニピュレータ |
US20110098704A1 (en) | 2009-10-28 | 2011-04-28 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US8608652B2 (en) | 2009-11-05 | 2013-12-17 | Ethicon Endo-Surgery, Inc. | Vaginal entry surgical devices, kit, system, and method |
EP2498710B1 (en) | 2009-11-13 | 2018-05-16 | Intuitive Surgical Operations, Inc. | Motor interface for parallel drive shafts within an independently rotating member |
WO2011060311A2 (en) | 2009-11-13 | 2011-05-19 | Intuitive Surgical Operations, Inc. | End effector with redundant closing mechanisms |
CN113967039A (zh) | 2009-11-13 | 2022-01-25 | 直观外科手术操作公司 | 具有紧凑腕部的手术工具 |
US20110118708A1 (en) | 2009-11-13 | 2011-05-19 | Intuitive Surgical Operations, Inc. | Double universal joint |
US8496574B2 (en) | 2009-12-17 | 2013-07-30 | Ethicon Endo-Surgery, Inc. | Selectively positionable camera for surgical guide tube assembly |
US8353487B2 (en) * | 2009-12-17 | 2013-01-15 | Ethicon Endo-Surgery, Inc. | User interface support devices for endoscopic surgical instruments |
US9028483B2 (en) | 2009-12-18 | 2015-05-12 | Ethicon Endo-Surgery, Inc. | Surgical instrument comprising an electrode |
US8506564B2 (en) | 2009-12-18 | 2013-08-13 | Ethicon Endo-Surgery, Inc. | Surgical instrument comprising an electrode |
US9005198B2 (en) | 2010-01-29 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Surgical instrument comprising an electrode |
WO2012020386A1 (en) | 2010-08-11 | 2012-02-16 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical positioning system for surgical instruments |
WO2012049623A1 (en) | 2010-10-11 | 2012-04-19 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical manipulator for surgical instruments |
US10092291B2 (en) | 2011-01-25 | 2018-10-09 | Ethicon Endo-Surgery, Inc. | Surgical instrument with selectively rigidizable features |
US9233241B2 (en) | 2011-02-28 | 2016-01-12 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices and methods |
US9314620B2 (en) | 2011-02-28 | 2016-04-19 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices and methods |
US9254169B2 (en) | 2011-02-28 | 2016-02-09 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices and methods |
US9049987B2 (en) | 2011-03-17 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Hand held surgical device for manipulating an internal magnet assembly within a patient |
WO2013014621A2 (en) | 2011-07-27 | 2013-01-31 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical teleoperated device for remote manipulation |
US8986199B2 (en) | 2012-02-17 | 2015-03-24 | Ethicon Endo-Surgery, Inc. | Apparatus and methods for cleaning the lens of an endoscope |
US9427255B2 (en) | 2012-05-14 | 2016-08-30 | Ethicon Endo-Surgery, Inc. | Apparatus for introducing a steerable camera assembly into a patient |
US9078662B2 (en) | 2012-07-03 | 2015-07-14 | Ethicon Endo-Surgery, Inc. | Endoscopic cap electrode and method for using the same |
US9545290B2 (en) | 2012-07-30 | 2017-01-17 | Ethicon Endo-Surgery, Inc. | Needle probe guide |
US9572623B2 (en) | 2012-08-02 | 2017-02-21 | Ethicon Endo-Surgery, Inc. | Reusable electrode and disposable sheath |
US10314649B2 (en) | 2012-08-02 | 2019-06-11 | Ethicon Endo-Surgery, Inc. | Flexible expandable electrode and method of intraluminal delivery of pulsed power |
US9277957B2 (en) | 2012-08-15 | 2016-03-08 | Ethicon Endo-Surgery, Inc. | Electrosurgical devices and methods |
US20140117689A1 (en) * | 2012-10-26 | 2014-05-01 | Phd, Inc. | Gripper with remote cable drive |
US10098527B2 (en) | 2013-02-27 | 2018-10-16 | Ethidcon Endo-Surgery, Inc. | System for performing a minimally invasive surgical procedure |
EP2835226A1 (en) * | 2013-08-09 | 2015-02-11 | Yamaha Hatsudoki Kabushiki Kaisha | Wiring structure for robot arm |
US9833235B2 (en) * | 2013-08-16 | 2017-12-05 | Covidien Lp | Chip assembly for reusable surgical instruments |
JP6230430B2 (ja) * | 2014-01-23 | 2017-11-15 | オリンパス株式会社 | 術具及び医療用マニピュレータシステム |
CN106659540B (zh) | 2014-02-03 | 2019-03-05 | 迪斯塔莫申股份公司 | 包括能互换远端器械的机械遥控操作装置 |
KR101603970B1 (ko) * | 2014-05-12 | 2016-03-25 | 정용철 | 모발 자동 식모기 |
EP3185808B1 (en) | 2014-08-27 | 2022-02-23 | DistalMotion SA | Surgical system for microsurgical techniques |
EP3232973B1 (en) | 2014-12-19 | 2020-04-01 | DistalMotion SA | Sterile interface for articulated surgical instruments |
US10864052B2 (en) | 2014-12-19 | 2020-12-15 | Distalmotion Sa | Surgical instrument with articulated end-effector |
EP3232974B1 (en) | 2014-12-19 | 2018-10-24 | DistalMotion SA | Articulated handle for mechanical telemanipulator |
EP4342412A2 (en) | 2014-12-19 | 2024-03-27 | DistalMotion SA | Reusable surgical instrument for minimally invasive procedures |
EP3232977B1 (en) | 2014-12-19 | 2020-01-29 | DistalMotion SA | Docking system for mechanical telemanipulator |
WO2016162752A1 (en) | 2015-04-09 | 2016-10-13 | Distalmotion Sa | Mechanical teleoperated device for remote manipulation |
EP3280337B1 (en) | 2015-04-09 | 2019-11-13 | DistalMotion SA | Articulated hand-held instrument |
WO2017037532A1 (en) | 2015-08-28 | 2017-03-09 | Distalmotion Sa | Surgical instrument with increased actuation force |
EP3307020B1 (en) * | 2016-05-13 | 2024-01-24 | Microwave Chemical Co., Ltd. | Microwave processing device and program |
CN109310472B (zh) * | 2016-06-03 | 2021-10-15 | 柯惠Lp公司 | 机器人手术组合件及其器械驱动单元 |
EP3366255A1 (en) * | 2017-02-27 | 2018-08-29 | Microsure B.V. | Surgical robotic system with carriage and manipulator unit |
US11058503B2 (en) | 2017-05-11 | 2021-07-13 | Distalmotion Sa | Translational instrument interface for surgical robot and surgical robot systems comprising the same |
CN107551387B (zh) * | 2017-08-17 | 2020-05-15 | 济南优科医疗技术有限公司 | 一种多功能的辅助治疗机器人 |
US20190201093A1 (en) * | 2018-01-03 | 2019-07-04 | Neuwave Medical, Inc. | Systems and methods for energy delivery |
AU2019218707A1 (en) | 2018-02-07 | 2020-08-13 | Distalmotion Sa | Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy |
GB201903540D0 (en) | 2019-03-15 | 2019-05-01 | Emblation Ltd | Energy delivery system and method |
US11844585B1 (en) | 2023-02-10 | 2023-12-19 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58173540A (ja) | 1982-04-03 | 1983-10-12 | 銭谷 利男 | マイクロ波手術装置 |
JPS6420619A (en) | 1987-07-15 | 1989-01-24 | Toshiba Corp | Electron beam aligner |
JPS6420617A (en) | 1987-07-15 | 1989-01-24 | Fujitsu Ltd | X-ray aligner |
US4949539A (en) * | 1989-03-14 | 1990-08-21 | Hsu Chi Chu | Muffler with a purifying system for car or motorcycle |
CA2078295C (en) * | 1991-08-05 | 1995-11-21 | John Michael Putman | Endoscope stabilizer |
JPH0749060B2 (ja) * | 1993-02-25 | 1995-05-31 | 株式会社日本メディックス | マイクロ波温熱治療用アンテナ装置 |
US5876325A (en) * | 1993-11-02 | 1999-03-02 | Olympus Optical Co., Ltd. | Surgical manipulation system |
JPH07204282A (ja) * | 1994-01-24 | 1995-08-08 | Omron Corp | 高周波温熱治療装置 |
US6331181B1 (en) * | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
JP3919947B2 (ja) * | 1998-07-09 | 2007-05-30 | アルフレッサファーマ株式会社 | マイクロ波手術用電極装置 |
ATE305757T1 (de) * | 2000-04-12 | 2005-10-15 | Afx Inc | Ablationskatheter mit einem gerichtetem h.f. strahlungselement |
JP4014792B2 (ja) | 2000-09-29 | 2007-11-28 | 株式会社東芝 | マニピュレータ |
US6840938B1 (en) * | 2000-12-29 | 2005-01-11 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
US20030135204A1 (en) * | 2001-02-15 | 2003-07-17 | Endo Via Medical, Inc. | Robotically controlled medical instrument with a flexible section |
JP3631450B2 (ja) | 2001-08-22 | 2005-03-23 | 株式会社東芝 | マニピュレータ |
US7972298B2 (en) * | 2004-03-05 | 2011-07-05 | Hansen Medical, Inc. | Robotic catheter system |
US7101369B2 (en) * | 2004-04-29 | 2006-09-05 | Wisconsin Alumni Research Foundation | Triaxial antenna for microwave tissue ablation |
GB0504988D0 (en) * | 2005-03-10 | 2005-04-20 | Emcision Ltd | Device and method for the treatment of diseased tissue such as tumors |
US8496647B2 (en) * | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
-
2008
- 2008-02-01 JP JP2008022669A patent/JP5258314B2/ja active Active
- 2008-07-18 US US12/176,000 patent/US8246633B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2009178506A (ja) | 2009-08-13 |
US8246633B2 (en) | 2012-08-21 |
US20090198253A1 (en) | 2009-08-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5258314B2 (ja) | 医療用マニピュレータ及び医療用ロボットシステム | |
US11583333B2 (en) | Mapping vessels for resecting body tissue | |
JP4727575B2 (ja) | エネルギー処置具 | |
US10278762B2 (en) | Inductive powered surgical device with wireless control | |
EP3634272A1 (en) | Combination ultrasonic and electrosurgical system having eeprom and asic components | |
US20150142032A1 (en) | Surgical instrument with active element and suction cage | |
EP3072467B1 (en) | Surgical forceps with scalpel functionality | |
KR20050033471A (ko) | 고주파 나이프 및 내시경 장치 | |
JP5948493B2 (ja) | 高周波処置具 | |
JP2022500162A (ja) | 関節ブレードの展開 | |
US9987071B2 (en) | Surgical instrument with end-effector assembly including three jaw members | |
US9987035B2 (en) | Surgical instrument with end-effector assembly including three jaw members and methods of cutting tissue using same | |
CN105455895B (zh) | 外科器械 | |
US20210401481A1 (en) | Inductively heated perforator with suction | |
WO2015045431A1 (ja) | プローブユニット、処置具及び処置システム | |
US10729487B2 (en) | Surgical instrument with interchangeable micro-tips | |
CN108697465A (zh) | 用于单极和双极仪器的共用连接器 | |
JP3772039B2 (ja) | 手術装置 | |
KR20200109702A (ko) | 체내 삽입형 의료 기구 모듈 | |
EP3001965B1 (en) | Surgical instruments with an end-effector assembly including optical fiber for treating tissue | |
WO2016143793A1 (ja) | 医療用処置具及び医療用処置装置 | |
JP2020162998A (ja) | 内視鏡用マイクロ波照射器具 | |
KR20150052475A (ko) | 인체 내강 시술용 처치 장치 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20101203 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20120810 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20120821 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20121019 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20130402 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20130423 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20160502 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5258314 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
S531 | Written request for registration of change of domicile |
Free format text: JAPANESE INTERMEDIATE CODE: R313531 |
|
S533 | Written request for registration of change of name |
Free format text: JAPANESE INTERMEDIATE CODE: R313533 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |