JP5345291B2 - 関節運動を制御するための方法および装置 - Google Patents
関節運動を制御するための方法および装置 Download PDFInfo
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Description
本発明は、広義に外科装置の作用端部の動きを制御するための方法、および装置に関する。
内視鏡外科器具は、天然の開口部を使用するため術後の回復時間が短く、および合併症を減らすことができるので、多くの場合、従来の開腹外科装置よりも好まれる。したがって、用具の作用端部を天然の開口部を通して所望な外科部位に正確に配置するのに適した、内視鏡外科器具の分野はかなり発展してきた。これらの用具を使用して、診断効果および治療効果を達成するために、様々な方法で組織を係合する、および/または治療することができる。
ある実施形態では、外科装置は、近位端および遠位端を備えた細長いシャフトを有するように提供されており、近位端は、その近位端に移動可能に結合されたハンドルを有し、遠位端は、その遠位端から延びる可撓性首部を有する。ハンドルおよび可撓性首部は、ハンドルの動きによって可撓性首部が複数面内で関節運動するのに効果的であるように、動作可能に関連付けられることもできる。ある例示的な実施形態では、ハンドルの動きは、可撓性首部によって模倣されることもできる。また、装置は、ハンドルと可撓性首部の間に延在し、かつ、ハンドルから可撓性首部へ動きを伝えるように構成された、アクチュエータを含むこともできる。
ここで、ある例示的な実施形態を説明し、本明細書に開示される装置の構造、機能、製造、および使用、ならびに方法の原理の全般的な理解を提供する。これら実施形態の1つ以上の実施例は、添付の図面に図示されている。当業者は、本明細書で特に説明され添付の図面に図示される、装置および方法は、非限定的な例示的実施形態であり、本発明の範囲は請求項によってのみ規定される、ということを理解するであろう。ある例示的な実施形態に関連して図示、または説明された特徴は、別の実施形態の特徴と組み合わされてもよい。そのような変更および変形は、本発明の範囲内に含まれるものと意図される。
(1) 外科装置において、
近位端部、および遠位端部を有する細長いシャフトであって、前記近位端部は、前記近位端部に可動に結合されたハンドルを備え、前記遠位端部は、前記遠位端部から延びる可撓性首部を有している、細長いシャフト、
を含み、
前記ハンドル、および前記可撓性首部は、前記ハンドルの動きが、前記可撓性首部によって模倣されるように、動作可能に関連付けられている、
外科装置。
(2) 実施態様1に記載の装置において、
前記模倣運動は、比例的である、装置。
(3) 実施態様1に記載の装置において、
前記ハンドルは、前記細長いシャフトの前記近位端部に対して関節運動するように構成されている、装置。
(4) 実施態様3に記載の装置において、
前記ハンドルは、ボールソケットジョイント、ヒンジジョイント、および、屈曲ジョイントからなる群から選択される継ぎ手によって、前記細長いシャフトの前記近位端部に結合されている、装置。
(5) 実施態様1に記載の装置において、
前記ハンドルおよび前記可撓性首部は、前記ハンドルと前記可撓性首部との間に延在するアクチュエータによって、動作可能に関連付けられており、前記アクチュエータは、前記ハンドルから前記可撓性首部へ動きを伝えるように構成されている、装置。
(6) 実施態様5に記載の装置において、
前記アクチュエータは、
前記細長いシャフトの長さに沿って延び、かつ、前記可撓性首部を少なくとも一つの動作面内で動かすための力を前記可撓性首部にかけるのに効果的である、少なくとも一つのケーブル、
を含む、装置。
(7) 実施態様6に記載の装置において、
前記少なくとも一つのケーブルは、電気活性ポリマー材料から形成され、
前記ハンドルの動きは、前記少なくとも一つのケーブルにエネルギーを選択的に送って、前記少なくとも一つのケーブルを軸方向に収縮させ、かつ、半径方向に膨張させ、それによって前記可撓性首部の少なくとも一つに前記ハンドルの前記動作を模倣させるのに効果的である、装置。
前記少なくとも一つのケーブルは、前記細長いシャフトの長さに沿って延びる複数のケーブルを含み、
前記複数のケーブルのそれぞれは、前記可撓性首部を異なる動作面内で動かすための力を前記可撓性首部にかけるのに効果的である、装置。
(9) 実施態様8に記載の装置において、
前記複数のケーブルは、前記アクチュエータの周囲で互いに等間隔に離間されている、装置。
(10) 実施態様8に記載の装置において、
前記複数のケーブルは、前記細長いシャフトの長さに沿って延びる少なくとも3つのケーブルを含む、装置。
(11) 実施態様8に記載の装置において、
前記ハンドルおよび前記複数のケーブルのうちの少なくとも一つは、
前記ハンドルおよび前記複数のケーブルのうちの前記少なくとも一つに関連付けられ、かつ、前記ハンドルおよび前記複数のケーブルのうちの前記少なくとも一つを固定位置に維持するように構成されている、ロック機構、
を含む、装置。
(12) 実施態様1に記載の装置において、
前記可撓性首部は、
前記可撓性首部の遠位端部に結合され、かつ、少なくとも一つの留め具を組織に運ぶように構成された、エンドエフェクタ、
を含む、装置。
(13) 実施態様12記載の前記装置を再調整する方法において、
再使用に際して前記装置を準備するために、前記エンドエフェクタ内に取り外し可能に配置されたカートリッジを取り外すステップと、
前記カートリッジを置き換えるステップと、
を含み、
前記カートリッジは、前記カートリッジ内に配置された複数の留め具を収容している、
方法。
(14) 実施態様1に記載の装置において、
前記細長いシャフトは、前記細長いシャフトの長さに沿って、前記細長いシャフトを通って延びる中央管腔を含み、
前記中央管腔は、前記中央管腔を通して用具を受け入れるように構成されている、装置。
(15) 実施態様14に記載の装置において、
前記細長いシャフトは、
前記細長いシャフトの外表面上に形成され、かつ、前記外表面の長さに沿って延びる、噛合要素、
を含み、
前記噛合要素は、内視鏡を受け入れるように構成されたスリーブ上に形成された相補的な噛合要素にかみ合う、装置。
近位端部、および前記装置の作用端部を画定する可撓性首部を備えた遠位端部を有する細長いシャフトであって、前記可撓性首部は、その可撓性首部に形成された複数のスリットによって可撓性にされている、細長いシャフトと、
前記細長いシャフトの前記近位端部に可動に結合されたハンドルであって、前記ハンドルの動きによって前記可撓性首部を複数の面内で関節運動させるのに効果的であるように、前記可撓性首部に動作可能に関連付けられている、ハンドルと、
を含む、外科装置。
(17) 実施態様16に記載の装置において、
前記ハンドルは、前記細長いシャフトの周囲に離間され、かつ、前記ハンドルと前記可撓性首部の遠位端部との間に延びる、複数のケーブルによって、前記可撓性首部に動作可能に関連付けられており、
前記複数のケーブルは、前記ハンドルの動きに応じて前記細長いシャフトの軸に対してスライドし、かつ、前記可撓性首部に張力をかけて前記可撓性首部を関節運動させるように構成されている、装置。
(18) 実施態様17に記載の装置において、
前記ハンドルおよび前記複数のケーブルのうち少なくとも一つと係合して前記ハンドルおよび前記複数のケーブルを固定位置にロックし、それによって前記可撓性首部を固定位置に維持するように位置付けられた、ロック機構、
をさらに含む、装置。
(19) 外科装置において、
近位端部および遠位端部を有する細長い可撓性シャフトと、
前記細長いシャフトの周囲に離間され、かつ、前記細長いシャフトの前記近位端部と前記遠位端部との間に延在する、複数のケーブルであって、前記細長いシャフトの軸に対してスライドするように、かつ、張力を前記細長いシャフトにかけて前記細長いシャフトの少なくとも一部分を屈曲させ曲げる(flex and bend)ように、構成されている、複数のケーブルと、
前記細長いシャフトに結合されたロック機構であって、前記複数のケーブルに係合して前記複数のケーブルを固定位置にロックし、それによって前記細長いシャフトを固定位置に維持するように位置付けられた、ロック機構と、
を含む、外科装置。
(20) 実施態様19に記載の装置において、
前記細長いシャフトは、蛇行した管腔を通して挿入される場合、受動的に屈曲し曲がるように構成されている、装置。
細長いシャフトの遠位端部に結合された可撓性首部を、治療されるべき組織の近傍に位置づけるように、体腔中へ前記細長いシャフトを挿入するステップと、
前記可撓性首部にハンドルの動作を模倣させるように、前記細長いシャフトの近位端部に旋回可能に結合された前記ハンドルを動かすステップと、
を含む、方法。
(22) 実施態様21に記載の方法において、
前記模倣動作は、比例的である、方法。
(23) 実施態様21に記載の方法において、
前記可撓性首部は、前記ハンドルの動きに面対称に動く、方法。
(24) 実施態様21に記載の方法において、
前記可撓性首部の動きは、前記ハンドルの動きにまさに対応(directly correspond)する、方法。
(25) 実施態様21に記載の方法において、
前記ハンドルは、前記細長いシャフトの前記近位端部を中心に旋回可能に関節運動させられ、前記可撓性首部に前記ハンドルの動作を模倣させる、方法。
(26) 実施態様21に記載の方法において、
前記可撓性首部の遠位端部に結合されたエンドエフェクタの対向する顎部の間に、組織を係合するステップと、
少なくとも一つの留め具を前記組織に運ぶステップと、
をさらに含む、方法。
(27) 実施態様21に記載の方法において、
前記細長いシャフトを挿入する前記ステップは、
前記細長いシャフトを内視鏡の周りに配置されたスリーブにかみ合わせるステップ、および、
前記細長いシャフトを前記スリーブに沿ってスライドさせ、前記可撓性首部を前記内視鏡の遠位端部の近傍に位置付けるステップ、
を含む、方法。
(28) 実施態様27に記載の方法において、
前記細長いシャフト内に形成された中央管腔を通して用具を挿入し、前記用具の作用端部を前記可撓性首部の遠位端部に近接して位置付け、前記細長いシャフトの近位端部に旋回可能に結合された前記ハンドルを動かすことにより、前記可撓性首部が前記ハンドルの動作を比例的に模倣しながら、前記用具の前記作用端部を動かす、ステップ、
をさらに含む、方法。
Claims (11)
- 内視鏡と共に使用するための付属チャネルにおいて、
近位端部、遠位端部、及び、前記近位端部および前記遠位端部の間に延在し、用具を受け入れる内腔を有する細長いシャフトであって、前記近位端部は、前記近位端部に可動に結合されたハンドルを備え、前記遠位端部は、前記遠位端部から延びる可撓性首部を有している、細長いシャフト、
を含み、
前記ハンドル、および前記可撓性首部は、前記ハンドルの動きが、前記可撓性首部によって模倣されるように、動作可能に関連付けられており、
更に、前記細長いシャフトおよび前記可撓性首部の長さに沿って延びるレールであって、内視鏡または内視鏡周囲に配置される装置である他の装置に形成された相補的なトラックに受け入れられるレールを含み、
前記可撓性首部は、その可撓性首部に形成された複数のスリットによって可撓性にされており、
前記細長いシャフトおよび前記可撓性首部の長さ方向における前記可撓性首部に対応する位置に、前記レールの複数の切断部が形成されている、
付属チャネル。 - 請求項1に記載の付属チャネルにおいて、
前記可撓性首部の動く量が、前記ハンドルの動く量に比例する、付属チャネル。 - 請求項1に記載の付属チャネルにおいて、
前記ハンドルは、前記細長いシャフトの前記近位端部に対して関節運動するように構成されている、付属チャネル。 - 請求項3に記載の付属チャネルにおいて、
前記ハンドルは、ボールソケットジョイント、ヒンジジョイント、および、屈曲ジョイントからなる群から選択される継ぎ手によって、前記細長いシャフトの前記近位端部に結合されている、付属チャネル。 - 請求項1に記載の付属チャネルにおいて、
前記ハンドルおよび前記可撓性首部は、前記ハンドルと前記可撓性首部との間に延在するアクチュエータによって、動作可能に関連付けられており、
前記アクチュエータは、前記ハンドルから前記可撓性首部へ動きを伝えるように構成されている、付属チャネル。 - 請求項5に記載の付属チャネルにおいて、
前記アクチュエータは、
前記細長いシャフトの長さに沿って延び、かつ、前記可撓性首部を少なくとも一つの動作面内で動かすための力を前記可撓性首部にかけるのに効果的である、少なくとも一つのケーブル、
を含む、付属チャネル。 - 請求項6に記載の付属チャネルにおいて、
前記少なくとも一つのケーブルは、電気活性ポリマー材料から形成され、
前記ハンドルの動きは、前記少なくとも一つのケーブルにエネルギーを選択的に送って、前記少なくとも一つのケーブルを軸方向に収縮させ、かつ、半径方向に膨張させ、それによって前記可撓性首部の少なくとも一つに前記ハンドルの前記動作を模倣させるのに効果的である、付属チャネル。 - 請求項6に記載の付属チャネルにおいて、
前記少なくとも一つのケーブルは、前記細長いシャフトの長さに沿って延びる複数のケーブルを含み、
前記複数のケーブルのそれぞれは、前記可撓性首部を異なる動作面内で動かすための力を前記可撓性首部にかけるのに効果的である、付属チャネル。 - 請求項8に記載の付属チャネルにおいて、
前記複数のケーブルは、前記アクチュエータの周囲で互いに等間隔に離間されている、付属チャネル。 - 請求項8に記載の付属チャネルにおいて、
前記複数のケーブルは、前記細長いシャフトの長さに沿って延びる少なくとも3つのケーブルを含む、付属チャネル。 - 請求項1に記載の付属チャネルにおいて、
前記可撓性首部の前記複数のスリットおよび前記レールの前記複数の切断部は、互いに連続して形成されており、
前記ハンドルは、前記ハンドルの動きによって前記可撓性首部を複数の面内で関節運動させるのに効果的であるように、前記可撓性首部に動作可能に関連付けられている、付属チャネル。
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US11/277,323 US8721630B2 (en) | 2006-03-23 | 2006-03-23 | Methods and devices for controlling articulation |
US11/277,323 | 2006-03-23 |
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EP (1) | EP1836986B1 (ja) |
JP (1) | JP5345291B2 (ja) |
CN (1) | CN101040773B (ja) |
AT (1) | ATE533421T1 (ja) |
AU (1) | AU2007201205B2 (ja) |
BR (1) | BRPI0704531B8 (ja) |
CA (1) | CA2582597C (ja) |
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-
2006
- 2006-03-23 US US11/277,323 patent/US8721630B2/en active Active
-
2007
- 2007-03-20 AU AU2007201205A patent/AU2007201205B2/en not_active Ceased
- 2007-03-22 JP JP2007075123A patent/JP5345291B2/ja not_active Expired - Fee Related
- 2007-03-22 EP EP07251221A patent/EP1836986B1/en not_active Not-in-force
- 2007-03-22 CA CA2582597A patent/CA2582597C/en not_active Expired - Fee Related
- 2007-03-22 BR BRPI0704531A patent/BRPI0704531B8/pt not_active IP Right Cessation
- 2007-03-22 AT AT07251221T patent/ATE533421T1/de active
- 2007-03-23 CN CN200710089657XA patent/CN101040773B/zh not_active Expired - Fee Related
- 2007-03-23 MX MX2007003574A patent/MX2007003574A/es active IP Right Grant
- 2007-12-07 HK HK07113407.3A patent/HK1107664A1/xx not_active IP Right Cessation
Also Published As
Publication number | Publication date |
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CA2582597A1 (en) | 2007-09-23 |
AU2007201205A1 (en) | 2007-10-11 |
EP1836986A2 (en) | 2007-09-26 |
CN101040773B (zh) | 2011-05-18 |
HK1107664A1 (en) | 2008-04-11 |
US20070221700A1 (en) | 2007-09-27 |
BRPI0704531A (pt) | 2008-04-01 |
EP1836986A3 (en) | 2009-05-27 |
AU2007201205B2 (en) | 2012-06-14 |
US8721630B2 (en) | 2014-05-13 |
JP2007252916A (ja) | 2007-10-04 |
EP1836986B1 (en) | 2011-11-16 |
BRPI0704531B1 (pt) | 2019-05-14 |
ATE533421T1 (de) | 2011-12-15 |
CN101040773A (zh) | 2007-09-26 |
MX2007003574A (es) | 2008-11-27 |
BRPI0704531B8 (pt) | 2021-06-22 |
CA2582597C (en) | 2015-11-24 |
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