JP5587318B2 - 最小侵襲手術用器具 - Google Patents
最小侵襲手術用器具 Download PDFInfo
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- JP5587318B2 JP5587318B2 JP2011526808A JP2011526808A JP5587318B2 JP 5587318 B2 JP5587318 B2 JP 5587318B2 JP 2011526808 A JP2011526808 A JP 2011526808A JP 2011526808 A JP2011526808 A JP 2011526808A JP 5587318 B2 JP5587318 B2 JP 5587318B2
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- 230000033001 locomotion Effects 0.000 claims description 93
- 239000012636 effector Substances 0.000 claims description 79
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 238000002324 minimally invasive surgery Methods 0.000 description 21
- 238000001356 surgical procedure Methods 0.000 description 18
- 206010052428 Wound Diseases 0.000 description 12
- 208000027418 Wounds and injury Diseases 0.000 description 12
- 238000000034 method Methods 0.000 description 12
- 238000006073 displacement reaction Methods 0.000 description 5
- 210000000056 organ Anatomy 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
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- 210000000683 abdominal cavity Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
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- 238000001839 endoscopy Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000002357 laparoscopic surgery Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 210000004100 adrenal gland Anatomy 0.000 description 1
- 238000010420 art technique Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000002574 cystoscopy Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 230000001960 triggered effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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, e.g. tourniquets
- A61B17/28—Surgical forceps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Ophthalmology & Optometry (AREA)
- Pathology (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Description
100 シャフト
110 調節ハンドル
120、120a エンドエフェクタ
130 第1操作シャフト
140 第2操作シャフト
150 第1動作シャフト
160 第2動作シャフト
200 ピッチ操作部
300、300a 第1ヨー操作部
400、400a 第2ヨー操作部
500 連結部
500a 第1連結部
600 ピッチ動作部
700、700a 第1ヨー動作部
800、800a 第2ヨー動作部
900 第2連結部
PC1、PC2 第1及び第2ピッチ連結部
YC ヨーケーブル
YC1、YC2 第2ヨーケーブル
Claims (21)
- 最小侵襲手術用器具であって、
メインシャフトと、
前記メインシャフトの一端から順次直列に延出する第1操作シャフト及び第2操作シャフトと、
前記メインシャフトの他端から順次直列に延出する第1動作シャフト及び第2動作シャフトと、
前記第2操作シャフトの一端に配置されている調節ハンドルと、
前記第2動作シャフトの一端に配置されているエンドエフェクタと、
前記メインシャフトと前記第1操作シャフトとの間、前記第1操作シャフトと前記第2操作シャフトとの間、または前記第2操作シャフトと前記調節ハンドルとの間のうちのいずれか1つの位置に配置され、前記調節ハンドルのピッチ方向の動きを前記エンドエフェクタに伝達するためのピッチ操作部と、
前記メインシャフトと前記第1操作シャフトとの間、前記第1操作シャフトと前記第2操作シャフトの間、及び前記第2操作シャフトと前記調節ハンドルとの間のうちの他の2つの位置にそれぞれ配置され、前記調節ハンドルのヨー方向の動きを前記エンドエフェクタに伝達するための第1ヨー操作部及び第2ヨー操作部と、
前記メインシャフトと前記第1動作シャフトとの間、前記第1動作シャフトと前記第2動作シャフトとの間、または前記第2動作シャフトと前記エンドエフェクタとの間のうちのいずれか1つの位置に配置されているピッチ動作部と、
前記メインシャフトと前記第1動作シャフトとの間、前記第1動作シャフトと前記第2動作シャフトとの間、及び前記第2動作シャフトと前記エンドエフェクタとの間のうちの他の2つの位置にそれぞれ配置されている第1ヨー動作部及び第2ヨー動作部と、
前記ピッチ操作部、前記第1ヨー操作部、及び前記第2ヨー操作部の動きを、前記ピッチ動作部、前記第1ヨー動作部、及び前記第2ヨー動作部にそれぞれ伝達するための、第1ピッチケーブル及び第2ピッチケーブルと、
前記第1ピッチケーブル及び前記第2ピッチケーブルとともに、前記第1ヨー操作部の動きを前記第1ヨー動作部に伝達するためのヨーケーブルとを含むことを特徴とする器具。 - 前記調節ハンドル及び前記エンドエフェクタが開閉可能であるように構成されており、
前記エンドエフェクタが、前記調節ハンドルの操作に従って前記第1ピッチケーブルおよび前記第2ピッチケーブルの少なくとも一方の動作により開閉されるように構成されていることを特徴とする請求項1に記載の器具。 - 前記メインシャフト、前記第1操作シャフト、前記第2操作シャフト、前記第1動作シャフト、及び前記第2動作シャフトのうちの少なくとも1つのシャフトの内部に、少なくとも1つの空間が形成されていることを特徴とする請求項1または請求項2に記載の器具。
- 前記ケーブルの少なくとも一部が、前記空間の少なくとも一部を通って配置されていることを特徴とする請求項3に記載の器具。
- 前記第1ヨー操作部、前記第2ヨー操作部、前記第1ヨー動作部、及び前記第2ヨー動作部のうちの少なくとも1つが、
操作本体と、
前記操作本体の両端に近接して配置された複数の連結プーリとを含み、前記各連結プーリが、前記操作本体の一端の回動軸上に配置されていることを特徴とする請求項1または請求項2に記載の器具。 - 前記操作本体が、前記2つの互いに隣接するシャフトのうちの一方に固定されていることを特徴とする請求項5に記載の器具。
- 前記操作本体が、前記シャフトに対して直角に固定されていることを特徴とする請求項6に記載の器具。
- 前記第1ヨー操作部、前記第2ヨー操作部、前記第1ヨー動作部、及び前記第2ヨー動作部のうちの少なくとも1つが、前記ヨーケーブルに連結されているヨーケーブルプーリをさらに含むことを特徴とする請求項5に記載の器具。
- 前記ピッチ操作部及び前記ピッチ動作部のうちの少なくとも1つが、前記第1ピッチケーブルに連結されている第1ピッチケーブルプーリ及び前記第2ピッチケーブルに連結されている第2ピッチケーブルプーリを含むことを特徴とする請求項1に記載の器具。
- 前記ピッチ操作部が、前記調節ハンドルの1つのロッドの操作に従って動作する第3ピッチケーブルプーリをさらに含み、該第3ピッチケーブルプーリが第1ピッチケーブルまたは前記第2ピッチケーブルに連結されていることを特徴とする請求項9に記載の器具。
- 最小侵襲手術用器具であって、
メインシャフトと、
前記メインシャフトの一端から順次直列に延出する第1操作シャフト及び第2操作シャフトと、
前記メインシャフトの他端から順次直列に延出する第1動作シャフト及び第2動作シャフトと、
前記第2操作シャフトの一端に配置されている調節ハンドルと、
前記第2動作シャフトの一端に配置されているエンドエフェクタと、
前記第2操作シャフトと前記調節ハンドルとの間に配置され、前記調節ハンドルのピッチ方向及びヨー方向の動きを前記エンドエフェクタに伝達するための第1連結部と、
前記メインシャフトと前記第1操作シャフトとの間及び、前記第1操作シャフトと前記第2操作シャフトとの間にそれぞれ配置され、前記調節ハンドルのヨー方向の動きを前記エンドエフェクタに伝達するための第1ヨー操作部及び第2ヨー操作部と、
前記第2動作シャフトと前記エンドエフェクタとの間に配置されている第2連結部と、
前記メインシャフトと前記第1操作シャフトとの間及び、前記第1操作シャフトと前記第2操作シャフトとの間にそれぞれ配置されている、第1ヨー動作部及び第2ヨー動作部と、
前記第1連結部、前記第1ヨー操作部、及び前記第2ヨー操作部の動きを、前記第2連結部、前記第1ヨー動作部、及び前記第2ヨー動作部にそれぞれ伝達するための、第1ピッチケーブル及び第2ピッチケーブルと、
前記第1ピッチケーブル及び前記第2ピッチケーブルとともに、前記第2ヨー操作部の動きを前記第2ヨー動作部に伝達するための第1ヨーケーブルと、
前記第1ピッチケーブル、前記第2ピッチケーブル、及び前記第1ヨーケーブルとともに、前記第1ヨー操作部の動きを前記第1ヨー動作部に伝達するための第2ヨーケーブルとを含むことを特徴とする器具。 - 前記調節ハンドル及び前記エンドエフェクタが開閉可能であるように構成されており、
前記エンドエフェクタが、前記調節ハンドルの操作に従って前記第1ピッチケーブルおよび前記第2ピッチケーブルの少なくとも一方の動作により開閉されるように構成されていることを特徴とする請求項11に記載の器具。 - 前記メインシャフト、前記第1操作シャフト、前記第2操作シャフト、前記第1動作シャフト、及び前記第2動作シャフトのうちの少なくとも1つのシャフトの内部に、少なくとも1つの空間が形成されていることを特徴とする請求項11または請求項12に記載の器具。
- 前記ケーブルの少なくとも一部が、前記空間の少なくとも一部を通って配置されていることを特徴とする請求項13に記載の器具。
- 前記第1ヨー操作部、前記第2ヨー操作部、前記第1ヨー動作部、及び前記第2ヨー動作部のうちの少なくとも1つが、
操作本体と、
前記操作本体の両端に近接して配置された複数の連結プーリとを含み、前記各連結プーリが、前記操作本体の一端の回動軸上に配置されていることを特徴とする請求項11または請求項12に記載の器具。 - 前記操作本体が、前記2つの互いに隣接するシャフトのうちの一方に固定されていることを特徴とする請求項15に記載の器具。
- 前記操作本体が、前記シャフトに対して直角に固定されていることを特徴とする請求項16に記載の器具。
- 前記第1ヨー操作部及び前記第1ヨー動作部のうちの少なくとも1つが、前記ヨーケーブルに連結されているヨーケーブルプーリをさらに含むことを特徴とする請求項15に記載の器具。
- 前記第1ヨー操作部及び前記第1ヨー動作部のうちの少なくとも1つが、前記ヨーケーブルに連結されているヨーケーブルプーリをさらに含むことを特徴とする請求項15に記載の器具。
- 前記1対のヨー連結端に近接して配置されている複数の連結プーリをさらに含むことを特徴とする請求項19に記載の器具。
- 前記第1連結部が、前記調節ハンドルの1つのロッドの操作に従って動作する第3ピッチケーブルプーリをさらに含み、該第3ピッチケーブルプーリが第1ピッチケーブルまたは前記第2ピッチケーブルに連結されていることを特徴とする請求項19に記載の器具。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020080090560A KR101056232B1 (ko) | 2008-09-12 | 2008-09-12 | 최소 침습 수술 도구 및 그 사용 방법 |
KR10-2008-0090560 | 2008-09-12 | ||
PCT/KR2009/005104 WO2010030114A2 (en) | 2008-09-12 | 2009-09-09 | Tool for minimally invasive surgery and method for using the same |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2012501785A JP2012501785A (ja) | 2012-01-26 |
JP2012501785A5 JP2012501785A5 (ja) | 2012-11-01 |
JP5587318B2 true JP5587318B2 (ja) | 2014-09-10 |
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JP2011526808A Expired - Fee Related JP5587318B2 (ja) | 2008-09-12 | 2009-09-09 | 最小侵襲手術用器具 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20110172648A1 (ja) |
EP (1) | EP2341846A4 (ja) |
JP (1) | JP5587318B2 (ja) |
KR (1) | KR101056232B1 (ja) |
CN (1) | CN102149339B (ja) |
WO (1) | WO2010030114A2 (ja) |
Families Citing this family (171)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10285694B2 (en) | 2001-10-20 | 2019-05-14 | Covidien Lp | Surgical stapler with timer and feedback display |
US9055943B2 (en) | 2007-09-21 | 2015-06-16 | Covidien Lp | Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use |
US10105140B2 (en) | 2009-11-20 | 2018-10-23 | Covidien Lp | Surgical console and hand-held surgical device |
US11311291B2 (en) | 2003-10-17 | 2022-04-26 | Covidien Lp | Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors |
US10022123B2 (en) | 2012-07-09 | 2018-07-17 | Covidien Lp | Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors |
WO2006015319A2 (en) | 2004-07-30 | 2006-02-09 | Power Medical Interventions, Inc. | Flexible shaft extender and method of using same |
US11291443B2 (en) | 2005-06-03 | 2022-04-05 | Covidien Lp | Surgical stapler with timer and feedback display |
JP5043842B2 (ja) | 2005-07-27 | 2012-10-10 | タイコ ヘルスケア グループ リミテッド パートナーシップ | 電気機械的手術装置用のシャフト |
EP3097869B1 (en) | 2007-09-21 | 2020-03-11 | Covidien LP | Surgical device |
US10498269B2 (en) | 2007-10-05 | 2019-12-03 | Covidien Lp | Powered surgical stapling device |
US8517241B2 (en) | 2010-04-16 | 2013-08-27 | Covidien Lp | Hand-held surgical devices |
US10779818B2 (en) | 2007-10-05 | 2020-09-22 | Covidien Lp | Powered surgical stapling device |
US9474540B2 (en) | 2009-10-08 | 2016-10-25 | Ethicon-Endo-Surgery, Inc. | Laparoscopic device with compound angulation |
WO2011115311A1 (ko) * | 2010-03-15 | 2011-09-22 | 주식회사 아덴 | 수술기구 |
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JP2008161970A (ja) * | 2006-12-28 | 2008-07-17 | Terumo Corp | マニピュレータ |
KR101056204B1 (ko) * | 2008-06-27 | 2011-08-11 | 정창욱 | 최소 침습 수술 도구 |
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2008
- 2008-09-12 KR KR1020080090560A patent/KR101056232B1/ko active IP Right Grant
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2009
- 2009-09-09 US US13/063,918 patent/US20110172648A1/en not_active Abandoned
- 2009-09-09 CN CN200980136000.1A patent/CN102149339B/zh not_active Expired - Fee Related
- 2009-09-09 WO PCT/KR2009/005104 patent/WO2010030114A2/en active Application Filing
- 2009-09-09 JP JP2011526808A patent/JP5587318B2/ja not_active Expired - Fee Related
- 2009-09-09 EP EP09813236.8A patent/EP2341846A4/en not_active Withdrawn
Also Published As
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EP2341846A4 (en) | 2015-01-21 |
WO2010030114A3 (en) | 2010-06-17 |
CN102149339B (zh) | 2014-11-26 |
US20110172648A1 (en) | 2011-07-14 |
CN102149339A (zh) | 2011-08-10 |
JP2012501785A (ja) | 2012-01-26 |
EP2341846A2 (en) | 2011-07-13 |
KR20100031437A (ko) | 2010-03-22 |
KR101056232B1 (ko) | 2011-08-11 |
WO2010030114A2 (en) | 2010-03-18 |
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