JP5824456B2 - 湾曲カニューレ、ロボットマニピュレーター、および受動的に可撓性であるシャフトを有する外科手術器具 - Google Patents

湾曲カニューレ、ロボットマニピュレーター、および受動的に可撓性であるシャフトを有する外科手術器具 Download PDF

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Publication number
JP5824456B2
JP5824456B2 JP2012538937A JP2012538937A JP5824456B2 JP 5824456 B2 JP5824456 B2 JP 5824456B2 JP 2012538937 A JP2012538937 A JP 2012538937A JP 2012538937 A JP2012538937 A JP 2012538937A JP 5824456 B2 JP5824456 B2 JP 5824456B2
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JP
Japan
Prior art keywords
cannula
shaft
instrument
surgical
surgical system
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 - Fee Related
Application number
JP2012538937A
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English (en)
Japanese (ja)
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JP2013510663A (ja
Inventor
ジョン ライアン ステガー，
ジョン ライアン ステガー，
クレイグ アール． ガービ，
クレイグ アール． ガービ，
ジュゼッペ マリア プリスコ，
ジュゼッペ マリア プリスコ，
セオドア ダブリュー． ロジャース，
セオドア ダブリュー． ロジャース，
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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Filing date
Publication date
Priority claimed from US12/618,608 external-priority patent/US8551115B2/en
Priority claimed from US12/618,549 external-priority patent/US20110071541A1/en
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of JP2013510663A publication Critical patent/JP2013510663A/ja
Application granted granted Critical
Publication of JP5824456B2 publication Critical patent/JP5824456B2/ja
Expired - Fee Related legal-status Critical Current
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Classifications

    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • 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
    • 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
    • A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
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    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3431—Cannulas being collapsible, e.g. made of thin flexible material
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    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3439—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B17/3498—Valves therefor, e.g. flapper valves, slide valves
    • A—HUMAN NECESSITIES
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/92—Identification means for patients or instruments, e.g. tags coded with colour
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
    • A61M25/0041—Catheters; Hollow probes characterised by the form of the tubing pre-formed, e.g. specially adapted to fit with the anatomy of body channels
    • A—HUMAN NECESSITIES
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    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B2017/00831—Material properties
    • A61B2017/0084—Material properties low friction
    • A61B2017/00845—Material properties low friction of moving parts with respect to each other
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
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    • A—HUMAN NECESSITIES
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    • A61B2017/2901—Details of shaft
    • A61B2017/2905—Details of shaft flexible
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    • 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
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • A—HUMAN NECESSITIES
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    • A61B2017/2926—Details of heads or jaws
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    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
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    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B2017/3419—Sealing means between cannula and body
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    • A61B2017/3429—Access ports, e.g. toroid shape introducers for instruments or hands having a unitary compressible body, e.g. made of silicone or foam
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    • A61B17/3439—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable
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    • A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
    • A61B2017/3466—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals for simultaneous sealing of multiple instruments
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
JP2012538937A 2009-11-13 2010-11-10 湾曲カニューレ、ロボットマニピュレーター、および受動的に可撓性であるシャフトを有する外科手術器具 Expired - Fee Related JP5824456B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US12/618,608 US8551115B2 (en) 2009-09-23 2009-11-13 Curved cannula instrument
US12/618,549 2009-11-13
US12/618,549 US20110071541A1 (en) 2009-09-23 2009-11-13 Curved cannula
US12/618,608 2009-11-13
PCT/US2010/056193 WO2011060046A2 (en) 2009-09-23 2010-11-10 Curved cannula instrument

Publications (2)

Publication Number Publication Date
JP2013510663A JP2013510663A (ja) 2013-03-28
JP5824456B2 true JP5824456B2 (ja) 2015-11-25

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Family Applications (4)

Application Number Title Priority Date Filing Date
JP2012538937A Expired - Fee Related JP5824456B2 (ja) 2009-11-13 2010-11-10 湾曲カニューレ、ロボットマニピュレーター、および受動的に可撓性であるシャフトを有する外科手術器具
JP2012538933A Active JP5722336B2 (ja) 2009-11-13 2010-11-10 湾曲カニューレ外科手術システム
JP2015007410A Expired - Fee Related JP6000382B2 (ja) 2009-11-13 2015-01-19 湾曲カニューレ外科手術システム
JP2016054862A Withdrawn JP2016105938A (ja) 2009-11-13 2016-03-18 湾曲カニューレ外科手術システム

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JP2012538933A Active JP5722336B2 (ja) 2009-11-13 2010-11-10 湾曲カニューレ外科手術システム
JP2015007410A Expired - Fee Related JP6000382B2 (ja) 2009-11-13 2015-01-19 湾曲カニューレ外科手術システム
JP2016054862A Withdrawn JP2016105938A (ja) 2009-11-13 2016-03-18 湾曲カニューレ外科手術システム

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EP (1) EP2467074B1 (enExample)
JP (4) JP5824456B2 (enExample)
KR (5) KR102118008B1 (enExample)
CN (2) CN102596063B (enExample)
BR (1) BR112012011326B1 (enExample)

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US11896446B2 (en) 2012-06-21 2024-02-13 Globus Medical, Inc Surgical robotic automation with tracking markers
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US11786324B2 (en) 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
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