JP6129859B2 - 外科用ロボットと使用するために適合されたクリップアプライヤ - Google Patents
外科用ロボットと使用するために適合されたクリップアプライヤ Download PDFInfo
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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
- A61B17/10—Surgical instruments, devices or methods, e.g. tourniquets for applying or removing wound clamps, e.g. containing only one clamp or staple; Wound clamp magazines
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/128—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
- A61B17/1285—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips for minimally invasive 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
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for 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
- A61B17/10—Surgical instruments, devices or methods, e.g. tourniquets for applying or removing wound clamps, e.g. containing only one clamp or staple; Wound clamp magazines
- A61B17/105—Wound clamp magazines
-
- 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
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
- A61B34/32—Surgical robots operating autonomously
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Vascular Medicine (AREA)
- Reproductive Health (AREA)
- Surgical Instruments (AREA)
Description
本出願は、2011年10月19日出願の米国特許仮出願第61/548,989号に基づく利益を主張するものである。
(1) 組織上でクリップを支持及び配備することが可能なエンドエフェクタと、
前記エンドエフェクタに作動運動を伝達するために前記エンドエフェクタと動作可能に結合された軸を中心として回転することが可能なシャフトアセンブリと、
前記シャフトアセンブリと連結されたギア駆動トレインであって、ロボットシステムから電力及び制御を受けるように構成され、前記シャフトアセンブリの回転と、前記エンドエフェクタの作動とを別々に制御するように適合された、ギア駆動トレインと、を有する、外科用締結具の配備器具。
(2) 前記エンドエフェクタが、対向するジョーを有するクリップアプライヤである、実施態様1に記載の器具。
(3) 前記駆動トレインが、前記ジョー内にクリップを供給するように構成されている、実施態様2に記載の器具。
(4) 前記駆動トレインが、前記ジョー内において前記クリップをクリンプするように構成されている、実施態様3に記載の器具。
(5) 前記駆動トレインが、前記クリップを独立して供給及びクリンプするように構成されている、実施態様4に記載の器具。
前記エンドエフェクタに作動運動を伝達するために前記エンドエフェクタと動作可能に結合された軸を中心として回転することが可能なシャフトアセンブリであって、少なくとも1個の締結具を収容した、シャフトアセンブリと、
前記シャフトアセンブリと連結されたギア駆動トレインであって、ロボットシステムから電力及び制御を受けるように構成され、前記シャフトアセンブリの回転、前記ジョーの開閉、及び前記シャフトから前記ジョーアセンブリ内への前記締結具の前進を別々に制御するように適合された、ギア駆動トレインと、
を有する、外科用締結器具。
(7) 前記ギア駆動トレインが、ウォームギアと機械的に連絡するピニオンを含み、前記ウォームギアが前記シャフトアセンブリに取り付けられることにより、前記ピニオンの第1の方向への回転によって前記シャフトアセンブリが第1の方向に回転する、実施態様6に記載の器具。
(8) 前記ギア駆動トレインが、第1のラックと機械的に連絡する第2のピニオンを更に含み、前記第1のラックが締結具供給アセンブリと機械的に連絡することにより、前記ピニオンの第1の方向への回転によって、前記ラックが第1の直線方向に動いて前記締結具を前記シャフトアセンブリ内に前進させる、実施態様7に記載の器具。
(9) 前記ギア駆動トレインが、第2のラックと機械的に連絡する第2のピニオンを更に含み、前記第2のラックがジョー開閉アセンブリと機械的に連絡することにより、前記第2のピニオンの第1の方向への回転によって、前記第2のラックが第1の直線方向に動いて前記ジョー開閉アセンブリを作動させる、実施態様8に記載の器具。
(10) ロボット外科用システムに取り付けられるように適合されたハウジングと、
複数のクリップが内部に格納されたシャフトであって、近位端と遠位端とを有する、シャフトと、
前記シャフトの遠位端に隣接したジョーと、
前記シャフトを回転させるために前記シャフトと連絡した前記ハウジング内のシャフト回転手段と、
前記クリップを前記シャフトから前記ジョー内に供給するために前記シャフトと連絡した前記ハウジング内のクリップ供給手段と、
前記ジョー内においてクリップをクリンプするために前記ジョーと連絡した前記ハウジング内のクリップ成形手段と、
を有する、外科用締結具の配備器具。
Claims (3)
- 組織上で締結具を支持及び配備することが可能なジョーアセンブリを有するエンドエフェクタと、
前記エンドエフェクタに作動運動を伝達するために前記エンドエフェクタと動作可能に結合された軸を中心として回転することが可能なシャフトアセンブリであって、少なくとも1個の締結具を収容した、シャフトアセンブリと、
前記シャフトアセンブリと連結されたギア駆動トレインであって、ロボットシステムから電力及び制御を受けるように構成され、前記シャフトアセンブリの回転、前記ジョーの開閉、及び前記シャフトから前記ジョーアセンブリ内への前記締結具の前進を別々に制御するように適合された、ギア駆動トレインと、
を有し、
前記ギア駆動トレインが、ウォームギアと機械的に連絡するピニオンを含み、前記ウォームギアが前記シャフトアセンブリに取り付けられることにより、前記ピニオンの第1の方向への回転によって前記シャフトアセンブリが第1の方向に回転し、
前記ギア駆動トレインが、第1のラックと機械的に連絡する第2のピニオンを更に含み、前記第1のラックが締結具供給アセンブリと機械的に連絡することにより、前記第2のピニオンの第1の方向への回転によって、前記第1のラックが第1の直線方向に動いて前記締結具を前記シャフトアセンブリ内に前進させる、外科用締結器具。 - 前記ギア駆動トレインが、第2のラックと機械的に連絡する第3のピニオンを更に含み、前記第2のラックがジョー開閉アセンブリと機械的に連絡することにより、前記第3のピニオンの第1の方向への回転によって、前記第2のラックが第1の直線方向に動いて前記ジョー開閉アセンブリを作動させる、請求項1に記載の器具。
- 前記ジョーアセンブリと摺動可能に嵌合するカムをさらに有し、前記カムは前記ジョーアセンブリに対して動かされる、請求項2に記載の器具。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201161548989P | 2011-10-19 | 2011-10-19 | |
US61/548,989 | 2011-10-19 | ||
PCT/US2012/060784 WO2013059432A1 (en) | 2011-10-19 | 2012-10-18 | Clip applier adapted for use with a surgical robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015502771A JP2015502771A (ja) | 2015-01-29 |
JP6129859B2 true JP6129859B2 (ja) | 2017-05-17 |
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Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014537232A Active JP6129859B2 (ja) | 2011-10-19 | 2012-10-18 | 外科用ロボットと使用するために適合されたクリップアプライヤ |
Country Status (7)
Country | Link |
---|---|
US (3) | US9370400B2 (ja) |
EP (1) | EP2768418B1 (ja) |
JP (1) | JP6129859B2 (ja) |
CN (1) | CN103889359B (ja) |
BR (1) | BR112014009401B1 (ja) |
PL (1) | PL2768418T3 (ja) |
WO (1) | WO2013059432A1 (ja) |
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BR112014009401A2 (pt) | 2017-04-18 |
PL2768418T3 (pl) | 2017-12-29 |
US20160287252A1 (en) | 2016-10-06 |
CN103889359A (zh) | 2014-06-25 |
CN103889359B (zh) | 2017-02-15 |
WO2013059432A1 (en) | 2013-04-25 |
BR112014009401B1 (pt) | 2021-02-17 |
JP2015502771A (ja) | 2015-01-29 |
US11191544B2 (en) | 2021-12-07 |
US9370400B2 (en) | 2016-06-21 |
EP2768418A1 (en) | 2014-08-27 |
US20180325521A1 (en) | 2018-11-15 |
EP2768418B1 (en) | 2017-07-19 |
US10039548B2 (en) | 2018-08-07 |
US20130282021A1 (en) | 2013-10-24 |
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