JP6542871B2 - 患者の体壁力を測定するセンサを備えるカニューレ - Google Patents

患者の体壁力を測定するセンサを備えるカニューレ Download PDF

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JP6542871B2
JP6542871B2 JP2017504779A JP2017504779A JP6542871B2 JP 6542871 B2 JP6542871 B2 JP 6542871B2 JP 2017504779 A JP2017504779 A JP 2017504779A JP 2017504779 A JP2017504779 A JP 2017504779A JP 6542871 B2 JP6542871 B2 JP 6542871B2
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overtube
wall
cannula
inner tube
force
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JP2017522134A5 (enExample
JP2017522134A (ja
Inventor
ペイジ，ブレット
エヌ ヴァーナー，ロートン
エヌ ヴァーナー，ロートン
アール スティーガー，ジョーン
アール スティーガー，ジョーン
ディー，スミタ
Original Assignee
インテュイティブ サージカル オペレーションズ， インコーポレイテッド
インテュイティブ サージカル オペレーションズ， インコーポレイテッド
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    • 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
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/02—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors
    • A61B17/0218—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors for minimally invasive surgery
    • 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
    • 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
    • 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
    • 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
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3474—Insufflating needles, e.g. Veress needles
    • 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
    • A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/00862—Material properties elastic or resilient
    • 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
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0261—Strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/04—Arrangements of multiple sensors of the same type
    • A61B2562/046—Arrangements of multiple sensors of the same type in a matrix array

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)
  • Pathology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
JP2017504779A 2014-07-29 2015-07-27 患者の体壁力を測定するセンサを備えるカニューレ Active JP6542871B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462030468P 2014-07-29 2014-07-29
US62/030,468 2014-07-29
PCT/US2015/042262 WO2016018815A1 (en) 2014-07-29 2015-07-27 Cannula with sensors to measure patient bodywall forces

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2019110234A Division JP6833911B2 (ja) 2014-07-29 2019-06-13 患者の体壁力を測定するセンサを備えるカニューレ

Publications (3)

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JP2017522134A JP2017522134A (ja) 2017-08-10
JP2017522134A5 JP2017522134A5 (enExample) 2018-08-30
JP6542871B2 true JP6542871B2 (ja) 2019-07-10

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Family Applications (5)

Application Number Title Priority Date Filing Date
JP2017504779A Active JP6542871B2 (ja) 2014-07-29 2015-07-27 患者の体壁力を測定するセンサを備えるカニューレ
JP2019110234A Active JP6833911B2 (ja) 2014-07-29 2019-06-13 患者の体壁力を測定するセンサを備えるカニューレ
JP2021015891A Active JP7069370B2 (ja) 2014-07-29 2021-02-03 患者の体壁力を測定するセンサを備えるカニューレ
JP2022075748A Pending JP2022107607A (ja) 2014-07-29 2022-05-02 患者の体壁力を測定するセンサを備えるカニューレ
JP2024092704A Pending JP2024107190A (ja) 2014-07-29 2024-06-07 患者の体壁力を測定するセンサを備えるカニューレ

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JP2019110234A Active JP6833911B2 (ja) 2014-07-29 2019-06-13 患者の体壁力を測定するセンサを備えるカニューレ
JP2021015891A Active JP7069370B2 (ja) 2014-07-29 2021-02-03 患者の体壁力を測定するセンサを備えるカニューレ
JP2022075748A Pending JP2022107607A (ja) 2014-07-29 2022-05-02 患者の体壁力を測定するセンサを備えるカニューレ
JP2024092704A Pending JP2024107190A (ja) 2014-07-29 2024-06-07 患者の体壁力を測定するセンサを備えるカニューレ

Country Status (6)

Country Link
US (3) US10470796B2 (enExample)
EP (2) EP3549538A1 (enExample)
JP (5) JP6542871B2 (enExample)
KR (2) KR102886889B1 (enExample)
CN (2) CN107072691B (enExample)
WO (1) WO2016018815A1 (enExample)

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EP3228254B1 (en) 2014-02-21 2020-01-01 3DIntegrated ApS A set comprising a surgical instrument
EP3549538A1 (en) 2014-07-29 2019-10-09 Intuitive Surgical Operations Inc. Cannula with sensors to measure patient bodywall forces
JP6776327B2 (ja) 2015-07-21 2020-10-28 スリーディインテグレイテッド アーペーエス３Ｄｉｎｔｅｇｒａｔｅｄ Ａｐｓ カニューレアセンブリキット、套管針アセンブリキット、スリーブアセンブリ、低侵襲性手術システム及び方法
US11020144B2 (en) 2015-07-21 2021-06-01 3Dintegrated Aps Minimally invasive surgery system
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JP6214837B1 (ja) * 2016-01-27 2017-10-18 オリンパス株式会社 医療用マニピュレータシステム
CN110621256A (zh) * 2017-05-24 2019-12-27 柯惠Lp公司 用于机器人系统的外科手术套管
US10548674B2 (en) * 2017-07-06 2020-02-04 YellowDot Innovations, LLC Robotic guide for medical device
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US12251168B2 (en) 2021-05-28 2025-03-18 Medos International Sarl Systems, methods, and devices for localized tracking of a vertebral body or other anatomic structure
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Publication number Publication date
EP3179936A4 (en) 2018-01-24
EP3179936B1 (en) 2019-06-26
EP3549538A1 (en) 2019-10-09
JP6833911B2 (ja) 2021-02-24
US10470796B2 (en) 2019-11-12
JP2019171123A (ja) 2019-10-10
US11369411B2 (en) 2022-06-28
CN110403651A (zh) 2019-11-05
JP2021065751A (ja) 2021-04-30
KR102886889B1 (ko) 2025-11-18
CN107072691A (zh) 2017-08-18
EP3179936A1 (en) 2017-06-21
KR102615949B1 (ko) 2023-12-21
JP2022107607A (ja) 2022-07-22
US20220378474A1 (en) 2022-12-01
CN107072691B (zh) 2019-09-03
KR20230173230A (ko) 2023-12-26
WO2016018815A1 (en) 2016-02-04
JP2017522134A (ja) 2017-08-10
CN110403651B (zh) 2022-11-08
US20170265890A1 (en) 2017-09-21
US20200046404A1 (en) 2020-02-13
JP7069370B2 (ja) 2022-05-17
KR20170038011A (ko) 2017-04-05
JP2024107190A (ja) 2024-08-08

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