JP6612754B2 - 使い捨て先端部と統合的な先端部カバーとを備える最使用可能な外科器具 - Google Patents
使い捨て先端部と統合的な先端部カバーとを備える最使用可能な外科器具 Download PDFInfo
- Publication number
- JP6612754B2 JP6612754B2 JP2016534841A JP2016534841A JP6612754B2 JP 6612754 B2 JP6612754 B2 JP 6612754B2 JP 2016534841 A JP2016534841 A JP 2016534841A JP 2016534841 A JP2016534841 A JP 2016534841A JP 6612754 B2 JP6612754 B2 JP 6612754B2
- Authority
- JP
- Japan
- Prior art keywords
- assembly
- tip
- end effector
- disposable
- instrument
- 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.)
- Active
Links
- 239000012636 effector Substances 0.000 claims description 68
- 210000002435 tendon Anatomy 0.000 claims description 55
- 230000007246 mechanism Effects 0.000 claims description 31
- 239000000463 material Substances 0.000 claims description 20
- 230000002093 peripheral effect Effects 0.000 claims description 13
- 239000012811 non-conductive material Substances 0.000 claims description 10
- 239000004020 conductor Substances 0.000 claims description 7
- 241000255925 Diptera Species 0.000 claims 1
- 210000000707 wrist Anatomy 0.000 description 24
- 238000000034 method Methods 0.000 description 15
- 229910001220 stainless steel Inorganic materials 0.000 description 13
- 239000010935 stainless steel Substances 0.000 description 13
- 239000004954 Polyphthalamide Substances 0.000 description 12
- 239000012530 fluid Substances 0.000 description 12
- 229920006375 polyphtalamide Polymers 0.000 description 12
- 239000012212 insulator Substances 0.000 description 9
- 229920002379 silicone rubber Polymers 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 8
- 239000011521 glass Substances 0.000 description 7
- 238000005520 cutting process Methods 0.000 description 6
- 238000010292 electrical insulation Methods 0.000 description 6
- 239000004945 silicone rubber Substances 0.000 description 6
- 229920002725 thermoplastic elastomer Polymers 0.000 description 6
- 239000004697 Polyetherimide Substances 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 5
- 229920002313 fluoropolymer Polymers 0.000 description 5
- 239000004811 fluoropolymer Substances 0.000 description 5
- 229920001601 polyetherimide Polymers 0.000 description 5
- 229920001971 elastomer Polymers 0.000 description 4
- 239000000806 elastomer Substances 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 4
- 229920002635 polyurethane Polymers 0.000 description 4
- 239000004814 polyurethane Substances 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 229920001169 thermoplastic Polymers 0.000 description 4
- 239000004416 thermosoftening plastic Substances 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- RYECOJGRJDOGPP-UHFFFAOYSA-N Ethylurea Chemical group CCNC(N)=O RYECOJGRJDOGPP-UHFFFAOYSA-N 0.000 description 3
- 239000004812 Fluorinated ethylene propylene Substances 0.000 description 3
- 229920004738 ULTEM® Polymers 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
- 229920009441 perflouroethylene propylene Polymers 0.000 description 3
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 3
- 239000004810 polytetrafluoroethylene Substances 0.000 description 3
- 229920000260 silastic Polymers 0.000 description 3
- 229920006104 Amodel® Polymers 0.000 description 2
- 239000004696 Poly ether ether ketone Substances 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 229920002530 polyetherether ketone Polymers 0.000 description 2
- 229920001296 polysiloxane Polymers 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 description 2
- 229910052721 tungsten Inorganic materials 0.000 description 2
- 239000010937 tungsten Substances 0.000 description 2
- WQNTXSXCXGWOBT-UHFFFAOYSA-N C=C.C=C.F.F.F.F Chemical group C=C.C=C.F.F.F.F WQNTXSXCXGWOBT-UHFFFAOYSA-N 0.000 description 1
- 238000002679 ablation Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 238000009760 electrical discharge machining Methods 0.000 description 1
- HQQADJVZYDDRJT-UHFFFAOYSA-N ethene;prop-1-ene Chemical group C=C.CC=C HQQADJVZYDDRJT-UHFFFAOYSA-N 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 229920000620 organic polymer Polymers 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 229920002994 synthetic fiber Polymers 0.000 description 1
Images
Classifications
-
- 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
- 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
- A61B2017/0023—Surgical instruments, devices or methods, e.g. tourniquets disposable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00473—Distal part, e.g. tip or head
-
- 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
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00053—Mechanical features of the instrument of device
- A61B2018/00172—Connectors and adapters therefor
- A61B2018/00178—Electrical connectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B2018/146—Scissors
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Description
この出願は、(William J. Parkによる、「REUSABLE SURGICAL INSTRUMENT WITH SINGLE-USE TIP AND INTEGRATED TIP COVER」を開示する、2013年8月15日に出願された)米国特許出願第61/866,127号の優先権及び利益を主張する。
Claims (19)
- エンドエフェクタアセンブリと、
アクチュエータロッドアセンブリと、
外科器具先端部アセンブリとを含む、
装置であって、
前記エンドエフェクタアセンブリは、第1の長手軸を有し、
前記アクチュエータロッドアセンブリは、前記アクチュエータロッドアセンブリに対する力を前記エンドエフェクタアセンブリに移転するために、前記エンドエフェクタアセンブリに接続され、
前記外科器具先端部アセンブリは、係止先端部カバーを含み、
該係止先端部カバーは、外部カバーと、別個の係止装置とを含み、
前記外部カバーは、近位端部分と、遠位端部分とを含み、
前記係止装置は、前記外部カバーの前記近位端部分の内側に取り付けられ、
前記外部カバー及び前記係止装置は、前記第1の長手軸に沿って前記エンドエフェクタアセンブリに対して移動するよう前記エンドエフェクタアセンブリに摺動可能に取り付けられるように構成され、前記エンドエフェクタアセンブリのある部分が、前記係止装置内にあり、前記アクチュエータロッドアセンブリのある部分が、前記係止装置を通じて延びる、
装置。 - 前記係止装置は、中央管腔を定める内壁を含み、
前記外科器具先端部アセンブリは、第2の長手軸を有し、
前記エンドエフェクタアセンブリは、エンドエフェクタボディアセンブリと、該エンドエフェクタボディアセンブリに連結されるエンドエフェクタとを含み、
前記エンドエフェクタボディアセンブリは、前記外部カバー内に取り囲まれ、
前記エンドエフェクタボディアセンブリは、前記係止装置の前記中央管腔内に取り付けられ、
前記係止装置は、前記エンドエフェクタボディアセンブリに対して2つの自由度を有し、
該2つの自由度は、回転自由度及び並進自由度であり、
前記回転自由度は、前記第2の長手軸についてあり、
前記並進自由度は、前記第2の長手軸に沿ってあり、
前記アクチュエータロッドアセンブリは、前記アクチュエータロッドアセンブリの近位端に第1のクイック接続/切断要素を含む、
請求項1に記載の装置。 - 前記エンドエフェクタは、ブレードセットを含み、
前記エンドエフェクタボディアセンブリは、Uリンクを含む、
請求項2に記載の装置。 - 前記ブレードセットは、モノポーラ湾曲ハサミを含む、請求項3に記載の装置。
- 前記第1のクイック接続/切断要素は、外科器具のソケットと噛み合うように構成されるボールを含む、請求項2に記載の装置。
- 前記アクチュエータロッドアセンブリは、導電性材料を含む、請求項1に記載の装置。
- 前記係止装置は、差込み係止機構の雄部分を含む、請求項1に記載の装置。
- 前記係止装置は、内壁と、該内壁から延びるネジ山とを含む、請求項1に記載の装置。
- 前記外部カバーは、非導電性材料を含む、請求項1に記載の装置。
- 前記外部カバーは、前記係止装置の上に成形される材料を含む、請求項1に記載の装置。
- 遠位端部分を含む外科器具を更に含み、
前記遠位端部分は、先端部インターフェースを含み、
該先端部インターフェースは、器具先端部と、グリップアクチュエータ要素とを含み、
前記器具先端部は、遠位端と、係止インターフェース要素と、中央管腔とを含み、
前記グリップアクチュエータ要素は、前記器具先端部の前記中央管腔内に位置付けられ、
前記グリップアクチュエータ要素は、第2のクイック接続/切断要素を含み、
該第2のクイック接続/切断要素は、前記第1のクイック接続/切断要素と噛み合うように構成される、
請求項2に記載の装置。 - 前記第1のクイック接続/切断要素は、ボールを含み、
前記第2のクイック接続/切断要素は、前記ボールを受けるように構成されるソケットを含む、
請求項11に記載の装置。 - 前記外科器具は、前記第2のクイック接続/切断要素に連結される第1の端を有する腱を更に含む、請求項11に記載の装置。
- 前記腱は、導電性材料を含み、
前記第2のクイック接続/切断要素は、導電性材料を含む、
請求項13に記載の装置。 - 前記先端部インターフェースは、前記器具先端部の近位端に取り付けられるシールを更に含む、請求項11に記載の装置。
- 前記先端部インターフェースは、前記グリップアクチュエータ要素の外周面に取り付けられるシールを更に含む、請求項11に記載の装置。
- 前記係止インターフェース要素は、差込み係止機構の雌部分を含む、請求項11に記載の装置。
- 前記係止インターフェース要素は、前記器具先端部の外面にネジ山を含む、請求項11に記載の装置。
- 前記外部カバーの近位端が、リップを含み、該リップは、前記外科器具先端部アセンブリが前記外科器具に係止されるときに、前記器具先端部とシールを形成する、請求項11に記載の装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019198561A JP6949087B2 (ja) | 2013-08-15 | 2019-10-31 | 使い捨て先端部と統合的な先端部カバーとを備える最使用可能な外科器具 |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361866127P | 2013-08-15 | 2013-08-15 | |
US61/866,127 | 2013-08-15 | ||
PCT/US2014/051098 WO2015023865A1 (en) | 2013-08-15 | 2014-08-14 | Reusable surgical instrument with single-use tip and integrated tip cover |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019198561A Division JP6949087B2 (ja) | 2013-08-15 | 2019-10-31 | 使い捨て先端部と統合的な先端部カバーとを備える最使用可能な外科器具 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2016531675A JP2016531675A (ja) | 2016-10-13 |
JP2016531675A5 JP2016531675A5 (ja) | 2017-09-14 |
JP6612754B2 true JP6612754B2 (ja) | 2019-11-27 |
Family
ID=52468702
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016534841A Active JP6612754B2 (ja) | 2013-08-15 | 2014-08-14 | 使い捨て先端部と統合的な先端部カバーとを備える最使用可能な外科器具 |
JP2019198561A Active JP6949087B2 (ja) | 2013-08-15 | 2019-10-31 | 使い捨て先端部と統合的な先端部カバーとを備える最使用可能な外科器具 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019198561A Active JP6949087B2 (ja) | 2013-08-15 | 2019-10-31 | 使い捨て先端部と統合的な先端部カバーとを備える最使用可能な外科器具 |
Country Status (6)
Country | Link |
---|---|
US (2) | US10932867B2 (ja) |
EP (1) | EP3033029B1 (ja) |
JP (2) | JP6612754B2 (ja) |
KR (2) | KR102421621B1 (ja) |
CN (2) | CN105744909B (ja) |
WO (1) | WO2015023865A1 (ja) |
Families Citing this family (48)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8989903B2 (en) * | 2011-02-15 | 2015-03-24 | Intuitive Surgical Operations, Inc. | Methods and systems for indicating a clamping prediction |
CN105744909B (zh) | 2013-08-15 | 2019-05-10 | 直观外科手术操作公司 | 具有单次使用的端部和集成的端部覆盖物的可重复使用的手术器械 |
GB201521812D0 (en) * | 2015-12-10 | 2016-01-27 | Cambridge Medical Robotics Ltd | Driving a surgical instrument articulation |
US10799239B2 (en) * | 2016-05-09 | 2020-10-13 | Covidien Lp | Adapter assembly with pulley system and worm gear drive for interconnecting electromechanical surgical devices and surgical end effectors |
WO2018013354A1 (en) | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Surgical instruments with electrically isolated actuation members, related devices, and related methods |
CN109862845B (zh) | 2016-09-16 | 2022-12-30 | 莫比乌斯成像公司 | 用于在手术机器人系统中安装机器人臂的系统和方法 |
WO2018090044A1 (en) * | 2016-11-14 | 2018-05-17 | Medtronic Advanced Energy Llc | Colored vitreous enamel composition for electrosurgical tool |
US11662270B2 (en) | 2017-08-22 | 2023-05-30 | Intuitive Surgical Operations, Inc. | User-installable part installation detection techniques |
US11160602B2 (en) | 2017-08-29 | 2021-11-02 | Cilag Gmbh International | Control of surgical field irrigation |
US11504126B2 (en) | 2017-08-29 | 2022-11-22 | Cilag Gmbh International | Control system for clip applier |
US11013528B2 (en) | 2017-08-29 | 2021-05-25 | Ethicon Llc | Electrically-powered surgical systems providing fine clamping control during energy delivery |
US10675082B2 (en) | 2017-08-29 | 2020-06-09 | Ethicon Llc | Control of surgical field irrigation by electrosurgical tool |
US10912567B2 (en) | 2017-08-29 | 2021-02-09 | Ethicon Llc | Circular stapler |
US11172928B2 (en) | 2017-08-29 | 2021-11-16 | Cilag Gmbh International | Endocutter control system |
US10485527B2 (en) | 2017-08-29 | 2019-11-26 | Ethicon Llc | Control system for clip applier |
US10905493B2 (en) | 2017-08-29 | 2021-02-02 | Ethicon Llc | Methods, systems, and devices for controlling electrosurgical tools |
US10856928B2 (en) | 2017-08-29 | 2020-12-08 | Ethicon Llc | Electrically-powered surgical systems |
US10470758B2 (en) | 2017-08-29 | 2019-11-12 | Ethicon Llc | Suturing device |
US10888370B2 (en) | 2017-08-29 | 2021-01-12 | Ethicon Llc | Methods, systems, and devices for controlling electrosurgical tools |
US10905417B2 (en) | 2017-08-29 | 2021-02-02 | Ethicon Llc | Circular stapler |
US10548601B2 (en) | 2017-08-29 | 2020-02-04 | Ethicon Llc | Control system for clip applier |
US10912581B2 (en) | 2017-08-29 | 2021-02-09 | Ethicon Llc | Electrically-powered surgical systems with articulation-compensated ultrasonic energy delivery |
US10772677B2 (en) | 2017-08-29 | 2020-09-15 | Ethicon Llc | Electrically-powered surgical systems |
US10898219B2 (en) | 2017-08-29 | 2021-01-26 | Ethicon Llc | Electrically-powered surgical systems for cutting and welding solid organs |
US10905421B2 (en) | 2017-08-29 | 2021-02-02 | Ethicon Llc | Electrically-powered surgical box staplers |
US10932808B2 (en) | 2017-08-29 | 2021-03-02 | Ethicon Llc | Methods, systems, and devices for controlling electrosurgical tools |
US10925682B2 (en) | 2017-08-29 | 2021-02-23 | Ethicon Llc | Electrically-powered surgical systems employing variable compression during treatment |
US10881403B2 (en) | 2017-08-29 | 2021-01-05 | Ethicon Llc | Endocutter control system |
US11364052B2 (en) | 2018-04-17 | 2022-06-21 | Cilag Gmbh International | Scissor sleeve assembly protection |
US20190314107A1 (en) * | 2018-04-17 | 2019-10-17 | Ethicon Llc | Protection Measures for Robotic Electrosurgical Instruments |
WO2019234629A1 (en) | 2018-06-04 | 2019-12-12 | Valuebiotech Israel Ltd. | An actuation connector for a tool |
CN109009458A (zh) * | 2018-07-13 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | 操作臂 |
CN109009457A (zh) * | 2018-07-13 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | 从操作设备 |
CN109009454A (zh) * | 2018-07-13 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | 可拆卸末端器械的从操作设备 |
CN109009456A (zh) * | 2018-07-13 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | 可更换末端器械的操作臂 |
CN109009455A (zh) * | 2018-07-13 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | 可更换末端器械的从操作设备 |
US11540863B2 (en) | 2018-07-31 | 2023-01-03 | GetSet Surgical SA | Spinal surgery systems and methods |
USD927687S1 (en) | 2019-06-07 | 2021-08-10 | GetSet Surgical SA | Surgical instrument handle |
USD896384S1 (en) | 2019-06-07 | 2020-09-15 | GetSet Surgical SA | Spinal fusion cage |
USD926978S1 (en) | 2019-06-07 | 2021-08-03 | GetSet Surgical SA | Surgical instrument handle |
USD926312S1 (en) | 2019-06-07 | 2021-07-27 | GetSet Surgical SA | Surgical instrument handle |
US11737835B2 (en) * | 2019-10-29 | 2023-08-29 | Auris Health, Inc. | Braid-reinforced insulation sheath |
USD938581S1 (en) * | 2020-02-20 | 2021-12-14 | Intuitive Surgical Operations, Inc. | Tool for installation and/or removal of instrument tip cover |
DE102021104516A1 (de) | 2021-02-25 | 2022-08-25 | avateramedical GmBH | Instrument für ein robotisches Operationssystem |
IT202100016175A1 (it) * | 2021-06-21 | 2022-12-21 | Medical Microinstruments Inc | Strumento chirurgico di taglio, giunto rotazionale e metodo, particolarmente per chirurgia e/o micro-chirurgia robotica |
TW202337402A (zh) * | 2021-11-30 | 2023-10-01 | 美商安督奎斯特機器人公司 | 可拋式終端操縱裝置 |
KR102593692B1 (ko) * | 2022-01-11 | 2023-10-26 | 주식회사 프리메디텍 | 수술용 인스트루먼트와 그 조립방법 |
JP7451002B2 (ja) | 2022-03-23 | 2024-03-18 | リバーフィールド株式会社 | 鉗子装置 |
Family Cites Families (87)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5052402A (en) | 1989-01-31 | 1991-10-01 | C.R. Bard, Inc. | Disposable biopsy forceps |
US5031622A (en) * | 1990-03-28 | 1991-07-16 | Lahaye Laboratories, Inc. | Disposable anticontamination tonometer tip cover or cap |
US5482054A (en) | 1990-05-10 | 1996-01-09 | Symbiosis Corporation | Edoscopic biopsy forceps devices with selective bipolar cautery |
US5396900A (en) | 1991-04-04 | 1995-03-14 | Symbiosis Corporation | Endoscopic end effectors constructed from a combination of conductive and non-conductive materials and useful for selective endoscopic cautery |
US5395375A (en) | 1992-11-18 | 1995-03-07 | Symbiosis Corporation | Arthroscopic surgical instruments |
US5496347A (en) | 1993-03-30 | 1996-03-05 | Olympus Optical Co., Ltd. | Surgical instrument |
US5792165A (en) | 1993-07-21 | 1998-08-11 | Charles H. Klieman | Endoscopic instrument with detachable end effector |
US5582617A (en) | 1993-07-21 | 1996-12-10 | Charles H. Klieman | Surgical instrument for endoscopic and general surgery |
DE4332497C2 (de) | 1993-09-24 | 1997-04-24 | Stefan Koscher | Chirurgisches Instrument |
US5496333A (en) | 1993-10-20 | 1996-03-05 | Applied Medical Resources Corporation | Laparoscopic surgical clamp |
US5593402A (en) * | 1994-11-14 | 1997-01-14 | Biosearch Medical Products Inc. | Laparoscopic device having a detachable distal tip |
DE19537320C2 (de) | 1995-10-06 | 2001-05-31 | Deutsch Zentr Luft & Raumfahrt | Greifvorrichtung für einen Einsatz vorzugsweise in der minimal invasiven Chirurgie und Vorrichtung zum Betätigen einer am distalen Ende eines Einführungsrohrs vorgesehenen Greifvorrichtung |
US5855583A (en) | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US6331181B1 (en) | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
DE29713150U1 (de) | 1997-07-24 | 1997-09-25 | Wolf Gmbh Richard | Chirurgisches Instrument |
US6171316B1 (en) | 1997-10-10 | 2001-01-09 | Origin Medsystems, Inc. | Endoscopic surgical instrument for rotational manipulation |
US6554844B2 (en) | 1998-02-24 | 2003-04-29 | Endovia Medical, Inc. | Surgical instrument |
US6860878B2 (en) | 1998-02-24 | 2005-03-01 | Endovia Medical Inc. | Interchangeable instrument |
US6273860B1 (en) | 1998-05-04 | 2001-08-14 | Lsvp International, Inc. | Biopsy apparatus |
US5906630A (en) | 1998-06-30 | 1999-05-25 | Boston Scientific Limited | Eccentric surgical forceps |
US7125403B2 (en) | 1998-12-08 | 2006-10-24 | Intuitive Surgical | In vivo accessories for minimally invasive robotic surgery |
US6309397B1 (en) | 1999-12-02 | 2001-10-30 | Sri International | Accessories for minimally invasive robotic surgery and methods |
US6394998B1 (en) | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
US6206903B1 (en) | 1999-10-08 | 2001-03-27 | Intuitive Surgical, Inc. | Surgical tool with mechanical advantage |
JP4316821B2 (ja) | 2000-05-04 | 2009-08-19 | エルベ エレクトロメディジン ゲーエムベーハー | 挿入が最少で済む外科用手術器具 |
US6746443B1 (en) | 2000-07-27 | 2004-06-08 | Intuitive Surgical Inc. | Roll-pitch-roll surgical tool |
US6840938B1 (en) | 2000-12-29 | 2005-01-11 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
US20030135204A1 (en) * | 2001-02-15 | 2003-07-17 | Endo Via Medical, Inc. | Robotically controlled medical instrument with a flexible section |
US7367973B2 (en) * | 2003-06-30 | 2008-05-06 | Intuitive Surgical, Inc. | Electro-surgical instrument with replaceable end-effectors and inhibited surface conduction |
US6994708B2 (en) | 2001-04-19 | 2006-02-07 | Intuitive Surgical | Robotic tool with monopolar electro-surgical scissors |
US8398634B2 (en) | 2002-04-18 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Wristed robotic surgical tool for pluggable end-effectors |
US7824401B2 (en) * | 2004-10-08 | 2010-11-02 | Intuitive Surgical Operations, Inc. | Robotic tool with wristed monopolar electrosurgical end effectors |
US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
US7025775B2 (en) | 2003-05-15 | 2006-04-11 | Applied Medical Resources Corporation | Surgical instrument with removable shaft apparatus and method |
EP1628632B1 (en) | 2003-05-21 | 2013-10-09 | The Johns Hopkins University | Devices and systems for minimally invasive surgery of the throat and other portions of mammalian body |
US8469993B2 (en) | 2003-06-18 | 2013-06-25 | Boston Scientific Scimed, Inc. | Endoscopic instruments |
US9002518B2 (en) | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
US7494501B2 (en) | 2003-11-12 | 2009-02-24 | Applied Medical Resources Corporation | Overmolded grasper jaw |
ITPI20030107A1 (it) | 2003-11-14 | 2005-05-15 | Massimo Bergamasco | Dispositivo per l'esecuzione di operazioni |
JP4504696B2 (ja) | 2004-02-03 | 2010-07-14 | オリンパス株式会社 | 内視鏡用処置具及び内視鏡並びに内視鏡処置システム |
US20060184161A1 (en) | 2005-02-16 | 2006-08-17 | Usgi Medical Inc. | Flexible shaft system having interchangeable end effectors |
US8241271B2 (en) | 2005-06-30 | 2012-08-14 | Intuitive Surgical Operations, Inc. | Robotic surgical instruments with a fluid flow control system for irrigation, aspiration, and blowing |
US8800838B2 (en) | 2005-08-31 | 2014-08-12 | Ethicon Endo-Surgery, Inc. | Robotically-controlled cable-based surgical end effectors |
US8628518B2 (en) | 2005-12-30 | 2014-01-14 | Intuitive Surgical Operations, Inc. | Wireless force sensor on a distal portion of a surgical instrument and method |
EP1815950A1 (en) | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Robotic surgical system for performing minimally invasive medical procedures |
KR101477121B1 (ko) | 2006-06-13 | 2014-12-29 | 인튜어티브 서지컬 인코포레이티드 | 미소절개 수술 시스템 |
US20080021278A1 (en) * | 2006-07-24 | 2008-01-24 | Leonard Robert F | Surgical device with removable end effector |
US8157793B2 (en) | 2006-10-25 | 2012-04-17 | Terumo Kabushiki Kaisha | Manipulator for medical use |
US7935130B2 (en) | 2006-11-16 | 2011-05-03 | Intuitive Surgical Operations, Inc. | Two-piece end-effectors for robotic surgical tools |
US8684253B2 (en) | 2007-01-10 | 2014-04-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor |
US8377044B2 (en) | 2007-03-30 | 2013-02-19 | Ethicon Endo-Surgery, Inc. | Detachable end effectors |
JP5048391B2 (ja) * | 2007-04-27 | 2012-10-17 | 直久 矢作 | 内視鏡用処置具 |
US8224484B2 (en) | 2007-09-30 | 2012-07-17 | Intuitive Surgical Operations, Inc. | Methods of user interface with alternate tool mode for robotic surgical tools |
US20090171147A1 (en) * | 2007-12-31 | 2009-07-02 | Woojin Lee | Surgical instrument |
US20090198272A1 (en) | 2008-02-06 | 2009-08-06 | Lawrence Kerver | Method and apparatus for articulating the wrist of a laparoscopic grasping instrument |
KR100975047B1 (ko) | 2008-02-15 | 2010-08-11 | (주)미래컴퍼니 | 수술용 인스트루먼트의 커플링 구조 |
WO2009151205A1 (ko) | 2008-06-11 | 2009-12-17 | (주)미래컴퍼니 | 수술용 로봇 암의 인스트루먼트 |
US9265567B2 (en) | 2008-06-30 | 2016-02-23 | Intuitive Surgical Operations, Inc. | Vessel sealing instrument with stepped jaw |
US9204923B2 (en) * | 2008-07-16 | 2015-12-08 | Intuitive Surgical Operations, Inc. | Medical instrument electronically energized using drive cables |
US9386983B2 (en) | 2008-09-23 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Robotically-controlled motorized surgical instrument |
KR101180665B1 (ko) | 2009-07-03 | 2012-09-07 | 주식회사 이턴 | 하이브리드 수술용 로봇 시스템 및 수술용 로봇 제어방법 |
US8551115B2 (en) | 2009-09-23 | 2013-10-08 | Intuitive Surgical Operations, Inc. | Curved cannula instrument |
US9339341B2 (en) | 2010-02-08 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Direct pull surgical gripper |
US10376331B2 (en) | 2010-02-12 | 2019-08-13 | Intuitive Surgical Operations, Inc. | Sheaths for jointed instruments |
US9456839B2 (en) | 2010-06-18 | 2016-10-04 | Intuitive Surgical Operations, Inc. | Scissor bias for direct pull surgical instrument |
KR101926743B1 (ko) | 2010-06-23 | 2018-12-07 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 복강경에서 사용하기 위한 조합형 가위-그래스퍼 도구 |
KR102038654B1 (ko) * | 2010-07-09 | 2019-10-30 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 전기수술 기구 및 커버를 포함하는 수술 장치 |
US9072523B2 (en) * | 2010-11-05 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Medical device with feature for sterile acceptance of non-sterile reusable component |
US9101379B2 (en) | 2010-11-12 | 2015-08-11 | Intuitive Surgical Operations, Inc. | Tension control in actuation of multi-joint medical instruments |
US20120232338A1 (en) * | 2011-02-11 | 2012-09-13 | Steve Livneh | Surgical instrument with detachable tip |
US8733615B2 (en) | 2011-05-19 | 2014-05-27 | Ethicon Endo-Surgery, Inc. | Circular stapler with frictional reducing member |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
JP5698084B2 (ja) | 2011-07-07 | 2015-04-08 | 山科精器株式会社 | 内視鏡鉗子 |
US10098703B2 (en) | 2011-08-16 | 2018-10-16 | Intuitive Surgical Operations, Inc. | Surgical instrument with commonly actuated robotic and manual features |
US20140324034A1 (en) * | 2011-11-11 | 2014-10-30 | Lumenis Ltd | Systems and methods for facilitating robotic surgical laser procedures |
US9028494B2 (en) | 2012-06-28 | 2015-05-12 | Ethicon Endo-Surgery, Inc. | Interchangeable end effector coupling arrangement |
US20140001234A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Coupling arrangements for attaching surgical end effectors to drive systems therefor |
US9918731B2 (en) | 2012-07-06 | 2018-03-20 | Intuitive Surgical Operations, Inc. | Remotely actuated surgical gripper with seize resistance |
CA2883231C (en) * | 2012-08-28 | 2022-12-06 | Instruventional Inc. | Adjustable electrosurgical pencil |
US9095367B2 (en) | 2012-10-22 | 2015-08-04 | Ethicon Endo-Surgery, Inc. | Flexible harmonic waveguides/blades for surgical instruments |
WO2014134304A1 (en) | 2013-02-28 | 2014-09-04 | Intuitive Surgical Operations, Inc. | Surgical instrument with curved jaws for surgical system |
WO2014151952A1 (en) | 2013-03-14 | 2014-09-25 | Sri International | Compact robotic wrist |
CN105744909B (zh) | 2013-08-15 | 2019-05-10 | 直观外科手术操作公司 | 具有单次使用的端部和集成的端部覆盖物的可重复使用的手术器械 |
CN106341976B (zh) | 2013-11-22 | 2019-10-18 | 杭州术创机器人有限公司 | 机动外科器械 |
EP3578119B1 (en) | 2013-12-11 | 2021-03-17 | Covidien LP | Wrist and jaw assemblies for robotic surgical systems |
WO2016025132A1 (en) | 2014-08-13 | 2016-02-18 | Covidien Lp | Robotically controlling mechanical advantage gripping |
GB201521812D0 (en) | 2015-12-10 | 2016-01-27 | Cambridge Medical Robotics Ltd | Driving a surgical instrument articulation |
-
2014
- 2014-08-14 CN CN201480056658.2A patent/CN105744909B/zh active Active
- 2014-08-14 CN CN201910292780.4A patent/CN109965988A/zh active Pending
- 2014-08-14 EP EP14836179.3A patent/EP3033029B1/en active Active
- 2014-08-14 JP JP2016534841A patent/JP6612754B2/ja active Active
- 2014-08-14 WO PCT/US2014/051098 patent/WO2015023865A1/en active Application Filing
- 2014-08-14 KR KR1020217022797A patent/KR102421621B1/ko active IP Right Grant
- 2014-08-14 KR KR1020167006620A patent/KR102281209B1/ko active IP Right Grant
- 2014-08-14 US US14/911,233 patent/US10932867B2/en active Active
-
2019
- 2019-10-31 JP JP2019198561A patent/JP6949087B2/ja active Active
-
2021
- 2021-02-26 US US17/186,279 patent/US20210177534A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
JP2016531675A (ja) | 2016-10-13 |
US10932867B2 (en) | 2021-03-02 |
CN105744909B (zh) | 2019-05-10 |
WO2015023865A1 (en) | 2015-02-19 |
EP3033029B1 (en) | 2020-07-15 |
KR102421621B1 (ko) | 2022-07-18 |
JP2020036913A (ja) | 2020-03-12 |
KR20160042128A (ko) | 2016-04-18 |
EP3033029A1 (en) | 2016-06-22 |
EP3033029A4 (en) | 2017-06-28 |
US20210177534A1 (en) | 2021-06-17 |
KR20210093379A (ko) | 2021-07-27 |
CN105744909A (zh) | 2016-07-06 |
JP6949087B2 (ja) | 2021-10-13 |
KR102281209B1 (ko) | 2021-07-26 |
CN109965988A (zh) | 2019-07-05 |
US20160175060A1 (en) | 2016-06-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6612754B2 (ja) | 使い捨て先端部と統合的な先端部カバーとを備える最使用可能な外科器具 | |
CN108472055B (zh) | 用于执行微创手术的医疗器械 | |
US20180116708A1 (en) | Medical instrument electrically energized using drive cables | |
US11147576B2 (en) | Nested forceps subassemblies and methods of assembly | |
CN111836595A (zh) | 向电外科器械供应电能 | |
KR102006471B1 (ko) | 양극 소작 기구 | |
US9358031B2 (en) | Wristed robotic tool with replaceable end-effector cartridges | |
JP7005768B2 (ja) | テンションバンドを有する医療ツール | |
US20220313314A1 (en) | Scissor sleeve assembly protection | |
EP3698745B1 (en) | Scissor sleeve assembly protection | |
CN112568944A (zh) | 用于执行微创过程的医疗器械 | |
BR112014032736B1 (pt) | Atuador de extremidade |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20170804 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20170804 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20180511 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20180522 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20180821 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20181018 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190129 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190426 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20191001 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20191031 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6612754 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |