JP6672236B2 - 遠位に位置付けられた変換器を伴う超音波外科用器具 - Google Patents
遠位に位置付けられた変換器を伴う超音波外科用器具 Download PDFInfo
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- JP6672236B2 JP6672236B2 JP2017193344A JP2017193344A JP6672236B2 JP 6672236 B2 JP6672236 B2 JP 6672236B2 JP 2017193344 A JP2017193344 A JP 2017193344A JP 2017193344 A JP2017193344 A JP 2017193344A JP 6672236 B2 JP6672236 B2 JP 6672236B2
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Description
本出願は、以下の同時出願の米国特許出願に関連し、これらは本明細書において参照としてその全体が組み込まれる:
米国特許出願第号、表題「Haptic Feedback Devices for Surgical Robot」、代理人整理番号第END7042USNP/110388号、
米国特許出願第_____________号、表題「Lockout Mechanism for Use with Robotic Electrosurgical Device」、代理人整理番号第END7043USNP/110389号、
米国特許出願第_____________号、表題「Closed Feedback Control for Electrosurgical Device」、代理人整理番号第END7044USNP/110390号、
米国特許出願第_____________号、表題「Surgical Instruments with Articulating Shafts」、代理人整理番号第END6423USNP/110392号、
米国特許出願第_____________号、表題「Surgical Instruments with Articulating Shafts」、代理人整理番号第END7047USNP/110394号、
米国特許出願第_____________号、表題「Ultrasonic Surgical Instruments with Distally Positioned Jaw Assemblies」、代理人整理番号第END7048USNP/110395号、
米国特許出願第_____________号、表題「Surgical Instruments with Articulating Shafts」、代理人整理番号第END7049USNP/110396号、
米国特許出願第_____________号、表題「Ultrasonic Surgical Instruments with Control Mechanisms」、代理人整理番号第END7050USNP/110397号、及び
米国特許出願第_____________号、表題「Surgical Instruments With Fluid Management System」、代理人整理番号第END7051USNP/110399号。
様々な実施形態は、エンドエフェクタ、関節運動シャフト、及び超音波変換器アセンブリを備える外科用器具を対象としている。エンドエフェクタは、超音波ブレードを備えることができる。関節運動シャフトは、エンドエフェクタから長手方向軸に沿って近位方向に延びることができ、関節連結部にて枢動可能に連結された近位シャフト部材及び遠位シャフト部材を備えることができる。超音波変換器アセンブリは、超音波ブレードに音響的に連結された超音波変換器を備えることができる。超音波変換器アセンブリは、関節連結部から遠位方向に配置されることができる。いくつかの実施形態では、超音波変換器アセンブリは、超音波変換器アセンブリの一部が関節連結部から近位に、超音波変換器アセンブリの別の一部が関節連結部から遠位になるよう配置されることができる。
米国特許出願第13/536,271号、出願日:2012年6月28日、及び表題「Flexible Drive Member」(代理人整理番号:END7131USNP/120135)、
米国特許出願第13/536,288号、出願日:2012年6月28日、及び表題「Multi−Functional Powered Surgical Device with External Dissection Features」(代理人整理番号:END7132USNP/120136)、
米国特許出願第13/536,295号、出願日:2012年6月28日、及び表題「Rotary Actuatable Closure Arrangement for Surgical End Effector」(代理人整理番号:END7134USNP/120138)、
米国特許出願第13/536,326号、出願日:2012年6月28日、及び表題「Surgical End Effectors Having Angled Tissue−Contacting Surfaces」(代理人整理番号:END7135USNP/120139)、
米国特許出願第13/536,303号、出願日:2012年6月28日、及び表題「Interchangeable End Effector Coupling Arrangement」(代理人整理番号:END7136USNP/120140)、
米国特許出願第13/536,393号、出願日:2012年6月28日、及び表題「Surgical End Effector Jaw and Electrode Configurations」(代理人整理番号:END7137USNP/120141)、
米国特許出願第13/536,362号、出願日:2012年6月28日、及び表題「Multi−Axis Articulating and Rotating Surgical Tools」(代理人整理番号:END7138USNP/120142)、及び
米国特許出願第13/536,417号、出願日:2012年6月28日、及び表題「Electrode Connections for Rotary Driven Surgical Tools」(代理人整理番号:END7149USNP/120153)。
(1) 外科用器具であって、
組織を治療するエンドエフェクタであって、前記エンドエフェクタが超音波ブレードを備える、エンドエフェクタと、
前記エンドエフェクタから長手方向軸に沿って近位方向に延びる関節運動シャフトであって、前記関節運動シャフトが、
近位シャフト部材と、
前記近位シャフト部材に関節結合部にて枢動可能に連結された遠位シャフト部材と、を備える、関節運動シャフトと、
前記超音波ブレードに音響的に連結された超音波変換器を備える超音波変換器アセンブリであって、前記超音波変換器アセンブリが前記関節結合部から遠位に位置する、超音波変換器アセンブリと、を備える外科用器具。
(2) 前記シャフトを通って延びる第1の制御部材と、
前記第1の制御部材から実質的に前記長手方向軸に対向する位置にて前記シャフトを通って延びる第2の制御部材と、を更に備え、前記第1の制御部材の近位並進が、前記遠位シャフト部材及び前記エンドエフェクタを前記第1の制御部材に向かって枢動させる、実施態様1に記載の外科用器具。
(3) 開放位置から、前記超音波ブレードに実質的に平行な閉鎖位置へと、クランプアーム枢動点を中心として枢動可能なクランプアームを更に備える、実施態様1に記載の外科用器具。
(4) 前記クランプアーム枢動点が前記長手方向軸からオフセットされており、前記外科用器具が、
前記クランプアームに前記長手方向軸からオフセットされた位置にて連結されたクランプアーム制御部材を更に含み、前記クランプアーム制御部材の遠位並進が前記クランプアームを前記開放位置に枢動させ、前記クランプアーム制御部材の近位並進が前記クランプアームを前記閉鎖位置に枢動させるようになっている、実施態様3に記載の外科用器具。
(5) 前記超音波ブレードが前記超音波変換器から遠位方向に延び、前記クランプアームが、前記クランプアーム枢動点から遠位方向に延びるクランプ部分及び前記クランプアーム枢動点から近位方向に延びる近位部分を画定し、前記外科用器具が、
前記シャフトを通って延びるクランプアーム制御部材と、
前記クランプアーム制御部材に枢動可能に連結された近位端及び前記超音波変換器アセンブリの近位部分に枢動可能に連結された遠位端を画定する第1の連結部材と、
前記クランプアーム制御部材に枢動可能に連結された近位端及び前記クランプアームの前記近位部分に枢動可能に連結された遠位端を画定する第2の連結部材と、を更に備える、実施態様3に記載の外科用器具。
(7) 前記超音波ブレードが前記超音波変換器から遠位方向に延び、前記クランプアームが、前記クランプアーム枢動点から遠位方向に延びるクランプ部分及び前記クランプアーム枢動点から近位方向に延びる近位部分を画定し、前記外科用器具が、
前記シャフトを通って延びるクランプアーム制御部材と、
前記クランプアーム制御部材に枢動可能に連結された近位端及び前記超音波変換器アセンブリの近位部分に枢動可能に連結された遠位端を画定する第1の連結部材と、を更に含み、
前記超音波変換器アセンブリの前記近位部分及び前記超音波変換器アセンブリの遠位部が、前記超音波変換器アセンブリの前記遠位部分及び近位部分の長手方向直径未満の横断面積を有する屈曲可能な、音響的に伝達可能な区分によって分離されており、
前記超音波変換器アセンブリの前記近位部分が前記クランプアーム制御部材に連結されている、実施態様3に記載の外科用器具。
(8) 前記超音波ブレードが前記超音波変換器から遠位方向に延び、前記クランプアームが、前記クランプアーム枢動点から遠位方向に延びるクランプ部分及び前記クランプアーム枢動点から近位方向に延びる近位部分を画定し、前記外科用器具が、
前記シャフトを通って延びるクランプアーム制御部材と、
前記クランプアーム制御部材に枢動可能に連結された近位端及び前記クランプアームの前記近位部分に枢動可能に連結された遠位端を画定する第1の連結部材と、
前記シャフトを通って延びる超音波ブレード制御部材と、
前記超音波ブレード制御部材に枢動可能に連結された近位端及び前記超音波変換器アセンブリの近位部分に枢動可能に連結された遠位端を画定する第2の連結部材と、を更に含む、実施態様3に記載の外科用器具。
(9) 前記超音波ブレードが前記超音波変換器から遠位方向に延び、前記クランプアームが、前記クランプアーム枢動点から遠位方向に延びるクランプ部分及び前記クランプアーム枢動点から近位方向に延びる近位部分を画定し、前記外科用器具が、
前記長手方向軸に対して実質的に垂直なクランプアームプーリー軸を中心として回転可能なクランプアームプーリーと、
前記クランプアームの前記近位部分に枢動可能に連結された遠位端及び前記クランプアームプーリーに前記クランプアームプーリー軸からオフセットされた位置にて枢動可能に連結された近位端を画定する第1の連結部材と、
前記クランプアームプーリー周囲に位置し、前記近位シャフト部材を通って近位方向に延びる第1及び第2の端部を画定するクランプアーム制御部材と、を更に含む、実施態様3に記載の外科用器具。
(10) 前記超音波ブレードが前記超音波変換器から遠位方向に延び、前記クランプアームが、前記クランプアーム枢動点から遠位方向に延びるクランプ部分及び前記クランプアーム枢動点から近位方向に延びる近位部分を画定し、前記外科用器具が、
前記長手方向軸に対して実質的に垂直な超音波ブレードプーリー軸を中心として回転可能な超音波ブレードプーリーと、
前記超音波ブレードの前記近位部分に枢動可能に連結された遠位端及び前記超音波ブレードプーリーに前記超音波ブレードプーリー軸からオフセットされた位置にて枢動可能に連結された近位端を画定する第1の連結部材と、
前記超音波ブレードプーリー周囲に位置し、前記近位シャフト部材を通って近位方向に延びる第1及び第2の端部を画定する超音波ブレード制御部材と、を更に含む、実施態様3に記載の外科用器具。
(12) 前記内側シャフトが、可撓性ロッドを含む、実施態様11に記載の外科用器具。
(13) 前記内側シャフトが、
前記エンドエフェクタに連結された内側シャフト遠位部材と、
前記内側シャフト遠位部材に枢動可能に連結された内側シャフト結合部材と、
前記内側シャフト結合部材に枢動可能に連結された内側シャフト近位部材と、を含む、実施態様11に記載の外科用器具。
(14) 前記関節運動シャフトが、
前記関節結合部の周辺に位置付けられた結合部材を更に含み、前記結合部材は、
前記遠位シャフト部材が、前記長手方向軸に対して実質的に垂直な第1の枢動軸を中心として前記結合部材に対して枢動可能となるよう、前記遠位シャフト部材に枢動可能に連結されており、
前記結合部材が、前記長手方向軸に対して実質的に垂直であり、前記第1の枢動軸に対して実質的に垂直な第2の枢動軸を中心として前記近位シャフト部材に対して枢動可能となるよう、前記近位シャフト部材に枢動可能に連結されている、実施態様1に記載の外科用器具。
(15) 前記近位シャフト部材を通って延びる第1の制御部材と、
前記第1の制御部材から実質的に前記長手方向軸に対向する位置にて前記近位シャフト部材を通って延びる第2の制御部材と、を更に含み、前記第1の制御部材の近位並進が、前記遠位シャフト部材を前記第1の制御部材に向けて前記第1の枢動軸を中心として枢動させる、実施態様14に記載の外科用器具。
前記結合部材に、前記第3の制御部材から実質的に前記長手方向軸に対向する位置にて連結され、前記近位シャフト部材を通って近位方向に延びる第4の制御部材と、を更に含み、前記第3の制御部材の近位並進が、前記結合部材及び遠位シャフト部材を前記第3の制御部材に向けて前記第2の枢動軸を中心として枢動させる、実施態様14に記載の外科用器具。
(17) 前記遠位シャフト部材が前記関節結合部の周辺にプーリーを含み、前記外科用器具が、前記プーリーの周辺に位置し、前記近位シャフト部材を通って近位方向に延びる第1及び第2の端部を画定する制御部材を更に含み、前記制御部材の前記第1の端部の近位並進が前記プーリーを回転させて前記遠位シャフト部材及びエンドエフェクタを前記関節結合部を中心として枢動させる、実施態様1に記載の外科用器具。
(18) 外科用器具であって、
組織を治療するエンドエフェクタであって、前記エンドエフェクタが超音波ブレードを含む、エンドエフェクタと、
前記エンドエフェクタから長手方向軸に沿って近位方向に延びる関節運動シャフトであって、前記関節運動シャフトが、
近位シャフト部材と、
前記近位シャフト部材に関節結合部にて枢動可能に連結された遠位シャフト部材と、を含む、関節運動シャフトと、
前記超音波ブレードに音響的に連結された超音波変換器を含む超音波変換器アセンブリであって、前記超音波変換器アセンブリが前記遠位シャフト部材に連結されており、前記関節結合部を超えて近位方向に延びる近位部分を含む、超音波変換器アセンブリと、を含む、外科用器具。
(19) 前記遠位シャフト部材及びエンドエフェクタが、前記長手方向軸から離れるように前記関節結合部を中心として第1の方向とは反対の第2の方向に枢動するときに、前記超音波変換器アセンブリの前記近位部分が、前記長手方向軸から離れるように前記第1の方向に枢動する、実施態様18に記載の外科用器具。
(20) 前記近位シャフト部材が、第1のクレビスアーム及び第2のクレビスアームを前記近位シャフト部材の遠位端に画定し、前記シャフトが直線状のときに、前記変換器アセンブリの前記近位部分が、前記第1のクレビスアームと前記第2のクレビスアームとの間に位置付けられる、実施態様18に記載の外科用器具。
Claims (9)
- 外科用器具であって、
組織を治療するエンドエフェクタであって、前記エンドエフェクタが超音波ブレードを備える、エンドエフェクタと、
前記エンドエフェクタから長手方向軸に沿って近位方向に延びる関節運動シャフトであって、前記関節運動シャフトが、
近位シャフト部材と、
前記近位シャフト部材に関節結合部にて枢動可能に連結された遠位シャフト部材と、を備える、関節運動シャフトと、
前記超音波ブレードに音響的に連結された超音波変換器を備える超音波変換器アセンブリであって、前記超音波変換器アセンブリが前記関節結合部から遠位に位置する、超音波変換器アセンブリと、
開放位置から、前記超音波ブレードに実質的に平行な閉鎖位置へと、クランプアーム枢動点を中心として枢動可能なクランプアームと、を備え、
前記超音波ブレードが前記超音波変換器から遠位方向に延び、前記クランプアームが、前記クランプアーム枢動点から遠位方向に延びるクランプ部分及び前記クランプアーム枢動点から近位方向に延びる近位部分を画定し、前記外科用器具が、
前記関節運動シャフトを通って延びるクランプアーム制御部材と、
前記クランプアーム制御部材に枢動可能に連結された近位端及び前記超音波変換器アセンブリの近位部分に枢動可能に連結された遠位端を画定する第1の連結部材と、
前記クランプアーム制御部材に枢動可能に連結された近位端及び前記クランプアームの前記近位部分に枢動可能に連結された遠位端を画定する第2の連結部材と、を更に備える、外科用器具。 - 前記クランプアーム制御部材の近位並進が前記超音波ブレード及び前記クランプアームのクランプ部分を前記閉鎖位置に枢動させ、前記クランプアーム制御部材の遠位並進が前記超音波ブレード及び前記クランプアームのクランプ部分を前記開放位置に枢動させる、請求項1に記載の外科用器具。
- 外科用器具であって、
組織を治療するエンドエフェクタであって、前記エンドエフェクタが超音波ブレードを備える、エンドエフェクタと、
前記エンドエフェクタから長手方向軸に沿って近位方向に延びる関節運動シャフトであって、前記関節運動シャフトが、
近位シャフト部材と、
前記近位シャフト部材に関節結合部にて枢動可能に連結された遠位シャフト部材と、を備える、関節運動シャフトと、
前記超音波ブレードに音響的に連結された超音波変換器を備える超音波変換器アセンブリであって、前記超音波変換器アセンブリが前記関節結合部から遠位に位置する、超音波変換器アセンブリと、
開放位置から、前記超音波ブレードに実質的に平行な閉鎖位置へと、クランプアーム枢動点を中心として枢動可能なクランプアームと、を備え、
前記超音波ブレードが前記超音波変換器から遠位方向に延び、前記クランプアームが、前記クランプアーム枢動点から遠位方向に延びるクランプ部分及び前記クランプアーム枢動点から近位方向に延びる近位部分を画定し、前記外科用器具が、
前記関節運動シャフトを通って延びるクランプアーム制御部材と、
前記クランプアーム制御部材に枢動可能に連結された近位端及び前記クランプアームの前記近位部分に枢動可能に連結された遠位端を画定する第1の連結部材と、を更に含み、
前記超音波変換器アセンブリの近位部分及び前記超音波変換器アセンブリの遠位部分が、前記超音波変換器アセンブリの前記遠位部分及び前記近位部分より細い、屈曲可能な、音響的に伝達可能な区分によって分離されており、
前記超音波変換器アセンブリの前記近位部分が前記クランプアーム制御部材に連結されている、外科用器具。 - 外科用器具であって、
組織を治療するエンドエフェクタであって、前記エンドエフェクタが超音波ブレードを備える、エンドエフェクタと、
前記エンドエフェクタから長手方向軸に沿って近位方向に延びる関節運動シャフトであって、前記関節運動シャフトが、
近位シャフト部材と、
前記近位シャフト部材に関節結合部にて枢動可能に連結された遠位シャフト部材と、を備える、関節運動シャフトと、
前記超音波ブレードに音響的に連結された超音波変換器を備える超音波変換器アセンブリであって、前記超音波変換器アセンブリが前記関節結合部から遠位に位置する、超音波変換器アセンブリと、
開放位置から、前記超音波ブレードに実質的に平行な閉鎖位置へと、クランプアーム枢動点を中心として枢動可能なクランプアームと、を備え、
前記超音波ブレードが前記超音波変換器から遠位方向に延び、前記クランプアームが、前記クランプアーム枢動点から遠位方向に延びるクランプ部分及び前記クランプアーム枢動点から近位方向に延びる近位部分を画定し、前記外科用器具が、
前記関節運動シャフトを通って延びるクランプアーム制御部材と、
前記クランプアーム制御部材に枢動可能に連結された近位端及び前記クランプアームの前記近位部分に枢動可能に連結された遠位端を画定する第1の連結部材と、
前記関節運動シャフトを通って延びる超音波ブレード制御部材と、
前記超音波ブレード制御部材に枢動可能に連結された近位端及び前記超音波変換器アセンブリの近位部分に枢動可能に連結された遠位端を画定する第2の連結部材と、を更に含む、外科用器具。 - 外科用器具であって、
組織を治療するエンドエフェクタであって、前記エンドエフェクタが超音波ブレードを備える、エンドエフェクタと、
前記エンドエフェクタから長手方向軸に沿って近位方向に延びる関節運動シャフトであって、前記関節運動シャフトが、
近位シャフト部材と、
前記近位シャフト部材に関節結合部にて枢動可能に連結された遠位シャフト部材と、を備える、関節運動シャフトと、
前記超音波ブレードに音響的に連結された超音波変換器を備える超音波変換器アセンブリであって、前記超音波変換器アセンブリが前記関節結合部から遠位に位置する、超音波変換器アセンブリと、
開放位置から、前記超音波ブレードに実質的に平行な閉鎖位置へと、クランプアーム枢動点を中心として枢動可能なクランプアームと、を備え、
前記超音波ブレードが前記超音波変換器から遠位方向に延び、前記クランプアームが、前記クランプアーム枢動点から遠位方向に延びるクランプ部分及び前記クランプアーム枢動点から近位方向に延びる近位部分を画定し、前記外科用器具が、
前記長手方向軸に対して実質的に垂直な超音波ブレードプーリー軸を中心として回転可能な超音波ブレードプーリーと、
前記超音波ブレードの前記近位部分に枢動可能に連結された遠位端及び前記超音波ブレードプーリーに前記超音波ブレードプーリー軸からオフセットされた位置にて枢動可能に連結された近位端を画定する第1の連結部材と、
前記超音波ブレードプーリー周囲に位置し、前記近位シャフト部材を通って近位方向に延びる第1及び第2の端部を画定する超音波ブレード制御部材と、を更に含む、外科用器具。 - 前記関節運動シャフトが、
前記関節結合部の周辺に位置付けられた結合部材を更に含み、前記結合部材は、
前記遠位シャフト部材が、前記長手方向軸に対して実質的に垂直な第1の枢動軸を中心として前記結合部材に対して枢動可能となるよう、前記遠位シャフト部材に枢動可能に連結されており、
前記結合部材が、前記長手方向軸に対して実質的に垂直であり、前記第1の枢動軸に対して実質的に垂直な第2の枢動軸を中心として前記近位シャフト部材に対して枢動可能となるよう、前記近位シャフト部材に枢動可能に連結されている、請求項1、3〜5のいずれか1項に記載の外科用器具。 - 前記近位シャフト部材を通って延びる第1の制御部材と、
前記第1の制御部材から実質的に前記長手方向軸に対向する位置にて前記近位シャフト部材を通って延びる第2の制御部材と、を更に含み、前記第1の制御部材の近位並進が、前記遠位シャフト部材を前記第1の制御部材に向けて前記第1の枢動軸を中心として枢動させる、請求項6に記載の外科用器具。 - 前記結合部材に連結され、前記近位シャフト部材を通って近位方向に延びる第3の制御部材と、
前記結合部材に、前記第3の制御部材から実質的に前記長手方向軸に対向する位置にて連結され、前記近位シャフト部材を通って近位方向に延びる第4の制御部材と、を更に含み、前記第3の制御部材の近位並進が、前記結合部材及び遠位シャフト部材を前記第3の制御部材に向けて前記第2の枢動軸を中心として枢動させる、請求項6に記載の外科用器具。 - 前記遠位シャフト部材が前記関節結合部の周辺にプーリーを含み、前記外科用器具が、前記プーリーの周辺に位置し、前記近位シャフト部材を通って近位方向に延びる第1及び第2の端部を画定する制御部材を更に含み、前記制御部材の前記第1の端部の近位並進が前記プーリーを回転させて前記遠位シャフト部材及びエンドエフェクタを前記関節結合部を中心として枢動させる、請求項1、3〜5のいずれか1項に記載の外科用器具。
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AU2013280943A1 (en) | 2015-01-22 |
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CN104540461A (zh) | 2015-04-22 |
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JP2018020171A (ja) | 2018-02-08 |
BR112014032928A2 (pt) | 2017-06-27 |
EP2866696A1 (en) | 2015-05-06 |
US10779845B2 (en) | 2020-09-22 |
EP2866696B1 (en) | 2022-09-07 |
BR112014032928B1 (pt) | 2022-02-01 |
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