JP6768061B2 - ロボット外科手術アセンブリ及びその電気機械式器具 - Google Patents
ロボット外科手術アセンブリ及びその電気機械式器具 Download PDFInfo
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- 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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/295—Forceps for use in minimally invasive surgery combined with cutting implements
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- 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
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
- A61B18/1447—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod wherein sliding surfaces cause opening/closing of the end effectors
-
- 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
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00411—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like actuated by application of energy from an energy source outside the body
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
-
- 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
- A61B2018/1452—Probes having pivoting end effectors, e.g. forceps including means for cutting
- A61B2018/1455—Probes having pivoting end effectors, e.g. forceps including means for cutting having a moving blade for cutting tissue grasped by the jaws
-
- 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
Description
本願は、2016年9月25日に出願された、米国仮特許出願第62/232,600号の利益及びこれに対する優先権を主張し、その全体の内容が、参照により本明細書に組み込まれる。
Claims (20)
- 電気機械式エンドエフェクタを作動させるための作動機構であって、前記作動機構は、
第1のネジ及び第2のネジを有するハウジングであって、その中に各々が回転可能に配置されている、ハウジングと、
前記ハウジング内から遠位に延在するシャフトアセンブリと、を備え、前記シャフトアセンブリは、
前記ハウジングに対して軸方向に移動可能であり、電気機械式エンドエフェクタに連結されるように構成されたシャフトと、
第1のハブであって、
前記シャフトを内部に固設した第1の部分と、
前記第1の部分に接続され、内部表面を有する第2の部分であって、前記内部表面は、前記第1のネジをそこにネジ接続させてあり、それにより前記第1のネジの回転が前記第1のハブを移動させて、前記シャフトの縦方向移動を達成する、第2の部分と、を含む、第1のハブと、
前記シャフトに対して軸方向に移動可能であり、電気機械式エンドエフェクタのナイフ刃に連結されるように構成された縦ナイフバーと、
第2のハブであって、
内部に前記シャフトを移動可能に受容させた第1の部分であって、前記縦ナイフバーに接続された、前記第1の部分と、
前記第2のハブの前記第1の部分に接続され、内部表面を有する第2の部分であって、前記内部表面は、前記第2のネジをそこにネジ接続させてあり、それにより前記第2のネジの回転が前記第2のハブを移動させて、前記縦ナイフバーの軸方向移動を達成する、第2の部分と、を含む、第2のハブと、を備える、作動機構。 - 前記シャフトが、前記第1のハブの前記第1の部分及び前記第2のハブの前記第1の部分を通して延在する縦軸を画定する、請求項1に記載の作動機構。
- 前記第1のハブの前記第1の部分が、前記第1のハブの前記第2の部分から、横方向にオフセットされ、前記第2のハブの前記第1の部分が、前記第2のハブの前記第2の部分から、横方向にオフセットされている、請求項2に記載の作動機構。
- 前記第2のハブの前記第2の部分が、前記第2のハブの前記第1の部分の遠位にある、請求項3に記載の作動機構。
- 前記シャフトが、その中に形成された縦溝を含み、前記第2のハブの前記第1の部分が、前記縦溝内に延在して前記縦ナイフバーと接続し、それにより前記縦ナイフバーが、前記第2のハブと共に、前記シャフトに対して軸方向に移動する、内部表面を有する、請求項1に記載の作動機構。
- 前記シャフトアセンブリが、前記ハウジング内に固定された板をさらに含み、前記板は、それを通して前記第1のネジの遠位端を内部に受容した第1の窪みと、それを通して前記第2のネジの遠位端を内部に受容した第2の窪みとを画定する、請求項1に記載の作動機構。
- 前記板が、それを通して前記第1の窪みと前記第2の窪みとの間に配置された第3の窪みをさらに画定し、前記第3の窪みは、前記第2のハブの前記第1の部分をその中に移動可能に受容している、前記請求項6に記載の作動機構。
- 前記第1のハブの前記第2の部分及び前記第2のハブの前記第2の部分が、互いにかつ前記シャフトから、横方向にオフセットされている、請求項1に記載の作動機構。
- 前記シャフトアセンブリが、
前記ハウジング内に固定された板と、
前記板と前記第1のハブの前記第1の部分との間に配置され、遠位に向けられたバイアスを前記第1のハブ上にかけるバネと、をさらに含む、請求項1に記載の作動機構。 - 前記ハウジングが、
前記第1のネジの近位端に回転不能に連結され、器具駆動装置に駆動連結されるように構成された第1の入力駆動連結具と、
前記第2のネジの近位端に回転不能に連結され、前記器具駆動装置に駆動連結されるように構成された第2の入力駆動連結具と、をさらに含む、請求項1に記載の作動機構。 - ロボットシステムと共に使用する電気機械式外科手術器具であって、前記電気機械式外科手術器具は、
エンドエフェクタであって、
一対の対向する顎部材であって、その間に配置された組織を把持するように構成された、顎部材と、
前記一対の対向する顎部材間に配置された前記組織を切断するように、その間に移動可能に配置可能であるナイフ刃と、を含む、エンドエフェクタと、
作動機構と、を備え、前記作動機構が、
第1のネジ及び第2のネジを有するハウジングであって、その中に各々が回転可能に配置されている、ハウジングと、
前記ハウジング内から遠位に延在するシャフトアセンブリと、を備え、前記シャフトアセンブリは、
前記ハウジングに対して軸方向に移動可能であり、前記エンドエフェクタの前記対向する顎部材の対のうちの少なくとも一方と動作可能に連結されたシャフトと、
第1のハブであって、
前記シャフトを内部に固設した第1の部分と、
前記第1の部分に接続され、内部表面を有する第2の部分であって、前記内部表面は、前記第1のネジをそこにネジ接続させてあり、それにより前記第1のネジの回転が前記第1のハブを移動させて、前記一対の対向する顎部材の開口または閉鎖のうち少なくとも一方を達成する、第2の部分と、を含む第1のハブと、
前記シャフトに対して軸方向に移動可能であり、前記エンドエフェクタの前記ナイフ刃に連結された縦ナイフバーと、
第2のハブであって、
内部に前記シャフトを移動可能に受容させた第1の部分であって、前記縦ナイフバーに接続された、前記第1の部分と、
前記第2のハブの前記第1の部分に接続され、内部表面を有する第2の部分であって、前記内部表面は、前記第2のネジをそこにネジ接続させてあり、それにより前記第2のネジの回転が前記第2のハブを移動させて、前記ナイフ刃の軸方向移動を達成する、第2の部分と、を含む、第2のハブと、を含む、電気機械式外科手術器具。 - 前記シャフトアセンブリの前記シャフトが、前記第1のハブの前記第1の部分及び前記第2のハブの前記第1の部分を通して延在する縦軸を画定する、請求項11に記載の電気機械式外科手術器具。
- 前記第1のハブの前記第1の部分が、前記第1のハブの前記第2の部分から、横方向にオフセットされ、前記第2のハブの前記第1の部分は、前記第2のハブの前記第2の部分から、横方向にオフセットされている、請求項12に記載の電気機械式外科手術器具。
- 前記第2のハブの前記第2の部分が、前記第2のハブの前記第1の部分の遠位にある、請求項13に記載の電気機械式外科手術器具。
- 前記シャフトアセンブリの前記シャフトが、その中に形成された縦溝を含み、前記作動機構の前記第2のハブの前記第1の部分が、前記縦溝内に延在して前記縦ナイフバーと接続し、それにより前記縦ナイフバーが、前記第2のハブと共に、前記シャフトに対して軸方向に移動する、内部表面を有する、請求項11に記載の電気機械式外科手術器具。
- 前記シャフトアセンブリが、前記作動機構の前記ハウジング内に固定された板をさらに含み、前記板は、それを通して前記第1のネジの遠位端を内部に受容させた第1の窪みと、それを通して前記第2のネジの遠位端を内部に受容させた第2の窪みとを画定する、請求項11に記載の電気機械式外科手術器具。
- 前記シャフトアセンブリの前記板が、それを通して前記第1の窪みと第2の窪みとの間に配置された第3の窪みをさらに画定し、前記第3の窪みは、前記第2のハブの前記第1の部分をその中に移動可能に受容している、請求項16に記載の電気機械式外科手術器具。
- 前記第1のハブの前記第2の部分及び前記第2のハブの前記第2の部分が、互いにかつ前記シャフトから、横方向にオフセットされている、請求項11に記載の電気機械式外科手術器具。
- 前記シャフトアセンブリが、
前記作動機構の前記ハウジング内に固定された板と、
前記板と前記第1のハブの前記第1の部分との間に配置され、遠位に向けられたバイアスを前記第1のハブ上にかけるバネと、をさらに、含む、請求項11に記載の電気機械式外科手術器具。 - 前記作動機構の前記ハウジングが、
前記第1のネジの近位端に回転不能に連結され、器具駆動装置に駆動連結されるように構成された第1の入力駆動連結具と、
前記第2のネジの近位端に回転不能に連結され、前記器具駆動装置に駆動連結されるように構成された第2の入力駆動連結具と、をさらに、含む、請求項11に記載の電気機械式外科手術器具。
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Application Number | Priority Date | Filing Date | Title |
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US201562232600P | 2015-09-25 | 2015-09-25 | |
US62/232,600 | 2015-09-25 | ||
PCT/US2016/053300 WO2017053698A1 (en) | 2015-09-25 | 2016-09-23 | Robotic surgical assemblies and electromechanical instruments thereof |
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JP2018529429A JP2018529429A (ja) | 2018-10-11 |
JP6768061B2 true JP6768061B2 (ja) | 2020-10-14 |
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US (2) | US10898280B2 (ja) |
EP (1) | EP3352695B1 (ja) |
JP (1) | JP6768061B2 (ja) |
CN (1) | CN108289713B (ja) |
AU (1) | AU2016327595B2 (ja) |
CA (1) | CA2994443A1 (ja) |
WO (1) | WO2017053698A1 (ja) |
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