JP6771892B2 - 関節運動するシャフトを備えた外科用器具 - Google Patents
関節運動するシャフトを備えた外科用器具 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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
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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
- A61B18/08—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by means of electrically-heated probes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/08—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by means of electrically-heated probes
- A61B18/082—Probes or electrodes therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
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- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
- A61B2017/00327—Cables or rods with actuating members moving in opposite directions
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- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00331—Steering mechanisms with preformed bends
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- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
- A61B17/22012—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement
- A61B2017/22014—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement the ultrasound transducer being outside patient's body; with an ultrasound transmission member; with a wave guide; with a vibrated guide wire
- A61B2017/22015—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement the ultrasound transducer being outside patient's body; with an ultrasound transmission member; with a wave guide; with a vibrated guide wire with details of the transmission member
- A61B2017/22018—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement the ultrasound transducer being outside patient's body; with an ultrasound transmission member; with a wave guide; with a vibrated guide wire with details of the transmission member segmented along its length
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- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
- A61B2017/2923—Toothed members, e.g. rack and pinion
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- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B2017/320088—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with acoustic insulation, e.g. elements for damping vibrations between horn and surrounding sheath
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
- A61B2017/320094—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw additional movable means performing clamping operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
- A61B2017/320095—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw with sealing or cauterizing means
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、発明の名称「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、発明の名称「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、発明の名称「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、発明の名称「Surgical Instruments with Articulating Shafts」、代理人整理番号第END6423USNP/110392号、
米国特許出願第____________号、発明の名称「Ultrasonic Surgical Instruments with Distally Positioned Transducers」、代理人整理番号第END6819USNP/110393号、
米国特許出願第____________号、発明の名称「Surgical Instruments with Articulating Shafts」、代理人整理番号第END7047USNP/110394号、
米国特許出願第____________号、発明の名称「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、発明の名称「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、発明の名称「Surgical Instruments with Fluid Management System」、代理人整理番号第END7051USNP/110399号。
コア径D(mm)
D=19.9×10−3
22AWGワイヤの線径W(mm)
W=7.36×10−4
間隙0.125の2次巻線同士の間隙
G=gap/25.4
本明細書に述べられる様々な例示的な実施形態は、エンドエフェクタと、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シャフトとを備える、組織を治療するための関節運動する外科用器具に関するものである。特定の実施形態では、シャフトは、複数の横断スペーサ部材と、複数の横断スペーサ部材の少なくとも一部を通って延びる第1及び第2の回転可能部材とを有する。第1及び第2の回転可能部材は、それぞれの付勢方向が第1の回転可能部材の回転とともに変化するように、両方とも長手方向軸から遠ざかる方向に付勢することができる。第1及び第2の回転可能部材のそれぞれの付勢方向が互いに反対方向である場合、シャフトはほぼ真っ直ぐとなりうる。第1及び第2の回転可能部材のそれぞれの付勢方向が互いに整列している場合、シャフトは整列の方向に長手方向軸から遠ざかる方向に関節運動することができる。
米国特許出願第13/536,271号、出願日:2012年6月28日、及び発明の名称「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、及び発明の名称「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、及び発明の名称「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、及び発明の名称「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、及び発明の名称「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、及び発明の名称「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、及び発明の名称「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、及び発明の名称「Electrode Connections for Rotary Driven Surgical Tools」(代理人整理番号:END7149USNP/120153)。
(1) 関節運動可能な外科用器具であって、
組織を治療するためのエンドエフェクタと、
長手方向軸に沿って前記エンドエフェクタから近位方向に延びるシャフトであって、
複数の横断スペーサ部材と、
前記複数の横断スペーサ部材の少なくとも一部を通って前記長手方向軸と平行に延びる第1の回転可能部材であって、前記長手方向軸から遠ざかる方向に付勢され、前記第1の回転可能部材の付勢方向が前記第1の回転可能部材の回転とともに変化する、第1の回転可能部材と、
前記複数の横断スペーサ部材の少なくとも一部を通って前記長手方向軸と平行に延び、前記長手方向軸に垂直な方向に沿って前記第1の回転可能部材からオフセットした第2の回転可能部材であって、前記長手方向シャフトから遠ざかる方向に付勢され、前記第2の回転可能部材の付勢方向が前記第2の回転可能部材の回転とともに変化する、第2の回転可能部材と、を有する、シャフトと、を備え、前記第1の回転可能部材の付勢方向と前記第2の回転可能部材の付勢方向とが互いに反対方向となるように前記第1及び第2の回転可能部材が回転させられる場合に前記シャフトがほぼ真っ直ぐとなり、前記第1の回転可能部材の付勢方向と前記第2の回転可能部材の付勢方向とが前記長手方向軸から遠ざかる第1の方向に互いに整列するように前記第1及び第2の回転可能部材が回転させられる場合に前記シャフトが前記第1の方向に関節運動する、外科用器具。
(2) 前記複数の横断スペーサ部材を通って前記長手方向軸と平行に延び、前記長手方向軸に垂直な方向に沿って前記第1及び第2の回転可能部材からオフセットした第3の回転可能部材であって、前記長手方向シャフトから遠ざかる方向に付勢された、第3の回転可能部材を更に有し、前記第3の回転可能部材の付勢方向が前記第3の回転可能部材の回転とともに変化し、前記第1の回転可能部材の付勢方向、前記第2の回転可能部材の付勢方向、及び前記第3の回転可能部材の付勢方向が互いに反対方向となるように前記第1、第2及び第3の回転可能部材が回転させられる場合に前記シャフトがほぼ真っ直ぐとなり、前記第1の回転可能部材の付勢方向、前記第2の回転可能部材の付勢方向、及び前記第3の回転可能部材の付勢方向が前記長手方向軸から遠ざかる第1の方向に互いに整列するように前記第1、第2の回転可能部材が回転させられる場合に前記シャフトが前記第1の方向に関節運動する、実施態様1に記載の外科用器具。
(3) 前記第1の回転可能部材、前記第2の回転可能部材、及び前記長手方向軸の中心が共通の平面上に位置する、実施態様1に記載の外科用器具。
(4) 前記第1の方向が前記共通の平面内にある、実施態様3に記載の外科用器具。
(5) 前記第1の方向が前記共通の平面の外側にある、実施態様3に記載の外科用器具。
(7) 前記横断スペーサ部材のそれぞれが、前記長手方向軸上に中心が位置するディスクを画定し、前記ディスクが前記第1及び第2の回転可能部材を受容するための第1及び第2の開口部を画定する、実施態様1に記載の外科用器具。
(8) 前記エンドエフェクタが、前記複数の横断スペーサ部材の少なくとも一部を通って延びる導波管と機械的に連結された超音波ブレードを有する、実施態様1に記載の外科用器具。
(9) 前記エンドエフェクタが、組織を治療するための少なくとも1つの電極を有する、実施態様1に記載の外科用器具。
(10) 組織を治療するための関節運動可能な外科用器具であって、
少なくとも1つの電気外科用電極、及び超音波ブレードからなる群から選択されるエネルギー装置を有するエンドエフェクタと、
長手方向軸に沿って前記エンドエフェクタから近位方向に延びるシャフトであって、
近位管であって、前記近位中空管の遠位端に近位クレビスを画定し、前記近位クレビスが第1及び第2のクレビス部材を含む、近位管と、
遠位管であって、前記関節運動する管の近位端に遠位クレビスを画定し、前記遠位クレビスが第1及び第2のクレビス部材を含み、前記遠位管が前記遠位管と前記近位管との間の連結部(interface)を中心として前記近位管に対して旋回可能であるように前記遠位クレビスが前記近位クレビスと連結され、前記遠位クレビスの前記第1のクレビス部材が第1の複数の歯を有する、遠位管と、
前記近位管内に配置され、前記長手方向軸を中心として回転可能な回転可能内側管であって、前記内側管の遠位端が前記第1の複数の歯と噛み合うように配置された第2の複数の歯を画定することにより、前記長手方向軸を中心とした前記内側管の回転により、前記遠位管が前記遠位管と前記近位管との間の前記連結部を中心として旋回する、内側管と、を有する、シャフトと、を備える、外科用器具。
(12) 前記第1の複数の歯が、前記遠位クレビスの前記第1のクレビス部材と一体に形成されている、実施態様10に記載の器具。
(13) 前記遠位クレビスの前記第1及び第2の部材が、前記近位クレビスの前記第1及び第2の部材の内側に配置される、実施態様10に記載の器具。
(14) 前記エンドエフェクタが超音波ブレードを含み、前記シャフトを通って前記超音波ブレードにまで延びる超音波導波管を更に備える、実施態様10に記載の器具。
(15) 前記導波管が第1の可撓性部分及び第2の剛性部分を有し、前記第1の可撓性部分が前記遠位及び近位クレビスの周辺に配置される、実施態様14に記載の器具。
エンドエフェクタと、
長手方向軸に沿って前記エンドエフェクタから近位方向に延びるシャフトであって、
近位管と、
遠位管であって、前記遠位管及び前記近位管が第1のヒンジ連結部において旋回可能に連結された、遠位管と、
前記近位管を通って延びる並進部材であって、第2のヒンジ連結部において前記遠位管と連結されることにより、前記長手方向軸に沿った前記並進部材の並進運動によって、前記近位管が前記遠位管に対して旋回する、並進部材と、を有する、シャフトと、を備える、外科用器具。
(17) 前記第1のヒンジ連結部が前記長手方向軸からオフセットしており、前記第2のヒンジ連結部も、前記第1のヒンジ連結部の反対側に前記長手方向軸からオフセットしている、実施態様16に記載の外科用器具。
(18) 前記並進部材の遠位方向に向かう運動により、前記遠位管が前記長手方向軸から遠ざかる方向に旋回し、前記並進部材の近位方向に向かう運動により、前記遠位管が前記長手方向軸に近づく方向に旋回する、実施態様17に記載の外科用器具。
(19) 前記並進部材が、前記近位管内に配置される中空管を画定する、実施態様16に記載の外科用器具。
(20) 前記遠位管が、前記長手方向軸に概ね垂直に延びる第1及び第2のピン部分を有し、前記並進部材が前記第1及び第2のピン部分を受容するための第1及び第2の開口部を画定する、実施態様19に記載の外科用器具。
(22) 前記並進部材が、前記近位管内に配置されるロッドを画定する、実施態様16に記載の外科用器具。
(23) 前記ロッドが、前記長手方向軸に概ね垂直に延びる第1及び第2のピン部分を有し、前記遠位管が前記第1及び第2のピン部分を受容するための第1及び第2の開口部を画定する、実施態様22に記載の外科用器具。
(24) 前記第1及び第2の開口部が前記第1及び第2のピン部分の断面直径よりも大きいことにより、前記第1及び第2のピン部分が前記第1及び第2の開口部内で動くことができる、実施態様23に記載の外科用器具。
(25) 前記第1のヒンジ連結部が、前記近位管及び前記遠位管を通って延びるピンを有する、実施態様16に記載の外科用器具。
(27) 前記導波管が第1の可撓性部分及び第2の剛性部分を有し、前記第1の可撓性部分が前記長手方向軸に沿って前記第1のヒンジ連結部の周辺に配置される、実施態様26に記載の器具。
(28) 組織を治療するための関節運動可能な外科用器具であって、
超音波ブレードを有するエンドエフェクタと、
長手方向軸に沿って前記エンドエフェクタから近位方向に延びるシャフトであって、
近位管と、
遠位管であって、前記遠位管及び前記近位管が第1のヒンジ連結部において旋回可能に連結された、遠位管と、を有する、シャフトと、
前記超音波ブレードと機械的に連結され、前記シャフトを通って近位方向に延びる導波管であって、前記第1のヒンジ連結部の周辺に配置された可撓性部分を画定する、導波管と、
前記近位管の少なくとも一部を通って延びる剛性の並進部材と、
前記並進部材の遠位方向への並進運動により前記遠位管が前記第1のヒンジ連結部を中心として前記並進部材から遠ざかる方向に旋回するように、前記近位管に旋回可能に連結された近位端及び前記遠位管に旋回可能に連結された遠位端を画定する連結部材と、を備える、外科用器具。
(29) 前記並進部材の近位方向への並進運動により、前記遠位管が前記並進部材に近づく方向に前記第1のヒンジ連結部を中心として旋回する、実施態様28に記載の外科用器具。
(30) 前記導波管が前記導波管の前記可撓性部分の近位側の第1の連結点において前記近位管と連結され、前記導波管が前記可撓性部分の遠位側の第2の連結点において前記遠位管と連結される、実施態様28に記載の外科用器具。
(32) 組織を治療するための関節運動可能な外科用器具であって、
超音波ブレードを有するエンドエフェクタと、
長手方向軸に沿って前記エンドエフェクタから近位方向に延びるシャフトと、
前記シャフトに連結された近位端及び前記エンドエフェクタに連結された遠位端を画定する関節ネックであって、複数の中空ネック部材を有し、前記複数の中空ネック部材から選択される第1の中空ネック部材が、前記複数の中空ネック部材から選択される第2の中空ネック部材の遠位端を受容するように構成された近位端を画定することにより、前記第1及び第2の中空ネック部材が互いに旋回可能に連結される、関節ネックと、
前記関節ネック及び前記シャフトを通って前記超音波ブレードから近位方向に延びる導波管であって、前記関節ネックの周辺に配置された可撓性部分を有する、導波管と、を備える、外科用器具。
(33) 前記エンドエフェクタに連結され、前記関節ネック及びシャフトを通って近位方向に延びる第1の並進部材を更に備えることにより、前記第1の並進部材の近位方向への並進運動により、前記エンドエフェクタが前記第1の並進部材に近づく方向に前記可撓性ネックを中心として旋回する、実施態様32に記載の外科用器具。
(34) 前記エンドエフェクタに連結され、前記関節ネック及びシャフトを通って近位方向に延びる第2の並進部材を更に備えることにより、前記第2の並進部材の近位方向への並進運動により、前記エンドエフェクタが前記第2の並進部材に近づく方向に前記可撓性ネックを中心として旋回する、実施態様33に記載の外科用器具。
(35) 前記エンドエフェクタに連結され、前記関節ネック及びシャフトを通って近位方向に延びる第1及び第2の並進部材を更に備え、前記第1及び第2の並進部材の近位方向への並進運動により、前記複数の中空ネック部材が圧縮状態に置かれることで関節運動が防止され、前記第1及び第2の並進部材の遠位方向への並進運動により、前記複数の中空ネック部材が圧縮状態から解放されて関節運動が可能となる、実施態様32に記載の外科用器具。
Claims (8)
- 関節運動可能な外科用器具であって、
組織を治療するためのエンドエフェクタと、
長手方向軸に沿って前記エンドエフェクタから近位方向に延びるシャフトであって、
複数の横断スペーサ部材と、
前記複数の横断スペーサ部材の少なくとも一部を通って前記長手方向軸と平行に延びる第1の回転可能部材であって、前記長手方向軸から遠ざかる方向に付勢され、前記第1の回転可能部材の付勢方向が前記第1の回転可能部材の回転とともに変化する、第1の回転可能部材と、
前記複数の横断スペーサ部材の少なくとも一部を通って前記長手方向軸と平行に延び、前記長手方向軸に垂直な方向に沿って前記第1の回転可能部材からオフセットした第2の回転可能部材であって、前記長手方向軸から遠ざかる方向に付勢され、前記第2の回転可能部材の付勢方向が前記第2の回転可能部材の回転とともに変化する、第2の回転可能部材と、を有する、シャフトと、を備え、
前記第1の回転可能部材の付勢方向と前記第2の回転可能部材の付勢方向とが互いに反対方向となるように前記第1及び第2の回転可能部材が回転させられる場合に前記シャフトがほぼ真っ直ぐとなり、
前記第1の回転可能部材の付勢方向と前記第2の回転可能部材の付勢方向とが前記長手方向軸から遠ざかる第1の方向に互いに整列するように前記第1及び第2の回転可能部材が回転させられる場合に前記シャフトが前記第1の方向に関節運動し、
前記横断スペーサ部材のそれぞれが、前記長手方向軸上に中心が位置するディスクであり、前記ディスクが前記第1及び第2の回転可能部材を受容するための第1及び第2の開口部を画定し、前記ディスクは前記シャフトの前記長手方向軸の方向において互いに離間しており、
前記複数の横断スペーサ部材は、前記ディスクの前記第1および第2の開口部に受容された前記第1及び第2の回転可能部材の回転位置により変化する付勢力の方向に応じて前記シャフトの関節運動をもたらすことができるように構成されている、外科用器具。 - 前記複数の横断スペーサ部材を通って前記長手方向軸と平行に延び、前記長手方向軸に垂直な方向に沿って前記第1及び第2の回転可能部材からオフセットした第3の回転可能部材であって、前記シャフトから遠ざかる方向に付勢された、第3の回転可能部材を更に有し、前記第3の回転可能部材の付勢方向が前記第3の回転可能部材の回転とともに変化し、前記第1の回転可能部材の付勢方向、前記第2の回転可能部材の付勢方向、及び前記第3の回転可能部材の付勢方向が互いに反対方向となるように前記第1、第2及び第3の回転可能部材が回転させられる場合に前記シャフトがほぼ真っ直ぐとなり、前記第1の回転可能部材の付勢方向、前記第2の回転可能部材の付勢方向、及び前記第3の回転可能部材の付勢方向が前記長手方向軸から遠ざかる第1の方向に互いに整列するように前記第1、第2の回転可能部材が回転させられる場合に前記シャフトが前記第1の方向に関節運動する、請求項1に記載の外科用器具。
- 前記第1の回転可能部材、前記第2の回転可能部材、及び前記長手方向軸の中心が共通の平面上に位置する、請求項1に記載の外科用器具。
- 前記第1の方向が前記共通の平面内にある、請求項3に記載の外科用器具。
- 前記第1の方向が前記共通の平面の外側にある、請求項3に記載の外科用器具。
- 前記第1の回転可能部材の付勢方向と前記第2の回転可能部材の付勢方向とが互いに反対方向で、前記第1の回転可能部材による付勢力と前記第2の回転可能部材による付勢力とが等しいため、前記第1の回転可能部材による付勢力と前記第2の回転可能部材による付勢力とが相殺される、請求項3に記載の外科用器具。
- 前記エンドエフェクタが、前記複数の横断スペーサ部材の少なくとも一部を通って延びる導波管と機械的に連結された超音波ブレードを有する、請求項1に記載の外科用器具。
- 前記エンドエフェクタが、組織を治療するための少なくとも1つの電極を有する、請求項1に記載の外科用器具。
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2012
- 2012-06-29 US US13/538,720 patent/US20140005705A1/en not_active Abandoned
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2013
- 2013-06-13 JP JP2015520253A patent/JP6771892B2/ja active Active
- 2013-06-13 EP EP13733162.5A patent/EP2866697B1/en active Active
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2016
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2020
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WO2014004097A1 (en) | 2014-01-03 |
US20140005705A1 (en) | 2014-01-02 |
US20240065721A1 (en) | 2024-02-29 |
US20170105757A1 (en) | 2017-04-20 |
CN104768481A (zh) | 2015-07-08 |
EP2866697A1 (en) | 2015-05-06 |
BR112014032929A2 (pt) | 2017-06-27 |
US11717311B2 (en) | 2023-08-08 |
JP2015521897A (ja) | 2015-08-03 |
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