JP6795977B2 - 埋め込み駆動管路を持つ可撓性器具 - Google Patents
埋め込み駆動管路を持つ可撓性器具 Download PDFInfo
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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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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- 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
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00309—Cut-outs or slits
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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
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Description
Registration of a Model of an Anatomical Structure for Image-Guided Surgery”を開示する)は、1つのこのようなシステムを開示する。
device and method relating thereto”を開示する米国特許出願第11/180,389号;2004年7月16日に出願された、”Fiber-optic shape and relative position
sensing”を開示する米国仮特許出願第60/588,336号;及び1998年6月17日に出願された、”Optical Fibre Bend Sensor”を開示する米国特許第6,389,187号に記載されており、これらは、それら全体を参照することにより本明細書に組み込まれる。他の代替形態では、レイリー散乱、ラマン散乱、ブリルアン散乱、及び蛍光散乱のような他のひずみ感知技術を用いるセンサが適し得る。他の代替形態では、カテーテルの形状は、他の技術を用いて判定され得る。
Having a Passive Transponder on the Object Being Tracked”を開示する米国特許第6,380,732号に提供され、この文献は、その全体を参照することにより本明細書に組み込まれる。
Instruments"と題する、米国特許出願第2009/0099420A1号に開示されたケーブルと実質的に同様の構造及び動作であり、この出願は、その全体が本明細書に参照により組み込まれる。上述のように、追加のコイルパイプが、カテーテルの近位又は遠位部分のより多くの遠位セグメントで終端するように、セグメント307を通って又はセグメント307の周りを進み得ることが当業者に理解される。
Claims (10)
- 細長い可撓性ボディであって、近位部分、遠位部分、前記近位部分と前記遠位部分との間の移行セクション、中心管腔、及び前記細長い可撓性ボディの内側表面から外側表面に延びる厚さを有する柔軟壁を含む、細長い可撓性ボディ;
前記近位部分において前記細長い可撓性ボディの前記柔軟壁を通って延び且つ前記細長い可撓性ボディの前記柔軟壁の中で終端する複数の管路であって、それぞれの前記管路は、管路管腔及び遠位端部を有し、前記遠位端部は、前記移行セクションに近位の位置で終端し且つ前記細長い可撓性ボディの前記近位部分の中で終端する、複数の管路;
前記複数の管路の少なくとも1つの前記管路管腔を通って前記細長い可撓性ボディの前記近位部分から前記遠位部分の中に延びる少なくとも1つのテンドンであって、前記遠位部分を操向するように作動可能である、少なくとも1つのテンドン;並びに
前記細長い可撓性ボディの前記柔軟壁の外側で前記細長い可撓性ボディの前記遠位部分に結合される操向可能チューブであって、前記操向可能チューブは、内側チューブ表面、外側チューブ表面、前記内側チューブ表面と前記外側チューブ表面との間に延びるチューブ壁厚さを有するチューブ壁、及び前記チューブ壁の前記内側チューブ表面に設けられた複数の溝を含み、前記複数の溝の少なくとも1つの溝は、前記1つのテンドンを受けるように構成される、操向可能チューブ;を有する、
低侵襲手術器具。 - 前記複数の管路の少なくとも1つは、前記管路管腔の中にセンサ要素を収容する、
請求項1に記載の低侵襲手術器具。 - 前記複数の管路の少なくとも1つは、コイルパイプを有する、
請求項1に記載の低侵襲手術器具。 - それぞれの前記管路は、その近位端部でアクチュエータに対して固定される、
請求項1に記載の低侵襲手術器具。 - それぞれの前記テンドンは、その近位端部でアクチュエータに対して、且つその前記遠位端部で前記遠位部分に固定される、
請求項1に記載の低侵襲手術器具。 - 前記複数の管路は、前記内側表面と前記外側表面との間の前記細長い可撓性ボディの前記柔軟壁の中に配置される、
請求項1に記載の低侵襲手術器具。 - 前記複数の管路は、前記細長い可撓性ボディの長手方向軸と実質的に平行に向けられる、
請求項1に記載の低侵襲手術器具。 - 前記複数の管路は、前記複数の管路が前記細長い可撓性ボディの前記近位部分から前記移行セクションに近位の前記位置まで第1の放射状パターンを維持するように、前記細長い可撓性ボディの前記近位部分の長手方向軸に対して前記第1の放射状パターンで配置される、
請求項1乃至7のいずれか1項に記載の低侵襲手術器具。 - 前記操向可能チューブは、前記操向可能チューブの前記チューブ壁に複数の切り抜き特徴部を含む、
請求項1乃至7のいずれか1項に記載の低侵襲手術器具。 - 前記操向可能チューブの前記チューブ壁の前記複数の切り抜き特徴部は、前記操向可能チューブの長手方向軸に実質的に直角に向けられる、
請求項9に記載の低侵襲手術器具。
Applications Claiming Priority (3)
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US201361895778P | 2013-10-25 | 2013-10-25 | |
US61/895,778 | 2013-10-25 | ||
PCT/US2014/062188 WO2015061692A1 (en) | 2013-10-25 | 2014-10-24 | Flexible instrument with embedded actuation conduits |
Publications (3)
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JP2016538032A JP2016538032A (ja) | 2016-12-08 |
JP2016538032A5 JP2016538032A5 (ja) | 2017-11-30 |
JP6795977B2 true JP6795977B2 (ja) | 2020-12-02 |
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US (2) | US11007026B2 (ja) |
EP (1) | EP3060288B1 (ja) |
JP (1) | JP6795977B2 (ja) |
KR (1) | KR102313708B1 (ja) |
CN (2) | CN105658270B (ja) |
WO (1) | WO2015061692A1 (ja) |
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2014
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- 2014-10-24 CN CN201480057531.2A patent/CN105658270B/zh active Active
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WO2015061692A1 (en) | 2015-04-30 |
JP2016538032A (ja) | 2016-12-08 |
KR102313708B1 (ko) | 2021-10-19 |
US20160270870A1 (en) | 2016-09-22 |
US11007026B2 (en) | 2021-05-18 |
CN110833455A (zh) | 2020-02-25 |
CN105658270B (zh) | 2019-12-27 |
EP3060288B1 (en) | 2018-07-04 |
CN110833455B (zh) | 2023-02-28 |
EP3060288A4 (en) | 2017-05-10 |
EP3060288A1 (en) | 2016-08-31 |
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CN105658270A (zh) | 2016-06-08 |
US20210212783A1 (en) | 2021-07-15 |
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