JP6833911B2 - 患者の体壁力を測定するセンサを備えるカニューレ - Google Patents
患者の体壁力を測定するセンサを備えるカニューレ Download PDFInfo
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- JP6833911B2 JP6833911B2 JP2019110234A JP2019110234A JP6833911B2 JP 6833911 B2 JP6833911 B2 JP 6833911B2 JP 2019110234 A JP2019110234 A JP 2019110234A JP 2019110234 A JP2019110234 A JP 2019110234A JP 6833911 B2 JP6833911 B2 JP 6833911B2
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A61B17/3403—Needle locating or guiding means
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0218—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for minimally invasive surgery
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
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- A—HUMAN NECESSITIES
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- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
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- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
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- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/04—Arrangements of multiple sensors of the same type
- A61B2562/046—Arrangements of multiple sensors of the same type in a matrix array
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Surgical Instruments (AREA)
- Endoscopes (AREA)
Description
Claims (11)
- シャフトを含む手術器具と、
組織と接触するように配置され、前記手術器具の前記シャフトを受け入れるような大きさとされる導管を定める、入口ポートとを含み、
前記入口ポートは、ヘッド部分と、内側チューブと、該内側チューブと同軸に整列させられるオーバーチューブと、該オーバーチューブの壁面に配置される複数のセンサとを含み、前記内側チューブの一端及び前記オーバーチューブの一端が前記ヘッド部分から垂れ下がり、
前記オーバーチューブは、前記内側チューブの部分を取り囲むように延在し、前記オーバーチューブと前記オーバーチューブ内に延在する前記内側チューブの前記部分との間に間隙が延在し、前記複数のセンサと前記内側チューブとの間に前記間隙が配置され、
前記複数のセンサは、前記手術器具の前記シャフトが前記導管内に挿入される間に、前記入口ポートに対して付与される組織荷重を測定するように構成される、 手術システム。 - 前記内側チューブは、前記シャフトを受け入れるような大きさにされる前記導管を定め、
前記オーバーチューブは、前記内側チューブの少なくとも部分について延在する、
請求項1に記載の手術システム。 - 前記内側チューブは、前記シャフトを受け入れるような大きさにされる前記導管を定める、
請求項1に記載の手術システム。 - 前記複数のセンサは、前記オーバーチューブに付与される力及びモーメントのうちの少なくとも一方の表示を提供するように配置される、請求項1に記載の手術システム。
- 前記複数のセンサは、前記オーバーチューブの撓みの表示を提供するように配置される、請求項1に記載の手術システム。
- 前記複数のセンサは、前記オーバーチューブの内壁に取り付けられる1つ又はそれよりも多くのセンサを含む、請求項1に記載の手術システム。
- 前記複数のセンサは、前記オーバーチューブの外壁に配置される1つ又はそれよりも多くのセンサを含む、請求項1に記載の手術システム。
- 前記複数のセンサは、前記オーバーチューブの内壁に取り付けられる1つ又はそれよりも多くのセンサを含み、前記オーバーチューブの外壁に配置される1つ又はそれよりも多くのセンサを含む、請求項1に記載の手術システム。
- 前記内側チューブの部分が、前記オーバーチューブの外側に延びる、請求項1に記載の手術システム。
- 前記オーバーチューブは、組織と接触して配置され、
前記内側チューブは、前記シャフトを受け入れるような大きさにされる前記導管を定め、
前記複数のセンサは、前記オーバーチューブに付与される力及びモーメントのうちの少なくとも一方の表示を提供するように配置される、
請求項1に記載の手術システム。 - 前記手術器具は、エンドエフェクタを含み、
前記入口ポートに付与される荷重は、前記組織によって前記手術器具の前記エンドエフェクタに加えられる力に関連する、
請求項1に記載の手術システム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201462030468P | 2014-07-29 | 2014-07-29 | |
US62/030,468 | 2014-07-29 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2017504779A Division JP6542871B2 (ja) | 2014-07-29 | 2015-07-27 | 患者の体壁力を測定するセンサを備えるカニューレ |
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JP2021015891A Division JP7069370B2 (ja) | 2014-07-29 | 2021-02-03 | 患者の体壁力を測定するセンサを備えるカニューレ |
Publications (2)
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JP2019171123A JP2019171123A (ja) | 2019-10-10 |
JP6833911B2 true JP6833911B2 (ja) | 2021-02-24 |
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Family Applications (4)
Application Number | Title | Priority Date | Filing Date |
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JP2017504779A Active JP6542871B2 (ja) | 2014-07-29 | 2015-07-27 | 患者の体壁力を測定するセンサを備えるカニューレ |
JP2019110234A Active JP6833911B2 (ja) | 2014-07-29 | 2019-06-13 | 患者の体壁力を測定するセンサを備えるカニューレ |
JP2021015891A Active JP7069370B2 (ja) | 2014-07-29 | 2021-02-03 | 患者の体壁力を測定するセンサを備えるカニューレ |
JP2022075748A Pending JP2022107607A (ja) | 2014-07-29 | 2022-05-02 | 患者の体壁力を測定するセンサを備えるカニューレ |
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JP2017504779A Active JP6542871B2 (ja) | 2014-07-29 | 2015-07-27 | 患者の体壁力を測定するセンサを備えるカニューレ |
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JP2021015891A Active JP7069370B2 (ja) | 2014-07-29 | 2021-02-03 | 患者の体壁力を測定するセンサを備えるカニューレ |
JP2022075748A Pending JP2022107607A (ja) | 2014-07-29 | 2022-05-02 | 患者の体壁力を測定するセンサを備えるカニューレ |
Country Status (6)
Country | Link |
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US (3) | US10470796B2 (ja) |
EP (2) | EP3549538A1 (ja) |
JP (4) | JP6542871B2 (ja) |
KR (2) | KR20230173230A (ja) |
CN (2) | CN107072691B (ja) |
WO (1) | WO2016018815A1 (ja) |
Families Citing this family (12)
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US9817019B2 (en) | 2013-11-13 | 2017-11-14 | Intuitive Surgical Operations, Inc. | Integrated fiber bragg grating accelerometer in a surgical instrument |
JP6740131B2 (ja) | 2014-02-21 | 2020-08-12 | スリーディインテグレイテッド アーペーエス3Dintegrated Aps | 手術器具を備えたセット、手術システム、及びトレーニング方法 |
JP6542871B2 (ja) | 2014-07-29 | 2019-07-10 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 患者の体壁力を測定するセンサを備えるカニューレ |
EP3145419B1 (en) | 2015-07-21 | 2019-11-27 | 3dintegrated ApS | Cannula assembly kit, trocar assembly kit and minimally invasive surgery system |
US11020144B2 (en) | 2015-07-21 | 2021-06-01 | 3Dintegrated Aps | Minimally invasive surgery system |
DK178899B1 (en) | 2015-10-09 | 2017-05-08 | 3Dintegrated Aps | A depiction system |
JP6214837B1 (ja) * | 2016-01-27 | 2017-10-18 | オリンパス株式会社 | 医療用マニピュレータシステム |
US20200085524A1 (en) * | 2017-05-24 | 2020-03-19 | Covidien Lp | Surgical sleeve for robotic systems |
US10548674B2 (en) * | 2017-07-06 | 2020-02-04 | YellowDot Innovations, LLC | Robotic guide for medical device |
BR112020004420A2 (pt) | 2017-09-20 | 2020-09-08 | Microport (Shanghai) Medbot Co., Ltd. | sistema de robô cirúrgico |
CA3078378A1 (en) * | 2017-10-05 | 2019-04-11 | Dignity Health | Multipurpose medical device |
US20230096268A1 (en) * | 2021-09-29 | 2023-03-30 | Cilag Gmbh International | Methods for Controlling Cooperative Surgical Instruments |
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JP6542871B2 (ja) | 2014-07-29 | 2019-07-10 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 患者の体壁力を測定するセンサを備えるカニューレ |
JP2021015891A (ja) * | 2019-07-12 | 2021-02-12 | ソニーセミコンダクタソリューションズ株式会社 | 半導体装置及び撮像装置 |
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- 2015-07-27 JP JP2017504779A patent/JP6542871B2/ja active Active
- 2015-07-27 EP EP19174165.1A patent/EP3549538A1/en not_active Withdrawn
- 2015-07-27 KR KR1020237043219A patent/KR20230173230A/ko active Application Filing
- 2015-07-27 EP EP15826885.4A patent/EP3179936B1/en active Active
- 2015-07-27 KR KR1020177005108A patent/KR102615949B1/ko active IP Right Grant
- 2015-07-27 CN CN201580050796.4A patent/CN107072691B/zh active Active
- 2015-07-27 CN CN201910719179.9A patent/CN110403651B/zh active Active
- 2015-07-27 US US15/329,982 patent/US10470796B2/en active Active
- 2015-07-27 WO PCT/US2015/042262 patent/WO2016018815A1/en active Application Filing
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CN110403651A (zh) | 2019-11-05 |
US20220378474A1 (en) | 2022-12-01 |
WO2016018815A1 (en) | 2016-02-04 |
KR20230173230A (ko) | 2023-12-26 |
JP2019171123A (ja) | 2019-10-10 |
EP3179936B1 (en) | 2019-06-26 |
CN110403651B (zh) | 2022-11-08 |
CN107072691A (zh) | 2017-08-18 |
JP6542871B2 (ja) | 2019-07-10 |
CN107072691B (zh) | 2019-09-03 |
US11369411B2 (en) | 2022-06-28 |
US20200046404A1 (en) | 2020-02-13 |
JP2017522134A (ja) | 2017-08-10 |
JP2021065751A (ja) | 2021-04-30 |
KR102615949B1 (ko) | 2023-12-21 |
EP3179936A1 (en) | 2017-06-21 |
US10470796B2 (en) | 2019-11-12 |
JP7069370B2 (ja) | 2022-05-17 |
KR20170038011A (ko) | 2017-04-05 |
EP3549538A1 (en) | 2019-10-09 |
EP3179936A4 (en) | 2018-01-24 |
US20170265890A1 (en) | 2017-09-21 |
JP2022107607A (ja) | 2022-07-22 |
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