JP6887250B2 - 溝付きの操縦可能なチューブを備えるフレキシブルな器具 - Google Patents

溝付きの操縦可能なチューブを備えるフレキシブルな器具 Download PDF

Info

Publication number
JP6887250B2
JP6887250B2 JP2016525871A JP2016525871A JP6887250B2 JP 6887250 B2 JP6887250 B2 JP 6887250B2 JP 2016525871 A JP2016525871 A JP 2016525871A JP 2016525871 A JP2016525871 A JP 2016525871A JP 6887250 B2 JP6887250 B2 JP 6887250B2
Authority
JP
Japan
Prior art keywords
maneuverable
tube
maneuverable tube
conduit
minimally invasive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2016525871A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016538031A5 (cg-RX-API-DMAC7.html
JP2016538031A (ja
Inventor
コウシク，アヌープ，ビー
フェネチ，キャロライン，エム
ブルメンクランズ，スティーブン，ジェイ
Original Assignee
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
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
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 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, 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 filed Critical 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
Publication of JP2016538031A publication Critical patent/JP2016538031A/ja
Publication of JP2016538031A5 publication Critical patent/JP2016538031A5/ja
Application granted granted Critical
Publication of JP6887250B2 publication Critical patent/JP6887250B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0138—Tip steering devices having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods 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
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Mechanical Engineering (AREA)
  • Endoscopes (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
JP2016525871A 2013-10-25 2014-10-24 溝付きの操縦可能なチューブを備えるフレキシブルな器具 Active JP6887250B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361895761P 2013-10-25 2013-10-25
US61/895,761 2013-10-25
PCT/US2014/062160 WO2015061674A1 (en) 2013-10-25 2014-10-24 Flexible instrument with grooved steerable tube

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2021012087A Division JP7072688B2 (ja) 2013-10-25 2021-01-28 溝付きの操縦可能なチューブを備えるフレキシブルな器具

Publications (3)

Publication Number Publication Date
JP2016538031A JP2016538031A (ja) 2016-12-08
JP2016538031A5 JP2016538031A5 (cg-RX-API-DMAC7.html) 2017-11-30
JP6887250B2 true JP6887250B2 (ja) 2021-06-16

Family

ID=52993613

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2016525871A Active JP6887250B2 (ja) 2013-10-25 2014-10-24 溝付きの操縦可能なチューブを備えるフレキシブルな器具
JP2021012087A Active JP7072688B2 (ja) 2013-10-25 2021-01-28 溝付きの操縦可能なチューブを備えるフレキシブルな器具

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2021012087A Active JP7072688B2 (ja) 2013-10-25 2021-01-28 溝付きの操縦可能なチューブを備えるフレキシブルな器具

Country Status (6)

Country Link
US (3) US10716637B2 (cg-RX-API-DMAC7.html)
EP (3) EP3060289B1 (cg-RX-API-DMAC7.html)
JP (2) JP6887250B2 (cg-RX-API-DMAC7.html)
KR (1) KR102338048B1 (cg-RX-API-DMAC7.html)
CN (1) CN105682729B (cg-RX-API-DMAC7.html)
WO (1) WO2015061674A1 (cg-RX-API-DMAC7.html)

Families Citing this family (51)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12220538B2 (en) 2008-12-08 2025-02-11 Scientia Vascular, Inc. Micro-fabricated intravascular devices having varying diameters
US11406791B2 (en) 2009-04-03 2022-08-09 Scientia Vascular, Inc. Micro-fabricated guidewire devices having varying diameters
JP6795977B2 (ja) 2013-10-25 2020-12-02 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 埋め込み駆動管路を持つ可撓性器具
CN105682729B (zh) 2013-10-25 2019-06-18 直观外科手术操作公司 具有带槽的可操控管的柔性器械
US10939967B2 (en) * 2015-01-22 2021-03-09 Koninklijke Philips N.V. Robotic control of an endovascular deployment device with optical shape sensing feedback
US10575754B2 (en) 2015-09-23 2020-03-03 Covidien Lp Catheter having a sensor and an extended working channel
US20190105112A1 (en) * 2016-03-31 2019-04-11 Koninklijke Philips N.V. Image guided robot for catheter placement
KR102369534B1 (ko) * 2016-07-14 2022-03-03 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 기기용 경로 제공 기구와, 관련 장치, 시스템, 및 방법
US11052228B2 (en) 2016-07-18 2021-07-06 Scientia Vascular, Llc Guidewire devices having shapeable tips and bypass cuts
US11207502B2 (en) 2016-07-18 2021-12-28 Scientia Vascular, Llc Guidewire devices having shapeable tips and bypass cuts
US10646689B2 (en) 2016-07-29 2020-05-12 Cephea Valve Technologies, Inc. Mechanical interlock for catheters
US10729886B2 (en) 2016-08-24 2020-08-04 Intuitive Surgical Operations, Inc. Axial support structure for a flexible elongate device
US10463439B2 (en) * 2016-08-26 2019-11-05 Auris Health, Inc. Steerable catheter with shaft load distributions
US11109967B2 (en) 2016-08-29 2021-09-07 Cephea Valve Technologies, Inc. Systems and methods for loading and deploying an intravascular device
US11452541B2 (en) 2016-12-22 2022-09-27 Scientia Vascular, Inc. Intravascular device having a selectively deflectable tip
US11529190B2 (en) 2017-01-30 2022-12-20 Covidien Lp Enhanced ablation and visualization techniques for percutaneous surgical procedures
ES2869148T3 (es) * 2017-05-26 2021-10-25 Scientia Vascular Llc Dispositivo médico microfabricado con una disposición de corte no helicoidal
BR112019013585A8 (pt) * 2017-06-29 2023-03-07 Univ Texas Aparelho cirúrgico endoluminal, método de cirurgia endoluminal e instrumento cirúrgico
US10835716B2 (en) * 2017-07-31 2020-11-17 Board Of Regents Of The University Of Texas System Steerable medical device and the preparing method thereof
CA3014975A1 (en) * 2017-09-20 2019-03-20 Bio-Medical Engineering (HK) Limited Endoscopic systems, devices, and methods
US11305095B2 (en) 2018-02-22 2022-04-19 Scientia Vascular, Llc Microfabricated catheter having an intermediate preferred bending section
US20190282305A1 (en) * 2018-03-16 2019-09-19 Acclarent, Inc. Navigation sleeve for medical instrument
WO2019198061A1 (en) 2018-04-13 2019-10-17 Universidade Do Minho Guidance system, method and devices thereof
US10872449B2 (en) 2018-05-02 2020-12-22 Covidien Lp System and method for constructing virtual radial ultrasound images from CT data and performing a surgical navigation procedure using virtual ultrasound images
EP3793458B8 (en) 2018-05-18 2024-09-25 Vascular Technology, Incorporated Articulating microsurgical instrument
US11071591B2 (en) 2018-07-26 2021-07-27 Covidien Lp Modeling a collapsed lung using CT data
US11529038B2 (en) 2018-10-02 2022-12-20 Elements Endoscopy, Inc. Endoscope with inertial measurement units and / or haptic input controls
US20210386972A1 (en) * 2018-10-25 2021-12-16 Canon U.S.A., Inc. Medical apparatus with reflow trapped anchors and method of use thereof
EP3873319A4 (en) 2018-10-31 2022-12-14 Canon U.S.A., Inc. MEDICAL DEVICE WITH REFLOW CONTAINMENT ANCHORS AND METHOD OF USE THEREOF
US11583168B2 (en) * 2018-11-08 2023-02-21 Thomas J. Viren Endotracheal tube system and method
US12011555B2 (en) 2019-01-15 2024-06-18 Scientia Vascular, Inc. Guidewire with core centering mechanism
US11975157B2 (en) 2019-04-12 2024-05-07 Covidien Lp Method of manufacturing an elongated catheter having multiple sensors for three-dimensional location of the catheter
US20200345975A1 (en) * 2019-05-02 2020-11-05 Scientia Vascular, Llc Intravascular device with enhanced one-beam cut pattern
US12042209B2 (en) 2019-05-16 2024-07-23 Intuitive Surgical Operations, Inc. Insert guide members for surgical instruments, and related devices, systems, and methods
CN113747933B (zh) * 2019-05-24 2024-09-03 贝克顿·迪金森公司 铰接式加强套管、通路装置、及其方法
CN113040844B (zh) * 2019-12-26 2024-08-16 杭州德晋医疗科技有限公司 介入式锁结装置
WO2021129058A1 (zh) * 2019-12-26 2021-07-01 杭州德晋医疗科技有限公司 介入式锁结装置
EP4090269B1 (en) * 2020-01-16 2025-06-11 Smith & Nephew, Inc. Articulating shaft of a surgical device
US12343485B2 (en) 2020-01-23 2025-07-01 Scientia Vascular, Inc. High torque guidewire device
US12178975B2 (en) 2020-01-23 2024-12-31 Scientia Vascular, Inc. Guidewire having enlarged, micro-fabricated distal section
US12064191B2 (en) 2020-06-03 2024-08-20 Covidien Lp Surgical tool navigation using sensor fusion
US11701492B2 (en) 2020-06-04 2023-07-18 Covidien Lp Active distal tip drive
US12383352B2 (en) 2020-08-13 2025-08-12 Covidien Lp Endoluminal robotic (ELR) systems and methods
US12256923B2 (en) 2020-08-13 2025-03-25 Covidien Lp Endoluminal robotic systems and methods for suturing
US12161309B2 (en) 2020-09-24 2024-12-10 Covidien Lp Articulating mechanism for the laparoscopic ablation device for blunt dissection
US12296112B2 (en) 2020-10-05 2025-05-13 Scientia Vascular, Inc. Microfabricated catheter devices with high axial strength
US20220257093A1 (en) * 2021-02-18 2022-08-18 Acclarent, Inc. Flexible sensor assembly for ent instrument
US20250049451A1 (en) * 2021-12-20 2025-02-13 Shashvat M. Desai Aspiration catheter
US12303220B2 (en) 2022-01-26 2025-05-20 Covidien Lp Autonomous endobronchial access with an EM guided catheter
WO2023150055A1 (en) * 2022-02-01 2023-08-10 Endoquest Robotics, Inc. Systems and method for trans-luminal introduction of a medical device
US20240216092A1 (en) * 2022-12-30 2024-07-04 Auris Health, Inc. Elongate member with coupler to provide radial transition of translating member

Family Cites Families (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5251611A (en) 1991-05-07 1993-10-12 Zehel Wendell E Method and apparatus for conducting exploratory procedures
AU3321893A (en) 1991-12-23 1993-07-28 Pharmacia Deltec Inc. Guide wire apparatus with location sensing member
US5438975A (en) 1993-03-24 1995-08-08 Machida Endoscope Co., Ltd. Distal tip of endoscope having spirally coiled control wires
US6380732B1 (en) 1997-02-13 2002-04-30 Super Dimension Ltd. Six-degree of freedom tracking system having a passive transponder on the object being tracked
GB9713018D0 (en) 1997-06-20 1997-08-27 Secr Defence Optical fibre bend sensor
US6450948B1 (en) * 1999-11-02 2002-09-17 Vista Medical Technologies, Inc. Deflecting tip for surgical cannula
US6858005B2 (en) * 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
US6623448B2 (en) 2001-03-30 2003-09-23 Advanced Cardiovascular Systems, Inc. Steerable drug delivery device
US6616628B2 (en) * 2001-11-16 2003-09-09 Cardiac Pacemakers, Inc. Steerable catheter with a longitudinally adjustable curved core
US20040199052A1 (en) 2003-04-01 2004-10-07 Scimed Life Systems, Inc. Endoscopic imaging system
US7772541B2 (en) 2004-07-16 2010-08-10 Luna Innnovations Incorporated Fiber optic position and/or shape sensing based on rayleigh scatter
US20060013523A1 (en) 2004-07-16 2006-01-19 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
US7781724B2 (en) 2004-07-16 2010-08-24 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
US8273285B2 (en) 2005-01-10 2012-09-25 St. Jude Medical, Atrial Fibrillation Division, Inc. Steerable catheter and methods of making the same
US7959601B2 (en) * 2005-02-14 2011-06-14 Biosense Webster, Inc. Steerable catheter with in-plane deflection
EP1927312A1 (en) * 2005-09-22 2008-06-04 Olympus Corporation Endoscope insertion part
JP2009516574A (ja) 2005-11-22 2009-04-23 ネオガイド システムズ， インコーポレイテッド 曲げ可能な装置の形状を決定する方法
WO2007120329A2 (en) 2005-12-30 2007-10-25 Intuitive Surgical, Inc. Modular force sensor
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US20090062606A1 (en) * 2007-08-31 2009-03-05 Hoya Corporation Endoscope guiding tube device
JP2009056054A (ja) 2007-08-31 2009-03-19 Hoya Corp 内視鏡案内管装置
US9220398B2 (en) * 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments
CA2711593C (en) 2008-01-14 2017-04-25 Boston Scientific Scimed, Inc. Catheter with stable position during guide wire exchange
WO2009094511A1 (en) * 2008-01-24 2009-07-30 Boston Scientific Scimed, Inc. Structure for use as part of a medical device
EP2664270B1 (en) 2008-02-05 2016-10-19 Steerable Instruments BVBA Steerable tube
US20100168717A1 (en) 2008-12-30 2010-07-01 Grasse Martin M Multi-lumen medical devices and methods of manufacturing same
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US20110015648A1 (en) 2009-07-16 2011-01-20 Hansen Medical, Inc. Endoscopic robotic catheter system
JP2011194126A (ja) * 2010-03-23 2011-10-06 Fujifilm Corp 内視鏡若しくは処置具のガイド管
US9055960B2 (en) * 2010-11-15 2015-06-16 Intuitive Surgical Operations, Inc. Flexible surgical devices
JP5817181B2 (ja) * 2011-03-31 2015-11-18 住友ベークライト株式会社 医療機器
US8900131B2 (en) 2011-05-13 2014-12-02 Intuitive Surgical Operations, Inc. Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery
US9138166B2 (en) 2011-07-29 2015-09-22 Hansen Medical, Inc. Apparatus and methods for fiber integration and registration
US20130096385A1 (en) 2011-10-14 2013-04-18 Intuitive Surgical Operations, Inc. Vision probe and catheter systems
US9452276B2 (en) * 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
US8961550B2 (en) * 2012-04-17 2015-02-24 Indian Wells Medical, Inc. Steerable endoluminal punch
US9033917B2 (en) 2012-08-15 2015-05-19 Abbott Cardiovascular Systems Inc. Needle catheter for delivery of agents directly into vessel wall
JP6795977B2 (ja) 2013-10-25 2020-12-02 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 埋め込み駆動管路を持つ可撓性器具
CN105682729B (zh) 2013-10-25 2019-06-18 直观外科手术操作公司 具有带槽的可操控管的柔性器械

Also Published As

Publication number Publication date
US12011241B2 (en) 2024-06-18
KR20160075521A (ko) 2016-06-29
US20200345436A1 (en) 2020-11-05
JP7072688B2 (ja) 2022-05-20
EP3060289A1 (en) 2016-08-31
EP3060289A4 (en) 2017-05-10
JP2016538031A (ja) 2016-12-08
US20160256230A1 (en) 2016-09-08
EP3395394A1 (en) 2018-10-31
CN105682729A (zh) 2016-06-15
KR102338048B1 (ko) 2021-12-10
EP3653156A1 (en) 2020-05-20
EP3060289B1 (en) 2018-06-27
CN105682729B (zh) 2019-06-18
US10716637B2 (en) 2020-07-21
EP3653156B1 (en) 2023-08-02
WO2015061674A1 (en) 2015-04-30
US20240299110A1 (en) 2024-09-12
EP3395394B1 (en) 2020-02-19
JP2021072933A (ja) 2021-05-13

Similar Documents

Publication Publication Date Title
JP7072688B2 (ja) 溝付きの操縦可能なチューブを備えるフレキシブルな器具
US20210212783A1 (en) Flexible instrument with embedded actuation conduits
US20220152356A1 (en) Flexible instrument with nested conduits
JP6816243B2 (ja) スタイレット及び最小侵襲システム
KR20200139199A (ko) 가변 굽힘 강성 프로파일을 갖는 의료 기구
CN110996829A (zh) 柔性细长装置系统和方法
US20230128263A1 (en) Elongate flexible systems with articulation joint assembly
CN118846342A (zh) 用于选择性地使柔性器械刚性化的系统和方法
WO2025015163A2 (en) Systems and methods for flexible medical device articulation
CN119867830A (zh) 具有可铰接主体部分支撑结构的柔性细长装置
CN119097357A (zh) 具有轴向支撑结构的柔性细长装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20171019

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20171019

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180904

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180831

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20181116

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20190423

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190710

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200107

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200403

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20200929

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210128

C60 Trial request (containing other claim documents, opposition documents)

Free format text: JAPANESE INTERMEDIATE CODE: C60

Effective date: 20210128

A911 Transfer to examiner for re-examination before appeal (zenchi)

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20210209

C21 Notice of transfer of a case for reconsideration by examiners before appeal proceedings

Free format text: JAPANESE INTERMEDIATE CODE: C21

Effective date: 20210216

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20210511

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210518

R150 Certificate of patent or registration of utility model

Ref document number: 6887250

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250