JP6887997B2 - 無制限ロールを付与するハンドル機構 - Google Patents

無制限ロールを付与するハンドル機構 Download PDF

Info

Publication number
JP6887997B2
JP6887997B2 JP2018517149A JP2018517149A JP6887997B2 JP 6887997 B2 JP6887997 B2 JP 6887997B2 JP 2018517149 A JP2018517149 A JP 2018517149A JP 2018517149 A JP2018517149 A JP 2018517149A JP 6887997 B2 JP6887997 B2 JP 6887997B2
Authority
JP
Japan
Prior art keywords
handle
end effector
axis
rotation
joint
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
JP2018517149A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018529468A (ja
JP2018529468A5 (enExample
Inventor
ボウレス，グレゴリー，ブライアン
リクト，ジェームズ，マイケル
ジマーマン，ザッカリー
アウタール，ショーヤ
シャルマ，ディーパク
ガイガー，ジェームズ，ダンカン
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Flexdex inc
Original Assignee
Flexdex inc
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 Flexdex inc filed Critical Flexdex inc
Publication of JP2018529468A publication Critical patent/JP2018529468A/ja
Publication of JP2018529468A5 publication Critical patent/JP2018529468A5/ja
Application granted granted Critical
Publication of JP6887997B2 publication Critical patent/JP6887997B2/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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/04—Surgical instruments, devices or methods for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • 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
    • 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
    • A61B2017/00389—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0042—Surgical instruments, devices or methods with special provisions for gripping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0042—Surgical instruments, devices or methods with special provisions for gripping
    • A61B2017/00424—Surgical instruments, devices or methods with special provisions for gripping ergonomic, e.g. fitting in fist
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0042—Surgical instruments, devices or methods with special provisions for gripping
    • A61B2017/00442—Surgical instruments, devices or methods with special provisions for gripping connectable to wrist or forearm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • 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
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ophthalmology & Optometry (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
JP2018517149A 2015-10-02 2016-10-03 無制限ロールを付与するハンドル機構 Active JP6887997B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562236835P 2015-10-02 2015-10-02
US62/236,835 2015-10-02
PCT/US2016/055195 WO2017059442A1 (en) 2015-10-02 2016-10-03 Handle mechanism providing unlimited roll

Publications (3)

Publication Number Publication Date
JP2018529468A JP2018529468A (ja) 2018-10-11
JP2018529468A5 JP2018529468A5 (enExample) 2019-11-07
JP6887997B2 true JP6887997B2 (ja) 2021-06-16

Family

ID=58427923

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018517149A Active JP6887997B2 (ja) 2015-10-02 2016-10-03 無制限ロールを付与するハンドル機構

Country Status (5)

Country Link
US (2) US9814451B2 (enExample)
EP (1) EP3355808B1 (enExample)
JP (1) JP6887997B2 (enExample)
CN (1) CN108712886B (enExample)
WO (1) WO2017059442A1 (enExample)

Families Citing this family (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10405936B2 (en) 2008-04-11 2019-09-10 The Regents Of The University Of Michigan Parallel kinematic mechanisms with decoupled rotational motions
IL302177A (en) 2014-09-04 2023-06-01 Memic Innovative Surgery Ltd Device control with mechanical arms
KR102153407B1 (ko) * 2015-02-17 2020-09-08 주식회사 리브스메드 수술용 인스트루먼트
US11344381B2 (en) 2015-02-17 2022-05-31 Livsmed Inc. Instrument for surgery
WO2016161449A1 (en) 2015-04-03 2016-10-06 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission
BR112018006826A2 (pt) 2015-10-05 2018-10-16 Flexdex Inc dispositivos médicos que têm juntas multi-cluster que se articulam suavemente
US11896255B2 (en) 2015-10-05 2024-02-13 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
CN209548018U (zh) 2016-02-25 2019-10-29 弗莱克斯德克斯公司 并联运动机构
ES2856865T3 (es) 2016-03-09 2021-09-28 Memic Innovative Surgery Ltd Dispositivo quirúrgico modular que comprende brazos mecánicos
US10072743B1 (en) 2016-09-02 2018-09-11 Michael Brian Wittig Rotary-to-linear transmission system
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US11779410B2 (en) * 2017-03-09 2023-10-10 Momentis Surgical Ltd Control console including an input arm for control of a surgical mechanical arm
JP7008924B2 (ja) * 2017-11-01 2022-01-25 学校法人国士舘 マニピュレータおよび手術支援ロボットシステム
CN109984804B (zh) * 2017-12-29 2023-12-26 江苏木偶医疗科技有限公司 一种微创手术钳
NL2020421B1 (en) * 2018-02-12 2019-08-19 Deam Holding B V Surgical instrument with mechanically operable lever
US10441449B1 (en) 2018-05-30 2019-10-15 Vesper Medical, Inc. Rotary handle stent delivery system and method
US10449073B1 (en) 2018-09-18 2019-10-22 Vesper Medical, Inc. Rotary handle stent delivery system and method
CN113474337A (zh) 2018-12-19 2021-10-01 奥瑞生物药品公司 作为fgfr抑制剂用于治疗癌症的7-((3，5-二甲氧基苯基)氨基)喹喔啉衍生物
WO2020131627A1 (en) 2018-12-19 2020-06-25 Array Biopharma Inc. Substituted pyrazolo[1,5-a]pyridine compounds as inhibitors of fgfr tyrosine kinases
SG10202005706YA (en) * 2019-06-20 2021-01-28 Ss Innovations China Co Ltd Surgeon input device for minimally invasive surgery
US11666404B2 (en) * 2019-08-28 2023-06-06 Cilag Gmbh International Articulating including antagonistic controls for articulation and calibration
US11850013B2 (en) 2020-04-17 2023-12-26 Cilag Gmbh International Surgical systems and methods for robotic actuation of continuum joints
US11219541B2 (en) 2020-05-21 2022-01-11 Vesper Medical, Inc. Wheel lock for thumbwheel actuated device
US20230040475A1 (en) * 2020-06-02 2023-02-09 Flexdex, Inc. Surgical tool and assembly
KR20230018456A (ko) * 2020-06-02 2023-02-07 플렉스덱스 인코포레이티드 수술 도구 및 조립체
CN111803144B (zh) * 2020-07-14 2022-02-15 武汉联影智融医疗科技有限公司 一种无限制滚转手柄结构
CN111820961B (zh) * 2020-07-16 2025-08-26 武汉联影智融医疗科技有限公司 微创手术器械
EP4166094A4 (en) * 2020-06-12 2024-07-10 Wuhan United Imaging Healthcare Surgical Technology Co., Ltd. WRIST ATTACHMENT, CONTROL HANDLE, SERIAL MOVEMENT MECHANISM AND MINIMALLY INVASIVE SURGICAL INSTRUMENT
CN111803210B (zh) * 2020-06-23 2022-02-11 武汉联影智融医疗科技有限公司 一种手腕附接装置及远程访问器械
EP4178470A4 (en) * 2020-07-13 2024-10-23 Flexdex, Inc. UNLIMITED ROLLER HANDLE SET
US20220175441A1 (en) * 2020-09-17 2022-06-09 Flexdex, Inc. Detachable surgical tool configured as a finite state machine
CN112338939B (zh) * 2020-10-28 2021-09-14 武汉大学 一种用于机械臂控制的六维操作手柄
WO2022094345A1 (en) * 2020-10-29 2022-05-05 Flexdex, Inc. Modular end-effector jaw closure transmission systems
CN113100851B (zh) * 2021-04-29 2022-06-03 武汉联影智融医疗科技有限公司 控制手柄及缝合器
CN113925569B (zh) * 2021-11-10 2025-06-24 泰州优合医疗科技有限公司 腔镜手术器械用万向钳
CN114081618B (zh) * 2021-11-29 2025-01-07 常州市春曦光电科技有限责任公司 腹腔镜下多自由度动作感应双极电凝钳
WO2024036872A1 (zh) * 2022-08-19 2024-02-22 武汉联影智融医疗科技有限公司 一种手持式器械
CN115517740A (zh) * 2022-09-20 2022-12-27 易达医(北京)健康科技有限公司 体腔内手术操作系统及手术用操作手柄
CN116407215B (zh) * 2023-04-03 2025-04-25 浙江大学 一种穿戴式多自由度可弯曲的手术器械
USD1105427S1 (en) 2023-04-14 2025-12-09 Flexdex, Inc. Handheld laparoscopic surgical instrument
CN116230454B (zh) * 2023-05-09 2023-09-26 浙江英洛华新能源科技有限公司 具有动簧片防偏转机构的继电器
WO2025019563A1 (en) * 2023-07-17 2025-01-23 Flexdex, Inc. Electrical energy connection assembly and handheld electrosurgical tool
CN117717379A (zh) * 2024-02-18 2024-03-19 生一科技(北京)有限公司 一种多自由度微创器械

Family Cites Families (128)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB937587A (en) 1961-08-17 1963-09-25 Ass Elect Ind Improvements relating to coil winding machines
US3497083A (en) 1968-05-10 1970-02-24 Us Navy Tensor arm manipulator
US4328839A (en) 1980-09-19 1982-05-11 Drilling Development, Inc. Flexible drill pipe
JPS5920946Y2 (ja) 1981-05-30 1984-06-18 株式会社トミー ロボツトハンド玩具
JPS58132490A (ja) 1982-01-29 1983-08-06 株式会社日立製作所 角度伝達機構
US4712545A (en) 1984-04-05 1987-12-15 Acufex Microsurgical, Inc. Surgical instrument
US4754909A (en) 1984-08-09 1988-07-05 Barker John M Flexible stapler
JPS6233801U (enExample) 1985-08-14 1987-02-27
US4950273A (en) 1987-10-26 1990-08-21 Briggs Jeffrey M Cable action instrument
US5021969A (en) 1988-03-17 1991-06-04 Kabushiki Kaisha Toshiba Manipulator operating apparatus
JPH0646935B2 (ja) 1990-04-09 1994-06-22 工業技術院長 マスタスレイブ・マイクロ機構
US5069596A (en) 1990-07-10 1991-12-03 Lawter International, Inc. Bulk bag handling and discharging apparatus
US5209747A (en) 1990-12-13 1993-05-11 Knoepfler Dennis J Adjustable angle medical forceps
US5147357A (en) 1991-03-18 1992-09-15 Rose Anthony T Medical instrument
US5317952A (en) 1991-11-22 1994-06-07 Kinetic Sciences Inc. Tentacle-like manipulators with adjustable tension lines
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US5297443A (en) 1992-07-07 1994-03-29 Wentz John D Flexible positioning appendage
US5374277A (en) 1992-10-09 1994-12-20 Ethicon, Inc. Surgical instrument
US5330502A (en) 1992-10-09 1994-07-19 Ethicon, Inc. Rotational endoscopic mechanism with jointed drive mechanism
US5350391A (en) 1992-10-19 1994-09-27 Benedetto Iacovelli Laparoscopic instruments
US5323570A (en) 1993-01-25 1994-06-28 General Motors Corporation Door opening cable system with cable slack take-up
CA2114330A1 (en) 1993-01-29 1994-07-30 Smith & Nephew Endoscopy, Inc. Rotatable curved instrument
DE4306786C1 (de) 1993-03-04 1994-02-10 Wolfgang Daum Chirurgischer Manipulator
EP0699053B1 (en) 1993-05-14 1999-03-17 Sri International Surgical apparatus
US5368600A (en) 1993-07-23 1994-11-29 Ethicon, Inc. Steerable bulldog clamp applier
US5560532A (en) * 1993-10-08 1996-10-01 United States Surgical Corporation Apparatus and method for applying surgical staples to body tissue
US5456695A (en) 1993-10-25 1995-10-10 United States Surgical Corporation Multi-tool surgical apparatus
US5454827A (en) 1994-05-24 1995-10-03 Aust; Gilbert M. Surgical instrument
US5807376A (en) 1994-06-24 1998-09-15 United States Surgical Corporation Apparatus and method for performing surgical tasks during laparoscopic procedures
US5549637A (en) 1994-11-10 1996-08-27 Crainich; Lawrence Articulated medical instrument
US5713505A (en) 1996-05-13 1998-02-03 Ethicon Endo-Surgery, Inc. Articulation transmission mechanism for surgical instruments
US5683412A (en) 1994-12-23 1997-11-04 Symbiosis Corporation Force-limiting control member for endoscopic instruments and endoscopic instruments incorporating same
US5860995A (en) 1995-09-22 1999-01-19 Misener Medical Co. Inc. Laparoscopic endoscopic surgical instrument
US5820009A (en) 1996-02-20 1998-10-13 Richard-Allan Medical Industries, Inc. Articulated surgical instrument with improved jaw closure mechanism
DE19608716C1 (de) 1996-03-06 1997-04-17 Aesculap Ag Bipolares chirurgisches Faßinstrument
US5626608A (en) 1996-03-29 1997-05-06 United States Surgical Corporation Surgical instrument having locking handle
US5735874A (en) 1996-06-21 1998-04-07 Ethicon Endo-Surgery, Inc. Variable position handle locking mechanism
US5782748A (en) 1996-07-10 1998-07-21 Symbiosis Corporation Endoscopic surgical instruments having detachable proximal and distal portions
DE19652792C2 (de) 1996-12-18 1999-05-27 Storz Karl Gmbh & Co Medizinisches Handhabungsgerät, insbesondere für endoskopische Anwendungen
US6330837B1 (en) 1997-08-28 2001-12-18 Microdexterity Systems, Inc. Parallel mechanism
US6714839B2 (en) 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
US20080177285A1 (en) 1998-02-24 2008-07-24 Hansen Medical, Inc. Surgical instrument
WO2000067640A2 (en) 1999-05-10 2000-11-16 Brock Rogers Surgical Inc. Surgical instrument
US6309403B1 (en) 1998-06-01 2001-10-30 Board Of Trustees Operating Michigan State University Dexterous articulated linkage for surgical applications
US6852107B2 (en) 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
JP2000193893A (ja) 1998-12-28 2000-07-14 Suzuki Motor Corp 検査用挿入管の屈曲装置
US6312435B1 (en) 1999-10-08 2001-11-06 Intuitive Surgical, Inc. Surgical instrument with extended reach for use in minimally invasive surgery
US6902560B1 (en) 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
JP4014792B2 (ja) 2000-09-29 2007-11-28 株式会社東芝 マニピュレータ
EP1199840A1 (en) 2000-10-19 2002-04-24 THOMSON multimedia Method for connecting an IEEE1394 remote device to a cluster of IEEE1394 devices through a wireless link
US20030135204A1 (en) 2001-02-15 2003-07-17 Endo Via Medical, Inc. Robotically controlled medical instrument with a flexible section
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
JP3926119B2 (ja) 2001-08-10 2007-06-06 株式会社東芝 医療用マニピュレータ
JP3631450B2 (ja) 2001-08-22 2005-03-23 株式会社東芝 マニピュレータ
US7261728B2 (en) 2002-03-15 2007-08-28 Ethicon Endo-Surgery, Inc. Biopsy forceps device and method
JP3680050B2 (ja) 2002-09-18 2005-08-10 株式会社東芝 医療用マニピュレータ及びその制御方法
JP3912251B2 (ja) 2002-10-02 2007-05-09 株式会社日立製作所 マニピュレータ
EP2359768B1 (en) 2002-12-06 2018-10-03 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
JP4286571B2 (ja) 2003-03-31 2009-07-01 独立行政法人科学技術振興機構 手術装置
US7591783B2 (en) 2003-04-01 2009-09-22 Boston Scientific Scimed, Inc. Articulation joint for video endoscope
US8182417B2 (en) 2004-11-24 2012-05-22 Intuitive Surgical Operations, Inc. Articulating mechanism components and system for easy assembly and disassembly
US7410483B2 (en) 2003-05-23 2008-08-12 Novare Surgical Systems, Inc. Hand-actuated device for remote manipulation of a grasping tool
US7121781B2 (en) 2003-06-11 2006-10-17 Intuitive Surgical Surgical instrument with a universal wrist
DE10327655A1 (de) 2003-06-20 2005-01-27 Karl Storz Gmbh & Co. Kg Medizinisches Instrument
JP4460857B2 (ja) 2003-06-23 2010-05-12 オリンパス株式会社 外科手術用システム
US7708756B2 (en) 2003-09-29 2010-05-04 Ethicon Endo-Surgery, Inc. Actuation mechanism for flexible endoscopic device
US7147650B2 (en) 2003-10-30 2006-12-12 Woojin Lee Surgical instrument
EP1723913A1 (en) 2004-03-10 2006-11-22 Olympus Corporation Treatment tool for surgery
JP2007130485A (ja) 2004-03-30 2007-05-31 Toshiba Corp マニピュレータ装置
US7678117B2 (en) 2004-06-07 2010-03-16 Novare Surgical Systems, Inc. Articulating mechanism with flex-hinged links
US7553275B2 (en) 2004-08-31 2009-06-30 Surgical Solutions Llc Medical device with articulating shaft
NO322126B1 (no) 2004-09-29 2006-08-21 Sinvent As Artikulert styrbart element og en robotslange omfattende en hudstruktur og en brannslukkende dyse
US9700334B2 (en) 2004-11-23 2017-07-11 Intuitive Surgical Operations, Inc. Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools
EP1887961B1 (en) 2005-06-06 2012-01-11 Intuitive Surgical Operations, Inc. Laparoscopic ultrasound robotic surgical system
US20070078565A1 (en) 2005-10-03 2007-04-05 Modjtaba Ghodoussi Telerobotic system that transmits changed states of a subsystem
US8080004B2 (en) 2005-10-26 2011-12-20 Earl Downey Laparoscopic surgical instrument
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US9561045B2 (en) 2006-06-13 2017-02-07 Intuitive Surgical Operations, Inc. Tool with rotation lock
US7967813B2 (en) 2006-06-13 2011-06-28 Intuitive Surgical Operations, Inc. Surgical instrument control and actuation
US8551076B2 (en) 2006-06-13 2013-10-08 Intuitive Surgical Operations, Inc. Retrograde instrument
US8029531B2 (en) 2006-07-11 2011-10-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
JP4654165B2 (ja) 2006-08-08 2011-03-16 テルモ株式会社 作業機構及びマニピュレータ
US7708758B2 (en) 2006-08-16 2010-05-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7736254B2 (en) 2006-10-12 2010-06-15 Intuitive Surgical Operations, Inc. Compact cable tension tender device
US9220398B2 (en) 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments
US20090171147A1 (en) 2007-12-31 2009-07-02 Woojin Lee Surgical instrument
AU2009234288B2 (en) 2008-04-11 2014-07-10 The Regents Of The University Of Michigan Minimal access tool
US10405936B2 (en) 2008-04-11 2019-09-10 The Regents Of The University Of Michigan Parallel kinematic mechanisms with decoupled rotational motions
US9629689B2 (en) 2008-04-11 2017-04-25 Flexdex, Inc. Attachment apparatus for remote access tools
US8888834B2 (en) 2008-07-02 2014-11-18 Cook Medical Technologies Llc Deployment assembly and introducer
US8540748B2 (en) 2008-07-07 2013-09-24 Intuitive Surgical Operations, Inc. Surgical instrument wrist
US8771270B2 (en) 2008-07-16 2014-07-08 Intuitive Surgical Operations, Inc. Bipolar cautery instrument
US8801752B2 (en) 2008-08-04 2014-08-12 Covidien Lp Articulating surgical device
KR100999466B1 (ko) 2008-08-12 2010-12-09 정창욱 최소 침습 수술 도구 및 그 사용 방법
US8465475B2 (en) 2008-08-18 2013-06-18 Intuitive Surgical Operations, Inc. Instrument with multiple articulation locks
US8834353B2 (en) 2008-09-02 2014-09-16 Olympus Medical Systems Corp. Medical manipulator, treatment system, and treatment method
EP2403421B1 (en) * 2009-03-05 2019-07-31 Covidien LP Endoscopic vessel sealer and divider having a flexible articulating shaft
US20110022078A1 (en) 2009-07-23 2011-01-27 Cameron Dale Hinman Articulating mechanism
US20120271283A1 (en) 2009-08-26 2012-10-25 Carefusion 2200, Inc. Articulated surgical tool
WO2011036626A2 (en) 2009-09-22 2011-03-31 Ariel - University Research And Development Company, Ltd. Orientation controller, mechanical arm, gripper and components thereof
US20110112517A1 (en) * 2009-11-06 2011-05-12 Peine Willliam J Surgical instrument
US20110118708A1 (en) 2009-11-13 2011-05-19 Intuitive Surgical Operations, Inc. Double universal joint
FR2961682B1 (fr) 2010-06-29 2013-03-15 Univ Paris Curie Instrument chirurgical notamment pour chirurgie peritoneale
US8764448B2 (en) 2010-09-01 2014-07-01 Agency For Science, Technology And Research Robotic device for use in image-guided robot assisted surgical training
US9545253B2 (en) 2010-09-24 2017-01-17 Ethicon Endo-Surgery, Llc Surgical instrument with contained dual helix actuator assembly
US8828046B2 (en) 2010-10-14 2014-09-09 Ethicon Endo-Surgery, Inc. Laparoscopic device with distal handle
US9901412B2 (en) 2011-04-29 2018-02-27 Vanderbilt University Dexterous surgical manipulator and method of use
US9161771B2 (en) 2011-05-13 2015-10-20 Intuitive Surgical Operations Inc. Medical instrument with snake wrist structure
US20130012958A1 (en) 2011-07-08 2013-01-10 Stanislaw Marczyk Surgical Device with Articulation and Wrist Rotation
US8603135B2 (en) 2011-07-20 2013-12-10 Covidien Lp Articulating surgical apparatus
WO2013016268A1 (en) 2011-07-22 2013-01-31 Amrani Jacob Implantable lead with tethers
EP2736680B1 (en) 2011-07-27 2015-09-16 Ecole Polytechnique Federale De Lausanne (EPFL) EPFL-TTO Mechanical teleoperated device for remote manipulation
US20130066334A1 (en) 2011-09-08 2013-03-14 Stryker Leibinger Gmbh & Co., Kg Axial Surgical Trajectory Guide
JP5859260B2 (ja) * 2011-09-28 2016-02-10 株式会社トップ 鉗子
US8672206B2 (en) 2011-10-25 2014-03-18 Covidien Lp Apparatus for endoscopic procedures
WO2013098758A1 (en) 2011-12-30 2013-07-04 Koninklijke Philips Electronics N.V. Nested cannulas with guided tools
KR20150050568A (ko) 2012-08-30 2015-05-08 휴먼 익스텐션스 리미티드 사용자 및 복강경 기구 사이의 인터페이스
CN104883991B (zh) 2012-09-19 2018-08-28 南洋理工大学 柔性主从式机器人内窥镜检查系统
CN104780854B (zh) * 2012-11-09 2017-03-08 捷锐士阿希迈公司(以奥林巴斯美国外科技术名义) 具有旋转组件的手术钳
CN103505265B (zh) * 2013-10-24 2015-10-21 姜杰 一种手术用牵引钳
US9801679B2 (en) * 2014-01-28 2017-10-31 Ethicon Llc Methods and devices for controlling motorized surgical devices
IL231054A (en) 2014-02-20 2015-07-30 Tzony Siegal A device for advancing along a curved track and a method for its operation
US20150272580A1 (en) * 2014-03-26 2015-10-01 Ethicon Endo-Surgery, Inc. Verification of number of battery exchanges/procedure count
WO2016030767A1 (en) 2014-08-27 2016-03-03 Distalmotion Sa Surgical system for microsurgical techniques
WO2016063213A1 (en) 2014-10-23 2016-04-28 Koninklijke Philips N.V. Rotatable stabilizer for use of catheter inside an endoscope
DE102014016790A1 (de) 2014-11-14 2016-05-19 Karl Storz Gmbh & Co. Kg Medizinisches Instrument
KR102299112B1 (ko) 2015-03-31 2021-09-07 삼성디스플레이 주식회사 액정 표시 장치
WO2016161449A1 (en) 2015-04-03 2016-10-06 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission

Also Published As

Publication number Publication date
CN108712886A (zh) 2018-10-26
US20180289384A1 (en) 2018-10-11
JP2018529468A (ja) 2018-10-11
EP3355808A1 (en) 2018-08-08
US9814451B2 (en) 2017-11-14
CN108712886B (zh) 2021-06-04
US20170095236A1 (en) 2017-04-06
EP3355808A4 (en) 2019-10-23
WO2017059442A1 (en) 2017-04-06
BR112018006653A2 (pt) 2018-12-18
EP3355808B1 (en) 2022-11-16

Similar Documents

Publication Publication Date Title
JP6887997B2 (ja) 無制限ロールを付与するハンドル機構
US12390293B2 (en) Parallel kinematic mechanisms with decoupled rotational motions
JP5513483B2 (ja) 最小アクセス器具
US20210038865A1 (en) Handle Assembly Providing Unlimited Roll
JP6886459B2 (ja) 遠隔アクセスツール用のエンドエフェクタ顎閉鎖伝達システム
US10325072B2 (en) Mechanical teleoperated device for remote manipulation
US9700337B2 (en) Surgical instrument with disengageable handle
US9629689B2 (en) Attachment apparatus for remote access tools
US10405936B2 (en) Parallel kinematic mechanisms with decoupled rotational motions
US20190133698A1 (en) Mechanical manipulator for surgical instruments
EP3282964B1 (en) Attachment apparatus for remote access tools
US20210369360A1 (en) Mechanical manipulator for surgical instruments
US11896255B2 (en) End-effector jaw closure transmission systems for remote access tools
US20230064250A1 (en) Input handles for a surgeon console of a robotic surgical system
CN116322537A (zh) 提供无限制滚动的手柄组件
CN118922145A (zh) 手术用器械和包括其的手术机器人
BR112018006653B1 (pt) Aparelho de conjunto da manopla de rolagem ilimitada

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190926

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190926

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20200909

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200915

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20201211

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20210210

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210308

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20210323

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210402

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: 20210427

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210519

R150 Certificate of patent or registration of utility model

Ref document number: 6887997

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