JP7275056B2 - 電気焼灼手術器具の給電 - Google Patents

電気焼灼手術器具の給電 Download PDF

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Publication number
JP7275056B2
JP7275056B2 JP2019571026A JP2019571026A JP7275056B2 JP 7275056 B2 JP7275056 B2 JP 7275056B2 JP 2019571026 A JP2019571026 A JP 2019571026A JP 2019571026 A JP2019571026 A JP 2019571026A JP 7275056 B2 JP7275056 B2 JP 7275056B2
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Prior art keywords
electrocautery
instrument
axis
drive
pair
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Japanese (ja)
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JP2020524576A (ja
JP2020524576A5 (enExample
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グローヴァー・サイモン・ロダリック
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CMR Surgical Ltd
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CMR Surgical Ltd
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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
    • A61B18/12—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
    • 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
    • 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
    • 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
    • A61B18/12—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
    • 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
    • A61B18/12—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
    • A61B18/1206—Generators therefor
    • 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
    • A61B18/12—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
    • 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
    • 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
    • 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
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • 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
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • 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
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/00172—Connectors and adapters therefor
    • A61B2018/00178—Electrical connectors
    • 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
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/00184—Moving parts
    • 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
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00595—Cauterization
    • 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
    • A61B18/12—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
    • A61B18/1206—Generators therefor
    • A61B2018/1246—Generators therefor characterised by the output polarity
    • A61B2018/126—Generators therefor characterised by the output polarity bipolar
    • 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
    • A61B18/12—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
    • A61B2018/1405—Electrodes having a specific shape
    • A61B2018/1422—Hook
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0204—Operational features of power management
    • A61B2560/0214—Operational features of power management of power generation or supply
    • 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
    • A61B34/72—Micromanipulators
    • 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
    • A61B34/74—Manipulators with manual electric input means

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Otolaryngology (AREA)
  • Plasma & Fusion (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
JP2019571026A 2017-06-21 2018-06-20 電気焼灼手術器具の給電 Active JP7275056B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1709902.9 2017-06-21
GB1709902.9A GB2563631B (en) 2017-06-21 2017-06-21 Powering an electrocautery surgical instrument
PCT/GB2018/051716 WO2018234795A1 (en) 2017-06-21 2018-06-20 FEEDING A SURGICAL INSTRUMENT FOR ELECTROCAUTIZATION

Publications (3)

Publication Number Publication Date
JP2020524576A JP2020524576A (ja) 2020-08-20
JP2020524576A5 JP2020524576A5 (enExample) 2021-05-13
JP7275056B2 true JP7275056B2 (ja) 2023-05-17

Family

ID=59462317

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019571026A Active JP7275056B2 (ja) 2017-06-21 2018-06-20 電気焼灼手術器具の給電

Country Status (8)

Country Link
US (1) US12478421B2 (enExample)
EP (1) EP3641683B8 (enExample)
JP (1) JP7275056B2 (enExample)
CN (2) CN110799141B (enExample)
AU (1) AU2018288005B2 (enExample)
BR (1) BR112019027017A2 (enExample)
GB (1) GB2563631B (enExample)
WO (1) WO2018234795A1 (enExample)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
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US11439376B2 (en) 2018-03-07 2022-09-13 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US11992286B2 (en) 2018-03-07 2024-05-28 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
CN111970985B (zh) 2018-03-07 2024-12-03 直观外科手术操作公司 具有易组装构件的低摩擦小型医疗工具
EP3773302B1 (en) 2018-04-10 2025-06-04 Intuitive Surgical Operations, Inc. Articulable medical devices having flexible wire routing
GB2579380B (en) 2018-11-29 2022-07-06 Cmr Surgical Ltd Internal structure of a robotic surgical instrument
US11628028B2 (en) 2018-12-31 2023-04-18 Asensus Surgical Us, Inc. Articulating surgical instrument
CN111166468B (zh) * 2020-02-21 2024-11-05 哈尔滨思哲睿智能医疗设备股份有限公司 一种手术电凝钩
CN112043389B (zh) * 2020-09-30 2025-06-17 深圳市精锋医疗科技股份有限公司 手术器械、从操作设备及手术机器人
CN112690836B (zh) * 2020-12-24 2022-12-02 上海微创医疗机器人（集团）股份有限公司 器械末端、器械末端组件及手术器械
CN112690902A (zh) * 2021-03-25 2021-04-23 成都博恩思医学机器人有限公司 一种电钩结构
GB2609033B (en) * 2021-07-19 2025-05-21 Cmr Surgical Ltd A robotic surgical instrument
WO2023163572A1 (ko) * 2022-02-28 2023-08-31 주식회사 리브스메드 수술용 인스트루먼트 및 이를 포함하는 수술 로봇
JP7900097B2 (ja) * 2022-07-26 2026-08-04 深▲セン▼康諾思騰科技有限公司 手術機器のエンドエフェクタ機構及び手術機器
GB2623831B (en) * 2022-10-31 2025-02-12 Cmr Surgical Ltd Arrangement of an electrosurgical instrument
GB2623832B (en) * 2022-10-31 2025-06-18 Cmr Surgical Ltd Arrangement of an electrosurgical instrument
WO2024171000A1 (en) * 2023-02-14 2024-08-22 Covidien Lp Surgical robotic system with integrated electrosurgical unit in a surgical instrument
CN116473679A (zh) * 2023-02-20 2023-07-25 深圳康诺思腾科技有限公司 手术器械和手术机器人
WO2025022273A1 (en) * 2023-07-21 2025-01-30 Cilag Gmbh International Surgical end effector with monopolar hook and related methods
CN117180111B (zh) * 2023-09-21 2025-11-07 嘉善飞阔医疗科技有限公司 一种可视同时具备多方向导向功能的喂养管
CN120284446A (zh) * 2024-01-11 2025-07-11 利思梅德株式会社 手术用器械操作部和具有该手术用器械操作部的电灼手术用器械
CN118058843B (zh) * 2024-02-28 2025-07-22 山东威高手术机器人有限公司 末端执行器及电外科手术器械
CN121015275A (zh) * 2025-10-29 2025-11-28 艺柏湾医疗科技(上海)有限公司 一种多自由度手术机器人末端执行器

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020111621A1 (en) 1999-01-22 2002-08-15 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US20050240178A1 (en) 2000-12-29 2005-10-27 Intuitive Surgical, Inc. Bipolar cauterizing instrument
JP2008161970A (ja) 2006-12-28 2008-07-17 Terumo Corp マニピュレータ
US20090326530A1 (en) 2008-06-30 2009-12-31 Intuitive Surgical, Inc. Vessel sealing instrument with stepped jaw
WO2017098270A1 (en) 2015-12-10 2017-06-15 Cambridge Medical Robotics Ltd Surgical instrument articulation

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US8398634B2 (en) * 2002-04-18 2013-03-19 Intuitive Surgical Operations, Inc. Wristed robotic surgical tool for pluggable end-effectors
US7083615B2 (en) * 2003-02-24 2006-08-01 Intuitive Surgical Inc Surgical tool having electrocautery energy supply conductor with inhibited current leakage
US8771270B2 (en) 2008-07-16 2014-07-08 Intuitive Surgical Operations, Inc. Bipolar cautery instrument
US9204923B2 (en) * 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US20140005640A1 (en) * 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Surgical end effector jaw and electrode configurations
CN103405271B (zh) * 2013-08-05 2015-07-01 上海交通大学 一种多功能腹腔微创手术工具
GB201521807D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Surgical instrument shaft spokes
GB2563632B (en) 2017-06-21 2021-12-29 Cmr Surgical Ltd Powering a bipolar electrocautery surgical instrument
US10973600B2 (en) * 2017-09-29 2021-04-13 Ethicon Llc Power axle wrist for robotic surgical tool

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020111621A1 (en) 1999-01-22 2002-08-15 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US20050240178A1 (en) 2000-12-29 2005-10-27 Intuitive Surgical, Inc. Bipolar cauterizing instrument
JP2008161970A (ja) 2006-12-28 2008-07-17 Terumo Corp マニピュレータ
US20090326530A1 (en) 2008-06-30 2009-12-31 Intuitive Surgical, Inc. Vessel sealing instrument with stepped jaw
WO2017098270A1 (en) 2015-12-10 2017-06-15 Cambridge Medical Robotics Ltd Surgical instrument articulation
JP2018538067A (ja) 2015-12-10 2018-12-27 シーエムアール・サージカル・リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ 手術器具の関節部

Also Published As

Publication number Publication date
GB2563631B (en) 2021-11-24
GB201709902D0 (en) 2017-08-02
BR112019027017A2 (pt) 2020-06-30
AU2018288005A1 (en) 2020-01-16
AU2018288005B2 (en) 2022-12-15
JP2020524576A (ja) 2020-08-20
EP3641683B1 (en) 2024-09-25
EP3641683B8 (en) 2024-10-30
US12478421B2 (en) 2025-11-25
CN110799141A (zh) 2020-02-14
CN110799141B (zh) 2023-08-15
EP3641683A1 (en) 2020-04-29
US20200138510A1 (en) 2020-05-07
WO2018234795A1 (en) 2018-12-27
CN116898588A (zh) 2023-10-20
GB2563631A (en) 2018-12-26

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