JP7428761B2 - ステープラビーム構造 - Google Patents
ステープラビーム構造 Download PDFInfo
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- JP7428761B2 JP7428761B2 JP2022133148A JP2022133148A JP7428761B2 JP 7428761 B2 JP7428761 B2 JP 7428761B2 JP 2022133148 A JP2022133148 A JP 2022133148A JP 2022133148 A JP2022133148 A JP 2022133148A JP 7428761 B2 JP7428761 B2 JP 7428761B2
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- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
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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
本出願は、2016年9月9日に出願された米国仮出願第62/385,636号の利益を主張し、その全開示はその全体が全ての目的に対して参照により本出願に援用される。
(付記1) 上側ジョー部および下側ジョー部を有するエンドエフェクタであって、手首部が前記エンドエフェクタを細長いシャフトに接続する、エンドエフェクタと:
前記上側ジョー部および前記下側ジョー部内で並進するように配置されているビーム部材であって、前記上側ジョー部に移動可能に結合するための第1の部分および前記下側ジョー部に移動可能に結合するための第2の部分を有する、ビーム部材と;
前記ビーム部材に接続され、前記手首部内に柔軟に収容され、引張力を前記ビーム部材に加える、引張アセンブリと;
前記ビーム部材に接続され、前記手首部内に柔軟に収容され、圧縮力を前記ビーム部材に加える、押圧アセンブリと;
を有する、
装置。
(付記2) 前記引張アセンブリは、細長いケーブルを有する、
付記1に記載の装置。
(付記3) 前記押圧アセンブリは、前記細長いケーブルを囲む内腔を有する、
付記2に記載の装置。
(付記4) 前記押圧アセンブリは、密巻ばねを有する、
付記1に記載の装置。
(付記5) 前記密巻ばねは、円筒形の外面を有する、
付記4に記載の装置。
(付記6) 前記密巻ばねは、境界を接する凸面および凹面を有する、
付記4に記載の装置。
(付記7) 前記密巻ばねは、螺旋状に切断されたチューブ含む、
付記1に記載の装置。
(付記8) 前記押圧アセンブリは、凹部のパターンを有するチューブを有する、
付記1に記載の装置。
(付記9) 前記引張アセンブリは、編組シースを有する、
付記1に記載の装置。
(付記10) 前記押圧アセンブリは、張力下で分離する複数の押圧要素を有する、
付記1に記載の装置。
(付記11) 前記押圧アセンブリは、複数の球形部材を有する、
付記1に記載の装置。
(付記12) 前記引張アセンブリは、前記複数の球形部材を収容する内腔を画定する、
付記11に記載の装置。
(付記13) 前記球形部材は、可撓性ロッドによって連結される、
付記12に記載の装置。
(付記14) 前記押圧アセンブリは、複数の別々の要素であって、前記要素間の横方向の相対的滑りを一方向に制限する境界面を有する、複数の別々の要素を有する、
付記1に記載の装置。
(付記15) 前記押圧アセンブリは、複数の別々の要素であって、前記要素間の相対的なねじれを防止する境界面を有する、複数の別々の要素を有する、
付記1に記載の装置。
(付記16) 前記押圧アセンブリは、平ワッシャの積み重ねを有する、
付記1に記載の装置。
(付記17) 前記押圧アセンブリは、円環ディスクの積み重ねを有する、
付記1に記載の装置。
(付記18) 前記押圧アセンブリは、複数の板金バンドを有する、
付記1に記載の装置。
(付記19) 前記押圧アセンブリは、前記複数の板金バンドがそれを通って延在する管腔を画定する矩形ワッシャの積み重ねを有する、
付記18に記載の装置。
(付記20) 前記手首部は、中に収容された前記引張アセンブリおよび前記押圧アセンブリとともにピッチ回転およびヨー回転するように構成される、
付記1に記載の装置。
(付記21) 前記引張アセンブリおよび前記押圧アセンブリの曲げ剛性は、ピッチおよびヨーにおいて同じである、
付記20に記載の装置。
(付記22) 上側ジョー部および下側ジョー部を有するエンドエフェクタであって、手首部が前記エンドエフェクタを細長いシャフトに接続する、エンドエフェクタと:
前記上側ジョー部および前記下側ジョー部内で並進するように配置されているビーム部材であって、前記上側ジョー部に移動可能に結合するための第1の部分および前記下側ジョー部に移動可能に結合するための第2の部分を有する、ビーム部材と;
圧縮力を前記ビーム部材に伝達する押圧アセンブリおよび引張力を前記ビーム部材に伝達する引張アセンブリを有する、作動アセンブリと;
を有する、
手術装置。
(付記23) 前記引張アセンブリは、細長いケーブルを有する、
付記22に記載の手術装置。
(付記24) 前記押圧アセンブリは、前記細長いケーブルを囲む内腔を有する、
付記23に記載の手術装置。
(付記25) 前記細長いケーブルは、編組内腔を有する、
付記23に記載の手術装置。
(付記26) 前記押圧アセンブリは、密巻ばねを有する、
付記22に記載の手術装置。
(付記27) 前記密巻ばねは、円筒形の外面を有する、
付記26に記載の手術装置。
(付記28) 前記密巻ばねは、境界を接する凸面および凹面を有する、
付記26に記載の手術装置。
(付記29) 前記密巻ばねは、螺旋状に切断されたチューブ含む、
付記26に記載の手術装置。
(付記30) 前記押圧アセンブリは、凹部のパターンを有するチューブを有する、
付記22に記載の手術装置。
(付記31) 前記押圧アセンブリは、張力下で分離する複数の押圧要素を有する、
付記22に記載の手術装置。
(付記32) 前記押圧アセンブリは、複数の球形部材を有する、
付記31に記載の手術装置。
(付記33) 前記引張アセンブリは、前記球形部材を収容する内腔を画定する、
付記32に記載の手術装置。
(付記34) 前記球形部材は、可撓性ロッドによって連結される、
付記33に記載の手術装置。
(付記35) 前記押圧アセンブリは、複数の別々の要素であって、前記要素間の横方向の相対的滑りを一方向に制限する境界面を有する、複数の別々の要素を有する、
付記22に記載の手術装置。
(付記36) 前記押圧アセンブリは、複数の別々の要素であって、前記要素間の相対的なねじれを防止する境界面を有する、複数の別々の要素を有する、
付記22に記載の手術装置。
(付記37) 前記押圧アセンブリは、平ワッシャの積み重ねを有する、
付記22に記載の手術装置。
(付記38) 前記押圧アセンブリは、円環ディスクの積み重ねを有する、
付記22に記載の手術装置。
(付記39) 前記引張アセンブリは、複数の板金バンドを有する、
付記22に記載の手術装置。
(付記40) 前記押圧アセンブリは、前記複数の板金バンドがそれを通って延在する管腔を画定する矩形ワッシャの積み重ねを有する、
付記39に記載の手術装置。
(付記41) 前記押圧アセンブリは、可撓性ロッドの一次元アレイを有し、
前記引張アセンブリは、前記可撓性ロッドの一次元アレイを有し、
前記可撓性ロッドの一次元アレイは、前記引張力を前記ビーム部材に伝達し、
前記可撓性ロッドの一次元アレイは、前記圧縮力を前記ビーム部材に伝達する、
付記22に記載の手術装置。
(付記42) 前記押圧アセンブリは、ニッケル-チタンロッドを有し、
前記引張アセンブリは、前記ニッケル-チタンロッドを有し、
前記ニッケル-チタンロッドは、前記引張力を前記ビーム部材に伝達し、
前記ニッケル-チタンロッドは、前記圧縮力を前記ビーム部材に伝達する、
付記22に記載の手術装置。
Claims (15)
- エンドエフェクタと:
器具シャフトと;
前記エンドエフェクタを前記器具シャフトに移動可能に接続する手首部アセンブリであって、前記手首部アセンブリは、前記器具シャフトに対する前記エンドエフェクタのヨー運動および前記器具シャフトに対する前記エンドエフェクタのピッチ運動を生成するように動作可能であり、前記手首部アセンブリは、近位外側リンク、近位内側リンク、中間外側リンク、遠位内側リンク、及び遠位外側リンクを有し、前記遠位外側リンクは前記中間外側リンクから遠位にオフセットされ、前記中間外側リンクは前記近位外側リンクから遠位にオフセットされ、前記エンドエフェクタの前記ピッチ運動は前記エンドエフェクタの前記ヨー運動に対して横方向になり、前記近位外側リンクは、近位内側リンク近位軸周りの前記近位外側リンクと前記近位内側リンクとの間の相対回転のために、前記近位内側リンクの近位端部と回転可能に結合され、前記中間外側リンクは、近位内側リンク遠位軸周りの前記中間外側リンクと前記近位内側リンクとの間の相対回転のために、前記近位内側リンクの遠位端部と回転可能に結合され、前記近位内側リンク遠位軸は、前記近位内側リンク近位軸に平行且つ前記近位内側リンク近位軸から遠位にオフセットされ、前記器具シャフトに対する前記エンドエフェクタの前記ヨー運動は、前記近位外側リンクと前記中間外側リンクとの間の相対運動によって生成され、前記中間外側リンクは、遠位内側リンク近位軸周りの前記中間外側リンクと前記遠位内側リンクとの間の相対回転のために、前記遠位内側リンクの近位端部と回転可能に結合され、前記遠位外側リンクは、遠位内側リンク遠位軸周りの前記遠位外側リンクと前記遠位内側リンクとの間の相対回転のために、前記遠位内側リンクの遠位端部と回転可能に結合され、前記遠位内側リンク遠位軸は、前記遠位内側リンク近位軸に平行且つ前記遠位内側リンク近位軸から遠位にオフセットされ、前記器具シャフトに対する前記エンドエフェクタの前記ピッチ運動は、前記中間外側リンクと前記遠位外側リンクとの間の相対運動によって生成され、前記近位内側リンクは、近位内側リンク内部通路を有し、前記遠位内側リンクは、遠位内側リンク内部通路を有する、手首部アセンブリと;
圧縮力を前記エンドエフェクタに伝達するように構成された押圧アセンブリおよび引張力を前記エンドエフェクタに伝達するように構成された細長い引張部材を有する作動アセンブリであって、前記押圧アセンブリは、管腔であって、前記細長い引張部材が前記管腔を通って延びる、管腔を有し、前記作動アセンブリは前記近位内側リンク内部通路および前記遠位内側リンク内部通路を通って延びる、作動アセンブリと;
を有する、
手術ツール。 - ロボットマニピュレータに取り外し可能に取り付けられるように構成された近位シャシーであって、前記近位シャシーは、前記ロボットマニピュレータの出力カプラとインタフェース接続されて駆動されるように構成された入力カプラを有する、近位シャシーと;
前記器具シャフト内に配置された駆動ロッドであって、前記器具シャフトに対する前記駆動ロッドの並進のために前記入力カプラと駆動可能に結合され、前記作動アセンブリは前記駆動ロッドの遠位端に取り付けられる、駆動ロッドと;をさらに有する、
請求項1に記載の手術ツール。 - 前記細長い引張部材は、細長いケーブルを有する、
請求項1に記載の手術ツール。 - 前記押圧アセンブリは、密巻ばねを有する、
請求項1に記載の手術ツール。 - 前記密巻ばねの周方向外面は、円筒形の外面を有する、
請求項4に記載の手術ツール。 - 前記密巻ばねの軸方向外面は、境界を接する凸面および凹面を有する、
請求項4に記載の手術ツール。 - 前記密巻ばねは、チューブから、前記チューブに螺旋パターンを切ることによって形成される、
請求項4に記載の手術ツール。 - 前記密巻ばねは、チューブから、前記チューブの周方向外面に凹部のパターンを形成することによって形成される、
請求項4に記載の手術ツール。 - 前記押圧アセンブリは、前記細長い引張部材に沿って配置された複数の別々の押圧要素を有する、
請求項1に記載の手術ツール。 - 前記押圧アセンブリは、別々の要素であって、前記別々の要素間の横方向の相対的滑りを一方向に制限する境界面を有する、別々の要素を有する、
請求項1に記載の手術ツール。 - 前記押圧アセンブリは、別々の要素であって、前記別々の要素間の相対的なねじれを防止する境界面を有する、別々の要素を有する、
請求項1に記載の手術ツール。 - 前記押圧アセンブリは、前記細長い引張部材に沿って整列され且つ配置された平ワッシャの積み重ねを有する、
請求項1に記載の手術ツール。 - 前記押圧アセンブリは、円環ディスクの積み重ねを有する、
請求項1に記載の手術ツール。 - 前記細長い引張部材は、板金バンドを有する、
請求項1に記載の手術ツール。 - 前記押圧アセンブリは、前記細長い引張部材に沿って整列され且つ配置された矩形ワッシャの積み重ねを有する、
請求項14に記載の手術ツール。
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US20190239967A1 (en) | 2019-08-08 |
KR20240052889A (ko) | 2024-04-23 |
JP2024028614A (ja) | 2024-03-04 |
US20220071719A1 (en) | 2022-03-10 |
JP2022173192A (ja) | 2022-11-18 |
US11166773B2 (en) | 2021-11-09 |
JP7130627B2 (ja) | 2022-09-05 |
KR20230093353A (ko) | 2023-06-27 |
CN109788952A (zh) | 2019-05-21 |
KR20190040484A (ko) | 2019-04-18 |
EP3509505A4 (en) | 2020-08-26 |
WO2018049198A1 (en) | 2018-03-15 |
WO2018049198A9 (en) | 2019-03-28 |
KR102544993B1 (ko) | 2023-06-20 |
EP3509505A1 (en) | 2019-07-17 |
JP2019526386A (ja) | 2019-09-19 |
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