JPH1043189A - 外科器械用の関節運動伝達機構 - Google Patents
外科器械用の関節運動伝達機構Info
- Publication number
- JPH1043189A JPH1043189A JP9134470A JP13447097A JPH1043189A JP H1043189 A JPH1043189 A JP H1043189A JP 9134470 A JP9134470 A JP 9134470A JP 13447097 A JP13447097 A JP 13447097A JP H1043189 A JPH1043189 A JP H1043189A
- Authority
- JP
- Japan
- Prior art keywords
- deck
- teeth
- articulation
- detent
- end effector
- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- 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
- A61B17/07207—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 the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
- A61B2017/2913—Handles transmission of forces to actuating rod or piston cams or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
- A61B2017/2923—Toothed members, e.g. rack and pinion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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, e.g. tourniquets
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2946—Locking means
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
動させる。 【解決手段】 組立体が第1の位置にあるときは、複数
のラチェット歯を有する圧縮可能なデッキが移動止めハ
ウジングの歯と適合し組み合わせられる。デッキに回転
力を加えるために移動止めハウジングにアクチュエータ
ーが取り付けられる。駆動部材がデッキと連絡され、デ
ッキの回転運動を、駆動部材に取り付けられた長い伝導
部材の軸方向運動に変換する。アクチュエーターに回転
力が加えられると、デッキの歯を移動止めハウジングの
歯との組合いから外すようにデッキが圧縮される。
Description
視鏡下外科処置を行うための外科器械に関する。特に、
内視鏡外科の現場において外科医が使い易くかつ高度の
信頼をもって器械を正確に位置決めできる伝達機構に関
する。
科処置中、体腔内の外科処置部位へのアクセスは体壁に
作られた小直径の開口部を通して行われる。このアクセ
スによく使われる器具は套管針である。套管針は栓子と
カニューレとを有する組立体である。栓子はアクセス用
の開口部を設けるために体壁を穿刺するように使用され
る鋭い先端を持つ。栓子は、中空で円筒状スリーブであ
るカニューレ内を滑る。栓子が体壁を貫通すると、栓子
はカニューレから取り出される。しかし、カニューレは
栓子により体壁に作られた開口部内の定位置に留まる。
従って、カニューレは、体腔内の外科処置部位へのアク
セスを得るための円筒状通路を提供する。
な形態は套管針カニューレを通って滑り得る長い円筒状
のシャフトである。希望の外科処置を実行するために何
らかの方法で組織を取り扱うために、体腔内の外科処置
部位において組織と接触する器械の端部であるシャフト
の作業端部に「エンドエフェクター」が設けられる。エ
ンドエフェクターを有する作業端部も同様に套管針カニ
ューレを通って摺動できなければならない。シャフトの
反対側の端部には、エンドエフェクターの作業を遠隔制
御するために作業端部に機能的に連結されたアクチュエ
ーターがある。通常は、アクチュエーターは1個又は複
数個の旋回引き金を有するピストル型のグリップハンド
ルを備えたフレーム内に収容される。或いは、アクチュ
エーターはレバー、或いは旋回引き金とレバーとの組合
せを有することができる。アクチュエーターは、外科医
が引き金を引き、又はレバーを押し下げたときに作動す
る。これらの作用がエンドエフェクターにその希望の機
能を行わせる。
織を操作するようにエンドエフェクターを操作するより
前に、エンドエフェクターを内視鏡下外科処置部位内の
希望位置に注意深く位置決めしなければならない。ま
た、例えば組織を適切に連結するためにステープルをあ
る方向に打ち出さねばならない場合は、エンドエフェク
ターを適切な方向に位置決めしなければならない。従っ
て、内視鏡外科器械は、外科医が器械の作業端部のエン
ドエフェクターの方向と位置とを変えることができる機
構を備えることが普通である。この機構は、外科医がそ
の手で器械を握りながらこれらの機構を容易に操作でき
制御できるように、これを器械のフレーム又はその近く
で操作できねばならないことは言うまでもない。
向を変えるためにエンドエフェクターをそのシャフトの
長手方向軸線まわりに回転させたいことが度々ある。こ
のため、多くの内視鏡外科器械は、フレームの近くにノ
ブ又はダイヤルを備え、これは、外科医の手で操作され
たときに器械のシャフトを回転させ、従ってエンドエフ
ェクターを回転させる。
エンドエフェクターがシャフトの長手方向軸線に関して
「関節運動」された位置に位置決めされるようにエンド
エフェクターを旋回させる能力である。このため、内視
鏡器械は、内視鏡下外科処置部位内でエンドエフェクタ
ーを正確に位置決めさせるために、エンドエフェクター
を遠隔的に関節運動させるようにフレーム又はその近く
に関節運動用のノブ又はダイヤルを備えることが多い。
内視鏡外科器械用のこれら関節運動機構の多くの例があ
る。例えば、米国特許4728020号、486941
4号、5312023号、5326013号、5330
502号、5374277号、5381943号、53
83888号、5403342号、5405344号、
5409498号、5411519号、5417203
号及び5456684号の再吟味が奨められる。エンド
エフェクターを回転させる関節運動機構は、1994年
6月10日付け米国同時係属出願259322号、及び
1995年5月18日付け442783号にも説明され
る。
エンドエフェクターを曲げる機構を説明する1994年
12月19日付け米国同時係属出願359107号も興
味のあるものである。
入でき、また文献に説明されているが、関節運動を制御
する機構には重大な欠陥がある。器械のエンドエフェク
ターを希望の位置に関節運動させるとき、エンドエフェ
クターを希望の外科作用を行うよう操作するより前に、
エンドエフェクターが組織に押し付けられることがしば
しばある。ある場合には、外科医は、外科機能を行うた
めにエンドエフェクターを正確に操作するために部位内
に十分な空間を形成するように組織を後退させ又は切開
することを希望し、このため故意に組織を押すように関
節式エンドエフェクターを使用する。具合悪いことに、
関節運動された位置でエンドエフェクターに力を加えた
ときに、エンドエフェクターがその希望の関節運動され
た位置から押されることがしばしば起こる。言い換えれ
ば、エンドエフェクターはその希望の関節運動位置から
「戻され」、別の希望しない関節運動位置に動かされ、
或いはその最初の関節運動なしの位置に戻される。これ
は明らかに克服したい厄介なことである。
22号に説明されたように)適正な位置決めを維持する
するために関節運動で決められた位置からの運動に対す
る抵抗を関節式組立体に与えた場合は、外科医がエンド
エフェクターをその希望の関節運動位置に関節運動させ
るときに相当した抵抗を同様に与えなければならない。
換言すれば、外科医は、関節運動位置からの運動に対す
るエンドエフェクターの抵抗の対応した増加のために関
節運動用のノブ又はダイヤルにより大きな力又はトルク
を加えねばならない。
ターに加える力が大き過ぎると、エンドエフェクターを
戻すだけでなく、関節運動組立体の構成要素を破損させ
致命的な故障を導く可能性がある。
エンドエフェクターであって、適正に位置決めするよう
に遠隔的に関節運動させることのできるエンドエフェク
ターを特徴として備えることが必要である。エンドエフ
ェクターを遠隔的に関節運動させる能力は、器械のフレ
ームをエンドエフェクターから分離している長い円筒状
シャフトを特徴として備えた内視鏡外科器械にとって特
に重要である。関節運動用の機構は、エンドエフェクタ
ーに力が加えられたとき、関節運動位置にあるエンドエ
フェクターの運動に望ましく抵抗することが重要であ
る。加えて、エンドエフェクターの関節運動なしの位置
から関節運動位置への位置決めには大きな力の必要のな
い抵抗が与えられるべきである。更に、関節運動された
エンドエフェクターに大き過ぎる力が加えられた場合に
は関節運動機構をリセットして構成要素の破損を防ぐ構
成要素の破損防止のためのフェイルセイフ機構が設けら
れることが好ましい。
においては、関節運動伝達機構組立体を備えた関節式外
科器械である。関節運動伝達機構組立体は器械のエンド
エフェクターを遠隔的に関節運動させる。関節運動伝達
機構組立体は、移動止めハウジング、圧縮可能なデッ
キ、アクチュエーター、及び駆動部材を持つ。関節運動
伝達機構組立体のこれら構成要素の各が簡単に説明され
るであろう。
る。これはハウジング内に複数に移動止め歯を備える。
備える。デッキ歯は、関節運動伝達機構組立体が第1の
固定位置にあるとき、移動止めハウジングの移動止め歯
と噛み合って組み合わせられる。
取り付けられる。これがデッキに回転力を加える。アク
チュエーターによりデッキに回転力を加えられると、デ
ッキは圧縮される。デッキが圧縮すると、デッキ歯が移
動止め歯から外される。歯の外れにより、デッキの第1
の固定位置から第2の固定位置へのラチェット回転が容
易に行える。
材がデッキと連絡している。これが、デッキの回転運動
を、駆動部材に取り付けられた長い伝導部材の軸方向運
動に変換する。
体は、外科医に器械のエンドエフェクターを遠隔的に関
節運動させる能力を提供する。アクチュエーターの回転
は、エンドエフェクターを関節運動させる長い伝導部材
の軸方向運動を与える。
ーの回転はデッキ歯を移動止めハウジングから外し、回
転に対する抵抗を大きく減らす。従って、回転抵抗が減
らされるとエンドエフェクターの希望の関節運動がより
容易になる。アクチュエーターに回転力が加えられない
場合は、関節運動伝達機構組立体は固定位置に留まる。
エンドエフェクターが固定された関節運動位置にあると
きは、デッキはアクチュエーターの回転からの圧縮を受
けないため、歯を外し関節運動位置を変えるにはエンド
エフェクターにより大きな力を加えねばならない。この
ため、外科医が関節運動のためにアクチュエーターを回
転させたいとき、回転の抵抗は、関節運動されたエンド
エフェクターに力が加えられるとき克服すべき抵抗より
相当に小さい。
体はエンドエフェクターのラチェット回転を提供する。
デッキ歯を移動止めハウジングの歯から外すために力を
加えることはできるが、関節運動伝達機構組立体の構成
要素が受け得る力の大きさは限定される。従って、本発
明の関節運動伝達機構組立体は構成要素の破損防止のた
めのフェイルセイフ機構を提供する。
鏡外科用に特に適した関節運動式外科用器械が提供され
る。この器械は、その第1の端部に器械の握り用及び操
作用のハンドグリップを有するフレームを備える。長い
内視鏡用シャフトがこのフレームから伸びる。シャフト
は長手方向軸線を持つ。器械は、希望の外科処置を行う
ように組織を取り扱うために、器械の反対側の端部にシ
ャフトと連絡しているエンドエフェクターを持つ。エン
ドエフェクターは、シャフト長手方向軸線と平行な第1
の位置からこの軸線に対して角度をなす第2の位置への
エンドエフェクターの関節接運動を提供するように動く
ことができる。
1の位置から第2の位置に遠隔的に関節運動させるため
にフレームに隣接した関節運動伝達機構組立体を持つ。
この関節運動伝達機構組立体は、ノズル及び関節運動機
構本体を備える。ノズルはシャフトと組み合わせられか
つフレームに固定される。これは、シャフト長手方向軸
線と一般に平行な貫通孔のある本体を持つ。また、これ
は、ノズル本体から伸びている移動止めハウジングも持
つ。移動止めハウジングはその中に複数の移動止め歯を
収容する。関節運動機構本体がノズル本体の移動止めハ
ウジング内に取り付けられ、複数の非固定位置間に間隔
を空けておかれた複数の固定位置からの回転運動を防
ぐ。関節運動機構本体はデッキ、駆動部材及びレバーを
持つ。これら構成要素の簡単な説明がなされるであろ
う。
2の移動止めにより分離され間隔を空けられた1対のデ
ッキ半分体を持つ。デッキ半分体の各は複数のデッキ歯
を持つ。デッキ歯は移動止めハウジングの移動止め歯と
相互作用する関係位置に置かれる。関節運動機構本体が
固定位置の一つにあるときは、デッキ歯は移動止め歯と
噛み合う。対照的に、関節運動機構本体が非固定位置の
一つにあるときは、デッキ歯は移動止め歯と噛み合わな
い。
み合わせられる。駆動部材はノズル本体の孔の中に下が
る。これは、これに取り付けられた第1及び第2の長い
伝導部材を持つ。これら伝導部材は孔を通ってシャフト
内を伸び、関節運動伝達機構組立体の作動に応じてエン
ドエフェクターを遠隔的に関節運動させる。
関節運動機構本体を回転させるために関節運動伝達機構
組立体のレバーが関節運動機構本体に固定される。この
レバーは、移動止めハウジングに取り付けられたキャッ
プを持つ。キャップは、デッキのデッキ半分体をキャッ
プの頂部に取り付けるために、デッキ半分体の第1及び
第2の移動止めを受け入れるためのキャップ内のスロッ
トを持つ。
が加えられたとき、キャップ内のスロットが第1及び第
2の移動止めを互いに近づくように強制することが重要
である。このとき、デッキ歯は移動止め歯から引かれ、
移動止めハウジング内での関節運動機構本体の固定位置
から非固定位置への回転が容易になる。
フレームに隣接したエンドエフェクターの遠隔的な関節
運動を容易にするので内視鏡外科器械に特に適してい
る。加えて、移動止めハウジングの歯からデッキの歯を
引き出すためにデッキ半分体を互いに近づけるように強
制するレバーのキャップのスロットの使用は、外科医が
エンドエフェクターを関節運動させたいときにレバーに
加えねばならない回転力を減らすための簡単かつ効果的
な機構である。事実上、関節運動機構本体の間隔を空け
られたデッキ半分体は、関節運動機構本体内の圧縮可能
なデッキ組立体を提供する。レバーが回されると、スロ
ットの壁がデッキ半分体の第1及び第2の移動止めに圧
縮力を加え、デッキ半分体を一緒になるように強制す
る。このようにしてデッキ歯は移動止め歯から容易に引
き出される。
本発明の外科器械のエンドエフェクターは外科用連結具
(ファスナー)組立体であり、この器械は内視鏡下外科
処置に特に適した関節式の外科用ステープラーである。
この外科用連結具組立体はステープルカートリッジを受
け入れる長い溝に向かい合った長いアンビルを持つ。こ
の外科用連結具組立体は組織をクランプし、次いでこの
クランプされた組織にステープルを射出することができ
る。
ェクターを最良に位置決めするために器械のエンドエフ
ェクターを遠隔的に関節運動させることが望ましいいか
なる外科用にも使用できる。遠隔式の関節運動は、通常
の開腹外科処置用にも望ましいが内視鏡下外科処置用に
おいて特に望ましい。
関節運動式の内視鏡用ステープラー20が示される。こ
のステープラーは、第1の手元側端部21に、使用者が
ステープラーを握って操作できるように作られたフレー
ム22を持つ。フレームは、使用者の手のひらに入る静
止したハンドグリップ23、及び組織を遠隔的にクラン
プしクランプされた組織内にステープルを打ち込むため
の旋回可能に取り付けられたクランプ用及び射出用の引
き金24及び25を備える。
科用連結具組立体27の形式のエンドエフェクターがあ
る。この外科用連結具組立体は、多数のステープルを収
容している外科用カートリッジを受け入れるようにされ
た細長い溝29に向かい合った細長いアンビル28を持
つ(外科用カートリッジは図示せず)。細長い内視鏡用
シャフト30がステープラーのフレーム22から伸びて
フレームを外科用連結具組立体27に連結する。
の回転に応じて組織を遠隔的にクランプしクランプされ
た組織内にステープル打ち込むためのフレーム内の好ま
しい作動用組立体が、米国特許5465895号及び共
通して譲渡された1995年4月28日付け同時係属出
願08/431105号に説明される。これら両者は参
考文献としてここに組み入れられる。細長い溝から間隔
を空けられた第1の位置からこの溝に隣接した第2の位
置にアンビルを強制するための外科用連結具組立体内の
好ましいクランプ機構が、譲渡された1995年9月1
9日付け同時係属出願08/530931号に説明され
る。これも参考文献として本明細書に取り入れられる。
ステープラー20は、フレーム22をステープラーの細
長い内視鏡用シャフト30に連結している関節運動伝達
組立体31を持つ。関節運動伝達組立体が回されると、
これがステープラーの外科用連結具組立体27を遠隔的
に関節運動させる。細長い内視鏡用シャフトは、ステー
プラーの外科用連結具組立体27の関節運動を可能とさ
せる柔軟なネック32を持つ。柔軟なネックは第1及び
第2の柔軟なネック部分33及び34を有し、これらは
第1及び第2の細長い柔軟な伝導用バンド35及び36
を受け入れる。関節式動力伝達機構組立体が回転する
と、第1及び第2の柔軟な伝導用バンドの一方が前向き
に動かされ、他方が後向きに動かされる。柔軟なネック
の第1及び第2の柔軟なネック部分内のバンドの往復運
動に応じて柔軟なネックが曲がって関節運動を提供す
る。関節式内視鏡用テープラーにおける柔軟なネックの
更なる説明は、共に譲渡された本明細書に参考文献とし
て組み入れられた1994年12月19日付け同時係属
出願08/539107に説明される。
3に示される。この組立体の主要構成品はアクチュエー
ター37、関節運動機構本体38及びノズル39であ
る。アクチュエーター37の回転運動がノズル39内の
関節運動機構本体38を対応して回転させる。従って、
第1及び第2の長い伝導用バンド35及び36は、ステ
ープラーの内視鏡用シャフト30の長手方向軸線と平行
で反対向きに軸方向で往復し、内視鏡用シャフトの柔軟
なネックにより外科用連結具組立体の遠隔関節運動をさ
せる。
れば、関節運動機構本体38の詳細図が示される。関節
運動機構本体は第1及び第2の間隔を空けられた半円形
のデッキ半分体41及び42よりなるデッキ40を備え
る。デッキ半分体は互いに向き合いかつ本質的に互いに
鏡像的である。第1及び第2のデッキ半分体はその表面
から突き出て相互に向かい合った第1及び第2の移動止
め43及び44を持つ。各デッキ半分体はデッキ歯45
の組を有し、これらの組は他方のデッキ半分体のデッキ
歯の組と約180゜離される。
ス46も持つ。ベースはその面から下がっている1対の
回転止め47、並びに1対のフィンガー凹所48を持
つ。ベース46は2組のビーム上でデッキ40を撓み得
るように支持する。第1の内側及び外側の可撓性ビーム
49及び50がベースから上方に伸び、第1のデッキ半
分体41に一体に取り付けられる。同様に、第2の内側
及び外側の可撓性ビーム51及び52がベースから上方
に伸び第2のデッキ半分体42に一体に取り付けられ
る。第1及び第2の外側の可撓性ビーム、並びに第1及
び第2の可撓性ビームは相互に向かい合いに配置され
る。
運動機構本体38は、ベース46から下がっている駆動
歯車53を更に備える。駆動歯車はこれを通る広げられ
た開口部54、及び下方旋回軸55を持つ。駆動歯車の
広げられた開口部内に、射出用引き金の旋回運動に応じ
てクランプされた組織内にステープルを打ち込む射出用
ロッド57を受け入れるための射出用ロッド穴56があ
る(図12参照)。最適に製造するためにベース内に中
心空洞部58が設けられる。駆動歯車は、バンドの望ま
しい往復運動を得るために柔軟な長い伝導用バンド35
及び36上の駆動ラック59及び60に組み合わせられ
る。
に図9及び10と組み合わせて図3に示される。このノ
ズルはノズル本体61を持つ。ノズル本体は、関節運動
機構本体38の駆動歯車53を受け入れるために、軸方
向の貫通穴62を持つ。この穴はフレームから長い内視
鏡用シャフト内への軸方向の連続開口を提供し、従って
射出用ロッド57及びステープラーのその他の機能的な
構成要素は、フレーム22から外科用連結具組立体27
に連絡できる。ノズル本体は、関節運動伝達機構組立体
の本体をフレームに固定するためにフレーム溝63及び
フランジ64も持つ(図1参照)。
ズル本体61から伸びる。ハウジング内に移動止めの歯
66の環状のアレイがある。移動止めハウジングの床6
7が移動止めの歯から間隔を空けておかれる。床67は
ノズル本体61に隣接して配置される。これは1対の突
起78を有し、これら突起は関節運動機構本体の回転止
め47内で相互作用して回転範囲を限定する。関節運動
機構本体が移動止めハウジング内に差し込まれると、関
節運動機構本体のベースが移動止めハウジングの床の上
に座り、デッキ40の第1及び第2のデッキ半分体41
及び42のデッキの歯45が移動止めハウジングの移動
止めの歯66と揃い、本質的に連続した面を提供する。
加えて、関節運動機構本体が差し込まれたとき、駆動歯
車53の下側の旋回軸55が、軸方向の孔62と隣接し
てノズル本体内に一体に位置決めされた旋回穴68内に
受け入れられる(図12参照)。
達機構組立体のアクチュエーター37を示す。アクチュ
エーターは、レバーアーム69、円形のキャップ70、
及び保持用のフランジ71よりなる。レバーアームはキ
ャップの頂部に取り付けられる。1対の保持用フィンガ
ーはキャップの下側から下向きに下がる。保持用フィン
ガーの各は保持用のクリップ72を持つ。保持用のフィ
ンガーは関節運動機構本体38のフィンガー凹所48内
に受け入れられる。キャップの下側(図5)はキャップ
内に埋められたスロット凹所73を持つ。スロット凹所
は、1対の平行なスロット壁74及び斜めの平坦部75
により境界が決められる。結果的に、平行な壁と斜めの
平坦部との間の連結部に圧力点76が設けられる。
び第2の移動止め43及び44は、円形キャップ40の
下側内のスロット凹所73内に差し込まれる。従って、
平行なスロット壁74がデッキの第1及び第2の移動止
めと摩擦接触し、これによりアクチュエーター37を関
節運動機構本体38内に固定する。更に、射出用ロッド
57が駆動歯車53の射出用ロッド穴56を通って受け
入れられたときに関節運動機構本体が保持されるように
関節運動機構本体がノズル本体61の移動止めハウジン
グ65内に差し込まれるときは、キャップ70が移動止
めハウジングの環状のキャップ蓋77上に座るとキャッ
プは移動止めハウジング上に固定される。
成要素、即ちアクチュエーター、関節運動機構本体及び
ノズルは射出成型された部品である。各構成要素を作る
に好ましい材料は、この特許にしようとする出願が提出
された時のものとして、イーエムエス・アメリカン・グ
リオンよりグリヴォリイ(Grivory)GV−4Hの商品
名で市販される繊維ガラスで強化されたアモルファスポ
リアミドである。
ープラー20の関節運動伝達機構組立体31が固定位置
にあるときの組立体が示される。この固定位置において
は、関節運動機構本体38のデッキの歯45は移動止め
ハウジング65の移動止め歯66と出合いそしてこれと
噛み合う。デッキの歯と移動止め歯とのこの組合いがス
テープラーの外科用連結具組立体27を関節運動位置に
固定する。アクチュエーター37のキャップ70の下側
内のスロット凹所73はデッキ40の第1及び第2の半
分体43及び44を摩擦的に受け入れする。
位置にある関節運動伝達機構組立体が示される。非固定
位置においては、デッキの歯は移動止めの歯から外され
組合いが解かれる。関節運動伝達機構組立体の非固定位
置は組立体の固定位置との間で間隔を空けられる。キャ
ップ70のレバーアーム69に回転力が加えられると、
斜めの平坦部75と平行スロット壁74との間の連結部
における圧力点76が、デッキの第1及び第2の移動止
め43及び44を互いに近寄るように強制する。移動止
めが互いに近寄るように強制されると、デッキの第1及
び第2のデッキ半分体41及び42が効果的に互いに近
付き、ノズルの移動止めハウジング内で移動止めの歯と
の組合いからデッキの歯を引き出すことができる。デッ
キ及び移動止めの歯が引きだされ相互の組合いが外され
ると、アクチュエーターのレバーアームに追加の回転力
がかけられない限り、デッキの歯の組の各歯は移動止め
の歯のアレイの関連した歯との噛合いに飛び込むであろ
う。もし追加の力が加えられると、キャップのスロット
凹所内の圧力点は、デッキ半分体を互いに近寄るように
強制し続け、ラチェット回転が生じこれが回転力が解放
されるまで続くであろう。
ット回転が与えられ、対応してステープラーの内視鏡用
シャフトの長手方向軸線より角度を付けられた複数の個
別位置において外科用連結具組立体の関節運動を生じさ
せる。レバーの回転運動に応じたデッキの圧縮力は、外
科用連結具組立体に力が直接加えられるときに外科用連
結具組立体を関節運動させるに克服せねばならない力と
比べて、外科用連結具組立体に加えるべき使用者の力を
小さくする。
ーター37の回転運動に応答して第1の方向に回されて
外科用連結具組立体を第1の方向に関節運動させると、
回転方向位置は、関節運動機構本体のベース46の回転
止め47が移動止めハウジング65の床67から突き出
ている1対の突起78と当たる状態に達するであろう。
従って、第1の方向の関節運動機構本体の更なる回転運
動、及び第1の方向の外科用連結具組立体の更なる関節
運動は防止される。従って、回転止めと移動止めハウジ
ングの床の1対の突起との相互作用が、関節運動機構本
体の回転運動の程度を限定し、従ってステープラーの外
科用連結具組立体の関節運動の程度を限定する。
説明されたが、熟練技術者は多くの別の実施例が容易に
実現できるであろう。例えば、本発明は関節式内視鏡用
ステープラーに関連して説明されたが、本発明は、これ
を等しく通常の開腹式外科器具に応用できる。更に、本
発明は外科用連結具組立体の遠隔式関節運動を提供する
関節運動伝達機構組立体に関して説明されたが、本発明
は、これを等しく別の種類のエンドエフェクターの遠隔
式関節運動を提供する器具に応用可能である。従って、
この詳細な説明に関連して説明された好ましい実施例は
本発明だけを図解するために意図されたものであって、
請求される本発明の範囲又は精神を限定することを意図
したものではない。
であって、 a)前記器械の第1の端部において前記器械を掴みかつ
操作するためのハンドグリップを有するフレーム、 b)前記フレームから伸びていてかつ長手方向軸線を有
する細長い内視鏡用シャフト、 c)前記器械の反対側端部において前記シャフトと連絡
していて希望の外科機能を実行するように組織を取り扱
うためのエンドエフェクターであって、前記シャフト長
手方向軸線と略平行な第1の位置から前記シャフト長手
方向軸線から角度を付けられた第2の位置への前記エン
ドエフェクターの関節運動を与えるように動き得るエン
ドエフェクター、 d)前記フレームに隣接しかつ前記エンドエフェクター
を前記第1の位置から前記第2の位置に遠隔的に関節運
動させるための関節運動伝達機構組立体であって、 i)前記シャフトに組み合わせられかつ前記フレームに
固定されたノズルであって、前記シャフト長手方向軸線
と略平行に貫通して伸びている孔のあるノズル本体及び
前記ノズル本体から伸びていてかつ内部に複数の戻り止
め歯を有する移動止めハウジングを有するノズル、 ii)複数の非固定位置間で間隔を空けられた複数の固
定位置から回転運動できるように前記ノズル本体の前記
移動止めハウジング内に回転可能に取り付けられた関節
運動機構本体であって、 a)デッキ半分体に取り付けられ相互に向かい合った第
1及び第2の戻り止めにより分離された1対の間隔を空
けられたデッキ半分体を有するデッキであって、前記デ
ッキ半分体の各はこれに複数のデッキ歯を有し、前記デ
ッキ歯は前記移動止め歯と相互作用する関係に位置決め
され、前記デッキ歯が前記移動止め歯と噛み合ったとき
は前記関節運動機構本体は前記固定位置の一つにあり、
更に前記デッキ歯が前記移動止め歯と噛み合わないとき
は前記関節運動機構本体は前記非固定位置の一つにある
デッキ、及び b)前記デッキと組み合わせられかつ前記ノズル本体の
前記孔の中に下がっている駆動部材であって、これに取
り付けられかつ前記孔を通って前記シャフト内に伸びて
いる第1及び第2の細長い伝導部材を有する駆動部材を
有する関節運動機構本体、 iii)前記ノズルの前記移動止めハウジング内で前記
関節運動機構本体を回転させるために前記関節運動機構
本体に固定されたレバーであって、前記レバーは前記移
動止めハウジングに取り付けられたキャップを有し、前
記キャップは前記デッキ半分体を前記キャップに取り付
けるために前記デッキ半分体の前記第1及び第2の移動
止めを中に受け入れるためのスロットを有するレバーを
備え、前記レバーに回転力が加えられたときは、前記移
動止めハウジング内での前記関節運動機構本体の前記固
定位置から前記非固定位置への回転を容易にするため
に、前記移動止め歯から前記デッキ歯を引き出せるよう
に前記キャップスロットが前記第1及び第2の移動止め
を互いに近寄るように強制することを特徴とする関節運
動式器械。
を有し、ここから前記駆動部材が伸び、前記ベースが前
記デッキ半分体を支持する実施態様1の器械。
ームと内側可撓性ビームとにより前記関節運動機構本体
の前記ベースに連結される実施態様2の器械。
が駆動歯車である実施態様3の器械。
が前記ノズル本体に隣接する床を有し、前記関節運動機
構本体の前記ベースが前記床の上に座る実施態様4の器
械。 6.前記関節運動機構本体の前記ベースがこれに1対の
回転止めを有し、かつ前記移動止めハウジングの前記床
はこれに1対の突起を有し、前記関節運動機構本体が前
記第1の回転方向で回された後で前記回転止めが前記突
起と当たったとき、それ以後は前記関節運動機構本体は
前記第1の方向の回転が防止される実施態様5の器械。
関節運動させるための関節運動伝達機構組立体を備えた
関節運動式外科器械であって、前記関節運伝達機構組立
体が a)前記器械に取り付けられかつこれに複数の移動止め
歯を有する移動止めハウジング、 b)複数のラチェットデッキ歯を有し圧縮し得るデッキ
であって、前記関節運動伝達機構組立体が第1の固定位
置にあるとき前記デッキ歯が前記移動止め歯と噛み合い
結合されるデッキ、 c)前記デッキに回転力を加えるために前記移動止めハ
ウジングに取り付けられたアクチュエーターであって、
回転力が加えられたとき、前記デッキの前記第1の固定
位置から第2の固定位置へのラチェット回転を容易にす
るために、前記移動止め歯から前記デッキ歯を外せるよ
うに前記デッキを圧縮する前記アクチュエーター、及び d)前記デッキと連絡していて、かつ前記デッキの回転
運動を前記駆動部材に取り付けられた細長い伝導部材の
軸方向運動に変換するための駆動部材を備えることを特
徴とする前記器械 8.前記デッキが1対の間隔を空けられたデッキ半分体
を有し、前記デッキ半分体が互いに近寄るように強制さ
れたとき前記デッキが圧縮される実施態様7の器械。
圧縮移動止めを有し、前記圧縮移動止めが互いに近寄る
ように強制されたとき前記デッキ半分体が互いに近寄る
ように強制される実施態様8の器械。
半分体の前記圧縮移動止めを受け入れるためのスロット
をこれに有し、そして前記アクチュエーターが回された
とき、前記スロットが前記圧縮移動止めを互いに近寄る
ように強制する実施態様9の器械。
伸びているベース上に支持され、更に内側及び外側の可
撓性ビームが前記デッキ半分体の各を前記ベースに連結
する実施態様10の器械。
科用ステープラーであって、 a)前記ステープラーの第1の端部において前記器械を
掴みかつ操作するためのハンドグリップを有するフレー
ム、 b)前記フレームから伸びていてかつ長手方向軸線を有
する細長い内視鏡用シャフト、 c)前記ステープラーの反対側端部において前記シャフ
トと連絡していてかつ組織をクランプしクランプされた
組織内にステープルを射出するための外科用連結具組立
体であって、ステープルカートリッジを中に受け入れる
ための長い溝に向かい合っている長いアンビルを支持
し、更に前記シャフト長手方向軸線と略平行な第1の位
置から前記シャフト長手方向軸線と角度を付けられた第
2の位置への前記エンドエフェクターの関節運動を与え
るために動き得る外科用連結具組立体、 d)前記フレームに隣接しかつ前記エンドエフェクター
を前記第1の位置から前記第2の位置に遠隔的に関節運
動させるための関節運動伝達機構組立体であって、 i)前記シャフトに組み合わせられかつ前記フレームに
固定されたノズルであって、前記シャフト長手方向軸線
と略平行に貫通して伸びている孔のあるノズル本体及び
前記ノズル本体から伸びていてかつ内部に複数の戻り止
め歯を有する移動止めハウジングを有するノズル、 ii)複数の非固定位置間に間隔を空けられた複数の固
定位置から回転運動できるように前記ノズル本体の前記
移動止めハウジング内に回転可能に取り付けられた関節
運動機構本体であって、 a)デッキ半分体に取り付けられ相互に向かい合った第
1及び第2の戻り止めにより分離された1対の間隔を空
けられたデッキ半分体を有するデッキであって、前記デ
ッキ半分体の各はこれに複数のデッキ歯を有し、前記デ
ッキ歯は前記移動止め歯と相互作用する関係に位置決め
され、前記デッキ歯が前記移動止め歯と噛み合ったとき
は前記関節運動機構本体は前記固定位置の一つにあり、
更に前記デッキ歯が前記移動止め歯と噛み合わないとき
は前記関節運動機構本体は前記非固定位置の一つにある
デッキ、及び b)前記デッキと組み合わせられかつ前記ノズル本体の
前記孔の中に下がっている駆動部材であって、これに取
り付けられかつ前記孔を通って前記シャフト内に伸びて
いる第1及び第2の細長い伝導部材を有する駆動部材を
有する関節運動機構本体、 iii)前記ノズルの前記移動止めハウジング内で前記
関節運動機構本体を回転させるために前記関節運動機構
本体に固定されたレバーであって、前記レバーは前記移
動止めハウジングに取り付けられたキャップを有し、前
記キャップは前記デッキ半分体を前記キャップに取り付
けるために前記デッキ半分体の前記第1及び第2の移動
止めを中に受け入れるためのスロットを有するレバーを
備え、前記レバーに回転力が加えられたときは、前記移
動止めハウジング内での前記関節運動機構本体の前記固
定位置から前記非固定位置への回転を容易にするため
に、前記移動止め歯から前記デッキ歯を引き出せるよう
に前記キャップスロットが前記第1及び第2の移動止め
を互いに近寄るように強制することを特徴とする関節運
動式外科用ステープラー。
スを有し、ここから前記駆動部材が伸び、前記ベースが
前記デッキ半分体を支持する実施態様12のステープラ
ー。
ビームと内側可撓性ビームとにより前記関節運動機構本
体の前記ベースに連結される実施態様13のステープラ
ー。
つ前記久郷歯車はステープル射出用ロッドを受け入れる
ための広げられた貫通開口を有する実施態様14のステ
ープラー。
グが前記ノズル本体に隣接して床を有し、前記関節運動
機構本体の前記ベースが前記床の上に座る実施態様15
のステープラー。
がこれに1対の回転止めを有し、かつ前記移動止めハウ
ジングの前記床はこれに1対の突起を有し、前記関節運
動機構本体が前記第1の回転方向で回された後で前記回
転止めが前記突起と当たったとき、それ以後は前記関節
運動機構本体は前記第1の方向の回転が防止される実施
態様16のステープラー。
の短縮側面図である。ステープラーのフレームの一部分
は、フレームに対するステープラーの関節運動伝達機構
組立体の取付けを示すために切り取られている。
プラーの外科用連結具組立体の遠隔式関節運動を示す図
1のステープラーの平面図である。
の分解等角図である。
プの側面断面図である。
本体の平面図である。
図である。
体の平面図であり、組立体の関節運動機構本体は固定位
置で示される。レバーキャップの横側は組立体の内部詳
細を示すために切り取られている。レバーキャップの頂
部はキャップと関節運動機構本体との間の界面を示すた
めに更に切る取られている。
た関節運動伝達機構組立体の横断方向断面図である。組
立体の関節運動機構本体は、ステープラーの外科用連結
具組立体が関節方向角度を変えることを防ぐ固定位置に
において示される。
断面図であり、組立体の関節運動機構本体はステープラ
の外科用連結具組立体の関節運動のために固定位置から
非固定位置に回されている。
とを除いて図11と同様な平面図である。
Claims (3)
- 【請求項1】 内視鏡外科用に適する関節運動式器械で
あって、 a)前記器械の第1の端部において前記器械を掴みかつ
操作するためのハンドグリップを有するフレーム、 b)前記フレームから伸びていてかつ長手方向軸線を有
する細長い内視鏡用シャフト、 c)前記器械の反対側端部において前記シャフトと連絡
していて希望の外科機能を実行するように組織を取り扱
うためのエンドエフェクターであって、前記シャフト長
手方向軸線と略平行な第1の位置から前記シャフト長手
方向軸線から角度を付けられた第2の位置への前記エン
ドエフェクターの関節運動を与えるように動き得るエン
ドエフェクター、 d)前記フレームに隣接しかつ前記エンドエフェクター
を前記第1の位置から前記第2の位置に遠隔的に関節運
動させるための関節運動伝達機構組立体であって、 i)前記シャフトに組み合わせられかつ前記フレームに
固定されたノズルであって、前記シャフト長手方向軸線
と略平行に貫通して伸びている孔のあるノズル本体及び
前記ノズル本体から伸びていてかつ内部に複数の戻り止
め歯を有する移動止めハウジングを有するノズル、 ii)複数の非固定位置間で間隔を空けられた複数の固
定位置から回転運動できるように前記ノズル本体の前記
移動止めハウジング内に回転可能に取り付けられた関節
運動機構本体であって、 a)デッキ半分体に取り付けられ相互に向かい合った第
1及び第2の戻り止めにより分離された1対の間隔を空
けられたデッキ半分体を有するデッキであって、前記デ
ッキ半分体の各はこれに複数のデッキ歯を有し、前記デ
ッキ歯は前記移動止め歯と相互作用する関係に位置決め
され、前記デッキ歯が前記移動止め歯と噛み合ったとき
は前記関節運動機構本体は前記固定位置の一つにあり、
更に前記デッキ歯が前記移動止め歯と噛み合わないとき
は前記関節運動機構本体は前記非固定位置の一つにある
デッキ、及び b)前記デッキと組み合わせられかつ前記ノズル本体の
前記孔の中に下がっている駆動部材であって、これに取
り付けられかつ前記孔を通って前記シャフト内に伸びて
いる第1及び第2の細長い伝導部材を有する駆動部材を
有する関節運動機構本体、 iii)前記ノズルの前記移動止めハウジング内で前記
関節運動機構本体を回転させるために前記関節運動機構
本体に固定されたレバーであって、前記レバーは前記移
動止めハウジングに取り付けられたキャップを有し、前
記キャップは前記デッキ半分体を前記キャップに取り付
けるために前記デッキ半分体の前記第1及び第2の移動
止めを中に受け入れるためのスロットを有するレバーを
備え、 前記レバーに回転力が加えられたときは、前記移動止め
ハウジング内での前記関節運動機構本体の前記固定位置
から前記非固定位置への回転を容易にするために、前記
移動止め歯から前記デッキ歯を引き出せるように前記キ
ャップスロットが前記第1及び第2の移動止めを互いに
近寄るように強制することを特徴とする関節運動式器
械。 - 【請求項2】 器械のエンドエフェクターを遠隔的に関
節運動させるための関節運動伝達機構組立体を備えた関
節運動式外科器械であって、前記関節運伝達機構組立体
が a)前記器械に取り付けられかつこれに複数の移動止め
歯を有する移動止めハウジング、 b)複数のラチェットデッキ歯を有し圧縮し得るデッキ
であって、前記関節運動伝達機構組立体が第1の固定位
置にあるとき前記デッキ歯が前記移動止め歯と噛み合い
結合されるデッキ、 c)前記デッキに回転力を加えるために前記移動止めハ
ウジングに取り付けられたアクチュエーターであって、
回転力が加えられたとき、前記デッキの前記第1の固定
位置から第2の固定位置へのラチェット回転を容易にす
るために、前記移動止め歯から前記デッキ歯を外せるよ
うに前記デッキを圧縮する前記アクチュエーター、及び d)前記デッキと連絡していて、かつ前記デッキの回転
運動を前記駆動部材に取り付けられた細長い伝導部材の
軸方向運動に変換するための駆動部材を備えることを特
徴とする前記器械。 - 【請求項3】 内視鏡外科用に適した関節運動式外科用
ステープラーであって、 a)前記ステープラーの第1の端部において前記器械を
掴みかつ操作するためのハンドグリップを有するフレー
ム、 b)前記フレームから伸びていてかつ長手方向軸線を有
する細長い内視鏡用シャフト、 c)前記ステープラーの反対側端部において前記シャフ
トと連絡していてかつ組織をクランプしクランプされた
組織内にステープルを射出するための外科用連結具組立
体であって、ステープルカートリッジを中に受け入れる
ための長い溝に向かい合っている長いアンビルを支持
し、更に前記シャフト長手方向軸線と略平行な第1の位
置から前記シャフト長手方向軸線と角度を付けられた第
2の位置への前記エンドエフェクターの関節運動を与え
るために動き得る外科用連結具組立体、 d)前記フレームに隣接しかつ前記エンドエフェクター
を前記第1の位置から前記第2の位置に遠隔的に関節運
動させるための関節運動伝達機構組立体であって、 i)前記シャフトに組み合わせられかつ前記フレームに
固定されたノズルであって、前記シャフト長手方向軸線
と略平行に貫通して伸びている孔のあるノズル本体及び
前記ノズル本体から伸びていてかつ内部に複数の戻り止
め歯を有する移動止めハウジングを有するノズル、 ii)複数の非固定位置間に間隔を空けられた複数の固
定位置から回転運動できるように前記ノズル本体の前記
移動止めハウジング内に回転可能に取り付けられた関節
運動機構本体であって、 a)デッキ半分体に取り付けられ相互に向かい合った第
1及び第2の戻り止めにより分離された1対の間隔を空
けられたデッキ半分体を有するデッキであって、前記デ
ッキ半分体の各はこれに複数のデッキ歯を有し、前記デ
ッキ歯は前記移動止め歯と相互作用する関係に位置決め
され、前記デッキ歯が前記移動止め歯と噛み合ったとき
は前記関節運動機構本体は前記固定位置の一つにあり、
更に前記デッキ歯が前記移動止め歯と噛み合わないとき
は前記関節運動機構本体は前記非固定位置の一つにある
デッキ、及び b)前記デッキと組み合わせられかつ前記ノズル本体の
前記孔の中に下がっている駆動部材であって、これに取
り付けられかつ前記孔を通って前記シャフト内に伸びて
いる第1及び第2の細長い伝導部材を有する駆動部材を
有する関節運動機構本体、 iii)前記ノズルの前記移動止めハウジング内で前記
関節運動機構本体を回転させるために前記関節運動機構
本体に固定されたレバーであって、前記レバーは前記移
動止めハウジングに取り付けられたキャップを有し、前
記キャップは前記デッキ半分体を前記キャップに取り付
けるために前記デッキ半分体の前記第1及び第2の移動
止めを中に受け入れるためのスロットを有するレバーを
備え、 前記レバーに回転力が加えられたときは、前記移動止め
ハウジング内での前記関節運動機構本体の前記固定位置
から前記非固定位置への回転を容易にするために、前記
移動止め歯から前記デッキ歯を引き出せるように前記キ
ャップスロットが前記第1及び第2の移動止めを互いに
近寄るように強制することを特徴とする関節運動式外科
用ステープラー。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/645,355 US5713505A (en) | 1996-05-13 | 1996-05-13 | Articulation transmission mechanism for surgical instruments |
US08/645355 | 1996-05-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH1043189A true JPH1043189A (ja) | 1998-02-17 |
Family
ID=24588673
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP9134470A Pending JPH1043189A (ja) | 1996-05-13 | 1997-05-09 | 外科器械用の関節運動伝達機構 |
Country Status (7)
Country | Link |
---|---|
US (1) | US5713505A (ja) |
EP (1) | EP0807408B1 (ja) |
JP (1) | JPH1043189A (ja) |
AU (1) | AU707607B2 (ja) |
CA (1) | CA2204952C (ja) |
DE (1) | DE69721372T2 (ja) |
ES (1) | ES2197306T3 (ja) |
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JP2015119980A (ja) * | 2010-02-25 | 2015-07-02 | コヴィディエン リミテッド パートナーシップ | 関節運動する内視鏡外科手術用クリップアプライア |
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JP2016536090A (ja) * | 2013-09-17 | 2016-11-24 | エシコン・エンド−サージェリィ・エルエルシーEthicon Endo−Surgery, LLC | 超音波外科用器具の関節運動特徴部 |
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JP2018501928A (ja) * | 2015-01-19 | 2018-01-25 | 上海逸思医療科技有限公司Shanghai Yisi Medical Technology Co.,Ltd. | 外科器具及びその湾曲制御装置 |
JP2021098060A (ja) * | 2015-04-16 | 2021-07-01 | エシコン エルエルシーEthicon LLC | 複数の係止位置を有する関節動作ジョイントを備えた超音波手術器具 |
Also Published As
Publication number | Publication date |
---|---|
AU707607B2 (en) | 1999-07-15 |
DE69721372D1 (de) | 2003-06-05 |
EP0807408A1 (en) | 1997-11-19 |
DE69721372T2 (de) | 2004-03-25 |
ES2197306T3 (es) | 2004-01-01 |
CA2204952A1 (en) | 1997-11-13 |
CA2204952C (en) | 2007-01-16 |
EP0807408B1 (en) | 2003-05-02 |
US5713505A (en) | 1998-02-03 |
AU2015797A (en) | 1997-11-20 |
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