KR102118008B1 - 곡선형 캐뉼라 수술 시스템 - Google Patents

곡선형 캐뉼라 수술 시스템 Download PDF

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Publication number
KR102118008B1
KR102118008B1 KR1020187016418A KR20187016418A KR102118008B1 KR 102118008 B1 KR102118008 B1 KR 102118008B1 KR 1020187016418 A KR1020187016418 A KR 1020187016418A KR 20187016418 A KR20187016418 A KR 20187016418A KR 102118008 B1 KR102118008 B1 KR 102118008B1
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South Korea
Prior art keywords
cannula
instrument
manipulator
slave manipulator
surgical
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KR1020187016418A
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Korean (ko)
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KR20180067725A (ko
Inventor
기우스페 마리아 프리스코
크레이그 알. 게르비
데오도르 더블유 로저스
존 라얀 스테저
Original Assignee
인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
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Priority claimed from US12/618,549 external-priority patent/US20110071541A1/en
Priority claimed from US12/618,583 external-priority patent/US8545515B2/en
Application filed by 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 filed Critical 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
Priority claimed from PCT/US2010/056173 external-priority patent/WO2011060031A1/en
Publication of KR20180067725A publication Critical patent/KR20180067725A/ko
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B34/70—Manipulators specially adapted for use in surgery
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
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    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3431—Cannulas being collapsible, e.g. made of thin flexible material
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    • A61B17/3421—Cannulas
    • A61B17/3439—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable
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    • A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
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    • A61B50/13—Trolleys, e.g. carts
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    • A61B90/92—Identification means for patients or instruments, e.g. tags coded with colour
    • 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
    • A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
    • A61M25/0041—Catheters; Hollow probes characterised by the form of the tubing pre-formed, e.g. specially adapted to fit with the anatomy of body channels
    • A—HUMAN NECESSITIES
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    • 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
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    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/0084—Material properties low friction
    • A61B2017/00845—Material properties low friction of moving parts with respect to each other
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A—HUMAN NECESSITIES
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    • 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
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    • A61B2017/2926—Details of heads or jaws
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    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A61B2017/2936—Pins in guiding slots
    • A—HUMAN NECESSITIES
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    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B2017/3419—Sealing means between cannula and body
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    • A61B17/3421—Cannulas
    • A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
    • A61B2017/3429—Access ports, e.g. toroid shape introducers for instruments or hands having a unitary compressible body, e.g. made of silicone or foam
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    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3439—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable
    • A61B2017/3441—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable with distal sealing means
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    • A61B2017/3447—Linked multiple cannulas
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    • A61B2017/3454—Details of tips
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    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
    • A61B2017/3466—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals for simultaneous sealing of multiple instruments
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
KR1020187016418A 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템 Active KR102118008B1 (ko)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US12/618,549 2009-11-13
US12/618,583 2009-11-13
US12/618,549 US20110071541A1 (en) 2009-09-23 2009-11-13 Curved cannula
US12/618,583 US8545515B2 (en) 2009-09-23 2009-11-13 Curved cannula surgical system
PCT/US2010/056173 WO2011060031A1 (en) 2009-09-23 2010-11-10 Curved cannula surgical system

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020177012289A Division KR101868123B1 (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020207015200A Division KR20200064161A (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템

Publications (2)

Publication Number Publication Date
KR20180067725A KR20180067725A (ko) 2018-06-20
KR102118008B1 true KR102118008B1 (ko) 2020-06-02

Family

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Family Applications (5)

Application Number Title Priority Date Filing Date
KR1020187016418A Active KR102118008B1 (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템
KR1020127011590A Active KR101772426B1 (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라, 로봇 조작기 및 피동적 가요성 샤프트를 가진 수술 기구
KR1020177012289A Active KR101868123B1 (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템
KR1020127011588A Ceased KR20120115486A (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템
KR1020207015200A Ceased KR20200064161A (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템

Family Applications After (4)

Application Number Title Priority Date Filing Date
KR1020127011590A Active KR101772426B1 (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라, 로봇 조작기 및 피동적 가요성 샤프트를 가진 수술 기구
KR1020177012289A Active KR101868123B1 (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템
KR1020127011588A Ceased KR20120115486A (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템
KR1020207015200A Ceased KR20200064161A (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템

Country Status (5)

Country Link
EP (1) EP2467074B1 (cg-RX-API-DMAC7.html)
JP (4) JP5824456B2 (cg-RX-API-DMAC7.html)
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