KR102256358B1 - 수술 기구 구동 요소 및 관련 장치, 시스템 및 방법 - Google Patents

수술 기구 구동 요소 및 관련 장치, 시스템 및 방법 Download PDF

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Publication number
KR102256358B1
KR102256358B1 KR1020157029608A KR20157029608A KR102256358B1 KR 102256358 B1 KR102256358 B1 KR 102256358B1 KR 1020157029608 A KR1020157029608 A KR 1020157029608A KR 20157029608 A KR20157029608 A KR 20157029608A KR 102256358 B1 KR102256358 B1 KR 102256358B1
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South Korea
Prior art keywords
end effector
drive element
surgical instrument
push
exemplary embodiment
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Korean (ko)
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KR20150127284A (ko
Inventor
사무엘 크루스
존 리안 스테거
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인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
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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
    • A61B18/1447—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 wherein sliding surfaces cause opening/closing of the end effectors
    • 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
    • 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
    • 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
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • 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
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A61B2017/2936—Pins in guiding slots
    • 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
    • A61B2017/2947—Pivots
    • 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
    • A61B2018/00059—Material properties
    • A61B2018/00071—Electrical conductivity
    • A61B2018/00077—Electrical conductivity high, i.e. electrically conducting
    • 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
    • A61B2018/00059—Material properties
    • A61B2018/00071—Electrical conductivity
    • A61B2018/00083—Electrical conductivity low, i.e. electrically insulating
    • 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
    • A61B2018/00571—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

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Otolaryngology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
KR1020157029608A 2013-03-18 2014-03-13 수술 기구 구동 요소 및 관련 장치, 시스템 및 방법 Active KR102256358B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361803046P 2013-03-18 2013-03-18
US61/803,046 2013-03-18
PCT/US2014/026137 WO2014151633A1 (en) 2013-03-18 2014-03-13 Surgical instrument drive element, and related devices, systems, and methods

Publications (2)

Publication Number Publication Date
KR20150127284A KR20150127284A (ko) 2015-11-16
KR102256358B1 true KR102256358B1 (ko) 2021-05-27

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KR1020157029608A Active KR102256358B1 (ko) 2013-03-18 2014-03-13 수술 기구 구동 요소 및 관련 장치, 시스템 및 방법

Country Status (6)

Country Link
US (4) US9498242B2 (enExample)
EP (2) EP3488807B1 (enExample)
JP (4) JP6383780B2 (enExample)
KR (1) KR102256358B1 (enExample)
CN (4) CN113331951B (enExample)
WO (1) WO2014151633A1 (enExample)

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WO2023101968A1 (en) 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Steerable overtube assemblies for robotic surgical systems
KR20240153547A (ko) 2021-11-30 2024-10-23 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 배리어 드레이프 어댑터
TWI838986B (zh) 2021-11-30 2024-04-11 美商安督奎斯特機器人公司 患者控制台、具有該患者控制台的機器人手術系統及其執行方法
KR20240134850A (ko) 2021-11-30 2024-09-10 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 마스터 제어 시스템
WO2023101974A1 (en) 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Force transmission systems for robotically controlled medical devices
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Also Published As

Publication number Publication date
US20230210584A1 (en) 2023-07-06
EP2976026A1 (en) 2016-01-27
JP7286818B2 (ja) 2023-06-05
US20200397502A1 (en) 2020-12-24
KR20150127284A (ko) 2015-11-16
WO2014151633A1 (en) 2014-09-25
JP2018164829A (ja) 2018-10-25
JP6383780B2 (ja) 2018-08-29
JP7019747B2 (ja) 2022-02-15
JP2016518171A (ja) 2016-06-23
EP3488807A1 (en) 2019-05-29
CN108113756A (zh) 2018-06-05
US9498242B2 (en) 2016-11-22
JP6708710B2 (ja) 2020-06-10
CN105188572B (zh) 2017-12-26
CN113331951B (zh) 2024-08-06
US20170056098A1 (en) 2017-03-02
US20140277106A1 (en) 2014-09-18
CN113331951A (zh) 2021-09-03
CN108113756B (zh) 2021-07-30
EP2976026B1 (en) 2019-02-27
CN118892366A (zh) 2024-11-05
US11564734B2 (en) 2023-01-31
JP2022048308A (ja) 2022-03-25
EP2976026A4 (en) 2016-11-09
JP2020146477A (ja) 2020-09-17
EP3488807B1 (en) 2020-09-09
US10716617B2 (en) 2020-07-21
CN105188572A (zh) 2015-12-23

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