KR102871113B1 - 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동 - Google Patents

가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동

Info

Publication number
KR102871113B1
KR102871113B1 KR1020247013256A KR20247013256A KR102871113B1 KR 102871113 B1 KR102871113 B1 KR 102871113B1 KR 1020247013256 A KR1020247013256 A KR 1020247013256A KR 20247013256 A KR20247013256 A KR 20247013256A KR 102871113 B1 KR102871113 B1 KR 102871113B1
Authority
KR
South Korea
Prior art keywords
tensile member
end effector
flexible tensile
shaft
surgical tool
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.)
Active
Application number
KR1020247013256A
Other languages
English (en)
Korean (ko)
Other versions
KR20240058956A (ko
Inventor
니콜라스 라고스타
Original Assignee
인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 filed Critical 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
Publication of KR20240058956A publication Critical patent/KR20240058956A/ko
Application granted granted Critical
Publication of KR102871113B1 publication Critical patent/KR102871113B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • 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
    • 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
    • A61B34/37—Leader-follower 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating 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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
KR1020247013256A 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동 Active KR102871113B1 (ko)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201662385642P 2016-09-09 2016-09-09
US62/385,642 2016-09-09
PCT/US2017/050760 WO2018049217A1 (en) 2016-09-09 2017-09-08 Push-pull surgical instrument end effector actuation using flexible tension member
KR1020227035598A KR102660671B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020227035598A Division KR102660671B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동

Publications (2)

Publication Number Publication Date
KR20240058956A KR20240058956A (ko) 2024-05-03
KR102871113B1 true KR102871113B1 (ko) 2025-10-16

Family

ID=61562125

Family Applications (3)

Application Number Title Priority Date Filing Date
KR1020247013256A Active KR102871113B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동
KR1020197007097A Active KR102456414B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동
KR1020227035598A Active KR102660671B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동

Family Applications After (2)

Application Number Title Priority Date Filing Date
KR1020197007097A Active KR102456414B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동
KR1020227035598A Active KR102660671B1 (ko) 2016-09-09 2017-09-08 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동

Country Status (6)

Country Link
US (2) US11020138B2 (https=)
EP (3) EP3949892B1 (https=)
JP (3) JP7044760B2 (https=)
KR (3) KR102871113B1 (https=)
CN (2) CN109688959B (https=)
WO (1) WO2018049217A1 (https=)

Families Citing this family (104)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
EP3834752B1 (en) 2013-12-11 2024-03-13 Covidien LP Wrist and jaw assemblies for robotic surgical systems
US10695142B2 (en) 2015-02-19 2020-06-30 Covidien Lp Repositioning method of input device for robotic surgical system
AU2016229897B2 (en) 2015-03-10 2020-07-16 Covidien Lp Measuring health of a connector member of a robotic surgical system
JP6719487B2 (ja) 2015-06-23 2020-07-08 コヴィディエン リミテッド パートナーシップ ロボット外科手術アセンブリ
JP6755305B2 (ja) 2015-09-25 2020-09-16 コヴィディエン リミテッド パートナーシップ ロボット外科組立体およびその器具駆動コネクタ
US10973517B2 (en) 2015-11-13 2021-04-13 Intuitive Surgical Operations, Inc. Stapler with composite cardan and screw drive
EP3376988B1 (en) 2015-11-19 2023-08-23 Covidien LP Optical force sensor for robotic surgical system
CN108697481B (zh) 2016-03-04 2021-09-21 柯惠Lp公司 用于机器人外科手术系统的逆运动学控制系统
US11576562B2 (en) 2016-04-07 2023-02-14 Titan Medical Inc. Camera positioning method and apparatus for capturing images during a medical procedure
US11612446B2 (en) 2016-06-03 2023-03-28 Covidien Lp Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator
EP3463150B1 (en) 2016-06-03 2023-09-27 Covidien LP Control arm for robotic surgical systems
US20190231451A1 (en) 2016-07-14 2019-08-01 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
WO2018013313A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Multi-cable medical instrument
WO2018013298A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
CN115349951A (zh) 2016-11-21 2022-11-18 直观外科手术操作公司 线缆长度持恒的医疗器械
AU2018221456A1 (en) 2017-02-15 2019-07-11 Covidien Lp System and apparatus for crush prevention for medical robot applications
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
EP3629979A4 (en) 2017-05-24 2021-02-17 Covidien LP PRESENCE DETECTION FOR ELECTROSURGICAL TOOLS IN A ROBOTIZED SYSTEM
WO2018217431A1 (en) 2017-05-25 2018-11-29 Covidien Lp Robotic surgical system with automated guidance
WO2019036418A1 (en) 2017-08-16 2019-02-21 Covidien Lp END EFFECTOR COMPRISING A WRIST SET AND A MONOPOLAR TOOL FOR ROBOTIC SURGICAL SYSTEMS
US11628022B2 (en) 2017-09-05 2023-04-18 Covidien Lp Collision handling algorithms for robotic surgical systems
CA3085476A1 (en) 2018-01-04 2019-07-11 Covidien Lp Systems and assemblies for mounting a surgical accessory to robotic surgical systems, and providing access therethrough
JP2021510327A (ja) 2018-01-10 2021-04-22 コヴィディエン リミテッド パートナーシップ コンピュータビジョンを利用したロボット外科システムのツールの位置および状態の判定
US12102403B2 (en) 2018-02-02 2024-10-01 Coviden Lp Robotic surgical systems with user engagement monitoring
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
CN111971150A (zh) 2018-04-20 2020-11-20 柯惠Lp公司 手术机器人手推车放置的系统和方法
CN112105312A (zh) 2018-07-03 2020-12-18 柯惠Lp公司 用于在手术程序期间检测图像退化的系统、方法和计算机可读介质
EP3849456A4 (en) 2018-09-14 2022-06-15 Covidien LP SURGICAL ROBOTIC SYSTEMS AND METHODS FOR TRACKING THE USE OF SURGICAL INSTRUMENTS THEREOF
EP3852667A4 (en) 2018-09-17 2022-06-15 Covidien LP SURGICAL ROBOTIC SYSTEMS
EP3852669A4 (en) 2018-09-17 2022-06-22 Covidien LP SURGICAL ROBOTIC SYSTEMS
EP3880102A1 (en) 2018-11-15 2021-09-22 Intuitive Surgical Operations, Inc. Surgical instrument with sensor aligned cable guide
CN113015498B (zh) 2018-11-15 2025-03-18 直观外科手术操作公司 将工具轴与缆绳驱动负载解除联接
US11815412B2 (en) 2018-11-15 2023-11-14 Intuitive Surgical Operations, Inc. Strain sensor with contoured deflection surface
CN113194847A (zh) 2018-12-21 2021-07-30 直观外科手术操作公司 用于外科手术器械的致动机构
WO2020131290A1 (en) 2018-12-21 2020-06-25 Intuitive Surgical Operations, Inc. Articulation assemblies for surgical instruments
WO2020131685A1 (en) 2018-12-21 2020-06-25 Intuitive Surgical Operations, Inc. Surgical instruments with switches for deactivating and/or identifying stapler cartridges
JP7241178B2 (ja) 2018-12-21 2023-03-16 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 補強されたステープルカートリッジを有する手術器具
US11576733B2 (en) 2019-02-06 2023-02-14 Covidien Lp Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies
WO2020214258A1 (en) 2019-04-15 2020-10-22 Intuitive Surgical Operations, Inc. Staple cartridge for a surgical instrument
CN113840579A (zh) 2019-05-22 2021-12-24 柯惠Lp公司 手术机器人臂储存组合件和使用储存组合件更换手术机器人臂的方法
CN119745453A (zh) 2019-05-31 2025-04-04 直观外科手术操作公司 用于外科器械的订合钉仓
CN121041038A (zh) * 2019-06-13 2025-12-02 直观外科手术操作公司 用于致动张力带的带有长度守恒机构的医疗工具
US11666404B2 (en) * 2019-08-28 2023-06-06 Cilag Gmbh International Articulating including antagonistic controls for articulation and calibration
WO2021046752A1 (en) 2019-09-11 2021-03-18 Covidien Lp Systems and methods for neural-network based color restoration
US12223629B2 (en) 2019-09-11 2025-02-11 Covidien Lp Systems and methods for smoke-reduction in images
CN114502083A (zh) 2019-10-18 2022-05-13 直观外科手术操作公司 具有可调节钳爪的手术器械
US12350828B2 (en) 2019-12-16 2025-07-08 Covidien Lp Surgical robotic systems including surgical instruments with articulation
US12256890B2 (en) 2019-12-23 2025-03-25 Covidien Lp Systems and methods for guiding surgical procedures
CN113017835B (zh) * 2019-12-25 2022-11-11 杭州术创机器人有限公司 用于手术工具组件的线缆张紧装置
WO2021158305A1 (en) 2020-02-04 2021-08-12 Covidien Lp Systems and methods for machine readable identification of surgical tools in-situ
EP4099915B1 (en) 2020-02-06 2025-09-03 Covidien LP System and methods for suturing guidance
EP4110221A1 (en) 2020-02-26 2023-01-04 Covidien LP Robotic surgical instrument including linear encoders for measuring cable displacement
CN115697236A (zh) 2020-05-04 2023-02-03 直观外科手术操作公司 用于驱动多根缆线的具有单输入装置的医疗器械
US11771422B2 (en) 2020-05-12 2023-10-03 Covidien Lp Active roller assembly for use in articulating stapler
CN115484858A (zh) 2020-05-12 2022-12-16 柯惠Lp公司 用于在外科手术过程期间的图像映射和融合的系统和方法
USD963851S1 (en) 2020-07-10 2022-09-13 Covidien Lp Port apparatus
CN112754545B (zh) * 2020-12-19 2025-07-25 深圳市精锋医疗科技股份有限公司 张紧机构、手术器械、从操作设备及手术机器人
EP4274492B1 (en) 2021-01-08 2026-01-28 Intuitive Surgical Operations, Inc. Surgical instrument with linear and purse string suture staples
WO2022150215A1 (en) 2021-01-08 2022-07-14 Intuitive Surgical Operations, Inc. Surgical stapling instruments
CN115192093B (zh) * 2021-04-09 2025-08-12 敏捷医疗科技(苏州)有限公司 一种手术器械及其拆装方法
US12409003B2 (en) 2021-05-14 2025-09-09 Covidien Lp Instrument cassette assemblies for robotic surgical instruments
US12369998B2 (en) 2021-05-28 2025-07-29 Covidien Lp Real time monitoring of a robotic drive module
US11948226B2 (en) 2021-05-28 2024-04-02 Covidien Lp Systems and methods for clinical workspace simulation
CN113208736B (zh) * 2021-05-31 2023-02-10 上海微创医疗机器人（集团）股份有限公司 器械驱动装置、器械末端组件、手术器械及手术机器人
US12257014B2 (en) * 2021-06-22 2025-03-25 Intuitive Surgical Operations, Inc. Devices and methods for crimp interface for cable tension sensor
US12029508B2 (en) 2021-08-16 2024-07-09 Cilag Gmbh International Adjustable power transmission mechanism for powered surgical stapler
US12213668B2 (en) 2021-08-16 2025-02-04 Cilag Gmbh International Firing system features for surgical stapler
US11986182B2 (en) 2021-08-16 2024-05-21 Cilag Gmbh International Multi-position restraining member for sled movement
US11957336B2 (en) 2021-08-16 2024-04-16 Cilag Gmbh International Proximally located firing lockout mechanism for surgical stapler
US12089842B2 (en) * 2021-08-16 2024-09-17 Cilag Gmbh International Firing bailout system for powered surgical stapler
US12171428B2 (en) 2021-08-16 2024-12-24 Cilag Gmbh International Firing member tracking feature for surgical stapler
US12011164B2 (en) 2021-08-16 2024-06-18 Cilag Gmbh International Cartridge-based firing lockout mechanism for surgical stapler
US11992210B2 (en) 2021-08-16 2024-05-28 Cilag Gmbh International Multiple-sensor firing lockout mechanism for powered surgical stapler
US12102321B2 (en) 2021-08-16 2024-10-01 Cilag Gmbh International Methods of operating a robotic surgical stapler
US11779332B2 (en) 2021-08-16 2023-10-10 Cilag Gmbh International Powered surgical stapler having independently operable closure and firing systems
US11944297B2 (en) 2021-08-16 2024-04-02 Cilag Gmbh International Variable response motor control algorithm for powered surgical stapler
US12458348B2 (en) 2021-08-16 2025-11-04 Cilag Gmbh International Deflectable firing member for surgical stapler
US11992209B2 (en) 2021-08-16 2024-05-28 Cilag Gmbh International Multi-threshold motor control algorithm for powered surgical stapler
US12599449B2 (en) 2021-08-20 2026-04-14 Covidien Lp Surgical robotic system with orientation setup device and method
US12611272B2 (en) 2021-09-09 2026-04-28 Covidien Lp Surgical robotic system with user engagement monitoring
US12564457B2 (en) 2021-09-14 2026-03-03 Covidien Lp Robotic surgical instruments
US12496119B2 (en) 2021-12-06 2025-12-16 Covidien Lp Jaw member, end effector assembly, and method of manufacturing a jaw member of an electrosurgical instrument
CN116269573B (zh) * 2021-12-06 2025-09-16 深圳市精锋医疗科技股份有限公司 外科手术器械和手术机器人
US12390294B2 (en) 2021-12-14 2025-08-19 Covidien Lp Robotic surgical assemblies including surgical instruments having articulatable wrist assemblies
US12433699B2 (en) 2022-02-10 2025-10-07 Covidien Lp Surgical robotic systems and robotic arm carts thereof
US12548667B2 (en) 2022-02-15 2026-02-10 Covidien Lp System and method for checking compatibility of hardware and software components in a surgical robot
US12479098B2 (en) 2022-08-03 2025-11-25 Covidien Lp Surgical robotic system with access port storage
US12465447B2 (en) 2022-08-25 2025-11-11 Covidien Lp Surgical robotic system with instrument detection
US12496728B2 (en) 2022-10-25 2025-12-16 Covidien Lp Surgical robotic system and method for restoring operational state
USD1066379S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066378S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066381S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066383S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066404S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066380S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066382S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066405S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
US12599445B2 (en) 2023-01-26 2026-04-14 Covidien Lp Surgical robotic system and method for cart power switchover
WO2024215716A1 (en) 2023-04-11 2024-10-17 Intuitive Surgical Operations, Inc. Surgical stapling instruments and control systems for such instruments
CN121038712A (zh) 2023-05-01 2025-11-28 直观外科手术操作公司 外科缝合器械的部件及其制造方法
USD1087995S1 (en) 2023-08-02 2025-08-12 Covidien Lp Surgeon display screen with a transitional graphical user interface having staple firing icon
USD1087135S1 (en) 2023-08-02 2025-08-05 Covidien Lp Surgeon display screen with a graphical user interface having spent staple icon

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030135204A1 (en) * 2001-02-15 2003-07-17 Endo Via Medical, Inc. Robotically controlled medical instrument with a flexible section
JP2010227438A (ja) * 2009-03-27 2010-10-14 Terumo Corp 医療用器具の製造方法及び医療用器具

Family Cites Families (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5762256A (en) * 1995-08-28 1998-06-09 United States Surgical Corporation Surgical stapler
US5865361A (en) * 1997-09-23 1999-02-02 United States Surgical Corporation Surgical stapling apparatus
DE60045660D1 (de) 1999-05-10 2011-04-07 Hansen Medical Inc Chirurgisches instrument
JP3745234B2 (ja) * 2000-06-13 2006-02-15 オリンパス株式会社 内視鏡用処置具
US20030229344A1 (en) * 2002-01-22 2003-12-11 Dycus Sean T. Vessel sealer and divider and method of manufacturing same
US6994708B2 (en) 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
US7121781B2 (en) 2003-06-11 2006-10-17 Intuitive Surgical Surgical instrument with a universal wrist
US7126303B2 (en) 2003-07-08 2006-10-24 Board Of Regents Of The University Of Nebraska Robot for surgical applications
US7951165B2 (en) * 2003-08-18 2011-05-31 Boston Scientific Scimed, Inc. Endoscopic medical instrument and related methods of use
WO2008045333A2 (en) * 2006-10-05 2008-04-17 Tyco Healthcare Group Lp Flexible endoscopic stitching devices
US8870867B2 (en) * 2008-02-06 2014-10-28 Aesculap Ag Articulable electrosurgical instrument with a stabilizable articulation actuator
US8011551B2 (en) * 2008-07-01 2011-09-06 Tyco Healthcare Group Lp Retraction mechanism with clutch-less drive for use with a surgical apparatus
US8629988B2 (en) 2009-04-20 2014-01-14 Javad Gnss, Inc. Laser beam image contrast enhancement
KR101868123B1 (ko) * 2009-11-13 2018-06-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 곡선형 캐뉼라 수술 시스템
EP2594222B1 (en) * 2009-11-13 2018-10-03 Intuitive Surgical Operations, Inc. Surgical tool with a compact wrist
KR102077004B1 (ko) * 2009-11-13 2020-02-13 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 여분의 닫힘 메커니즘을 구비한 단부 작동기
US9877720B2 (en) * 2010-09-24 2018-01-30 Ethicon Llc Control features for articulating surgical device
WO2012049623A1 (en) * 2010-10-11 2012-04-19 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
JP5734631B2 (ja) 2010-12-02 2015-06-17 オリンパス株式会社 手術支援システム
JP6518403B2 (ja) * 2011-02-18 2019-05-22 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 融合及び切断用外科用器具とこれに関連する方法
CN106109017B (zh) * 2011-05-31 2019-01-04 直观外科手术操作公司 机器人手术器械中的夹持力控制
JP5856817B2 (ja) 2011-11-16 2016-02-10 オリンパス株式会社 医療用処置具およびこれを備えるマニピュレータ
US9125681B2 (en) * 2012-09-26 2015-09-08 Ethicon Endo-Surgery, Inc. Detachable end effector and loader
EP2976188B1 (en) * 2013-02-27 2019-04-24 Olympus Corporation Manipulator
US9839481B2 (en) * 2013-03-07 2017-12-12 Intuitive Surgical Operations, Inc. Hybrid manual and robotic interventional instruments and methods of use
KR20160008169A (ko) * 2013-03-14 2016-01-21 에스알아이 인터내셔널 컴팩트 로봇 리스트
JP6153484B2 (ja) 2014-02-24 2017-06-28 オリンパス株式会社 ワイヤ駆動装置およびマニピュレータ
DE112014006994T5 (de) 2014-10-30 2017-06-14 Olympus Corporation Medizinisches Behandlungsinstrument
EP3232951B1 (en) * 2014-12-19 2023-10-25 DistalMotion SA Surgical instrument with articulated end-effector
JP7311473B2 (ja) * 2020-09-02 2023-07-19 株式会社神戸製鋼所 アーク溶接方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030135204A1 (en) * 2001-02-15 2003-07-17 Endo Via Medical, Inc. Robotically controlled medical instrument with a flexible section
JP2010227438A (ja) * 2009-03-27 2010-10-14 Terumo Corp 医療用器具の製造方法及び医療用器具

Also Published As

Publication number Publication date
KR102660671B1 (ko) 2024-04-26
KR20220143778A (ko) 2022-10-25
JP2019526333A (ja) 2019-09-19
KR102456414B1 (ko) 2022-10-19
JP2022069664A (ja) 2022-05-11
CN109688959A (zh) 2019-04-26
CN113598844A (zh) 2021-11-05
WO2018049217A1 (en) 2018-03-15
EP3949892A1 (en) 2022-02-09
CN109688959B (zh) 2021-10-01
KR20190040496A (ko) 2019-04-18
JP7335382B2 (ja) 2023-08-29
US20190201150A1 (en) 2019-07-04
JP7044760B2 (ja) 2022-03-30
KR20240058956A (ko) 2024-05-03
EP3509523A1 (en) 2019-07-17
JP2023144088A (ja) 2023-10-06
EP3509523B1 (en) 2021-07-21
EP4218653A1 (en) 2023-08-02
EP3509523A4 (en) 2020-05-13
US20210267617A1 (en) 2021-09-02
EP3949892B1 (en) 2023-04-19
US11020138B2 (en) 2021-06-01
CN113598844B (zh) 2025-06-17

Similar Documents

Publication Publication Date Title
KR102871113B1 (ko) 가요성 인장 부재를 이용한 푸시-풀 수술 기기 엔드 이펙터 작동
US12402964B2 (en) Robotic surgical stapler assembly configured to use stapler reload
US11684381B2 (en) Surgical instrument with single drive input for two end effector mechanisms
JP6778246B2 (ja) しまい込めるナイフブレードを持つ手術器具
CN103561667B (zh) 机器人手术器械中的夹持力控制
KR102377893B1 (ko) 수술 기기를 원격조작 액추에이터와 결합시키는 방법

Legal Events

Date Code Title Description
A107 Divisional application of patent
PA0104 Divisional application for international application

St.27 status event code: A-0-1-A10-A18-div-PA0104

St.27 status event code: A-0-1-A10-A16-div-PA0104

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

A201 Request for examination
PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

D22 Grant of ip right intended

Free format text: ST27 STATUS EVENT CODE: A-1-2-D10-D22-EXM-PE0701 (AS PROVIDED BY THE NATIONAL OFFICE)

PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

U12 Designation fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U12-OTH-PR1002 (AS PROVIDED BY THE NATIONAL OFFICE)

Year of fee payment: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

Q13 Ip right document published

Free format text: ST27 STATUS EVENT CODE: A-4-4-Q10-Q13-NAP-PG1601 (AS PROVIDED BY THE NATIONAL OFFICE)