KR102886889B1 - 환자 체벽 힘을 측정하기 위한 센서를 갖는 캐뉼러 - Google Patents

환자 체벽 힘을 측정하기 위한 센서를 갖는 캐뉼러

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Publication number
KR102886889B1
KR102886889B1 KR1020237043219A KR20237043219A KR102886889B1 KR 102886889 B1 KR102886889 B1 KR 102886889B1 KR 1020237043219 A KR1020237043219 A KR 1020237043219A KR 20237043219 A KR20237043219 A KR 20237043219A KR 102886889 B1 KR102886889 B1 KR 102886889B1
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KR
South Korea
Prior art keywords
overtube
cannula
surgical system
proximal
inner tube
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
KR1020237043219A
Other languages
English (en)
Korean (ko)
Other versions
KR20230173230A (ko
Inventor
브렛 페이지
로튼 엔 버너
존 알 스티거
스미타 디
Original Assignee
인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
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Publication of KR20230173230A publication Critical patent/KR20230173230A/ko
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Publication of KR102886889B1 publication Critical patent/KR102886889B1/ko
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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
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/02—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors
    • A61B17/0218—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • 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
    • A—HUMAN NECESSITIES
    • 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
    • A—HUMAN NECESSITIES
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3474—Insufflating needles, e.g. Veress needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/00862—Material properties elastic or resilient
    • A—HUMAN NECESSITIES
    • 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
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0261—Strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/04—Arrangements of multiple sensors of the same type
    • A61B2562/046—Arrangements of multiple sensors of the same type in a matrix array

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
KR1020237043219A 2014-07-29 2015-07-27 환자 체벽 힘을 측정하기 위한 센서를 갖는 캐뉼러 Active KR102886889B1 (ko)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201462030468P 2014-07-29 2014-07-29
US62/030,468 2014-07-29
KR1020177005108A KR102615949B1 (ko) 2014-07-29 2015-07-27 환자 체벽 힘을 측정하기 위한 센서를 갖는 캐뉼러
PCT/US2015/042262 WO2016018815A1 (en) 2014-07-29 2015-07-27 Cannula with sensors to measure patient bodywall forces

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020177005108A Division KR102615949B1 (ko) 2014-07-29 2015-07-27 환자 체벽 힘을 측정하기 위한 센서를 갖는 캐뉼러

Publications (2)

Publication Number Publication Date
KR20230173230A KR20230173230A (ko) 2023-12-26
KR102886889B1 true KR102886889B1 (ko) 2025-11-18

Family

ID=55218216

Family Applications (2)

Application Number Title Priority Date Filing Date
KR1020177005108A Active KR102615949B1 (ko) 2014-07-29 2015-07-27 환자 체벽 힘을 측정하기 위한 센서를 갖는 캐뉼러
KR1020237043219A Active KR102886889B1 (ko) 2014-07-29 2015-07-27 환자 체벽 힘을 측정하기 위한 센서를 갖는 캐뉼러

Family Applications Before (1)

Application Number Title Priority Date Filing Date
KR1020177005108A Active KR102615949B1 (ko) 2014-07-29 2015-07-27 환자 체벽 힘을 측정하기 위한 센서를 갖는 캐뉼러

Country Status (6)

Country Link
US (3) US10470796B2 (enExample)
EP (2) EP3549538A1 (enExample)
JP (5) JP6542871B2 (enExample)
KR (2) KR102615949B1 (enExample)
CN (2) CN107072691B (enExample)
WO (1) WO2016018815A1 (enExample)

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US9817019B2 (en) 2013-11-13 2017-11-14 Intuitive Surgical Operations, Inc. Integrated fiber bragg grating accelerometer in a surgical instrument
WO2015124159A1 (en) 2014-02-21 2015-08-27 3Dintegrated Aps A set comprising a surgical instrument
EP3549538A1 (en) 2014-07-29 2019-10-09 Intuitive Surgical Operations Inc. Cannula with sensors to measure patient bodywall forces
WO2017012624A1 (en) 2015-07-21 2017-01-26 3Dintegrated Aps Cannula assembly kit, trocar assembly kit, sleeve assembly, minimally invasive surgery system and method therefor
US11020144B2 (en) 2015-07-21 2021-06-01 3Dintegrated Aps Minimally invasive surgery system
DK178899B1 (en) 2015-10-09 2017-05-08 3Dintegrated Aps A depiction system
JP6214837B1 (ja) * 2016-01-27 2017-10-18 オリンパス株式会社 医療用マニピュレータシステム
EP3629984A4 (en) * 2017-05-24 2021-02-24 Covidien LP SURGICAL SLEEVE FOR ROBOTIC SYSTEMS
US10548674B2 (en) * 2017-07-06 2020-02-04 YellowDot Innovations, LLC Robotic guide for medical device
US11478316B2 (en) 2017-09-20 2022-10-25 Shanghai Microport Medbot (Group) Co., Ltd. Surgical robot system
CA3078378A1 (en) * 2017-10-05 2019-04-11 Dignity Health Multipurpose medical device
US12419713B2 (en) 2018-11-15 2025-09-23 Intuitive Surgical Operations, Inc. Surgical instrument with sensor aligned cable guide
US12239393B2 (en) 2020-05-18 2025-03-04 Intuitive Surgical Operations, Inc. Hard stop that produces a reactive moment upon engagement for cantilever-based force sensing
CN114905478B (zh) * 2021-02-08 2024-09-17 腾讯科技（深圳）有限公司 双边遥操作系统及控制方法
US12251168B2 (en) 2021-05-28 2025-03-18 Medos International Sarl Systems, methods, and devices for localized tracking of a vertebral body or other anatomic structure
US12257014B2 (en) * 2021-06-22 2025-03-25 Intuitive Surgical Operations, Inc. Devices and methods for crimp interface for cable tension sensor
US12290319B2 (en) * 2021-09-29 2025-05-06 Cilag Gmbh International Methods for controlling cooperative surgical instruments
CN115919468A (zh) * 2022-12-08 2023-04-07 武汉联影智融医疗科技有限公司 用于手术机器人的套管组件及手术机器人

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US20140187984A1 (en) 2012-12-31 2014-07-03 Volcano Corporation In-Wall Hypotube Sensor Mount for Sensored Guidewire

Also Published As

Publication number Publication date
CN110403651B (zh) 2022-11-08
EP3549538A1 (en) 2019-10-09
WO2016018815A1 (en) 2016-02-04
JP2024107190A (ja) 2024-08-08
JP6833911B2 (ja) 2021-02-24
KR102615949B1 (ko) 2023-12-21
US20220378474A1 (en) 2022-12-01
CN107072691B (zh) 2019-09-03
JP2017522134A (ja) 2017-08-10
CN107072691A (zh) 2017-08-18
EP3179936A1 (en) 2017-06-21
US10470796B2 (en) 2019-11-12
EP3179936B1 (en) 2019-06-26
JP2022107607A (ja) 2022-07-22
US20170265890A1 (en) 2017-09-21
EP3179936A4 (en) 2018-01-24
JP6542871B2 (ja) 2019-07-10
JP2019171123A (ja) 2019-10-10
JP7069370B2 (ja) 2022-05-17
KR20170038011A (ko) 2017-04-05
KR20230173230A (ko) 2023-12-26
US20200046404A1 (en) 2020-02-13
US11369411B2 (en) 2022-06-28
JP2021065751A (ja) 2021-04-30
CN110403651A (zh) 2019-11-05

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