KR20070079052A - 단일 케이블 작동기를 구비한 수술 고정구 및 커터 - Google Patents

단일 케이블 작동기를 구비한 수술 고정구 및 커터 Download PDF

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KR20070079052A
KR20070079052A KR1020070009932A KR20070009932A KR20070079052A KR 20070079052 A KR20070079052 A KR 20070079052A KR 1020070009932 A KR1020070009932 A KR 1020070009932A KR 20070009932 A KR20070009932 A KR 20070009932A KR 20070079052 A KR20070079052 A KR 20070079052A
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end effector
drive shaft
actuator
shaft
tissue
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KR101342414B1 (ko
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프레데릭 이. 4세 셀톤
스테판 제이. 발렉
유진 엘. 팀퍼만
마크 에스. 오티즈
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에디컨 엔도-서저리 인코포레이티드
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
    • A61B17/115—Staplers for performing anastomosis in a single operation
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets 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, e.g. tourniquets
    • 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, e.g. tourniquets
    • 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
    • A61B2017/2903—Details of shaft characterized by features of the actuating rod transferring rotary motion
    • 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
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation

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Abstract

수술 고정 장치상의 엔드 이펙터의 회전 및 작동을 제어하기 위한 방법 및 장치가 제공된다. 예시적 실시예에서, 단일 케이블 작동기가 제공되며, 이는 엔드 이펙터를 작동(즉, 폐쇄 및 발사)하지 않고, 엔드 이펙터를 회전시키도록 작용하는 제 1 위치와, 엔드 이펙터를 회전시키지 않고 엔드 이펙터를 작동시키도록 작용하는 제 2 위치 사이에서 이동할 수 있다. 또한, 단일 케이블은 엔드 이펙터의 대향 조오를 폐쇄시키도록 작용할 수 있다.
내시경 스테플링 장치, 샤프트, 엔드 이펙터, 작동기, 카트리지

Description

단일 케이블 작동기를 구비한 수술 고정구 및 커터{SURGICAL FASTENER AND CUTTER WITH SINGLE CABLE ACTUATOR}
첨부 도면과 연계하여 이루어지는 하기의 상세한 설명으로부터 본 발명을 보다 완전하게 이해할 수 있을 것이다.
도 1a는 본 발명에 따른 수술 스테플링 장치의 일 예시적 실시예의 사시도.
도 1b는 도 1a의 수술 스테플링 장치의 엔드 이펙터의 사시도.
도 2는 세장형 샤프트를 통해 연장하는 구동 샤프트를 도시하는, 도 1a의 수술 스테플링 장치의 세장형 샤프트의 일부의 부분 파단 사시도.
도 3은 도 1a의 수술 스테플링 장치의 엔드 이펙터의 측면 사시도.
도 4는 그 회전을 실행하기 위해 엔드 이펙터와 결합하는 클러치를 도시하는, 도 1a의 수술 스테플링 장치의 엔드 이펙터의 부분 상면도.
도 5a는 도 1a의 엔드 이펙터의 일부의 확대 측면 단면도.
도 5b는 폐쇄 위치로 이동된 조오를 도시하는 도 5a에 도시된 엔드 이펙터의 측면 단면도.
도 6은 기어 및 드라이버 조립체를 도시하는 도 1a의 엔드 이펙터의 일부의 측면도.
도 7은 카트리지로부터 스테플을 발사하기 위해 엔드 이펙터를 통해 구동되 는 리드 나사를 도시하는, 도 1a의 엔드 이펙터의 부분 사시도.
도 8a는 도 1a의 엔드 이펙터의 카트리지의 사시도.
도 8b는 도 8a의 카트리지의 구동 슬레드의 사시도.
도 9a는 도 1a의 장치의 손잡이의 사시도.
도 9b는 제 2 위치에 있는 노브를 도시하는 도 9a의 손잡이의 사시도.
도 10은 광학 이미지 수집 유닛을 도시하는, 도 1a의 장치의 세장형 샤프트의 일부의 사시도.
관련 출원들의 상호 참조
본 출원은 그 전문이 본 명세서에 참조로 통합되어 있는 발명의 명칭이 "평행 폐쇄 및 엔빌 정렬 구성요소를 구비한 회전 발사 및 폐쇄 시스템을 갖는 전자-기계 수술 절단 및 고정 기구(Electro-Mechanical Surgical Cutting And Fastening Instrument Having A Rotary Firing And Closure System With Parallel Closure And Anvil Alignment Components)"인 2006년 1월 31일자로 출원된 미국 출원 제 11/334,021호의 부분 연속 출원이다.
본 발명은 광의적으로, 수술 장치상의 엔드 이펙터(end effector)의 이동 및 작동을 제어하기 위한 방법 및 장치에 관한 것이다.
내시경 수술 기구는 자연적 오리피스의 사용이 수술후 회복 시간 및 합병증 을 감소시키는 경향이 있기 때문에, 전통적인 개복 수술 장치 보다 양호한 경우가 많다. 결과적으로, 자연적 오리피스를 통해 원하는 수술 부위에 툴의 작동 단부를 정확하게 배치하기에 적합한 내시경 수술 기구의 범위에 현저한 개발이 이루어지고 있다. 이들 도구는 진단 또는 치료 효과를 달성하기 위해 다양한 방식으로 조직을 결합 및/또는 처리하기 위해 사용된다.
내시경 수술에 일반적으로 사용되는 한가지 툴은 수술 스테플러(stapler) 및 커터(cutter)이며, 이는 통상적으로, 조직내에 종방향 절개부를 형성하는 동시에, 절개부의 대향 측부상에 스테플의 라인을 적용한다. 엔드 이펙터는 캐뉼러(cannula) 통로를 통과할 수 있는 한 쌍의 협력 조오(jaw) 부재를 포함한다. 조오 부재 중 하나는 적어도 두 개의 측방향 이격된 스테플 열을 가지는 스테플 카트리지를 수용한다. 다른 조오 부재는 카트리지내의 스테플의 열과 정렬된 스테플 성형 포켓을 가지는 엔빌을 형성한다. 기구는 복수의 왕복 웨지를 포함하며, 이는 원위방향으로 구동될 때, 스테플 카트리지내의 개구를 통과하고, 엔빌을 향해 스테플의 발사를 실행하기 위해 스테플을 지지하는 드라이버와 결합한다. 또한, 이 기구는 스테플링된 조직을 절단하는 나이프를 포함한다.
수술 스테플러/커터는 장치를 내시경적으로 도입하기 위한 소망으로 인해, 각 세대와 함께 복잡성 및 기능이 지속적으로 증가하고 있다. 그러나, 내시경 수술은 여전히 엔드 이펙터가 조직에 관하여 엔드 이펙터를 각지게 배향하도록 관절작동 및/또는 회전되고 엔드 이펙터를 폐쇄하도록 작동되며, 스테플을 발사할 수 있게 하는 동시에, 장치의 샤프트가 유연해지는 것을 필요로 한다. 관절 작동, 회전 및/또는 엔드 이펙터의 작동을 위한 제어의 통합은 내시경 기구의 크기 제약에 의해, 그리고, 가요서 샤프트의 사용에 의해 상충되는 경향이 있다. 일반적으로, 제어 이동은 모두 샤프트를 통해 종방향 병진으로서 전달되며, 이는 샤프트의 가요성과 간섭할 수 있다.
또한, 의사 모두 또는 대부분이 취급할 수 있는 레벨로 엔드 이펙터를 작동시키기 위해 필요한 힘을 저하시킬 필요가 있다. 발사를 위한 힘을 저하시키기 위한 한가지 공지된 해법은 전기 모터를 사용하는 것이다. 그러나, 의사는 통상적으로, 엔드 이펙터의 적절한 동작을 보증하기 위해 엔드 이펙터로부터 피드백을 경험하기를 선호한다. 사용자 피드백 효과는 현재의 모터 구동 장치에서는 적절히 실현되지 않는다.
따라서, 내시경 수술 장치상의 엔드 이펙터의 이동 및 동작을 제어하기 위한 개선된 방법 및 장치에 대한 필요성이 남아있다.
본 발명은 일반적으로, 내시경 수술 장치상의 엔드 이펙터의 이동, 즉, 회전과, 작동, 즉, 폐쇄 및 발사를 제어하기 위한 방법 및 장치를 제공한다. 일 예시적 실시예에서, 내시경 스테플링 장치가 제공되며, 이는 근위 및 원위 단부를 가지는 세장형 샤프트, 조직과 결합하고, 결합된 조직에 적어도 하나의 고정구를 전달하기 위해 세장형 샤프트의 원위 단부에 결합된 엔드 이펙터, 세장형 샤프트의 근위 단부에 결합된 손잡이 및 엔드 이펙터 및 손잡이와 작동가능하게 연계된 작동기 를 포함한다. 작동기는 작동기의 회전이 엔드 이펙터를 회전시키게 하는 제 1 위치와, 작동기의 회전이 엔드 이펙터로부터 적어도 하나의 고정구를 발사하게 하는 제 2 위치를 갖는다. 작동기는 또한 제 1 및 제 2 위치 사이에서 세장형 샤프트의 종축을 따라 병진하도록 적용될 수 있다. 제 1 위치로부터 제 2 위치로의 작동기의 병진은 조직과 결합하기 위해 엔드 이펙터를 폐쇄시킬 수 있다.
엔드 이펙터는 다양한 구성을 가질 수 있지만, 일 실시예에서, 엔드 이펙터는 그 사이에 조직을 결합하기 위한 대향 조오를 포함할 수 있다. 작동기는 그 원위 단부 상에 클러치(clutch)를 포함할 수 있으며, 작동기가 제 1 위치로부터 제 2 위치로 병진될 때, 클러치는 조오를 폐쇄시키도록 조오 중 적어도 하나상에 형성된 캠면(cam surface)에 대하여 접촉하도록 적용된다. 엔드 이펙터는 또한, 내부에 제거가능하게 배치되면서 조직을 스테플링하기 위한 복수의 스테플을 포함하는 카트리지와, 스테플링된 조직을 절단하기 위한 블레이드를 포함할 수 있다.
작동기는 또한, 다양한 구성을 가질 수 있지만, 일 실시예에서, 이는 엔드 이펙터 및 손잡이와 작동가능하게 연계된 회전 및 병진가능한 구동 샤프트일 수 있다. 구동 샤프트는 그 원위 단부상에 클러치를 포함할 수 있다. 작동기가 제 1 위치에 있을 때, 클러치는 엔드 이펙터의 하우징과 결합하여 작동기 및 클러치의 회전이 엔드 이펙터를 회전시키도록 적용된다. 작동기가 제 2 위치에 있을 때, 클러치는 엔드 이펙터로부터 적어도 하나의 고정구를 발사하기 위해 엔드 이펙터내에 배치된 드라이버를 전진시키는 기어 조립체와 결합하여 그를 회전시키도록 적용될 수 있다. 다른 실시예에서, 구동 샤프트의 적어도 일부는 전기활성 폴리머 재료로 형성될 수 있으며, 손잡이는 구동 샤프트에 에너지를 전달하여, 전자활성 폴리머(electroactive polymers) 재료가 축방향 수축 및 반경방향 팽창하게 하여 구동 샤프트를 병진시킬 수 있다.
장치의 손잡이는 또한 다양한 구성을 가질 수 있지만, 일 실시예에서, 손잡이는 제 1 및 제 2 위치 사이에서 작동기를 병진시키도록 적용되는 병진 부재와, 세장형 샤프트에 대하여 작동기를 회전시키도록 적용되는 회전가능한 부재를 포함할 수 있다. 또한, 장치는 세장형 샤프트의 원위 단부상에 배치되어, 내시경 절차 동안 이미지를 취득하도록 구성된 광학 이미지 수집 유닛 같은 다른 특징부를 포함할 수도 있다. 광학 이미지 수집 유닛은 외부 이미지 디스플레이 스크린에 연결되거나, 이미지 디스플레이 스크린이 취득된 이미지를 디스플레이하기 위해 광학 이미지 수집 유닛과 통신하도록 장치의 근위 부분에 배치될 수 있다.
다른 실시예에서, 그 원위 단부에 결합된 엔드 이펙터와, 그 근위 단부에 가동적으로 결합된 손잡이 및 손잡이를 구비하는 세장형 샤프트와, 엔드 이펙터와 동작가능하게 연계되고 세장형 샤프트에 대하여 엔드 이펙터를 회전시켜 조직과 결합하도록 엔드 이펙터를 폐쇄하고, 엔드 이펙터로부터 적어도 하나의 고정구를 발사하도록 적용되는 구동 샤프트를 구비하는 내시경 스테플링 장치가 제공된다. 구동 샤프트는 구동 샤프트의 회전이 엔드 이펙터의 폐쇄 및 발사없이 세장형 샤프트에 대한 엔드 이펙터의 대응 회전을 유발하는 제 1 위치와, 구동 샤프트의 회전이 세장형 샤프트에 대한 엔드 이펙터의 회전 없이 엔드 이펙터의 폐쇄 및 발사를 유발하는 제 2 위치 사이에서 이동할 수 있다. 구동 샤프트는 또한, 제 1 및 제 2 위 치 사이에서 이동하도록 세장형 샤프트의 종축에 대해 병진하도록 적용될 수 있다. 제 1 위치로부터 제 2 위치로의 구동 샤프트의 병진은 엔드 이펙터의 대향 조오를 폐쇄시키도록 적용될 수 있다. 예로서, 구동 샤프트의 원위 단부는 구동 샤프트가 제 1 위치에 있을 때, 엔드 이펙터를 회전시키도록 엔드 이펙터의 일부와 결합할 수 있으며, 구동 샤프트의 원위 단부는 구동 샤프트가 제 2 위치에 있을 때, 기어 조립체를 회전시키도록 기어 조립체와 결합할 수 있다. 기어 조립체의 회전은 엔드 이펙터로부터 적어도 하나의 고정구를 발사하도록 엔드 이펙터내에 배치된 드라이버를 전진시킬 수 있다.
조직 고정 방법이 또한 제공되며, 일 예시적 실시예에서, 이 방법은 고정 대상 조직에 인접하게 세장형 샤프트의 원위 단부에 결합된 엔드 이펙터를 배치하도록 신체 도관내로 세장형 샤프트를 삽입하는 단계를 포함한다. 세장형 샤프트의 근위 단부는 그에 가동적으로 결합된 손잡이 조립체를 포함할 수 있다. 이 방법은 세장형 샤프트의 종축 둘레에서 엔드 이펙터를 회전시키도록 손잡이 조립체상의 제 1 위치에서 회전가능한 부재를 회전시키는 단계와, 엔드 이펙터를 회전시키지 않고, 엔드 이펙터내에 배치된 적어도 하나의 고정구를 발사하도록 손잡이 조립체상의 제 2 위치에서 회전가능한 부재를 회전시키는 단계를 포함한다. 이 방법은 또한, 고정 대상 조직 둘레에 엔드 이펙터의 대향 조오를 폐쇄하도록 손잡이 조립체상의 병진 부재를 이동시키는 단계를 포함할 수 있다. 이 방법은 다양한 절차에 사용될 수 있지만, 특정 예시적 실시예에서, 세장형 샤프트는 가요성이며, 도관을 통해 삽입된다.
여기에 설명된 장치 및 방법의 구조, 기능, 제조 및 사용의 원리에 대한 전반적 이해를 제공하기 위해 이제 특정 예시적 실시예를 설명한다. 이들 실시예 중 하나 이상의 예가 첨부 도면에 예시되어 있다. 본 기술의 숙련자는 첨부 도면에 예시되고 여기에 구체적으로 설명된 방법 및 장치가 비제한적 예시적 실시예이며, 본 발명의 범주는 단지 청구범위에 의해서만 한정된다는 것을 이해할 것이다. 일 예시적 실시예와 연계하여 예시 또는 설명된 특징은 다른 실시예의 특징과 조합될 수 있다. 이런 변경 및 변형은 본 발명의 범주내에 포함되는 것이다.
본 발명은 수술 스테플링 장치상의 엔드 이펙터의 이동, 즉, 회전 및 작동, 즉, 폐쇄 및/또는 발사를 제어하기 위한 방법 및 장치를 제공한다. 일반적으로, 수술 스테플링 장치는 조직을 결합하고, 결합된 조직에 하나 이상의 고정구를 전달하기 위해 그로부터 연장하는 엔드 이펙터를 가지는 원위 단부 및 세장형 샤프트의 종축 둘레에서 선회하는 엔드 이펙터의 회전과, 엔드 이펙터가 폐쇄되고, 하나 이상의 고정구를 전달하도록 발사되며, 선택적으로 고정된 조직을 절단하는 엔드 이펙터의 작동을 제어하기 위한 손잡이를 구비한 근위 단부를 포함한다. 예시적 실시예에서, 장치는 엔드 이펙터의 회전 및 작동 양자 모두를 실행하도록 구성된 단일 작동 메커니즘을 포함한다. 작동 메커니즘은 손잡이 및 엔드 이펙터와 동작가능하게 연계될 수 있으며, 이는 작동 메커니즘이 엔드 이펙터의 작동 없이 엔드 이펙터를 회전시키는 제 1 위치와, 엔드 이펙터의 회전 없이 작동 메커니즘이 엔드 이펙터로부터 적어도 하나의 고정구의 발사를 실행하게 하는 제 2 위치를 가질 수 있게 한다. 작동 메커니즘은 또한, 제 1 위치로부터 제 2 위치로의 이동이 조직을 결합하도록 엔드 이펙터를 폐쇄시키도록 구성될 수도 있다. 다양한 다른 특징부가 또한 장치의 사용을 용이하게 하도록 제공될 수 있다. 본 기술의 숙련자는 엔드 이펙터의 특정 구성이 변할 수 있으며, 여기에 설명된 다양한 제어 기술이 다양한 수술 기구에 사용될 수 있다는 것을 이해할 것이다.
도 1a는 조직에 다수의 스테플의 선형 열을 적용하고, 스테플링된 조직을 절단하기 위한 선형 스테플링 및 절단 장치(10) 형태인 내시경 수술 장치의 일 예시적 실시예를 예시한다. 도시된 바와 같이, 장치(10)는 일반적으로, 그에 결합된 손잡이(14)를 구비한 근위 단부(12a)와, 그 위에 형성되거나 그에 결합되어 있는 엔드 이펙터(16)를 구비하는 원위, 작동 단부(12a)를 구비하는 세장형 샤프트를 포함한다. 세장형 샤프트(12)는 다양한 구성을 가질 수 있다. 예로서, 이는 중실 또는 중공일 수 있으며, 이는 단일 구성요소 또는 다중 세그먼트로 형성될 수 있다. 도 1a에 도시된 바와 같이, 세장형 샤프트(12)는 중공이고, 세장형 샤프트(12)가 굴곡될 수 있게 하도록 다수의 연결 세그먼트로 형성된다. 샤프트(12)의 가요성 및 비교적 작은 직경은 샤프트(12)가 장치가 천연 오리피스를 통해 도관을 통해 도입되는 내시경 절차에 사용될 수 있게 한다. 엔드 이펙터(16)는 또한 다양한 구조를 가질 수 있지만, 예시된 실시예에서, 도 1b에 보다 상세히 도시된 바와 같이, 엔드 이펙터(16)는 대향 배치된 제 1 및 제 2 조오(18, 20)를 포함하며, 이는 서로에 대해 피봇 결합되면서 그 사이에 조직을 수용하도록 적용된다. 제 1 조오(18)는 내부에 배치된, 그리고, 조직내로 구동되도록 구성된 다수의 스테플을 구비한 스테플 카트리지를 수납하도록 적용되고, 제 2 조오(20)는 스테플을 변형시키 기 위한 엔빌을 형성한다. 엔드 이펙터(16)는 다양한 기술을 사용하여 세장형 샤프트의 원위 단부에 결합될 수 있지만, 예시적 실시예에서, 엔드 이펙터(16)는 엔드 이펙터(16)가 세장형 샤프트의 축 둘레에서 회전할 수 있도록 세장형 샤프트에 회전가능하게 연결된다. 엔드 이펙터(16)는 또한, 세장형 샤프트의 원위 단부에 피봇 결합될 수 있거나, 이는 세장형 샤프트에 대하여 엔드 이펙터의 각도방향 이동을 허용하도록 그 위에 형성된 가요성 목부(26)를 포함할 수 있다.
본 발명의 필수 특징은 아니지만, 도 1a는 또한, 손잡이(14)의 피봇 이동이 엔드 이펙터(16)에 의해 모방되고, 그에 의해, 손잡이(14)가 다수의 평면에서 엔드 이펙터(16)를 관절작동시키기 위해 사용될 수 있게 하도록 엔드 이펙터(16)와 연계되어 동작되는 손잡이(14)를 예시한다. 모방 운동을 달성하기 위한 특정 메커니즘은 동일한 날자로 함께 출원된, 본 명세서에 그 전문이 참조로 통합되어 있는 하기의 미국 특허 출원에 보다 상세히 설명되어 있다 : 마크 에스. 오치즈, 프레데릭 이. 셀턴 4세 및 제임스 스피베이의 “관절작동을 제어하기 위한 방법 및 장치”(대리인 문서 번호 100873-32(END5568USANP1)), 제임스 스피베이, 마크 에스. 오티즈 및 프레데릭 이. 셀턴 4세의 “관절작동 내시경 악세사리 체널”(대리인 문서 번호 100873-105(END5568USANP2)) 및 마크 에스. 오티즈 및 프레데릭 이. 셀턴 4세의 “모방 엔드 이펙터를 구비한 수술 고정구 및 커터”(대리인 문서 번호 10873-109(END5568USANP3)).
장치(10)는 또한, 엔드 이펙터(16)의 이동 및 작동을 제어하기 위한 작동 메커니즘을 포함할 수 있다. 이동은 세장형 샤프트(12)의 종축(A) 둘레에서의 엔드 이펙터(16)의 회전 및 엔드 이펙터의 작동을 포함할 수 있으며, 엔드 이펙터의 작동에 의해 조오(18, 20)는 조직과 결합하도록 폐쇄되고, 스테플이 엔드 이펙터로부터 결합된 조직내로 발사된다. 작동은 또한, 스테플링된 조직을 절단하는 것을 포함할 수 있다. 예시적 실시예에서, 단질 작동 메커니즘이 손잡이 및 엔드 이펙터와 동작가능하게 연계되며, 그래서, 이는 엔드 이펙터의 회전 및 작동을 실행할 수 있다. 작동 메커니즘이 다양한 구조를 가질 수 있지만, 예시된 실시예에서, 작동 메커니즘은 세장형 샤프트(12)의 일부를 통해 연장하는 도 2에 도시된 구동 샤프트(28) 형태이다. 구동 샤프트(28)는 세장형 케이블, 다수의 권취 또는 직조된 케이블 또는 로드나 샤프트의 형태일 수 있으며, 이는 바람직하게는 장치(10)의 가요성 샤프트(12)가 비틀린 경로를 통해 도관을 통해 삽입될 때 굴곡될 수 있도록 유연하다. 구동 샤프트(28)는 근위 단부 및 원위 단부를 포함하며, 이들은 보다 상세히 후술될 바와 같이, 손잡이(14) 및 엔드 이펙터(16)의 다양한 부분에 결합되어 있다. 사용시, 구동 샤프트(28)는 엔드 이펙터(16)의 회전 및 작동을 실행하도록 세장형 샤프트(12)에 대하여 회전 및 병진(활주)하도록 구성되어 있다.
구동 샤프트(28)의 원위 단부(28b) 및 엔드 이펙터(16)는 도 3에 보다 상세히 도시되어 있으며, 도시된 바와 같이, 구동 샤프트(28)의 원위 단부(28b)는 세장형 샤프트(12)로부터 원위방향으로 연장하고, 엔드 이펙터(16)의 근위 단부내로 연장한다. 구동 샤프트(28)의 원위 단부(28b)는 구동 샤프트(28)가 제 1 위치에 있을 때, 엔드 이펙터(16)를 회전시키고, 구동 샤프트(28)가 제 2 위치에 있을 때, 엔드 이펙터(16)를 발사하도록 구성되는 것이 바람직하다. 제 1 위치로부터 제 2 위치로의 구동 샤프트(28)의 이동은 또한, 엔드 이펙터(16)의 조어(18, 20)를 폐쇄할 수도 있다. 다양한 기술이 구동 샤프트(28)가 엔드 이펙터(16)의 회전, 폐쇄 및 발사를 실행할 수있게 하기 위해 사용될 수 있지만, 예시된 실시예에서, 구동 샤프트(28)의 원위 단부(28b)는 그 위에 형성되거나 그에 견고히 정합되어 있는 클러치(20)를 포함한다. 클러치(30)는 다양한 형상 및 크기를 가질 수 있지만, 이는 후술될 바와 같이, 엔드 이펙터내의 다양한 메커니즘과 클러치(30)가 결합할 수 있게 하도록 비대칭적인 것이 바람직하다. 예시된 실시예에서, 클러치(30)는 육각형 형상을 갖는다. 클러치(30)가 제 1 위치, 예로서, 도 3에 도시된 원위 위치에 있을 때, 이는 구동 샤프트(28) 및 클러치(30)의 회전이 엔드 이펙터(16)를 회전시킬 수 있게 하도록 엔드 이펙터(16)와 결합될 수 있다. 특히, 도 4에 도시된 바와 같이, 제 1 조오(18)의 대향 배치된 내부벽은 그 사이에 클러치(30)를 결합하도록 구성되어 있는 그 위에 형성된 대향 돌출부(도 4에는 단 하나의 돌출부(18a)만이 도시됨)를 포함할 수 있다. 따라서, 클러치(30)가 돌출부 사이에 배치될 때, 클러치(30)의 회전은 세장형 샤프트(12)에 대한, 그리고, 그 종축 둘레에서의 엔드 이펙터(16)의 회전을 실행한다.
엔드 이펙터(16)가 원하는 위치로 회전되고 나면, 구동 샤프트(28) 및 클러치(30)는 제 1 조오(18)내의 돌출부 사이로부터 클러치(30)를 제거하도록 세장형 샤프트(12)에 대하여 축방향으로 이동될 수 있다. 예시적 실시예에서, 구동 샤프트(28) 및 클러치(30)는 구동 샤프트(28), 그리고, 따라서 클러치(30)를 제 2 위치에 배치하도록 근위 방향으로 세장형 샤프트(12)를 따라 병진된다. 구동 샤프 트(28) 및 클러치(30)가 근위 방향으로 이동될 때, 구동 샤프트(28) 및 클러치(30)는 엔드 이펙터(16)의 조오(18, 20)를 폐쇄하도록 작용될 수 있다. 특히, 도 5에 도시된 바와 같이, 제 2 조오, 즉, 엔빌(20)은 그 위에 형성되어 클러치(30)의 이동 경로내로 연장하는 경사면(20r)을 구비하는 근위 단부(20a)를 포함한다. 엔빌(20)상의 경사면(20r)은 제 1 조오(18)에 엔빌(20)이 부착되는 피봇점에 대해 근위에 위치된다. 클러치(30)가 구동 샤프트(28)와 함께 근위방향으로 이동함에 따라, 클러치(30)는 경사면(20r)에 대해 접할 수 있으며, 표면을 제 1 조오(18)로부터 상향으로 멀어지는 방향으로 추진한다. 결과적으로, 엔빌(20)은 도 5b에 도시된 바와 같이, 조오(18, 20) 사이에 배치된 조직과 결합하도록 폐쇄 위치로 피봇한다. 구동 샤프트(28) 및 클러치(30)가 제 2 근위 위치에 있을 때, 클러치(30)가 제 2 조오 또는 엔빌(20)의 근위 단부(20a)가 그 초기 위치로 복귀하는 것을 방지하기 때문에, 제 2 조오 또는 엔빌(20)은 폐쇄된 상태로 남아 있는다.
구동 샤프트(28) 및 클러치(30)가 제 2 위치에 있게 되면, 구동 샤프트(28) 및 클러치(30)의 회전은 조오(18, 20)로부터 적어도 하나의 고정구를 발사하도록 실행될 수 있다. 특히, 클러치(30)는 엔드 이펙터(16)를 통해 드라이버를 전진시키는 기어 조립체와 결합하도록 구성될 수 있다. 기어 조립체는 도 6에 도시되어 있으며, 제 1(상부) 및 제 2(하부) 구동 기어(32, 34)를 포함하고, 이들은 둘레에 이빨이 형성된 원통형 부재의 형태이다. 제 1 구동 기어(32)는 내부에 형성된 소켓(32a)(도 5a 및 도 5b에 도시)을 포함하고, 이 소켓은 소켓(32a)이 구동 샤프트(28)상의 클러치(30)를 수용하고 그와 결합할 수 있도록 클러치(30)의 일부의 형 상과 상보적인 형상을 갖는다. 특히, 클러치(30)는 그 위에 형성되어, 소켓(32a)을 수용하도록 구성된 제 2 육각형 부재(30a)(도 4)를 포함할 수 있다. 제 2 구동 기어(34)는 제 1 구동 기어(32)에 인접하여 그와 맞물리도록 배치된다. 결과적으로, 구동 샤프트(28) 및 클러치(30)가 회전될 때, 제 1 구동 기어(32)는 제 2 구동 기어(34)를 회전시키도록 회전한다. 제 2 구동 기어(34)는 순차적으로, 그로부터 원위방향으로 연장하면서, 그에 고정 결합되어 있는 샤프트 또는 리드 나사(36)를 포함한다. 리드 나사(36)는 그 외부면에 형성된 나사부(미도시)를 가지며, 리드 너트(38)는 리드 나사(36) 둘레에 나사식으로 배치된다. 제 2 구동 기어(34) 및 리드 나사(36)가 회전될 때, 리드 나사(36)는 고정된 축방향 위치에 잔류하며, 즉, 이는 종방향으로 병진하지 않으며, 그에 의해, 리드 너트(38)가 엔드 이펙터(16)를 통해 도 7에 도시된 바와 같이 원위방향으로 이동하게 한다. 리드 너트(38)는 순차적으로, 제 1 조오(18)내에 배치된 카트리지(42)로부터 하나 이상의 고정구를 구동하는 구동 슬레드(40 ; sled)의 근위 단부에 대하여 결합 또는 접촉한다. 따라서, 구동 샤프트(28) 및 클러치(30)가 회전될 때, 제 1 구동 기어(32)는 제 2 구동 기어(34) 및 그에 부착된 리드 나사(36)를 회전시킨다. 리드 나사(36)가 회전함에 따라, 리드 너트(38)는 엔드 이펙터(16)내에서 원위방향으로 이동되고, 그에 의해, 엔드 이펙터내에서 원위 방향으로 구동 슬레드(40)를 전진시킨다. 구동 슬레드(40)는 카트리지(42)내에 형성된 하나 이상의 고정구 수용 슬롯을 통해 하나 이상의 고정구를 밀어 넣는다. 고정구는 조오(18, 20) 사이에 결합된 조직을 통해 연장하며, 조직을 고정하도록 엔빌(20)에 대하여 변형된다. 구동 슬레드(40)는 또 한, 그 위에 형성되어 고정된 조직을 절단하도록 구성되어 있는 블레이드를 포함한다.
구동 슬레드(40) 및 카트리지(42)의 특정 구성은 엔드 이펙터(16)의 특정 구성에 따라 변할 수 있지만, 예시적 실시예에서, 도 8a에도시된 바와 같이, 카트리지(42)는 다수의 선형 스테플 열을 적용하도록 구성되고, 스테플된 조직을 분리시키도록 스테플의 열 사이에서 연장하는 절단부를 형성하도록 구성된다. 특히, 카트리지(42)는 제 1 조오(18)내에 형성된 채널내에 제거가능하게 배치될 수 있는 실질적인 세장형 하우징의 형태이다. 하우징은 다수, 예로서, 여섯 개의 선형 스테플 수용 슬롯(44)의 열이 내부에 형성되어 있으며, 각 슬롯은 스테플을 내부에 수납한다. 다수의 드라이버 부재(미도시)가 스테플을 지지하고 스테플 수용 슬롯(44)을 통해 스테플을 전진시키기 위해 스테플 아래에 배치되어 있다. 구동 슬레드(42)는 도 8b에 보다 상세히 도시되어 있으며, 이는 다수의, 예로서 네 개의 웨지형 구조를 갖는 그 위에 형성되어 있는 직립 부재(41a, 41b, 41c, 41d)를 포함한다. 슬레드(40)가 엔드 카트리지(40)를 통해 원위방향으로 전진될 때, 직립 부재(41a-d)는 드라이버 부재에 대해 접하며, 이들을 엔빌(20)을 향해 상향 이동시키고, 그에 의해, 스테플을 엔빌(20)을 향해 구동한다. 구동 슬레드(40)는 또한, 카트리지의 중앙을 통해 연장하는, 그리고, 스테플된 조직을 절단하기 위해 그위에 형성되어 있는 블레이드(40b)를 구비하는 중앙 부재를 포함한다.
사용시, 구동 슬레드(40)가 그에 결합되어 있는 카트리지(42)는 단일 사용 용도를 위해 엔드 이펙터(16)내에 배치될 수 있다. 스테플이 카트리지(42)로부터 발사되고 나면, 새로운 구동 슬레드(40)를 갖는 새로운 카트리지가 조오(18)내에 배치될 수 있다. 이런 구성은 특히, 구동 슬레드 및 블레이드가 카트리지내에 제거가능하게 배치되는 대신, 엔드 이펙터의 조오내에 배치되어 있는 대부분의 스테플링 장치와는 달리, 블레이드(40b)가 각 사용시 교체될 수 있기 때문에 유리하다. 본 기술의 숙련자는 본 기술에 공지된 실질적인 임의의 카트리지가, 여기에 설명된 다양한 장치와 함께 사용될 수 있으며, 예시된 카트리지(42)는 단지 카트리지의 일 예시적 실시예라는 것을 알수 있을 것이다.
상술한 바와 같이, 구동 샤프트(28)의 근위 단부는 제 1 위치에서 구동 샤프트(28)를 회전시켜 엔드 이펙터(16)를 회전시키고, 구동 샤프트(28)를 제 2 위치로 병진시켜 조오(18, 20)를 폐쇄하며, 구동 샤프트(28)를 제 2 위치로 회전시켜, 엔드 이펙터(16)내의 카트리지(42)로부터 스테플을 발사하는 손잡이(14)의 다양한 부분에 결합된다. 본 기술에 공지된 다양한 기술이 구동 샤프트(28)의 회전 및 병진을 실행하기 위해 사용될 수 있지만, 일 예시적 실시예에서, 손잡이(14)는 장치(10)의 세장형 샤프트(12)에 대하여 구동 샤프트(28)를 회전 및 병진시키기 위한 회전가능 및 병진가능한 노브(50 ; knob)를 포함할 수 있다. 손잡이(14)의 노브(50)는 도 9a 및 도 9b에 보다 상세히 도시되어 있으며, 도시된 바와 같이, 노브(50)는 단지 손잡이(14)의 최근위 단부에 배치된 원통형 부재이며, 구동 샤프트(28)의 근위 단부에 결합되어 있다. 도 9a는 노브(50)의 회전이 구동 샤프트(28)를 회전시키고, 그에 의해, 엔드 이펙터(16)를 회전시키는 제 1 위치에서 노브(50)를 예시한다. 도 9b는 제 2 위치, 즉, 세장형 샤프트(12)에 대하여 수축되 어 조오(18, 20)를 폐쇄하는 위치로 근위방향으로 이동된 노브(50)를 예시한다. 노브(50)의 이동은 노브(50)를 단순히 당김으로써 달성되거나, 대안적으로, 장치는 제 1 및 제 2 위치 사이에서, 구동 샤프트(28), 그리고, 결과적으로 노브(50)를 이동시키기 위하여 구동 샤프트(28)에 결합되어 있는, 손잡이(14)상에 형성된 별개의 병진 부재(55)를 포함할 수 있다. 예시적 실시예에서, 도시된 바와 같이, 병진가능한 부재(55)는 사용자의 손의 손바닥내에 맞도록 형성되어 있다. 토글 링크 또는 오버-센터 링크가 손잡이에 대한 병진가능한 부재(55)의 이동을 제어하기 위해 손잡이(14)와 병진가능한 부재(55) 사이에서 연장한다. 사용시, 병진가능한 부재(55)는 병진가능한 부재(5)를 폐쇄하도록 압박될 수 있으며, 그에 의해, 도 9b에 도시된 제 2 위치로 구동 샤프트(28)를 이동시키기 위해 구동 샤프트(28)에 근위방향 지향력을 인가한다. 제 2 위치에서의 노브(50)의 회전은 전술한 바와 같이, 카트리지(42)로부터 스테플을 발사하게 하고, 그에 의해, 조오 사이에 결합된 조직을 스테플링한다. 조직은 또한, 스테플의 발사와 동시에 또는 그에 후속하여 절단될 수 있다. 본 기술의 숙련자는 노브 및 구동 샤프트(28)의 회전 및 병진을 실행하기 위해 사용되는 노브 또는 다른 부재의 특정 위치 및 구성이 변할 수 있다는 것을 인지할 수 있을 것이다.
도 9a 및 도 9b는 회전 및 병진가능한 노브를 예시하지만, 다른 실시예에서, 엔드 이펙터의 회전 및 작동을 실행하기 위해 사용되는 구동 샤프트(28)는 선택적으로 전자활성 폴리머 재료로 형성될 수 있다. 전자 활성 폴리머(EAPs)는 또한, 인공 근육이라고도 지칭되며, 전기 또는 기계적 필드에 응답하여 압 전(piezoelectric), 피로일렉트릭(pyroelectric) 또는 일렉트로스트릭티브(electrostrictive) 특성을 나타내는 재료이다. 특히, EAPs는 전압 적용시 형상이 변하는 도전성 폴리머의 세트이다. 도전성 폴리머는 이온 유체 또는 겔과 전극의 소정 형태로 쌍을 이룰 수 있으며, 유체/겔로부터의 이온의 도전성 폴리머 내외로의 흐름은 폴리머의 형상 변경을 유도할 수 있다. 통상적으로, 1V 내지 4kV의 범위의 전위가 사용되는 특정 폴리머 및 이온 유체나 겔에 따라 인가될 수있다. EAPs는 여기시 체적이 변하지 않으며, 이들은 단지 일 방향으로 팽창 및 횡단 방향으로 수축한다는 것을 인지하는 것이 중요하다. 따라서, 본 명세서에서 전술한 구동 샤프트(28)는 EAP 작동기로 대체될 수 있으며, 손잡이(14)는 제 1 위치로부터 제 2 위치로 클러치(30)를 이동시키고, EAP 케이블이 축방향 수축하게 할 수 있는 에너지를 선택적으로 EAP 케이블에 전달하기 위한 외부 또는 내부 에너지원을 작동시키도록 구성될 수 있다. EAP 케이블은 그후, 예로서, 엔드 이펙터(16)로부터 하나 이상의 스테플을 발사하도록 회전 노브를 사용하여 회전될 수 있다. 에너지 전달이 중단될 때, EAP 케이블은 축방향으로 팽창하여, 클러치(30)를 제 1 위치로 복귀시킨다.
여기에 설명된 다양한 장치는 또한, 그 사용을 용이하게 하기 위한 다양한 특징부를 포함할 수 있다. 예로서, 장치(10)는 세장형 샤프트(12)의 원위 단부 또는 엔드 이펙터(16)상에 배치된 광학 이미지 수집 유닛을 포함할 수 있으며, 이 광학 이미지 수집 유닛은 내시경 절차 동안 이미지를 취득하도록 적용된다. 유닛의 위치가 변할 수 있지만, 도 10은 세장형 샤프트(12)상의 커플링(63)의 외면으로부 터 돌출하는, 그리고, 내부에 광학 이미지 수집 유닛을 수납하는 경사부형 하우징(60)을 예시하고 있다. 엔드 이펙터(16) 및 주변 수술 부위의 이미지를 유닛이 취득할 수 있게 하도록 하우징(60)의 원위 지향면상에 관찰 윈도우(62)가 형성되어 있다. 광학 이미지 수집 유닛으로부터의 이미지는 외부 이미지 디스플레이 스크린으로 전달되거나, 대안적으로, 장치(10)는 장치의 근위 부분에 결합되거나 그 위에 배치된 이미지 디스플레이 스크린을 포함할 수 있다. 도 9a 및 도 9b는 손잡이로부터 외향 돌출하는 이미지 디스플레이 스크린(70)의 일 실시예를 예시한다.
또한, 본 발명은 조직을 고정 및 선택적으로 절단하기 위한 예시적 방법을 제공한다. 일 예시적 실시예에서, 도 1a의 장치(10) 같은 수술 스테플링 및 절단 장치의 세장형 샤프트는 도관을 통해, 즉, 경구 또는 항문을 통해 신체 도관내로 삽입되어 세장형 샤프트(12)의 원위 단부(12b)에 결합된 엔드 이펙터(16)를 고정 대상 조직에 인접하게 배치한다. 엔드 이펙터(16)는 그후, 조오(18, 20)내에 고정되도록 조직을 배치하도록 조작될 수 있으며, 노브(50)는 전술한 바와 같이, 엔드 이펙터(16)를 회전시키고, 조오(18, 20)를 폐쇄하고 스테플을 발사하도록 이동될 수 있다.
다른 실시예에서, 그 일부를 포함하는 여기에 설명된 다양한 장치는 일회 사용이후 폐기되도록 설계되거나, 다수회 사용되도록 설계될 수 있다. 각 경우에, 장치는 적어도 일회의 사용 이후 재사용을 위해 재조정될 수 있다. 재조정은 장치의 분해 단계 및 이어지는 특정 부재의 세정 또는 교체 및 후속 재조립 단계의 임의의 조합을 포함할 수 있다. 예로서, 구동 슬레드를 포함하는 카트리지는 엔드 이펙터로부터 제거되고, 내부에 하나 이상의 고정구를 수납하는 새로운 카트리지로 교체될 수 있다. 카트리지는 또한, 고정된 조직을 절단하기 위해 구동 슬레드상에 형성된 블레이드를 포함하는 것이 바람직하다. 장치의 다양한 다른 부분이 또한 제거 및 교체될 수 있다. 특정 부분의 세정 및/또는 교체시, 장치는 재조정 시설에서 또는, 수술 팀에 의해, 수술 절차 직전에 후속 사용을 위해 재조립될 수 있다. 본 기술의 숙련자는 장치의 재조정은 다양한 분해, 세정/교체 및 재조립을 위한 기술을 사용할 수 있다는 것을 알 수 있을 것이다. 이런 기술의 사용 및 결과적인 재조정된 장치 모두는 본 출원의 범주내에 속한다.
본 기술의 숙련자는 상술한 실시예에 기초한 본 발명의 추가적 특징 및 장점을 알 수 있을 것이다. 따라서, 본 발명은 첨부된 청구범위에 나타난 바를 제외한, 여기에 특정하게 예시 및 설명된 바에 한정되지 않는다. 여기에 인용된 모든 공보 및 참조문헌은 그 전문이 여기에 참조로 명시적으로 통합되어 있다.
본 발명은 일반적으로, 내시경 수술 장치상의 엔드 이펙터의 이동, 즉, 회전과, 작동, 즉, 폐쇄 및 발사를 제어하기 위한 방법 및 장치를 제공한다.

Claims (21)

  1. 근위 및 원위 단부들을 가지는 세장형 샤프트,
    조직과 결합하고, 상기 결합된 조직에 적어도 하나의 고정구를 전달하기 위해 세장형 샤프트의 원위 단부에 결합된 엔드 이펙터,
    상기 세장형 샤프트의 근위 단부에 결합된 손잡이, 및
    상기 손잡이 및 상기 엔드 이펙터와 연계하여 동작하는 작동기를 포함하고,
    상기 작동기는 상기 작동기의 회전이 상기 엔드 이펙터를 회전시키는 제 1 위치와, 상기 작동기의 회전이 상기 엔드 이펙터로부터 적어도 하나의 고정구를 발사시키는 제 2 위치를 갖는 내시경 스테플링 장치.
  2. 제 1 항에 있어서, 상기 작동기는 상기 제 1 위치와 제 2 위치 사이에서 상기 세장형 샤프트의 종축을 따라 병진하도록 구성되고, 상기 제 1 위치로부터 상기 제 2 위치로의 상기 작동기의 병진은 엔드 이펙터를 폐쇄시켜 조직과 결합하게 하는 내시경 스테플링 장치.
  3. 제 2 항에 있어서, 상기 엔드 이펙터는 그 사이에 조직을 결합하기 위한 대향 조오(jaw)들을 포함하고, 상기 작동기는 그 원위 단부상에 클러치를 포함하고, 상기 작동기가 상기 제 1 위치로부터 상기 제 2 위치로 병진될 때, 상기 클러치는 상기 조오들을 폐쇄하도록 상기 조오들 중 적어도 하나 상에 형성된 캠면에 대하여 접하도록 구성되는 내시경 스테플링 장치.
  4. 제 1 항에 있어서, 상기 작동기는 상기 엔드 이펙터 및 상기 손잡이와 동작가능하게 연계된 회전 및 병진가능한 구동 샤프트를 포함하는 내시경 스테플링 장치.
  5. 제 4 항에 있어서, 상기 구동 샤프트는 그 원위 단부상에 클러치를 포함하는 내시경 스테플링 장치.
  6. 제 5 항에 있어서, 상기 작동기가 상기 제 1 위치에 있을 때, 상기 클러치는 상기 작동기 및 상기 클러치의 회전이 상기 엔드 이펙터의 회전을 실행하도록 상기 엔드 이펙터의 하우징과 결합하도록 구성되는 내시경 스테플링 장치.
  7. 제 5 항에 있어서, 상기 작동기가 상기 제 2 위치에 있을 때, 상기 클러치는 상기 엔드 이펙터로부터 적어도 하나의 고정구를 발사하도록 상기 엔드 이펙터내에 배치된 드라이버를 전진시키는 기어 조립체와 결합하고 이 기어 조립체를 회전시키도록 구성되는 내시경 스테플링 장치.
  8. 제 2 항에 있어서, 상기 손잡이는 상기 제 1 위치와 상기 제 2 위치 사이에서 상기 작동기를 병진시키도록 구성되는 병진 부재와, 상기 세장형 샤프트에 대하 여 상기 작동기를 회전시키도록 구성되는 회전 부재를 포함하는 내시경 스테플링 장치.
  9. 제 1 항에 있어서, 상기 엔드 이펙터는 내부에 제거가능하게 배치된 카트리지를 포함하고, 상기 카트리지는 조직을 스테플링하기 위한 복수의 스테플과 스테플된 조직을 절단하기 위한 블레이드를 포함하는 내시경 스테플링 장치.
  10. 제 4 항에 있어서, 상기 구동 샤프트의 적어도 일부는 전자활성 폴리머 재료로 형성되고, 상기 손잡이는 상기 전자 활성 폴리머 재료가 축방향으로 수축 및 반경방향으로 팽창하여 상기 구동 샤프트를 병진시키도록 상기 구동 샤프트에 에너지를 전달하는 내시경 스테플링 장치.
  11. 제 1 항에 있어서, 상기 세장형 샤프트의 원위 단부상에 배치된 광학 이미지 수집 유닛을 추가로 포함하고, 상기 광학 이미지 수집 유닛은 내시경 절차 동안 이미지들을 취득하도록 구성되는 내시경 스테플링 장치.
  12. 제 11 항에 있어서, 상기 장치의 근위 부분상에 배치되어 상기 취득된 이미지들을 디스플레이하도록 상기 광학 이미지 수집 유닛과 통신하도록 구성되는 이미지 디스플레이 스크린을 추가로 포함하는 내시경 스테플링 장치.
  13. 제 1 항에 기재된 장치를 재조정하는 방법으로서,
    재사용을 위해 상기 장치를 준비하도록 상기 엔드 이펙터내에 제거가능하게 배치된 카트리지를 제거 및 교체하는 단계를 포함하고, 상기 카트리지는 내부에 배치된 복수의 고정구들을 포함하는 내시경 스테플링 장치 재조정 방법.
  14. 제 13 항에 있어서, 상기 카트리지는 고정된 조직을 절단하기 위해 내부에 배치된 블레이드를 포함하는 내시경 스테플링 장치 재조정 방법.
  15. 그 원위 단부에 결합된 엔드 이펙터와, 그 근위 단부에 가동적으로 결합된 손잡이를 포함하는 세장형 샤프트, 및
    상기 손잡이 및 상기 엔드 이펙터와 동작가능하게 연계되어, 상기 세장형 샤프트에 대하여 상기 엔드 이펙터를 회전시키고, 조직을 결합하도록 상기 엔드 이펙터를 폐쇄시키고, 상기 엔드 이펙터로부터 적어도 하나의 고정구를 발사하도록 구성되는 구동 샤프트를 포함하는 내시경 스테플링 장치.
  16. 제 15 항에 있어서, 상기 구동 샤프트는 상기 구동 샤프트의 회전이 상기 엔드 이펙터의 폐쇄 및 발사 없이 상기 세장형 샤프트에 대한 상기 엔드 이펙터의 대응 회전을 유발하는 제 1 위치와, 상기 구동 샤프트의 회전이 상기 세장형 샤프트에 대한 상기 엔드 이펙터의 회전 없이 상기 엔드 이펙터의 폐쇄 및 발사를 유발하는 제 2 위치 사이에서 이동가능한 내시경 스테플링 장치.
  17. 제 16 항에 있어서, 상기 구동 샤프트는 상기 제 1 위치와 상기 제 2 위치 사이에서 이동하도록 상기 세장형 샤프트의 종축에 대해 병진하도록 구성되고, 상기 제 1 위치로부터 상기 제 2 위치로의 상기 구동 샤프트의 병진은 상기 엔드 이펙터의 대향 조오를 폐쇄시키도록 구성되는 내시경 스테플링 장치.
  18. 제 16 항에 있어서, 상기 구동 샤프트의 원위 단부는 상기 구동 샤프트가 상기 제 1 위치에 있을 때 상기 엔드 이펙터를 회전시키도록 상기 엔드 이펙터의 일부와 결합하고, 상기 구동 샤프트의 원위 단부는 상기 구동 샤프트가 상기 제 2 위치에 있을 때 상기 기어 조립체를 회전시키도록 상기 기어 조립체와 결합하고, 상기 기어 조립체의 회전은 상기 엔드 이펙터로부터 적어도 하나의 고정구를 발사하도록 상기 엔드 이펙터 내부에 배치된 드라이버를 전진시키는 내시경 스테플링 장치.
  19. 그에 가동적으로 결합된 손잡이 조립체를 포함하는 근위 단부를 포함하고, 상기 세장형 샤프트의 원위 단부에 결합된 엔드 이펙터를 고정 대상 조직에 인접하게 배치하도록 신체 도관내로 세장형 샤프트를 삽입하는 단계,
    상기 세장형 샤프트의 종축 둘레에서 상기 엔드 이펙터를 회전시키도록 상기 손잡이 조립체상의 제 1 위치에서 회전가능한 부재를 회전시키는 단계, 및
    상기 엔드 이펙터의 회전 없이 상기 엔드 이펙터내에 배치된 적어도 하나의 고정구를 발사하도록 상기 손잡이 조립체상의 제 2 위치에서 상기 회전가능한 부재를 회전시키는 단계를 포함하는 조직 고정 방법.
  20. 제 19 항에 있어서, 고정 대상 조직 둘레에 상기 엔드 이펙터의 대향 조오를 폐쇄하도록 상기 손잡이 조립체상의 병진 부재를 이동시키는 단계를 추가로 포함하는 조직 고정 방법.
  21. 제 19 항에 있어서, 상기 세장형 샤프트는 가요성이며, 도관을 통해 삽입되는 조직 고정 방법.
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EP1813211A3 (en) 2007-09-12
JP2007216012A (ja) 2007-08-30
BRPI0700153A (pt) 2007-11-06
EP1813211B1 (en) 2010-03-10
EP1813211A2 (en) 2007-08-01
US20070175947A1 (en) 2007-08-02
RU2445930C2 (ru) 2012-03-27
BRPI0700153B1 (pt) 2018-07-24
JP5014817B2 (ja) 2012-08-29
CA2576440C (en) 2014-12-09
MX2007001314A (es) 2009-02-12
RU2007103537A (ru) 2008-08-10
US7575144B2 (en) 2009-08-18
CA2576440A1 (en) 2007-07-31
AU2007200314A1 (en) 2007-08-16
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AU2007200314B2 (en) 2012-06-21

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