KR20120115486A - 곡선형 캐뉼라 수술 시스템 - Google Patents

곡선형 캐뉼라 수술 시스템 Download PDF

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Publication number
KR20120115486A
KR20120115486A KR1020127011588A KR20127011588A KR20120115486A KR 20120115486 A KR20120115486 A KR 20120115486A KR 1020127011588 A KR1020127011588 A KR 1020127011588A KR 20127011588 A KR20127011588 A KR 20127011588A KR 20120115486 A KR20120115486 A KR 20120115486A
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KR
South Korea
Prior art keywords
cannula
instrument
surgical
distal end
robotic manipulator
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.)
Ceased
Application number
KR1020127011588A
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English (en)
Korean (ko)
Inventor
기우스페 마리아 프리스코
크레이그 알. 게르비
데오도르 더블유 로저스
존 라얀 스테저
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
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
Publication of KR20120115486A publication Critical patent/KR20120115486A/ko
Ceased legal-status Critical Current

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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
    • A61B34/00—Computer-aided surgery; Manipulators or robots 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B17/29—Forceps for use in minimally invasive surgery
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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
    • A—HUMAN NECESSITIES
    • 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
    • A—HUMAN NECESSITIES
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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
    • A—HUMAN NECESSITIES
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    • A61B17/3498—Valves therefor, e.g. flapper valves, slide valves
    • A—HUMAN NECESSITIES
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    • A61B50/13—Trolleys, e.g. carts
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • 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
    • 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
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B2017/00526—Methods of manufacturing
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2904—Details of shaft curved, but rigid
    • A—HUMAN NECESSITIES
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    • A61B2017/2901—Details of shaft
    • A61B2017/2905—Details of shaft flexible
    • 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
    • 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
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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
    • A—HUMAN NECESSITIES
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • 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
    • A61B17/3439—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
    • A—HUMAN NECESSITIES
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    • A61B17/34—Trocars; Puncturing needles
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    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
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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
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • A61B2017/3447—Linked multiple cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • 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
    • A61B2017/3454—Details of tips
    • 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
    • A61B17/3462—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
    • A—HUMAN NECESSITIES
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    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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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    • Y10S901/00—Robots
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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)
KR1020127011588A 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템 Ceased KR20120115486A (ko)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US12/618,549 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
US12/618,583 2009-11-13

Related Child Applications (1)

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

Publications (1)

Publication Number Publication Date
KR20120115486A true KR20120115486A (ko) 2012-10-18

Family

ID=43754950

Family Applications (5)

Application Number Title Priority Date Filing Date
KR1020127011588A Ceased KR20120115486A (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
KR1020207015200A Ceased KR20200064161A (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템
KR1020177012289A Active KR101868123B1 (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템
KR1020187016418A Active KR102118008B1 (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
KR1020207015200A Ceased KR20200064161A (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템
KR1020177012289A Active KR101868123B1 (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템
KR1020187016418A Active KR102118008B1 (ko) 2009-11-13 2010-11-10 곡선형 캐뉼라 수술 시스템

Country Status (5)

Country Link
EP (1) EP2467074B1 (OSRAM)
JP (4) JP5824456B2 (OSRAM)
KR (5) KR20120115486A (OSRAM)
CN (2) CN102596063B (OSRAM)
BR (1) BR112012011326B1 (OSRAM)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200055169A (ko) 2018-11-07 2020-05-21 주식회사 삼육오엠씨네트웍스 인공지능 기반의 캐뉼라 수술 진단 장치
KR20220052522A (ko) 2020-10-21 2022-04-28 주식회사 삼육오엠씨네트웍스 음파 탐지를 이용한 캐뉼라 기반의 지방흡입 장치 및 방법

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