US20080097520A1 - Medical device actuators - Google Patents

Medical device actuators Download PDF

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Publication number
US20080097520A1
US20080097520A1 US11/419,384 US41938406A US2008097520A1 US 20080097520 A1 US20080097520 A1 US 20080097520A1 US 41938406 A US41938406 A US 41938406A US 2008097520 A1 US2008097520 A1 US 2008097520A1
Authority
US
United States
Prior art keywords
wire
head
distal
actuator
bend
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.)
Abandoned
Application number
US11/419,384
Other languages
English (en)
Inventor
Dean Bruewer
Jose L. Francese
Carlos M. Rivera
Jeffrey David Messerly
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cilag GmbH International
Original Assignee
Ethicon Endo Surgery Inc
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 Ethicon Endo Surgery Inc filed Critical Ethicon Endo Surgery Inc
Priority to US11/419,384 priority Critical patent/US20080097520A1/en
Assigned to ETHICON ENDO-SURGERY, INC. reassignment ETHICON ENDO-SURGERY, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: FRANCESE, JOSE L., RIVERA, CARLOS M., BRUEWER, DEAN, MESSERLY, JEFFREY DAVID
Priority to CA002589957A priority patent/CA2589957A1/en
Priority to JP2007133159A priority patent/JP2007313315A/ja
Priority to AU2007202246A priority patent/AU2007202246A1/en
Priority to EP07252087A priority patent/EP1857060B1/en
Priority to DE602007003894T priority patent/DE602007003894D1/de
Priority to CN200710104821.XA priority patent/CN101073486A/zh
Publication of US20080097520A1 publication Critical patent/US20080097520A1/en
Priority to US12/638,408 priority patent/US8419766B2/en
Assigned to CILAG GMBH INTERNATIONAL reassignment CILAG GMBH INTERNATIONAL ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ETHICON LLC
Abandoned legal-status Critical Current

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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, e.g. tourniquets
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00526—Methods of manufacturing
    • 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
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A61B2017/294—Connection of actuating rod to jaw, e.g. releasable
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining

Definitions

  • the present invention relates to methods and devices for manufacturing an actuator for use in a medical device, and to methods and devices for actuating an end effector on a surgical device.
  • Devices for manipulating tissue are frequently used in minimally-invasive surgical and diagnostic procedures. Such procedures often involve the use of an endoscope, which allows visualization of the inner structures of a patient without the need for conventional surgery.
  • Manipulation of the tissue is accomplished by passing specialized accessories through a hollow working channel of the endoscope into the inner cavity of the patient, where the accessories can be used to perform functions such as cutting, grasping, snaring, dissecting, cauterizing, and tissue sampling.
  • forceps One accessory commonly used with endoscopic procedures is forceps.
  • Conventional forceps generally include an effector assembly at the distal end, a control assembly at the proximal end, and one or more control wires extending between the distal and proximal ends.
  • An actuating force is generated at the proximal end by a push-pull mechanism in the control assembly. This force is then transferred to the distal end by pushing or pulling on one or more of the control wires.
  • the effector assembly is fashioned for the specific function of the device, typically the effector assembly includes a pair of jaws that pivot about a fixed hinge-pin on a support piece.
  • the control wire or wires are linked to the jaws, causing the jaws to open or close as a result of movement of the control wire.
  • the wire can run through the jaws, and it can be secured to the jaws by a Z-bend that is formed on the distal end thereof.
  • this method of attachment creates friction when the jaws are opened and closed, causing the device to operate less fluidly or smoothly than is desirable.
  • the protruding parts commonly resulting from this configuration can also cause damage to the lining of the working channel of the endoscope.
  • Other end effectors are formed using a casting process, and include simple recesses and thru-bores in order to preserve their structural integrity.
  • the drive wire may not be seated precisely within the bore. Rather, the wire usually runs through the bore and is loosely attached by angling or crimping the end alongside the end effector. The resulting jagged or protruding wire could possibly scratch the sensitive lining of an endoscope.
  • a medical device includes an elongate member having first and second jaws formed on a distal end thereof that are adapted to manipulate tissue, and a flexible wire extending through the elongate member and having a distal portion extending from an inner surface of one of the jaws and through a bore in the jaw.
  • the flexible wire also includes a head formed on a terminal end thereof that terminates adjacent to an outer surface of the jaw.
  • the head includes at least one planar surface that is coplanar with an outer surface of the elongate member.
  • the head can be substantially D-shaped.
  • the head can include proximal and distal facing surfaces and a sidewall extending between the proximal and distal facing surfaces.
  • the sidewall can include an arc shaped region and a planar region such that a perimeter of the sidewall is D-shaped.
  • the planar region is approximately coplanar with an outer surface of the flexible wire.
  • the distal facing surface of the head can be substantially planar.
  • the terminal end of the flexible wire can abut the proximal facing surface of the head, and the terminal end of the flexible wire can optionally flare outward toward the proximal facing surface of the head.
  • the distal portion of the flexible wire can extend perpendicularly outward from a plane extending through a central axis of the elongate member.
  • the flexible wire can have a bend formed therein between a proximal portion of the flexible wire and the distal portion. The bend can be positioned adjacent to the inner surface of the jaw through which the flexible wire extends.
  • the distal portion of the wire located distal of the bend has a length in the range of about 0.01 inches to 0.02 inches, and the bend has an angle of about 90°.
  • the flexible wire can also have a termination strength of at least about 12 lbs, and more preferably about 17 lbs.
  • a medical device in yet another embodiment, includes an elongate member having an end effector located on a distal end thereof, and a flexible actuator extending through the elongate member and having formed at its distal end a head having a planar surface that is coplanar with an outer surface of the elongate member, and having maximum width greater than a maximum of the flexible actuator.
  • a distal portion of the flexible actuator can extend perpendicularly outward from a plane extending through a central axis of the elongate member, and it can extend through a bore in the end effector such that the head terminates adjacent to an outer surface of the end effector.
  • the distal portion is located just distal of a substantially 90° bend formed in the flexible actuator.
  • the head is substantially D-shaped.
  • a method for manufacturing an actuator for a surgical device includes forming a D-shaped head on a distal end of a wire, grasping the D-shaped head with a forming shoe of a forming tool such that a planar surface of the D-shaped head and a distal portion of the wire rest against a planar surface of the forming shoe, and actuating the forming tool to form a bend just proximal to the D-shaped head of the wire.
  • the D-shaped head and the wire are integrally formed. While the angle of the bend can vary, the bend preferably has an angle of about 90°.
  • a portion of the wire located distal of the bend can have a length in the range of about 0.01 inches to 0.02 inches.
  • the method can also include attaching the wire to a surgical device having an elongate member and a pair of jaws such that the wire extends through the elongate member and a portion of the wire located distal to the bend extends from an inner surface of one of the jaws through a bore formed in the jaw.
  • the D-shaped head can terminate adjacent to an outer surface of the jaw.
  • the planar surface on the D-shaped head is formed around a D-shaped perimeter of a sidewall of the D-shaped head, and the sidewall extends between proximal and distal facing surfaces of the D-shaped head.
  • FIG. 1A is a side view of one exemplary embodiment of a distal portion of a surgical grasping device having opposed grasping jaws shown in an open position;
  • FIG. 1B is a perspective view of one of the jaws of the device of FIG. 1A ;
  • FIG. 2 is side view of one embodiment of a forming tool showing a wire actuator being formed
  • FIG. 3A is a side view of one exemplary embodiment of a flexible wire actuator, showing a proximal surface of a head formed on a terminal end of the actuator;
  • FIG. 3B is a side view of the flexible wire actuator of FIG. 3A , showing first and second bends formed in a terminal portion of the flexible wire actuator;
  • FIG. 3C is a side view of the flexible wire actuator of FIG. 3A , showing a distal surface of the head formed on the terminal end of the actuator.
  • the coupling is in the form of one or more flexible actuators that can extend from a handle of a medical device to an end effector located on a distal end of the device.
  • the present invention is described in connection with a surgical grasping device having an elongate flexible shaft with an end effector coupled to a distal end thereof and including first and second opposed jaws that are pivotally coupled to one another.
  • the device is particularly useful during endoscopic procedures, in which the device is introduced translumenally, e.g., through a natural orifice.
  • tension is applied to the flexible actuator(s)
  • the actuator(s) will cause the jaws to move between open and closed positions.
  • the flexible actuators disclosed herein can be used in a variety of medical devices.
  • the present invention has application in conventional endoscopic and open surgical instrumentation as well application in robotic-assisted surgery.
  • FIG. 1A illustrates one exemplary embodiment of a surgical grasping device 10 .
  • the device 10 includes a flexible elongate shaft 12 having a handle (not shown) coupled to a proximal end thereof and an end effector 14 coupled to the distal end 12 b thereof. While the handle is not shown, various handle configurations are known in the art and can be used.
  • the end effector 14 includes first and second jaws 16 , 18 that are pivotally coupled to one another by a pivot pin 19 .
  • the jaws 16 , 18 can be mated to a clevis 17 , as shown.
  • each jaw 16 , 18 can have various configurations, but in the illustrated embodiment each jaw 16 , 18 includes a distal portion extending distally from the pivot pin 19 and having a plurality of teeth 16 a , 18 a formed thereon for grasping tissue, and a proximal tab (only tab 16 b is shown) extending proximally from the pivot pin 19 .
  • the proximal tab 16 b includes a bore 20 formed therethrough. In use, the bore 20 is configured to receive a distal end of a wire actuator to allow the actuators to move the jaws 16 , 18 between an open position, as shown in FIG.
  • the jaws 16 , 18 are effective to engage tissue therebetween.
  • the particular configuration of the bore 20 can vary, in one exemplary embodiment the bore 20 is non-chamfered and does not include a countersink on either side of the bore 20 .
  • the end effector 14 can have a variety of other configurations, and that the grasping device shown in FIG. 1A is merely shown as one example of a device that can be used in conjunction with the actuators disclosed herein.
  • a first flexible wire actuator 22 extends through the elongate shaft 12 and through the bore 20 formed in the proximal tab 16 b of the first jaw 16 .
  • a second flexible wire actuator can extend through the elongate shaft 12 and through a bore formed in the second jaw 18 .
  • the wire actuator 22 is configured to apply a proximally- and distally-directed forces to the tab 16 b formed on the proximal end of the jaw 16 to pivot the jaw 16 about the pivot pin 19 , thereby closing and opening the jaw 16 .
  • the wire actuator 22 extends from an inner surface of the tab 16 b , through the bore 20 , to an outer surface of the tab 16 b such that a head 24 formed on the terminal end of the wire actuator 22 abuts against the outer surface of the tab 16 b to prevent the wire actuator 22 from pulling through the bore when tension is applied to the actuator 22 .
  • the wire actuator 22 preferably includes a pre-formed bend formed therein adjacent to the terminal end 24 thereof. As a result of the bend, a portion of the wire actuator 22 located distal of the bend will extend perpendicularly outward from a plane extending through a central axis A of the elongate member 12 . The bend thus allows for push/pull forces to be conveyed from the wire 22 to the jaws 16 , 18 of the end effector 14 .
  • the bend is preferably formed fairly close to the terminal end of the wire actuator 22 .
  • the length of the wire extending distally from the bend is preferably substantially equal to the thickness of the tab 16 b .
  • a forming tool such as a progressive die machine or four-slide machine, can be used to engage a terminal portion of the wire actuator 22 .
  • FIG. 2 illustrates one exemplary embodiment of a forming tool 100 .
  • the tool 100 generally includes a forming base 101 and a forming shoe 103 that define a cavity therebetween for engaging the wire actuator 22 and forming the desired bends in the wire.
  • the forming shoe 103 includes a planar surface 102 formed thereon against which the head 24 and a terminal portion of the wire actuator 22 rest against. This facilitates formation of a bend adjacent to the terminal end of the wire actuator 22 .
  • the head 24 preferably includes at least one planar sidewall formed thereon and located approximately coplanar with an outer surface of the wire actuator 22 .
  • the planar sidewall will allow both the head 24 and the terminal end of the wire actuator 22 to rest flat against the planar surface 102 on the forming tool 100 . Without the planar sidewall on the head 24 , the head 24 would prevent the terminal end of the wire actuator 22 from resting directly on the planar surface 102 of the forming tool 100 , and thus would interfere with forming of the bend.
  • the forming show 103 would have a toe feature to appropriately engage and form the bend while providing an undercut to allow the full head, once the bend is made, space to make an appropriately sharp bend. This toe does not provide an acceptable solution in that the toe would then prevent the wire actuator 22 from freely disengaging from the forming shoe 103 during manufacture.
  • FIGS. 3A-3C illustrate one exemplary embodiment of a flexible wire actuator 22 having a head 24 formed on a terminal end 22 b thereof and including at least one planar sidewall or region 24 p .
  • the head 24 has a D-shaped configuration, such that the head 24 includes proximal and distal facing surfaces 24 a , 24 b with a sidewall extending therebetween and having a perimeter that is in the shape of the letter D.
  • the perimeter of the sidewall includes an arc shaped region 24 c and a planar region 24 p .
  • FIG. 23C shows a distal end view of the head 24 located on the terminal end 22 b of the wire actuator 22 . As shown in FIG.
  • the planar region 24 p is coplanar with an outer surface of the wire actuator 22 to allow the planar region of the head 24 and the terminal end 22 b of the wire actuator 22 to rest flat against a planar surface of a forming tool.
  • the shape of the proximal and distal facing surfaces 24 a , 24 b of the head 24 can vary, but as shown in FIGS. 3A-3C , the proximal and distal surfaces 24 a , 24 b are substantially planar.
  • the terminal end 22 b of the wire actuator 22 that abuts against the proximal facing surface 24 b of the head 24 can optionally flare outward toward the head 24 , as shown in FIG. 3B .
  • the D-shaped head 24 can be formed on the terminal end 22 b of the wire actuator 22 using various techniques known in the art, but in an exemplary embodiment the head 24 and the actuator 22 are integrally formed. That is, the head 24 and the actuator 22 are molded as a single unit formed from the same material. This can be achieved using standard drawing, heading, forming, shaping, and molding techniques known in the art, and using constraint tooling with a shape that is configured to form a wire with a D-shaped head.
  • the materials used to form the actuator 22 can vary, but for certain applications, such as with a medical grasping device as described with respect to FIG. 1A , the actuator 22 is preferably formed from stainless steel, such as 304V stainless steel, or from other metals and materials having a good tensile strength.
  • the dimensions of the actuator 22 can also vary depending on the intended use, but in an exemplary embodiment the head 24 has a maximum width that is greater than a maximum width or diameter of the wire actuator 22 . This will allow the head 24 to prevent the wire actuator 22 from becoming disengaged with the bore 20 formed in the proximal tab 16 b of the jaw 16 .
  • the wire actuator 22 can have a diameter d w of about 0.011 inches
  • the head 24 can have a maximum width, e.g., a diameter d h as measured across the arc shaped region 24 c , of about 0.020 inches.
  • the depth h d FIG.
  • the head 24 as measured between the proximal and distal facing surfaces 24 a , 24 b of the head 24 , can also vary depending on the thickness of the proximal tab 16 b and the depth of the bore 20 through which the terminal end 22 b of the actuator 22 is to be inserted, but in one exemplary embodiment the head 24 has a depth h d of about 0.005 inches.
  • one or more bends can be formed in a terminal portion of the actuator 22 to allow the actuator 22 to be mated to a jaw of a medical device, such as jaw 16 of the surgical grasping device 10 shown in FIG. 1A .
  • the quantity of bends, as well as the particular location of each bend, can vary depending on the configuration of the device.
  • a terminal or distal portion of the actuator 22 includes three bends 26 , 28 , 30 formed therein, such that the distal portion is somewhat C-shaped.
  • the first bend 26 is formed relatively close to the terminal end 22 b and the head 24 , and the second and third bends 28 , 30 can be formed proximal of and a distance apart from the first bend 26 .
  • the first bend 26 in order to allow the terminal end 22 b of the wire actuator 22 to extend substantially perpendicular to a plane containing the central axis A ( FIG. 1A ) of the device 10 , the first bend 26 preferably has an angle ⁇ of about 90°. This will allow a terminal portion of the wire actuator 22 to extend coaxial with an axis of the bore 20 in the jaw 16 , and will allow the proximal portion of the wire actuator 22 located proximal of the first bend 26 to extend through the shaft 12 of the device 10 .
  • the distance between the first bend 26 and the terminal end 22 b of the wire 22 can also vary, but in one exemplary embodiment the distance d t is in the range of about 0.01 inches and 0.02 inches.
  • the location and angle of the second and third bends 28 , 30 can vary as desired depending on the intended use.
  • the remaining portion of the wire actuator 22 can also vary, and it can have a linear configuration, it can be substantially curved as shown in FIG. 2A , or it can have various other configurations as may be necessary depending on the intended use.
  • the wire actuator 22 is mated to the jaw 16 by inserting a proximal end of the wire actuator 22 through the bore 20 in the proximal tab 16 b .
  • the proximal end is inserted from the outer surface to the inner surface of the proximal tab 16 b .
  • the wire actuator 22 is then passed through the elongate shaft 12 and coupled to an actuator, such as a knob or lever, formed on a handle of the device 10 .
  • the D-shaped head 24 will abut against the outer surface of the proximal tab 16 b on the jaw 16 , and the first bend 26 will be positioned adjacent to the inner surface of the proximal tab 16 b on the jaw 16 .
  • the use of a D-headed wire 22 with a bend 26 formed substantially adjacent to the head 24 can also be advantageous as it provides a relatively high termination strength.
  • the desired strength is preferably about 12 lbs., and tests performed on a wire actuator formed from 304V stainless steel with the dimensions previously discussed above show a termination strength of about 17 lbs. before failing.
  • the devices disclosed herein can also be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly.
  • the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination.
  • the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure.
  • reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.
  • the invention described herein will be processed before surgery.
  • a new or used instrument is obtained and if necessary cleaned.
  • the instrument can then be sterilized.
  • the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag.
  • the container and instrument are then placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons.
  • the radiation kills bacteria on the instrument and in the container.
  • the sterilized instrument can then be stored in the sterile container.
  • the sealed container keeps the instrument sterile until it is opened in the medical facility.
  • device is sterilized. This can be done by any number of ways known to those skilled in the art including beta or gamma radiation, ethylene oxide, steam.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Ophthalmology & Optometry (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
US11/419,384 2006-05-19 2006-05-19 Medical device actuators Abandoned US20080097520A1 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
US11/419,384 US20080097520A1 (en) 2006-05-19 2006-05-19 Medical device actuators
CA002589957A CA2589957A1 (en) 2006-05-19 2007-05-18 Medical device actuators
JP2007133159A JP2007313315A (ja) 2006-05-19 2007-05-18 医療器具用アクチュエータ
AU2007202246A AU2007202246A1 (en) 2006-05-19 2007-05-18 Medical device actuators
CN200710104821.XA CN101073486A (zh) 2006-05-19 2007-05-21 医疗装置致动器
EP07252087A EP1857060B1 (en) 2006-05-19 2007-05-21 Flexible wire for actuating a medical device
DE602007003894T DE602007003894D1 (de) 2006-05-19 2007-05-21 Flexibles Drahtstück zum Betätigen eines medizinischen Instrumentes
US12/638,408 US8419766B2 (en) 2006-05-19 2009-12-15 Medical device actuators

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US11/419,384 US20080097520A1 (en) 2006-05-19 2006-05-19 Medical device actuators

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/638,408 Division US8419766B2 (en) 2006-05-19 2009-12-15 Medical device actuators

Publications (1)

Publication Number Publication Date
US20080097520A1 true US20080097520A1 (en) 2008-04-24

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US11/419,384 Abandoned US20080097520A1 (en) 2006-05-19 2006-05-19 Medical device actuators
US12/638,408 Active 2027-02-06 US8419766B2 (en) 2006-05-19 2009-12-15 Medical device actuators

Family Applications After (1)

Application Number Title Priority Date Filing Date
US12/638,408 Active 2027-02-06 US8419766B2 (en) 2006-05-19 2009-12-15 Medical device actuators

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US (2) US20080097520A1 (ja)
EP (1) EP1857060B1 (ja)
JP (1) JP2007313315A (ja)
CN (1) CN101073486A (ja)
AU (1) AU2007202246A1 (ja)
CA (1) CA2589957A1 (ja)
DE (1) DE602007003894D1 (ja)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9139784B2 (en) 2011-12-07 2015-09-22 Nova Chemicals (International) S.A. Reducing fouling in heat exchangers
US20140330298A1 (en) * 2013-05-03 2014-11-06 Ethicon Endo-Surgery, Inc. Clamp arm features for ultrasonic surgical instrument
CN108135665B (zh) * 2015-11-11 2021-02-05 直观外科手术操作公司 可重新配置的末端执行器架构
CN112155669A (zh) * 2020-10-12 2021-01-01 常州安康医疗器械有限公司 一种导液型超声刀刀头

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Publication number Priority date Publication date Assignee Title
US4953559A (en) * 1987-11-16 1990-09-04 Consiglio Nazionale Delle Ricerche Catheter for endocardial biopsy, which can also be used for identifying the point of origin of ventricular arrhythmia
US5666965A (en) * 1990-05-10 1997-09-16 Symbiosis Corporation Radial jaw biopsy forceps
US5810876A (en) * 1995-10-03 1998-09-22 Akos Biomedical, Inc. Flexible forceps device
US6106543A (en) * 1998-05-15 2000-08-22 Esser; Theodor Medical instrument driving member and end effector connection
US6299630B1 (en) * 1998-10-08 2001-10-09 Olympus Optical Co., Ltd. Endoscopic procedural device

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4716757A (en) * 1986-08-25 1988-01-05 Advanced Cardiovascular Systems, Inc. Guide wire tip shaping tool and method
DE20020667U1 (de) 1999-12-23 2001-03-08 Storz Karl Gmbh & Co Kg Medizinisches Instrument zum Präparieren von Gewebe
DE102004033633B4 (de) * 2004-07-12 2006-08-03 Stryker Leibinger Gmbh & Co. Kg Chirurgisches Instrument zur Handhabung eines gebogenen Drahtes und chirurgisches System

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4953559A (en) * 1987-11-16 1990-09-04 Consiglio Nazionale Delle Ricerche Catheter for endocardial biopsy, which can also be used for identifying the point of origin of ventricular arrhythmia
US5666965A (en) * 1990-05-10 1997-09-16 Symbiosis Corporation Radial jaw biopsy forceps
US5810876A (en) * 1995-10-03 1998-09-22 Akos Biomedical, Inc. Flexible forceps device
US6106543A (en) * 1998-05-15 2000-08-22 Esser; Theodor Medical instrument driving member and end effector connection
US6299630B1 (en) * 1998-10-08 2001-10-09 Olympus Optical Co., Ltd. Endoscopic procedural device

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Publication number Publication date
US20100088877A1 (en) 2010-04-15
DE602007003894D1 (de) 2010-02-04
EP1857060A1 (en) 2007-11-21
CN101073486A (zh) 2007-11-21
JP2007313315A (ja) 2007-12-06
AU2007202246A1 (en) 2007-12-06
US8419766B2 (en) 2013-04-16
CA2589957A1 (en) 2007-11-19
EP1857060B1 (en) 2009-12-23

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