WO2010008663A1 - Modular tool with signal feedback - Google Patents

Modular tool with signal feedback Download PDF

Info

Publication number
WO2010008663A1
WO2010008663A1 PCT/US2009/043546 US2009043546W WO2010008663A1 WO 2010008663 A1 WO2010008663 A1 WO 2010008663A1 US 2009043546 W US2009043546 W US 2009043546W WO 2010008663 A1 WO2010008663 A1 WO 2010008663A1
Authority
WO
WIPO (PCT)
Prior art keywords
handle portion
distal portion
modular tool
handle
distal
Prior art date
Application number
PCT/US2009/043546
Other languages
French (fr)
Inventor
Christophe Ramstein
Christopher J. Ullrich
Anne Degheest
Original Assignee
Immersion Corporation
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 Immersion Corporation filed Critical Immersion Corporation
Priority to EP09789663.3A priority Critical patent/EP2323564B1/en
Priority to JP2011518748A priority patent/JP5766116B2/en
Priority to CN2009801274580A priority patent/CN102088914B/en
Publication of WO2010008663A1 publication Critical patent/WO2010008663A1/en

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00064Constructional details of the endoscope body
    • A61B1/00105Constructional details of the endoscope body characterised by modular construction
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14Probes or electrodes therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14Probes or electrodes therefor
    • A61B18/1442Probes having pivoting end effectors, e.g. forceps
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017Electrical control of surgical instruments
    • A61B2017/00022Sensing or detecting at the treatment site
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00464Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477Coupling
    • A61B2017/00482Coupling with a code
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00053Mechanical features of the instrument of device
    • A61B2018/00172Connectors and adapters therefor
    • A61B2018/00178Electrical connectors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/22Arrangements of medical sensors with cables or leads; Connectors or couplings specifically adapted for medical sensors
    • A61B2562/225Connectors or couplings
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/90Identification means for patients or instruments, e.g. tags

Definitions

  • the embodiments of the present disclosure generally relate to modular tools and more particularly relate to mechanical and electrical communication between different portions of a modular tool.
  • a miniature camera can be introduced into the body of the patient through an incision.
  • the camera transmits images to a video monitor enabling the surgeon to view the patient's organs for diagnosing and treating the patient as needed.
  • the surgeon can also introduce surgical instruments and auxiliary devices, such as irrigation and drainage devices, through one or more additional small incisions.
  • Reposable tools are designed such that a portion of the tool is disposable and a portion of the tool is reusable.
  • a modular tool comprises a handle portion and a distal portion, where the distal portion is configured to be attached to the handle portion.
  • the handle portion is configured to be manipulated by a user.
  • the distal portion can be attached to the handle portion, it is further configured to be removable from the handle portion by the user.
  • Manipulation of the handle portion causes movement of one or more components of the distal portion.
  • the distal portion is further configured to sense one or more parameters and transmit the sensed parameters to the handle portion.
  • FIG. 1 is a diagram illustrating a modular tool according to one embodiment.
  • FIGS. 2A and 2B are diagrams illustrating the interface portion shown in FIG. 1 according to one embodiment.
  • FIG. 3 is a flow diagram of a method of operating a modular tool according to one embodiment.
  • a surgeon performing a laparoscopic procedure is usually unable to directly view the interaction between the surgical instruments and the tissues and organs of the patient.
  • a surgeon can rely on visual feedback to identify the anatomy of the patient.
  • the surgeon should manipulate the surgical tools with dexterity and sensitivity.
  • the distal end of a tool may include sensors to provide multimodal (i.e. visual, auditory, and/or tactile) feedback to the surgeon. With this multimodal feedback, a surgeon can better monitor forces applied by the tools to reduce injuries and trauma to the tissues and organs, thereby reducing complications associated with laparoscopic procedures.
  • reposable tools Another aspect that correlates to the success of surgical procedures is proper sterilization of instruments.
  • one or more portions of a reposable tool can be sterilized after use and reused while one or more other portions of the tool can be discarded.
  • Reposable tools therefore include different portions that can be assembled together, used as an assembled tool, and then disconnected from each other. The reusable portions are sterilized for further use and the disposable portions are thrown out.
  • One of the many advantages of reposable tools is that the different portions can be assembled in any number of possible combinations. For example, depending on a surgeon's preferences, certain handle portions may be selected and can be used with certain distal portions that contain elements designed to act upon the tissues and organs. Therefore, a variety of ends or tips can be connected to a variety of handles to create diverse combinations of modular tools.
  • any suitable type of sterilization procedure can be used, depending on the particular design of the portion and the materials or components contained in the portion.
  • a handle portion may include electronic circuitry that may be sensitive to heat and/or moisture. Therefore, hot steam sterilization might not be an acceptable practice in this case, unless the sensitive portions are covered or sealed with a suitable protective device.
  • Other sterilization techniques may also be used, such exposing the reusable portions to ethylene oxide, using a hydrogen peroxide gas plasma technology, gamma irradiation, electron-beam irradiation, etc.
  • an interface portion or adapter is connected intermediately between a handle portion and a distal portion.
  • the embodiments herein allow communication between the handle portion and the distal portion.
  • the communication is in the form of mechanical translation from the handle portion to the one or more components of the distal portion. In this way, the surgeon can manipulate the handle in such a way to cause the distal portion to perform specific functions on the tissues and organs.
  • communication described herein includes electrical communication between the handle portion and the distal portion.
  • electrical communication may include providing high voltage from the handle portion to the distal portion, such as for cauterization.
  • Electrical communication may also include providing low voltage, such as approximately 5V, from the handle portion to the distal portion. This voltage can be used to power the sensing elements of the distal portion as needed. Furthermore, electrical communication includes the transmission of sensor signals from the distal portion to the handle portion representing sensed parameters at the distal portion.
  • low voltage such as approximately 5V
  • FIG. 1 is a diagram illustrating an embodiment of a modular tool 10 having at least two portions.
  • modular tool 10 is shown in FIG. 1 as a modular laparoscopic surgical tool.
  • modular tool 10 may be configured as any type of modular hand tool for performing any type of functions and furthermore is designed with suitable means for mechanically translating forces and electrically communicating signals between a handle portion and a distal portion.
  • modular tool 10 includes a handle portion 12, an adapter or interface portion 14, and a distal portion 16.
  • interface portion 14 may be omitted such that handle portion 12 can be connected directly to distal portion 16.
  • the elements of interface portion 14, as described in more detail below may be incorporated partially or entirely into handle portion 12 and/or distal portion 16.
  • Handle portion 12, interface portion 14, and distal portion 16 can be attached together to form modular tool 10.
  • modular tool 10 can be used as designed.
  • handle portion 12, interface portion 14, and/or distal portion 16 can be removed or disconnected from the other portions.
  • one portion, e.g., distal portion 16 is a disposable item, this portion can be removed from modular tool 10 and discarded.
  • Modular tool 10 is designed such that handle portion 12 can be selected from a plurality of handle portions. Also, distal portion 16 can be selected from a plurality of distal portions. With compatible interconnections between the different handle portions and distal portions, a user can connect the portions in any number of combinations, depending on the particular preferences or needs of the user.
  • Interface portion 14 may be used to connect different families or classes of handle portions with different families or classes of distal portions. In some embodiments, however, handle portions and distal portions can be designed such that they can be connected to each other using a single interface portion 14 having a universal design for all types of handle portions and distal portions.
  • distal portion 16 When a user physically manipulates handle portion 12, mechanical forces applied to handle portion 12 are translated to cause movement of one or more components of distal portion 16. As needed, this mechanical translation is communicated through or by way of interface portion 14. Furthermore, parameters that are sensed at distal portion 16 can be electrically transmitted back to handle portion 12.
  • the types of parameters that can be sensed by distal portion 16 may include, for example, optical images, pressure, force, temperature, biological information, flexibility, tissue identification, tip resistance, trajectory information, Doppler information, active or passive piezoelectric transducer (“PZT”) information, polyvinylidene fluoride (“PVDF”) sensor information, strain gauge measurements, ultrasound, etc.
  • Handle portion 12 may include certain processing elements as needed, such as, for example, filters, analyzing circuitry, amplifiers, etc. Also, handle portion 12 may include a display device for displaying the sensed parameters. In addition, handle portion 12 may include a haptic actuator, such as, for example, a vibrotactile actuator, kinesthetic actuator, deformable surface actuator, electromagnetic actuator, eccentric rotating mass (“ERM”), linear resonant actuator (“LRA”), "smart material”, piezoelectric material, electro-active polymer, shape memory alloys, etc. With a haptic actuator, handle portion 12 can invoke a haptic effect to the hands of the user. Also, handle portion 12 can include handle mounted sensors, such as, for example, user grip force sensors, gripper angle sensors, etc.
  • handle portion 12 may include a wireless transmitter configured to transmit wireless signals to a remote haptic actuating device.
  • signals from distal portion 16 can be transmitted to the remote device for actuating haptic effects on the user or even on another person.
  • signals can be transmitted to a body-mounted actuator assembly located on the surgeon, such as around the surgeon's wrist, inside the gown, etc.
  • the body-mounted actuator does not necessarily need to be sterile.
  • Wireless transmission in this sense may be for short range communication, such as using Bluetooth ® or other similar technology.
  • Handle portion 12 can provide power to distal portion 16 as needed to power any sensors of distal portion 16.
  • a low voltage e.g., 5V
  • handle portion 12 can include an internal power source, such as, for example, rechargeable batteries.
  • distal portion 16 can also transmit signals from the respective sensors back to handle portion 12.
  • handle portion can process the signals to indicate the results to the user in any suitable manner.
  • handle portion 12 may include a haptic actuator for invoking a haptic effect upon the user.
  • handle portion 12 may also include a display device for visually displaying results of the sensors of distal portion 16. With a power source contained within handle portion 12, the power source can supply power as needed to the various output devices, e.g., haptic actuators, display devices, etc., maintained with respect to handle portion 12.
  • handle portion 12 may also provide a large amount of AC or DC power to distal portion 16.
  • handle portion 12 may also provide a large amount of AC or DC power to distal portion 16.
  • AC or DC power For example, when modular tool 10 is used as a cauterization device, approximately 50 watts of power may be needed to cauterize an organ. With the capability to supply such a high power, modular tool 10 includes proper insulating material to minimize crosstalk or electromagnetic interference of the high power with other electronics.
  • an external power source may be used in conjunction with modular tool 10 to provide a proper amount of power. The external power source in this case may be configured to provide power to distal portion 16 via any suitable connection mechanisms on handle portion 12 and/or interface portion 14.
  • Distal portion 16 may include any suitable type of tip or end piece for performing any number of functions.
  • distal portion 16 may include a clamp, grasper, forceps, scissors, cautery, tissue identifying probe, tip resistance sensor, trajectory sensor, Doppler sensor, active or passive PZT sensor, PVDF strain gauge, ultrasound detector, blood flow sensor, pulse sensor, temperature sensor, sensor for monitoring other patient vitals, etc.
  • Some examples of non-surgical distal portion 16 elements may include drills, screwdrivers, saws, hammers, etc.
  • FIGS. 2A and 2B are diagrams of an embodiment of interface portion 14 shown in FIG. 1, where FIG. 2A is an end view of interface portion 14 and FIG. 2B is a cross-sectional side view of interface portion 14.
  • interface portion 14 includes a substrate 18 containing any suitable material for providing support for the other elements.
  • substrate 18 is formed having a hollow cylindrical shaft having a length of approximately 2-3 cm and a diameter of approximately 2-3 cm.
  • Interface portion 14 also includes power conductors 20, signal communication conductors 22, a processing device 24, sensors 26, insulating material 28, and latching mechanisms 30. Insulating material 28 forms a layer between substrate 18 and a cylindrical channel 32 formed coaxially with interface portion 14.
  • interface portion 14 is designed as an adapter to connect to handle portion 12 and distal portion 16 to provide support for forming a relatively rigid modular tool 10 that can be used as designed.
  • interface portion 14 is an electromechanical interface device designed to enable mechanical translation and electrical communication between handle portion 12 and distal portion 16.
  • Interface portion 14 allows a mechanical and high voltage electrical connection through channel 32 to distal portion 16.
  • connection can be made to a laparoscopic tip having standard diameter dimensions of 3mm, 5mm, or 10mm.
  • One of any number of handle portions can be selected for attachment with one of any number of distal portions. Selection of handle portion 12 and distal portion 16 may be based on a surgeon's preference or to support advances in technology of handle portions, interface portions, and/or distal portions. The selected portions can be attached by way of interface portion 14.
  • FIG. 2 Two power conductors 20 are illustrated in FIG. 2, where the potential difference between the two creates an electrical current at the terminating sensor of distal portion 16 that completes the circuit. In some embodiments, however, more than one pair of power conductors can be incorporated in interface portion 14 for supplying power for additional sensors in distal portion 16 and/or for supplying different voltage or current levels as needed by different types of sensors.
  • two signal communicating conductors 22 are illustrated in FIG. 2 for creating a circuit along which signals can be transmitted between handle portion 12 and distal portion 16.
  • Power conductors 20, signal communication conductors 22, and any other conductors of interface portion 14 can be embedded in substrate, which can act as an insulator for the conductors. Also, these conductors extend the length of interface portion 14 to transmit signals or power from one end to the other.
  • Interface portion 14 can include any suitable contact elements for creating an adequate electrical connection between contact elements of the conductors of handle portion 12 and/or distal portion 16 with conductors 20 and 22.
  • the contact elements may include spring contact, corresponding male and female connector contacts, etc.
  • the contact elements and conductors can be used for carrying digital and/or analog signals.
  • Conductors 20 and 22 can be designed to carry low voltage signals compared to the high voltage signals transmitted through channel 32. In some embodiments, the low voltage may be approximately 5V.
  • Processing device 24 may be a general -purpose or specific- purpose processor or microcontroller, depending on the particular use. In some embodiments, processing device 24 can be implemented using discrete logic circuitry, an application specific integrated circuit (ASIC), a programmable gate array (PGA), a field programmable gate array (FPGA), etc., or any combination thereof.
  • ASIC application specific integrated circuit
  • PGA programmable gate array
  • FPGA field programmable gate array
  • Sensors 26 may be implemented to detect any number of parameters associated with interface portion 14. Two sensors 26 are shown for illustrative purposes only, but it should be recognized that any number of sensors 26 may be incorporated in interface portion 14 as needed and depending on the particular design.
  • one or more sensors 26 may be configured as shaft sensors.
  • sensors may include an optical encoder for monitoring shaft position when a shaft of distal portion 16 is inserted into or removed from channel 32.
  • Sensors 26 may also be configured as inductive sensors for monitoring when a high current is flowing through a cautery or other similar high power device inserted in channel 32.
  • the layer of insulating material 28, positioned between substrate 18 and channel 32, is configured to minimize or eliminate crosstalk or electromagnetic interference of a high power or current flowing through channel 32.
  • insulating material 28 insulates the other conductors, e.g., low voltage conductors 20 and 22, from the high power cautery in channel 32.
  • latching mechanisms 30 can include any suitable structure and are illustrated in FIG. 2A to merely convey the concept of physically latching interface portion 14 with either or both of handle portion 12 and/or distal portion 16. Latching mechanisms 30 are located on both ends of interface portion 14 for assembling with both handle portion 12 and distal portion 16. Likewise, handle portion 12 and distal portion 16 include compatible latching devices for enabling engagement of portions together. Although four latching mechanisms 30 are shown, it should be recognized that any number of latching mechanisms 30 can be included on each end of interface portion 14. Latching mechanisms 30 can be configured in any suitable manner with any suitable size or shape and can be used to connect the different portions together to form modular tool 10. Latching mechanisms 30 are designed to provide sufficient strength and stability to allow the user of modular tool 10 to easily and effectively perform the intended functions without inadvertent disconnection of the portions during use.
  • latching mechanisms 30 are designed to properly align the contact elements of the conductors of handle portion 12 and/or distal portion 16 with corresponding contact elements and conductors of interface portion 14. With proper alignment, power conductors of handle portion 12 and distal portion 16 can be connected to power conductors 20 of interface portion 14 to properly supply power as needed. Also, signal communication conductors 22 can properly carry signals between corresponding signal communication conductors of handle portion 12 and distal portion 16. It should be noted that handle portion 12 and distal portion 16 can be designed to include corresponding latching components for engaging latching mechanisms 30 of interface portion 14 to properly latch the portions together.
  • Channel 32 is designed to allow a mechanical connection between handle portion 12 and distal portion 16.
  • distal portion 16 may include a rod that is inserted through channel 32 and connected to corresponding mechanisms for translating mechanical forces.
  • interface portion 14 may further comprise a digital interface for digital communication or integrated sensing.
  • Interface portion 14 may be configured to support different types of shafts and sensors of distal portion 16. Therefore, interface portion 14 may include any suitable shape or design, with differently sized or shaped channels 32 as needed for particular types of shafts and sensors.
  • FIG. 3 is a flow diagram showing an embodiment of a method of operation of a modular tool.
  • the method comprises providing distinct tool portions that can be assembled into a modular tool, as indicated in block 34.
  • the modular tool comprises a handle portion and a distal portion, where manipulation of one or more components of the handle portion causes movement of one or more components of the distal portion.
  • the method may include providing an interface portion to be assembled with the handle portion and distal portion and positioned between the two other portions. In this respect, interface portion may be used for connected different types of handle portions with different types of distal portions.
  • the modular tool reacts to forces applied upon the tool, such as forces applied by a user.
  • forces applied upon the tool such as forces applied by a user.
  • mechanical forces are translated to a second portion, e.g., distal portion, of the modular tool.
  • one or more parameters are sensed at the second portion of the modular tool.
  • the sensed parameters are electrically transmitted from the second portion of the modular tool to the first portion of the modular tool.
  • the method of FIG. 3 may further comprise utilizing the signals at the handle portion in any suitable manner.
  • the signals may be used to display the sensed parameters on a display device and/or can be used to actuate haptic effect via a haptic actuating device associated with the handle portion.
  • the modular tool which includes portions that can be connected together and can be removed from each other, includes mechanical and electrical communication between the portions of the tool.
  • the distal portion While manipulating the handle portion, causing the distal portion to mechanically react, the distal portion can also sense one or more parameters that can be transmitted back to the handle portion for indicating the sensed parameters to the user. It should be understood that one or more of the steps, processes, and/or operations described herein may be executed substantially simultaneously or in a different order than explicitly described, as would be understood by one of ordinary skill in the art.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Ophthalmology & Optometry (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Surgical Instruments (AREA)

Abstract

Implementations of modular tools and methods of operating modular tools are described in the present disclosure. A modular tool according to one of several possible embodiments comprises a handle portion and a distal portion. The handle portion is configured to be manipulated by a user. The distal portion is configured to be attached to the handle portion, but is further configured to be removable from the handle portion by the user. Manipulation of the handle portion causes movement of one or more components of the distal portion. The distal portion is further configured to sense one or more parameters and transmit the sensed parameters to the handle portion.

Description

MODULAR TOOL WITH SIGNAL FEEDBACK
TECHNICAL FIELD
[0001] The embodiments of the present disclosure generally relate to modular tools and more particularly relate to mechanical and electrical communication between different portions of a modular tool.
BACKGROUND
[0002] In the field of surgery, open surgical procedures involve creating a relatively large incision in the abdomen of a patient allowing the surgeon to access various organs. On the other hand, laparoscopic surgical procedures involve accessing organs through one or more small incisions, which makes these procedures less invasive than open surgery. Since laparoscopic procedures are less invasive, hospitalization times are typically reduced, patients require less therapy, patients experience less pain, scarring is reduced, and the likelihood of complications is reduced.
[0003] In laparoscopic procedures, a miniature camera can be introduced into the body of the patient through an incision. The camera transmits images to a video monitor enabling the surgeon to view the patient's organs for diagnosing and treating the patient as needed. The surgeon can also introduce surgical instruments and auxiliary devices, such as irrigation and drainage devices, through one or more additional small incisions.
[0004] One challenge regarding the use of surgical tools is sterilization, since surgical tools must be sterile in order to be used in an operating context. One school of thought is to always use disposable tools, which are used once and then discarded. Although this may seem wasteful, there are some benefits to this methodology. For instance, a surgeon has the assurance that new tools will be sterile. New tools are at the beginning of their effective life and are therefore more reliable. Among other benefits, there can be reduction in a hospital's liability since the transfer of pathogens from one patient to another is essentially eliminated.
[0005] Another school of thought is that many tools can be sterilized after use and should therefore be reused. Particularly, this methodology can be beneficial with respect to more expensive tools or those that are very reliable. By sterilizing tools, waste can be minimized. Some tools can be autoclaved, which is a sterilizing procedure that involves exposing the tools to high pressure and high temperature steam, which kills any biological matter on the tools. However, since only certain types of tools, such as stainless steel tools, can be autoclaved, other tools should be sterilized using other methods. For example, tools that contain parts that are sensitive to heat or moisture, such as electronic circuitry, can often be sterilized using other sterilization procedures. A difficulty with sterilization methodologies, however, is that a hospital will be required to dedicate a facility within the hospital for sterilization practices and must follow an effective program to ensure proper enforcement of sterilization procedures.
[0006] Based on the advantages and disadvantages of the two schools of thought as mentioned above, there is a trade-off between the concepts of using disposable tools and using tools that can be sterilized after use. An intermediate position can be taken between disposable tools and reusable tools, referred to herein as "reposable" tools. Reposable tools are designed such that a portion of the tool is disposable and a portion of the tool is reusable.
SUMMARY
[0007] The present disclosure describes embodiments of modular tools and further describes methods of operating modular tools. In one embodiment, among others, a modular tool comprises a handle portion and a distal portion, where the distal portion is configured to be attached to the handle portion. The handle portion is configured to be manipulated by a user. Although the distal portion can be attached to the handle portion, it is further configured to be removable from the handle portion by the user. Manipulation of the handle portion causes movement of one or more components of the distal portion. The distal portion is further configured to sense one or more parameters and transmit the sensed parameters to the handle portion.
[0008] Other features, advantages, and implementations of the present disclosure, not expressly disclosed herein, will be apparent to one of ordinary skill in the art upon examination of the following detailed description and accompanying drawings. It is intended that such implied implementations of the present disclosure be included herein.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] The components of the following figures are illustrated to emphasize the general principles of the present disclosure and are not necessarily drawn to scale. Reference characters designating corresponding components are repeated as necessary throughout the figures for the sake of consistency and clarity.
[0010] FIG. 1 is a diagram illustrating a modular tool according to one embodiment.
[0011] FIGS. 2A and 2B are diagrams illustrating the interface portion shown in FIG. 1 according to one embodiment.
[0012] FIG. 3 is a flow diagram of a method of operating a modular tool according to one embodiment.
DETAILED DESCRIPTION
[0013] A surgeon performing a laparoscopic procedure is usually unable to directly view the interaction between the surgical instruments and the tissues and organs of the patient. However, by inserting image capturing devices to observe the distal ends of the tools, a surgeon can rely on visual feedback to identify the anatomy of the patient. To achieve a greater chance of success in laparoscopic procedures, the surgeon should manipulate the surgical tools with dexterity and sensitivity. In some cases, the distal end of a tool may include sensors to provide multimodal (i.e. visual, auditory, and/or tactile) feedback to the surgeon. With this multimodal feedback, a surgeon can better monitor forces applied by the tools to reduce injuries and trauma to the tissues and organs, thereby reducing complications associated with laparoscopic procedures.
[0014] Another aspect that correlates to the success of surgical procedures is proper sterilization of instruments. With respect to reposable tools, one or more portions of a reposable tool can be sterilized after use and reused while one or more other portions of the tool can be discarded. Reposable tools therefore include different portions that can be assembled together, used as an assembled tool, and then disconnected from each other. The reusable portions are sterilized for further use and the disposable portions are thrown out. One of the many advantages of reposable tools is that the different portions can be assembled in any number of possible combinations. For example, depending on a surgeon's preferences, certain handle portions may be selected and can be used with certain distal portions that contain elements designed to act upon the tissues and organs. Therefore, a variety of ends or tips can be connected to a variety of handles to create diverse combinations of modular tools.
[0015] For the portions of the modular tools that can be sterilized for later use, any suitable type of sterilization procedure can be used, depending on the particular design of the portion and the materials or components contained in the portion. For example, a handle portion may include electronic circuitry that may be sensitive to heat and/or moisture. Therefore, hot steam sterilization might not be an acceptable practice in this case, unless the sensitive portions are covered or sealed with a suitable protective device. Other sterilization techniques may also be used, such exposing the reusable portions to ethylene oxide, using a hydrogen peroxide gas plasma technology, gamma irradiation, electron-beam irradiation, etc.
[0016] The embodiments of the present disclosure describe distinct portions of modular tools that can be assembled together to form a usable tool. In some embodiments, an interface portion or adapter is connected intermediately between a handle portion and a distal portion. Whether designed with or without the interface portion, the embodiments herein allow communication between the handle portion and the distal portion. Specifically, the communication is in the form of mechanical translation from the handle portion to the one or more components of the distal portion. In this way, the surgeon can manipulate the handle in such a way to cause the distal portion to perform specific functions on the tissues and organs. In addition, communication described herein includes electrical communication between the handle portion and the distal portion. For example, electrical communication may include providing high voltage from the handle portion to the distal portion, such as for cauterization. Electrical communication may also include providing low voltage, such as approximately 5V, from the handle portion to the distal portion. This voltage can be used to power the sensing elements of the distal portion as needed. Furthermore, electrical communication includes the transmission of sensor signals from the distal portion to the handle portion representing sensed parameters at the distal portion.
[0017] Although many of the examples described herein relate to modular surgical tools and more specifically modular laparoscopic surgical tools, it should be understood that the teachings of the present disclosure also encompass any suitable type of modular hand tools. Other implementations and advantages will become apparent to one of ordinary skill in the art from an understanding of the present disclosure.
[0018] FIG. 1 is a diagram illustrating an embodiment of a modular tool 10 having at least two portions. In particular, modular tool 10 is shown in FIG. 1 as a modular laparoscopic surgical tool. In other embodiments, however, modular tool 10 may be configured as any type of modular hand tool for performing any type of functions and furthermore is designed with suitable means for mechanically translating forces and electrically communicating signals between a handle portion and a distal portion.
[0019] In the embodiment of FIG. 1, modular tool 10 includes a handle portion 12, an adapter or interface portion 14, and a distal portion 16. In some embodiments, interface portion 14 may be omitted such that handle portion 12 can be connected directly to distal portion 16. In other embodiments, the elements of interface portion 14, as described in more detail below, may be incorporated partially or entirely into handle portion 12 and/or distal portion 16. Handle portion 12, interface portion 14, and distal portion 16 can be attached together to form modular tool 10. When attached, modular tool 10 can be used as designed. After use, handle portion 12, interface portion 14, and/or distal portion 16 can be removed or disconnected from the other portions. In the case where one portion, e.g., distal portion 16, is a disposable item, this portion can be removed from modular tool 10 and discarded.
[0020] Modular tool 10 is designed such that handle portion 12 can be selected from a plurality of handle portions. Also, distal portion 16 can be selected from a plurality of distal portions. With compatible interconnections between the different handle portions and distal portions, a user can connect the portions in any number of combinations, depending on the particular preferences or needs of the user. Interface portion 14 may be used to connect different families or classes of handle portions with different families or classes of distal portions. In some embodiments, however, handle portions and distal portions can be designed such that they can be connected to each other using a single interface portion 14 having a universal design for all types of handle portions and distal portions.
[0021] When a user physically manipulates handle portion 12, mechanical forces applied to handle portion 12 are translated to cause movement of one or more components of distal portion 16. As needed, this mechanical translation is communicated through or by way of interface portion 14. Furthermore, parameters that are sensed at distal portion 16 can be electrically transmitted back to handle portion 12. The types of parameters that can be sensed by distal portion 16 may include, for example, optical images, pressure, force, temperature, biological information, flexibility, tissue identification, tip resistance, trajectory information, Doppler information, active or passive piezoelectric transducer ("PZT") information, polyvinylidene fluoride ("PVDF") sensor information, strain gauge measurements, ultrasound, etc.
[0022] Handle portion 12 may include certain processing elements as needed, such as, for example, filters, analyzing circuitry, amplifiers, etc. Also, handle portion 12 may include a display device for displaying the sensed parameters. In addition, handle portion 12 may include a haptic actuator, such as, for example, a vibrotactile actuator, kinesthetic actuator, deformable surface actuator, electromagnetic actuator, eccentric rotating mass ("ERM"), linear resonant actuator ("LRA"), "smart material", piezoelectric material, electro-active polymer, shape memory alloys, etc. With a haptic actuator, handle portion 12 can invoke a haptic effect to the hands of the user. Also, handle portion 12 can include handle mounted sensors, such as, for example, user grip force sensors, gripper angle sensors, etc.
[0023] In some embodiments, handle portion 12 may include a wireless transmitter configured to transmit wireless signals to a remote haptic actuating device. In this respect, signals from distal portion 16 can be transmitted to the remote device for actuating haptic effects on the user or even on another person. For example, signals can be transmitted to a body-mounted actuator assembly located on the surgeon, such as around the surgeon's wrist, inside the gown, etc. The body-mounted actuator does not necessarily need to be sterile. Wireless transmission in this sense may be for short range communication, such as using Bluetooth® or other similar technology.
[0024] Handle portion 12 can provide power to distal portion 16 as needed to power any sensors of distal portion 16. For example, a low voltage, e.g., 5V, may be sufficient to power many sensing elements. In this case, handle portion 12 can include an internal power source, such as, for example, rechargeable batteries. When sensors of distal portion 16 are powered, distal portion 16 can also transmit signals from the respective sensors back to handle portion 12. In response to receiving the feedback signal from distal portion 16, handle portion can process the signals to indicate the results to the user in any suitable manner. For example, handle portion 12 may include a haptic actuator for invoking a haptic effect upon the user. In additional or alternative examples, handle portion 12 may also include a display device for visually displaying results of the sensors of distal portion 16. With a power source contained within handle portion 12, the power source can supply power as needed to the various output devices, e.g., haptic actuators, display devices, etc., maintained with respect to handle portion 12.
[0025] In some embodiments, handle portion 12 may also provide a large amount of AC or DC power to distal portion 16. For example, when modular tool 10 is used as a cauterization device, approximately 50 watts of power may be needed to cauterize an organ. With the capability to supply such a high power, modular tool 10 includes proper insulating material to minimize crosstalk or electromagnetic interference of the high power with other electronics. For cauterization, an external power source may be used in conjunction with modular tool 10 to provide a proper amount of power. The external power source in this case may be configured to provide power to distal portion 16 via any suitable connection mechanisms on handle portion 12 and/or interface portion 14.
[0026] Distal portion 16 may include any suitable type of tip or end piece for performing any number of functions. For example, regarding surgical tools, distal portion 16 may include a clamp, grasper, forceps, scissors, cautery, tissue identifying probe, tip resistance sensor, trajectory sensor, Doppler sensor, active or passive PZT sensor, PVDF strain gauge, ultrasound detector, blood flow sensor, pulse sensor, temperature sensor, sensor for monitoring other patient vitals, etc. Some examples of non-surgical distal portion 16 elements may include drills, screwdrivers, saws, hammers, etc.
[0027] FIGS. 2A and 2B are diagrams of an embodiment of interface portion 14 shown in FIG. 1, where FIG. 2A is an end view of interface portion 14 and FIG. 2B is a cross-sectional side view of interface portion 14. In this embodiment, interface portion 14 includes a substrate 18 containing any suitable material for providing support for the other elements. In some embodiments, substrate 18 is formed having a hollow cylindrical shaft having a length of approximately 2-3 cm and a diameter of approximately 2-3 cm. Interface portion 14 also includes power conductors 20, signal communication conductors 22, a processing device 24, sensors 26, insulating material 28, and latching mechanisms 30. Insulating material 28 forms a layer between substrate 18 and a cylindrical channel 32 formed coaxially with interface portion 14.
[0028] In general, interface portion 14 is designed as an adapter to connect to handle portion 12 and distal portion 16 to provide support for forming a relatively rigid modular tool 10 that can be used as designed. Also, interface portion 14 is an electromechanical interface device designed to enable mechanical translation and electrical communication between handle portion 12 and distal portion 16. Interface portion 14 allows a mechanical and high voltage electrical connection through channel 32 to distal portion 16. In some embodiments, connection can be made to a laparoscopic tip having standard diameter dimensions of 3mm, 5mm, or 10mm. One of any number of handle portions can be selected for attachment with one of any number of distal portions. Selection of handle portion 12 and distal portion 16 may be based on a surgeon's preference or to support advances in technology of handle portions, interface portions, and/or distal portions. The selected portions can be attached by way of interface portion 14.
[0029] Two power conductors 20 are illustrated in FIG. 2, where the potential difference between the two creates an electrical current at the terminating sensor of distal portion 16 that completes the circuit. In some embodiments, however, more than one pair of power conductors can be incorporated in interface portion 14 for supplying power for additional sensors in distal portion 16 and/or for supplying different voltage or current levels as needed by different types of sensors. Similarly, two signal communicating conductors 22 are illustrated in FIG. 2 for creating a circuit along which signals can be transmitted between handle portion 12 and distal portion 16. Power conductors 20, signal communication conductors 22, and any other conductors of interface portion 14 can be embedded in substrate, which can act as an insulator for the conductors. Also, these conductors extend the length of interface portion 14 to transmit signals or power from one end to the other.
[0030] Interface portion 14 can include any suitable contact elements for creating an adequate electrical connection between contact elements of the conductors of handle portion 12 and/or distal portion 16 with conductors 20 and 22. For example, the contact elements may include spring contact, corresponding male and female connector contacts, etc. Also, the contact elements and conductors can be used for carrying digital and/or analog signals. Conductors 20 and 22 can be designed to carry low voltage signals compared to the high voltage signals transmitted through channel 32. In some embodiments, the low voltage may be approximately 5V.
[0031] Processing device 24 may be a general -purpose or specific- purpose processor or microcontroller, depending on the particular use. In some embodiments, processing device 24 can be implemented using discrete logic circuitry, an application specific integrated circuit (ASIC), a programmable gate array (PGA), a field programmable gate array (FPGA), etc., or any combination thereof.
[0032] Sensors 26 may be implemented to detect any number of parameters associated with interface portion 14. Two sensors 26 are shown for illustrative purposes only, but it should be recognized that any number of sensors 26 may be incorporated in interface portion 14 as needed and depending on the particular design. In some embodiments, one or more sensors 26 may be configured as shaft sensors. For example, sensors may include an optical encoder for monitoring shaft position when a shaft of distal portion 16 is inserted into or removed from channel 32. Sensors 26 may also be configured as inductive sensors for monitoring when a high current is flowing through a cautery or other similar high power device inserted in channel 32.
[0033] The layer of insulating material 28, positioned between substrate 18 and channel 32, is configured to minimize or eliminate crosstalk or electromagnetic interference of a high power or current flowing through channel 32. For example, when modular tool 10 is configured as a cauterization device or other similar tool in which high power is conducted from handle portion 12 to distal portion 16, insulating material 28 insulates the other conductors, e.g., low voltage conductors 20 and 22, from the high power cautery in channel 32.
[0034] In general, latching mechanisms 30 can include any suitable structure and are illustrated in FIG. 2A to merely convey the concept of physically latching interface portion 14 with either or both of handle portion 12 and/or distal portion 16. Latching mechanisms 30 are located on both ends of interface portion 14 for assembling with both handle portion 12 and distal portion 16. Likewise, handle portion 12 and distal portion 16 include compatible latching devices for enabling engagement of portions together. Although four latching mechanisms 30 are shown, it should be recognized that any number of latching mechanisms 30 can be included on each end of interface portion 14. Latching mechanisms 30 can be configured in any suitable manner with any suitable size or shape and can be used to connect the different portions together to form modular tool 10. Latching mechanisms 30 are designed to provide sufficient strength and stability to allow the user of modular tool 10 to easily and effectively perform the intended functions without inadvertent disconnection of the portions during use.
[0035] Furthermore, latching mechanisms 30 are designed to properly align the contact elements of the conductors of handle portion 12 and/or distal portion 16 with corresponding contact elements and conductors of interface portion 14. With proper alignment, power conductors of handle portion 12 and distal portion 16 can be connected to power conductors 20 of interface portion 14 to properly supply power as needed. Also, signal communication conductors 22 can properly carry signals between corresponding signal communication conductors of handle portion 12 and distal portion 16. It should be noted that handle portion 12 and distal portion 16 can be designed to include corresponding latching components for engaging latching mechanisms 30 of interface portion 14 to properly latch the portions together.
[0036] Channel 32 is designed to allow a mechanical connection between handle portion 12 and distal portion 16. For example, distal portion 16 may include a rod that is inserted through channel 32 and connected to corresponding mechanisms for translating mechanical forces.
[0037] Depending on the particular need or design of interface portion 14, more or fewer elements of interface portion 14 may be included. For example, interface portion 14 may further comprise a digital interface for digital communication or integrated sensing. Interface portion 14 may be configured to support different types of shafts and sensors of distal portion 16. Therefore, interface portion 14 may include any suitable shape or design, with differently sized or shaped channels 32 as needed for particular types of shafts and sensors.
[0038] FIG. 3 is a flow diagram showing an embodiment of a method of operation of a modular tool. In this embodiment, the method comprises providing distinct tool portions that can be assembled into a modular tool, as indicated in block 34. In some embodiments, the modular tool comprises a handle portion and a distal portion, where manipulation of one or more components of the handle portion causes movement of one or more components of the distal portion. According to many embodiments described herein, the method may include providing an interface portion to be assembled with the handle portion and distal portion and positioned between the two other portions. In this respect, interface portion may be used for connected different types of handle portions with different types of distal portions.
[0039] As indicated in block 36, the modular tool reacts to forces applied upon the tool, such as forces applied by a user. In response to mechanical manipulation of the first portion, e.g., handle portion, of the modular tool, mechanical forces are translated to a second portion, e.g., distal portion, of the modular tool. As indicated in block 38, one or more parameters are sensed at the second portion of the modular tool. As indicated in block 40, the sensed parameters are electrically transmitted from the second portion of the modular tool to the first portion of the modular tool. In some embodiments, the method of FIG. 3 may further comprise utilizing the signals at the handle portion in any suitable manner. For example, the signals may be used to display the sensed parameters on a display device and/or can be used to actuate haptic effect via a haptic actuating device associated with the handle portion.
[0040] Therefore, it should be recognized that the modular tool, which includes portions that can be connected together and can be removed from each other, includes mechanical and electrical communication between the portions of the tool. With such a method, it is possible to interchange any number of handle portions with any number of distal portions of the modular tool. This allows great flexibility with respect to the user's selection of different types of handle portions and distal portions based on preference and/or need. While manipulating the handle portion, causing the distal portion to mechanically react, the distal portion can also sense one or more parameters that can be transmitted back to the handle portion for indicating the sensed parameters to the user. It should be understood that one or more of the steps, processes, and/or operations described herein may be executed substantially simultaneously or in a different order than explicitly described, as would be understood by one of ordinary skill in the art.
[0041] The embodiments described herein represent a number of implementation examples and are not intended to necessarily limit the present disclosure to any specific embodiments. Instead, various modifications can be made to these embodiments as would be understood by one of ordinary skill in the art. Any such modifications are intended to be included within the spirit and scope of the present disclosure and protected by the following claims.

Claims

CLAIMSWe claim:
1. A modular tool comprising: a handle portion configured to be manipulated by a user; and a distal portion configured to be attached to the handle portion, the distal portion further configured to be removable from the handle portion by the user; wherein manipulation of the handle portion causes movement of one or more components of the distal portion; and wherein the distal portion is further configured to sense one or more physical properties and to transmit the sensed physical properties to the handle portion.
2. The modular tool of claim 1, further comprising an interface portion positioned between the handle portion and the distal portion, the interface portion enabling the user to attach different types of handle portions with different types of distal portions.
3. The modular tool of claim 2, wherein the interface portion is configured to translate mechanical forces between the handle portion and the distal portion.
4. The modular tool of claim 2, wherein the interface portion is configured to communicate electrical signals between the handle portion and the distal portion.
5. The modular tool of claim 4, wherein the handle portion is configured to supply a relatively small voltage to the distal portion to power one or more sensors of the distal portion that are configured to sense the one or more physical properties.
6. The modular tool of claim 4, wherein the handle portion is configured to supply a relatively high voltage to the distal portion.
7. The modular tool of claim 6, wherein the distal portion is configured to use the high voltage for cauterization.
8. The modular tool of claim 1, wherein the modular tool is a modular laparoscopic surgical tool.
9. The modular tool of claim 1, wherein the handle portion comprises a wireless transmission device for wirelessly communicating the sensed parameters to a remote device.
10. The modular tool of claim 8, wherein the handle portion is reusable and the distal portion is disposable, and wherein the distal portion can be removed from the handle portion after use and discarded.
11. The modular tool of claim 1, wherein the handle portion comprises a haptic actuator configured to invoke a haptic effect on the user in response to the signals transmitted from the distal portion.
12. The modular tool of claim 1, wherein the handle portion comprises a display device configured to display a value of the one or more sensed parameters.
13. An interface mechanism comprising: a substrate; means for latching the substrate to a handle portion of a modular tool; means for latching the substrate to a distal portion of the modular tool; means for conducting electrical signals from the distal portion to the handle portion.
14. The interface mechanism of claim 13, further comprising a channel through which a mechanical connection between the handle portion and the distal portion can be made, wherein movement of one or more components of the handle portion causes movement of one or more components of the distal portion via the mechanical connection.
15. The interface mechanism of claim 14, further comprising a shaft sensor configured to detect the presence of a shaft of the distal portion when the shaft is inserted in the channel.
16. The interface mechanism of claim 14, further comprising a layer of insulating material positioned between the substrate and the channel, wherein the insulating material is configured to minimize electromagnetic interference from high electrical power flowing through the channel.
17. The interface mechanism of claim 13, wherein the means for conducting electrical signals comprises a pair of electrical conductors embedded in the substrate and running the length of the interface mechanism.
18. The interface mechanism of claim 13, further comprising means for supplying power from the handle portion to the distal portion.
19. The interface mechanism of claim 18, wherein the means for supplying power comprises a pair of electrical conductors embedded in the substrate and running the length of the interface mechanism.
20. The interface mechanism of claim 13, wherein the means for latching the substrate to the handle portion is further configured to latch the substrate to a handle portion of a modular laparoscopic hand tool, and the means for latching the substrate to the distal portion is further configured to latch the substrate to a distal portion of the modular laparoscopic hand tool.
21. A method comprising: providing a plurality of tool portions configured to be assembled into a modular tool comprising at least a first portion and a second portion, the first portion of the modular tool configured to be physically manipulated by a user; in response to physical manipulation of the first portion of the modular tool, translating a mechanical force to the second portion of the modular tool; sensing one or more parameters at the second portion of the modular tool; and electrically transmitting the one or more sensed parameters to the first portion of the modular tool.
22. The method of claim 21, further comprising providing an interface portion configured to be assembled between the first portion and second portion to form the modular tool.
23. The method of claim 21, further comprising providing a plurality of first portions and a plurality of second portions, wherein a first portion selected from the plurality of first portions is configured to be assembled with a second portion selected from the plurality of second portions.
24. The method of claim 21, further comprising displaying a value of the one or more sensed parameters on a display device attached to the first portion.
25. The method of claim 21, further comprising actuating a haptic effect associated with the first portion in response to the one or more sensed parameters.
PCT/US2009/043546 2008-07-15 2009-05-12 Modular tool with signal feedback WO2010008663A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP09789663.3A EP2323564B1 (en) 2008-07-15 2009-05-12 Modular tool with signal feedback
JP2011518748A JP5766116B2 (en) 2008-07-15 2009-05-12 Modular instrument with signal feedback
CN2009801274580A CN102088914B (en) 2008-07-15 2009-05-12 Modular tool with signal feedback

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/173,177 2008-07-15
US12/173,177 US8834465B2 (en) 2008-07-15 2008-07-15 Modular tool with signal feedback

Publications (1)

Publication Number Publication Date
WO2010008663A1 true WO2010008663A1 (en) 2010-01-21

Family

ID=40937346

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2009/043546 WO2010008663A1 (en) 2008-07-15 2009-05-12 Modular tool with signal feedback

Country Status (5)

Country Link
US (1) US8834465B2 (en)
EP (1) EP2323564B1 (en)
JP (2) JP5766116B2 (en)
CN (1) CN102088914B (en)
WO (1) WO2010008663A1 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012120841A (en) * 2010-12-07 2012-06-28 Immersion Corp Electrosurgical sealing tool having haptic feedback
US8523043B2 (en) 2010-12-07 2013-09-03 Immersion Corporation Surgical stapler having haptic feedback
US8845667B2 (en) 2011-07-18 2014-09-30 Immersion Corporation Surgical tool having a programmable rotary module for providing haptic feedback
US9579143B2 (en) 2010-08-12 2017-02-28 Immersion Corporation Electrosurgical tool having tactile feedback
US9655672B2 (en) 2010-10-04 2017-05-23 Covidien Lp Vessel sealing instrument
US10245099B2 (en) 2010-10-04 2019-04-02 Covidien Lp Vessel sealing instrument

Families Citing this family (464)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US11896225B2 (en) 2004-07-28 2024-02-13 Cilag Gmbh International Staple cartridge comprising a pan
US11998198B2 (en) 2004-07-28 2024-06-04 Cilag Gmbh International Surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US8215531B2 (en) 2004-07-28 2012-07-10 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
US7938307B2 (en) 2004-10-18 2011-05-10 Tyco Healthcare Group Lp Support structures and methods of using the same
US7845536B2 (en) 2004-10-18 2010-12-07 Tyco Healthcare Group Lp Annular adhesive structure
US9364229B2 (en) 2005-03-15 2016-06-14 Covidien Lp Circular anastomosis structures
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US10159482B2 (en) 2005-08-31 2018-12-25 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and different staple heights
US9237891B2 (en) 2005-08-31 2016-01-19 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US7669746B2 (en) 2005-08-31 2010-03-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US20110295295A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument having recording capabilities
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US11278279B2 (en) 2006-01-31 2022-03-22 Cilag Gmbh International Surgical instrument assembly
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US11224427B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Surgical stapling system including a console and retraction assembly
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US7753904B2 (en) 2006-01-31 2010-07-13 Ethicon Endo-Surgery, Inc. Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US20110024477A1 (en) 2009-02-06 2011-02-03 Hall Steven G Driven Surgical Stapler Improvements
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US8322455B2 (en) 2006-06-27 2012-12-04 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
US10568652B2 (en) 2006-09-29 2020-02-25 Ethicon Llc Surgical staples having attached drivers of different heights and stapling instruments for deploying the same
US11980366B2 (en) 2006-10-03 2024-05-14 Cilag Gmbh International Surgical instrument
US20100286477A1 (en) * 2009-05-08 2010-11-11 Ouyang Xiaolong Internal tissue visualization system comprising a rf-shielded visualization sensor module
US11291441B2 (en) 2007-01-10 2022-04-05 Cilag Gmbh International Surgical instrument with wireless communication between control unit and remote sensor
US8684253B2 (en) 2007-01-10 2014-04-01 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
US8840603B2 (en) 2007-01-10 2014-09-23 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US11039836B2 (en) 2007-01-11 2021-06-22 Cilag Gmbh International Staple cartridge for use with a surgical stapling instrument
US20080169333A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Surgical stapler end effector with tapered distal end
AU2008223389B2 (en) 2007-03-06 2013-07-11 Covidien Lp Surgical stapling apparatus
US7669747B2 (en) 2007-03-15 2010-03-02 Ethicon Endo-Surgery, Inc. Washer for use with a surgical stapling instrument
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US11564682B2 (en) 2007-06-04 2023-01-31 Cilag Gmbh International Surgical stapler device
US7665646B2 (en) 2007-06-18 2010-02-23 Tyco Healthcare Group Lp Interlocking buttress material retention system
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US8062330B2 (en) 2007-06-27 2011-11-22 Tyco Healthcare Group Lp Buttress and surgical stapling apparatus
US11849941B2 (en) 2007-06-29 2023-12-26 Cilag Gmbh International Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
US11986183B2 (en) 2008-02-14 2024-05-21 Cilag Gmbh International Surgical cutting and fastening instrument comprising a plurality of sensors to measure an electrical parameter
US8636736B2 (en) 2008-02-14 2014-01-28 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
US8758391B2 (en) 2008-02-14 2014-06-24 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US8573465B2 (en) 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
RU2493788C2 (en) 2008-02-14 2013-09-27 Этикон Эндо-Серджери, Инк. Surgical cutting and fixing instrument, which has radio-frequency electrodes
US10390823B2 (en) 2008-02-15 2019-08-27 Ethicon Llc End effector comprising an adjunct
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US9005230B2 (en) 2008-09-23 2015-04-14 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US8608045B2 (en) 2008-10-10 2013-12-17 Ethicon Endo-Sugery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
US20110009694A1 (en) * 2009-07-10 2011-01-13 Schultz Eric E Hand-held minimally dimensioned diagnostic device having integrated distal end visualization
US20100121139A1 (en) 2008-11-12 2010-05-13 Ouyang Xiaolong Minimally Invasive Imaging Systems
US20100147921A1 (en) 2008-12-16 2010-06-17 Lee Olson Surgical Apparatus Including Surgical Buttress
US8517239B2 (en) 2009-02-05 2013-08-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
BRPI1008667A2 (en) 2009-02-06 2016-03-08 Ethicom Endo Surgery Inc improvement of the operated surgical stapler
US9486215B2 (en) 2009-03-31 2016-11-08 Covidien Lp Surgical stapling apparatus
US7967179B2 (en) 2009-03-31 2011-06-28 Tyco Healthcare Group Lp Center cinch and release of buttress material
US20100292684A1 (en) * 2009-05-15 2010-11-18 Cybulski James S Tissue modification devices and methods of the same
US20150231409A1 (en) 2009-10-15 2015-08-20 Covidien Lp Buttress brachytherapy and integrated staple line markers for margin identification
US9693772B2 (en) 2009-10-15 2017-07-04 Covidien Lp Staple line reinforcement for anvil and cartridge
US8851354B2 (en) 2009-12-24 2014-10-07 Ethicon Endo-Surgery, Inc. Surgical cutting instrument that analyzes tissue thickness
DE102010014435B4 (en) * 2010-04-09 2015-11-19 Olympus Winter & Ibe Gmbh Electrosurgical laparoscopic instrument with electrical lead
US8783543B2 (en) 2010-07-30 2014-07-22 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
US11298125B2 (en) 2010-09-30 2022-04-12 Cilag Gmbh International Tissue stapler having a thickness compensator
US11849952B2 (en) 2010-09-30 2023-12-26 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US9386988B2 (en) 2010-09-30 2016-07-12 Ethicon End-Surgery, LLC Retainer assembly including a tissue thickness compensator
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US9592050B2 (en) 2010-09-30 2017-03-14 Ethicon Endo-Surgery, Llc End effector comprising a distal tissue abutment member
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
US9301755B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Compressible staple cartridge assembly
US9351730B2 (en) 2011-04-29 2016-05-31 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising channels
US8695866B2 (en) 2010-10-01 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
US9017849B2 (en) 2010-11-05 2015-04-28 Ethicon Endo-Surgery, Inc. Power source management for medical device
US10660695B2 (en) 2010-11-05 2020-05-26 Ethicon Llc Sterile medical instrument charging device
US9000720B2 (en) 2010-11-05 2015-04-07 Ethicon Endo-Surgery, Inc. Medical device packaging with charging interface
US9072523B2 (en) 2010-11-05 2015-07-07 Ethicon Endo-Surgery, Inc. Medical device with feature for sterile acceptance of non-sterile reusable component
US10085792B2 (en) 2010-11-05 2018-10-02 Ethicon Llc Surgical instrument with motorized attachment feature
US9011471B2 (en) 2010-11-05 2015-04-21 Ethicon Endo-Surgery, Inc. Surgical instrument with pivoting coupling to modular shaft and end effector
US10881448B2 (en) 2010-11-05 2021-01-05 Ethicon Llc Cam driven coupling between ultrasonic transducer and waveguide in surgical instrument
US9649150B2 (en) 2010-11-05 2017-05-16 Ethicon Endo-Surgery, Llc Selective activation of electronic components in medical device
US20120116265A1 (en) 2010-11-05 2012-05-10 Houser Kevin L Surgical instrument with charging devices
US20120116381A1 (en) 2010-11-05 2012-05-10 Houser Kevin L Surgical instrument with charging station and wireless communication
US9526921B2 (en) 2010-11-05 2016-12-27 Ethicon Endo-Surgery, Llc User feedback through end effector of surgical instrument
US9782215B2 (en) 2010-11-05 2017-10-10 Ethicon Endo-Surgery, Llc Surgical instrument with ultrasonic transducer having integral switches
US9597143B2 (en) 2010-11-05 2017-03-21 Ethicon Endo-Surgery, Llc Sterile medical instrument charging device
US9247986B2 (en) 2010-11-05 2016-02-02 Ethicon Endo-Surgery, Llc Surgical instrument with ultrasonic transducer having integral switches
US9161803B2 (en) 2010-11-05 2015-10-20 Ethicon Endo-Surgery, Inc. Motor driven electrosurgical device with mechanical and electrical feedback
US9017851B2 (en) 2010-11-05 2015-04-28 Ethicon Endo-Surgery, Inc. Sterile housing for non-sterile medical device component
US10959769B2 (en) 2010-11-05 2021-03-30 Ethicon Llc Surgical instrument with slip ring assembly to power ultrasonic transducer
US9381058B2 (en) 2010-11-05 2016-07-05 Ethicon Endo-Surgery, Llc Recharge system for medical devices
US9421062B2 (en) 2010-11-05 2016-08-23 Ethicon Endo-Surgery, Llc Surgical instrument shaft with resiliently biased coupling to handpiece
US9510895B2 (en) 2010-11-05 2016-12-06 Ethicon Endo-Surgery, Llc Surgical instrument with modular shaft and end effector
US9375255B2 (en) 2010-11-05 2016-06-28 Ethicon Endo-Surgery, Llc Surgical instrument handpiece with resiliently biased coupling to modular shaft and end effector
US9782214B2 (en) 2010-11-05 2017-10-10 Ethicon Llc Surgical instrument with sensor and powered control
JP2014500059A (en) * 2010-11-05 2014-01-09 エシコン・エンド−サージェリィ・インコーポレイテッド User feedback via surgical instrument handpiece
US9089338B2 (en) 2010-11-05 2015-07-28 Ethicon Endo-Surgery, Inc. Medical device packaging with window for insertion of reusable component
US9039720B2 (en) 2010-11-05 2015-05-26 Ethicon Endo-Surgery, Inc. Surgical instrument with ratcheting rotatable shaft
US8789737B2 (en) 2011-04-27 2014-07-29 Covidien Lp Circular stapler and staple line reinforcement material
BR112013027794B1 (en) 2011-04-29 2020-12-15 Ethicon Endo-Surgery, Inc CLAMP CARTRIDGE SET
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
US9675351B2 (en) * 2011-10-26 2017-06-13 Covidien Lp Buttress release from surgical stapler by knife pushing
US9283334B2 (en) 2011-11-23 2016-03-15 Northgate Technologies Inc. System for identifying the presence and correctness of a medical device accessory
US9237892B2 (en) 2011-12-14 2016-01-19 Covidien Lp Buttress attachment to the cartridge surface
US9113885B2 (en) 2011-12-14 2015-08-25 Covidien Lp Buttress assembly for use with surgical stapling device
US9351731B2 (en) 2011-12-14 2016-05-31 Covidien Lp Surgical stapling apparatus including releasable surgical buttress
US9326773B2 (en) 2012-01-26 2016-05-03 Covidien Lp Surgical device including buttress material
EP2822495B1 (en) * 2012-03-08 2018-04-04 Covidien LP Vessel sealing instrument
CN104334098B (en) 2012-03-28 2017-03-22 伊西康内外科公司 Tissue thickness compensator comprising capsules defining a low pressure environment
BR112014024194B1 (en) 2012-03-28 2022-03-03 Ethicon Endo-Surgery, Inc STAPLER CARTRIDGE SET FOR A SURGICAL STAPLER
RU2014143258A (en) 2012-03-28 2016-05-20 Этикон Эндо-Серджери, Инк. FABRIC THICKNESS COMPENSATOR CONTAINING MANY LAYERS
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
US11197671B2 (en) 2012-06-28 2021-12-14 Cilag Gmbh International Stapling assembly comprising a lockout
RU2636861C2 (en) 2012-06-28 2017-11-28 Этикон Эндо-Серджери, Инк. Blocking of empty cassette with clips
US9226751B2 (en) 2012-06-28 2016-01-05 Ethicon Endo-Surgery, Inc. Surgical instrument system including replaceable end effectors
US9282974B2 (en) 2012-06-28 2016-03-15 Ethicon Endo-Surgery, Llc Empty clip cartridge lockout
US20140001231A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Firing system lockout arrangements for surgical instruments
BR112014032776B1 (en) 2012-06-28 2021-09-08 Ethicon Endo-Surgery, Inc SURGICAL INSTRUMENT SYSTEM AND SURGICAL KIT FOR USE WITH A SURGICAL INSTRUMENT SYSTEM
US9572576B2 (en) 2012-07-18 2017-02-21 Covidien Lp Surgical apparatus including surgical buttress
US20140048580A1 (en) 2012-08-20 2014-02-20 Covidien Lp Buttress attachment features for surgical stapling apparatus
US9161753B2 (en) 2012-10-10 2015-10-20 Covidien Lp Buttress fixation for a circular stapler
US9295466B2 (en) 2012-11-30 2016-03-29 Covidien Lp Surgical apparatus including surgical buttress
US9402627B2 (en) 2012-12-13 2016-08-02 Covidien Lp Folded buttress for use with a surgical apparatus
CN103110439B (en) * 2013-01-29 2016-06-01 北京派尔特医疗科技股份有限公司 The control method of electric surgery binding instrument and control device
WO2014121262A2 (en) 2013-02-04 2014-08-07 Children's National Medical Center Hybrid control surgical robotic system
US9414839B2 (en) 2013-02-04 2016-08-16 Covidien Lp Buttress attachment for circular stapling device
US9504470B2 (en) 2013-02-25 2016-11-29 Covidien Lp Circular stapling device with buttress
US20140239047A1 (en) 2013-02-28 2014-08-28 Covidien Lp Adherence concepts for non-woven absorbable felt buttresses
RU2669463C2 (en) 2013-03-01 2018-10-11 Этикон Эндо-Серджери, Инк. Surgical instrument with soft stop
RU2672520C2 (en) 2013-03-01 2018-11-15 Этикон Эндо-Серджери, Инк. Hingedly turnable surgical instruments with conducting ways for signal transfer
US9883860B2 (en) 2013-03-14 2018-02-06 Ethicon Llc Interchangeable shaft assemblies for use with a surgical instrument
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
BR112015026109B1 (en) 2013-04-16 2022-02-22 Ethicon Endo-Surgery, Inc surgical instrument
US9801626B2 (en) 2013-04-16 2017-10-31 Ethicon Llc Modular motor driven surgical instruments with alignment features for aligning rotary drive shafts with surgical end effector shafts
EP2815695B1 (en) * 2013-06-20 2019-06-19 Erbe Elektromedizin GmbH Surgical instrument with tissue detection
US20150053746A1 (en) 2013-08-23 2015-02-26 Ethicon Endo-Surgery, Inc. Torque optimization for surgical instruments
JP6416260B2 (en) 2013-08-23 2018-10-31 エシコン エルエルシー Firing member retractor for a powered surgical instrument
US9539006B2 (en) 2013-08-27 2017-01-10 Covidien Lp Hand held electromechanical surgical handle assembly for use with surgical end effectors, and methods of use
US9655620B2 (en) 2013-10-28 2017-05-23 Covidien Lp Circular surgical stapling device including buttress material
US10342579B2 (en) 2014-01-13 2019-07-09 Trice Medical, Inc. Fully integrated, disposable tissue visualization device
US9370295B2 (en) 2014-01-13 2016-06-21 Trice Medical, Inc. Fully integrated, disposable tissue visualization device
US11547446B2 (en) 2014-01-13 2023-01-10 Trice Medical, Inc. Fully integrated, disposable tissue visualization device
WO2015117152A1 (en) * 2014-02-03 2015-08-06 Modular Surgical, Inc. Surgical tool system having multiple tool tip interfaces
US9962161B2 (en) 2014-02-12 2018-05-08 Ethicon Llc Deliverable surgical instrument
US9820738B2 (en) 2014-03-26 2017-11-21 Ethicon Llc Surgical instrument comprising interactive systems
US9826977B2 (en) 2014-03-26 2017-11-28 Ethicon Llc Sterilization verification circuit
BR112016021943B1 (en) 2014-03-26 2022-06-14 Ethicon Endo-Surgery, Llc SURGICAL INSTRUMENT FOR USE BY AN OPERATOR IN A SURGICAL PROCEDURE
JP6612256B2 (en) 2014-04-16 2019-11-27 エシコン エルエルシー Fastener cartridge with non-uniform fastener
US20150297225A1 (en) 2014-04-16 2015-10-22 Ethicon Endo-Surgery, Inc. Fastener cartridges including extensions having different configurations
US9801628B2 (en) 2014-09-26 2017-10-31 Ethicon Llc Surgical staple and driver arrangements for staple cartridges
US9844369B2 (en) 2014-04-16 2017-12-19 Ethicon Llc Surgical end effectors with firing element monitoring arrangements
CN106456176B (en) 2014-04-16 2019-06-28 伊西康内外科有限责任公司 Fastener cartridge including the extension with various configuration
JP6532889B2 (en) 2014-04-16 2019-06-19 エシコン エルエルシーEthicon LLC Fastener cartridge assembly and staple holder cover arrangement
CN104095669B (en) * 2014-07-14 2017-01-18 华侨大学 Surgical operating clamp forceps with piezoelectric force measurement and tissue clamp injury alarm functions
US10016199B2 (en) 2014-09-05 2018-07-10 Ethicon Llc Polarity of hall magnet to identify cartridge type
BR112017004361B1 (en) 2014-09-05 2023-04-11 Ethicon Llc ELECTRONIC SYSTEM FOR A SURGICAL INSTRUMENT
US11311294B2 (en) 2014-09-05 2022-04-26 Cilag Gmbh International Powered medical device including measurement of closure state of jaws
US10820939B2 (en) 2014-09-15 2020-11-03 Covidien Lp Vessel-sealing device including force-balance interface and electrosurgical system including same
US10105142B2 (en) 2014-09-18 2018-10-23 Ethicon Llc Surgical stapler with plurality of cutting elements
MX2017003960A (en) 2014-09-26 2017-12-04 Ethicon Llc Surgical stapling buttresses and adjunct materials.
US11523821B2 (en) 2014-09-26 2022-12-13 Cilag Gmbh International Method for creating a flexible staple line
US9924944B2 (en) 2014-10-16 2018-03-27 Ethicon Llc Staple cartridge comprising an adjunct material
US10517594B2 (en) 2014-10-29 2019-12-31 Ethicon Llc Cartridge assemblies for surgical staplers
US10136938B2 (en) 2014-10-29 2018-11-27 Ethicon Llc Electrosurgical instrument with sensor
US11141153B2 (en) 2014-10-29 2021-10-12 Cilag Gmbh International Staple cartridges comprising driver arrangements
US9844376B2 (en) 2014-11-06 2017-12-19 Ethicon Llc Staple cartridge comprising a releasable adjunct material
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
MX2017008108A (en) 2014-12-18 2018-03-06 Ethicon Llc Surgical instrument with an anvil that is selectively movable about a discrete non-movable axis relative to a staple cartridge.
US9943309B2 (en) 2014-12-18 2018-04-17 Ethicon Llc Surgical instruments with articulatable end effectors and movable firing beam support arrangements
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
US9844374B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
US10631913B2 (en) * 2014-12-31 2020-04-28 St. Jude Medical, Cardiology Division, Inc. Filter circuit for electrophysiology system
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US10245033B2 (en) 2015-03-06 2019-04-02 Ethicon Llc Surgical instrument comprising a lockable battery housing
US9901342B2 (en) 2015-03-06 2018-02-27 Ethicon Endo-Surgery, Llc Signal and power communication system positioned on a rotatable shaft
JP2020121162A (en) 2015-03-06 2020-08-13 エシコン エルエルシーEthicon LLC Time dependent evaluation of sensor data to determine stability element, creep element and viscoelastic element of measurement
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
US10441279B2 (en) 2015-03-06 2019-10-15 Ethicon Llc Multiple level thresholds to modify operation of powered surgical instruments
US9808246B2 (en) * 2015-03-06 2017-11-07 Ethicon Endo-Surgery, Llc Method of operating a powered surgical instrument
US10548504B2 (en) 2015-03-06 2020-02-04 Ethicon Llc Overlaid multi sensor radio frequency (RF) electrode system to measure tissue compression
US10213201B2 (en) 2015-03-31 2019-02-26 Ethicon Llc Stapling end effector configured to compensate for an uneven gap between a first jaw and a second jaw
CN104783866B (en) * 2015-04-24 2017-07-04 重庆康美唯外科器械有限公司 Ultrasound knife knife bar component and its ultrasound knife and ultrasound knife control system
US20170042408A1 (en) 2015-08-11 2017-02-16 Trice Medical, Inc. Fully integrated, disposable tissue visualization device
US10835249B2 (en) 2015-08-17 2020-11-17 Ethicon Llc Implantable layers for a surgical instrument
US10238386B2 (en) 2015-09-23 2019-03-26 Ethicon Llc Surgical stapler having motor control based on an electrical parameter related to a motor current
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10299878B2 (en) 2015-09-25 2019-05-28 Ethicon Llc Implantable adjunct systems for determining adjunct skew
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10980539B2 (en) 2015-09-30 2021-04-20 Ethicon Llc Implantable adjunct comprising bonded layers
US10478188B2 (en) 2015-09-30 2019-11-19 Ethicon Llc Implantable layer comprising a constricted configuration
US20170086829A1 (en) 2015-09-30 2017-03-30 Ethicon Endo-Surgery, Llc Compressible adjunct with intermediate supporting structures
KR101835043B1 (en) * 2015-11-03 2018-03-08 (주) 인텍플러스 Dissection tool And Dissection system
US11090040B2 (en) * 2015-12-28 2021-08-17 Boston Scientific Scimed, Inc. Delivery tools for medical implants and methods of using the same
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
US10265068B2 (en) 2015-12-30 2019-04-23 Ethicon Llc Surgical instruments with separable motors and motor control circuits
US10368865B2 (en) 2015-12-30 2019-08-06 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
JP2019505352A (en) * 2016-01-29 2019-02-28 センサー メディカル ラボラトリーズ リミテッドSensOR Medical Laboratories Ltd. Endoscopic instrument, sensor film, and method
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
BR112018016098B1 (en) 2016-02-09 2023-02-23 Ethicon Llc SURGICAL INSTRUMENT
US10448948B2 (en) 2016-02-12 2019-10-22 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11224426B2 (en) 2016-02-12 2022-01-18 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11179150B2 (en) 2016-04-15 2021-11-23 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10456137B2 (en) 2016-04-15 2019-10-29 Ethicon Llc Staple formation detection mechanisms
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10492783B2 (en) 2016-04-15 2019-12-03 Ethicon, Llc Surgical instrument with improved stop/start control during a firing motion
US11607239B2 (en) 2016-04-15 2023-03-21 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10828028B2 (en) 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
US10335145B2 (en) 2016-04-15 2019-07-02 Ethicon Llc Modular surgical instrument with configurable operating mode
US10363037B2 (en) 2016-04-18 2019-07-30 Ethicon Llc Surgical instrument system comprising a magnetic lockout
US11317917B2 (en) 2016-04-18 2022-05-03 Cilag Gmbh International Surgical stapling system comprising a lockable firing assembly
US20170296173A1 (en) 2016-04-18 2017-10-19 Ethicon Endo-Surgery, Llc Method for operating a surgical instrument
US10959731B2 (en) 2016-06-14 2021-03-30 Covidien Lp Buttress attachment for surgical stapling instrument
US11026686B2 (en) 2016-11-08 2021-06-08 Covidien Lp Structure for attaching buttress to anvil and/or cartridge of surgical stapling instrument
US10568625B2 (en) 2016-12-21 2020-02-25 Ethicon Llc Staple cartridges and arrangements of staples and staple cavities therein
US10675026B2 (en) 2016-12-21 2020-06-09 Ethicon Llc Methods of stapling tissue
US10856868B2 (en) 2016-12-21 2020-12-08 Ethicon Llc Firing member pin configurations
CN110114014B (en) 2016-12-21 2022-08-09 爱惜康有限责任公司 Surgical instrument system including end effector and firing assembly lockout
JP6983893B2 (en) 2016-12-21 2021-12-17 エシコン エルエルシーEthicon LLC Lockout configuration for surgical end effectors and replaceable tool assemblies
JP7010956B2 (en) 2016-12-21 2022-01-26 エシコン エルエルシー How to staple tissue
US11191539B2 (en) 2016-12-21 2021-12-07 Cilag Gmbh International Shaft assembly comprising a manually-operable retraction system for use with a motorized surgical instrument system
US10667810B2 (en) 2016-12-21 2020-06-02 Ethicon Llc Closure members with cam surface arrangements for surgical instruments with separate and distinct closure and firing systems
US20180168615A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument
MX2019007311A (en) 2016-12-21 2019-11-18 Ethicon Llc Surgical stapling systems.
US20180168625A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling instruments with smart staple cartridges
US10624635B2 (en) 2016-12-21 2020-04-21 Ethicon Llc Firing members with non-parallel jaw engagement features for surgical end effectors
US11419606B2 (en) 2016-12-21 2022-08-23 Cilag Gmbh International Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems
US11134942B2 (en) 2016-12-21 2021-10-05 Cilag Gmbh International Surgical stapling instruments and staple-forming anvils
US20180168619A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling systems
US10499914B2 (en) 2016-12-21 2019-12-10 Ethicon Llc Staple forming pocket arrangements
US10835247B2 (en) 2016-12-21 2020-11-17 Ethicon Llc Lockout arrangements for surgical end effectors
US10874768B2 (en) 2017-01-20 2020-12-29 Covidien Lp Drug eluting medical device
US10932807B2 (en) 2017-02-08 2021-03-02 Covidien Lp Assembly tool for ultrasonic surgical instruments and kits and methods including the same
US10925607B2 (en) 2017-02-28 2021-02-23 Covidien Lp Surgical stapling apparatus with staple sheath
US11096610B2 (en) 2017-03-28 2021-08-24 Covidien Lp Surgical implants including sensing fibers
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
US10779820B2 (en) 2017-06-20 2020-09-22 Ethicon Llc Systems and methods for controlling motor speed according to user input for a surgical instrument
US10888321B2 (en) 2017-06-20 2021-01-12 Ethicon Llc Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument
US10980537B2 (en) 2017-06-20 2021-04-20 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations
US11382638B2 (en) 2017-06-20 2022-07-12 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance
US11653914B2 (en) 2017-06-20 2023-05-23 Cilag Gmbh International Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector
US11517325B2 (en) 2017-06-20 2022-12-06 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval
USD879809S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with changeable graphical user interface
US10307170B2 (en) 2017-06-20 2019-06-04 Ethicon Llc Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
US11090046B2 (en) 2017-06-20 2021-08-17 Cilag Gmbh International Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument
US11071554B2 (en) 2017-06-20 2021-07-27 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements
US11324503B2 (en) 2017-06-27 2022-05-10 Cilag Gmbh International Surgical firing member arrangements
US10993716B2 (en) 2017-06-27 2021-05-04 Ethicon Llc Surgical anvil arrangements
US10631859B2 (en) 2017-06-27 2020-04-28 Ethicon Llc Articulation systems for surgical instruments
US11266405B2 (en) 2017-06-27 2022-03-08 Cilag Gmbh International Surgical anvil manufacturing methods
US10903685B2 (en) 2017-06-28 2021-01-26 Ethicon Llc Surgical shaft assemblies with slip ring assemblies forming capacitive channels
US10639037B2 (en) 2017-06-28 2020-05-05 Ethicon Llc Surgical instrument with axially movable closure member
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
US11259805B2 (en) 2017-06-28 2022-03-01 Cilag Gmbh International Surgical instrument comprising firing member supports
US11058424B2 (en) 2017-06-28 2021-07-13 Cilag Gmbh International Surgical instrument comprising an offset articulation joint
US11246592B2 (en) 2017-06-28 2022-02-15 Cilag Gmbh International Surgical instrument comprising an articulation system lockable to a frame
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
US11564686B2 (en) 2017-06-28 2023-01-31 Cilag Gmbh International Surgical shaft assemblies with flexible interfaces
EP3420947B1 (en) 2017-06-28 2022-05-25 Cilag GmbH International Surgical instrument comprising selectively actuatable rotatable couplers
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control for robotic surgical instrument
US11471155B2 (en) 2017-08-03 2022-10-18 Cilag Gmbh International Surgical system bailout
US11974742B2 (en) 2017-08-03 2024-05-07 Cilag Gmbh International Surgical system comprising an articulation bailout
US11944300B2 (en) 2017-08-03 2024-04-02 Cilag Gmbh International Method for operating a surgical system bailout
US11304695B2 (en) 2017-08-03 2022-04-19 Cilag Gmbh International Surgical system shaft interconnection
US10849625B2 (en) 2017-08-07 2020-12-01 Covidien Lp Surgical buttress retention systems for surgical stapling apparatus
US10945733B2 (en) 2017-08-23 2021-03-16 Covidien Lp Surgical buttress reload and tip attachment assemblies for surgical stapling apparatus
US11399829B2 (en) 2017-09-29 2022-08-02 Cilag Gmbh International Systems and methods of initiating a power shutdown mode for a surgical instrument
USD907648S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
USD907647S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
USD917500S1 (en) 2017-09-29 2021-04-27 Ethicon Llc Display screen or portion thereof with graphical user interface
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
US11090075B2 (en) 2017-10-30 2021-08-17 Cilag Gmbh International Articulation features for surgical end effector
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
US11141151B2 (en) 2017-12-08 2021-10-12 Covidien Lp Surgical buttress for circular stapling
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
US11197670B2 (en) 2017-12-15 2021-12-14 Cilag Gmbh International Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed
US10743875B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member
US11033267B2 (en) 2017-12-15 2021-06-15 Ethicon Llc Systems and methods of controlling a clamping member firing rate of a surgical instrument
US10869666B2 (en) 2017-12-15 2020-12-22 Ethicon Llc Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument
US10779825B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments
US10828033B2 (en) 2017-12-15 2020-11-10 Ethicon Llc Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto
US10966718B2 (en) 2017-12-15 2021-04-06 Ethicon Llc Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments
US11071543B2 (en) 2017-12-15 2021-07-27 Cilag Gmbh International Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges
US10729509B2 (en) 2017-12-19 2020-08-04 Ethicon Llc Surgical instrument comprising closure and firing locking mechanism
USD910847S1 (en) 2017-12-19 2021-02-16 Ethicon Llc Surgical instrument assembly
US11020112B2 (en) 2017-12-19 2021-06-01 Ethicon Llc Surgical tools configured for interchangeable use with different controller interfaces
US10835330B2 (en) 2017-12-19 2020-11-17 Ethicon Llc Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly
US11129680B2 (en) 2017-12-21 2021-09-28 Cilag Gmbh International Surgical instrument comprising a projector
US11076853B2 (en) 2017-12-21 2021-08-03 Cilag Gmbh International Systems and methods of displaying a knife position during transection for a surgical instrument
US11311290B2 (en) 2017-12-21 2022-04-26 Cilag Gmbh International Surgical instrument comprising an end effector dampener
US10743868B2 (en) 2017-12-21 2020-08-18 Ethicon Llc Surgical instrument comprising a pivotable distal head
US11065000B2 (en) 2018-02-22 2021-07-20 Covidien Lp Surgical buttresses for surgical stapling apparatus
WO2019191705A1 (en) 2018-03-29 2019-10-03 Trice Medical, Inc. Fully integrated endoscope with biopsy capabilities and methods of use
US10758237B2 (en) 2018-04-30 2020-09-01 Covidien Lp Circular stapling apparatus with pinned buttress
US11284896B2 (en) 2018-05-09 2022-03-29 Covidien Lp Surgical buttress loading and attaching/detaching assemblies
US11432818B2 (en) 2018-05-09 2022-09-06 Covidien Lp Surgical buttress assemblies
US11426163B2 (en) 2018-05-09 2022-08-30 Covidien Lp Universal linear surgical stapling buttress
US20190354183A1 (en) * 2018-05-16 2019-11-21 Immersion Corporation Kinesthetic feedback to virtual and augmented reality controllers
US11219460B2 (en) 2018-07-02 2022-01-11 Covidien Lp Surgical stapling apparatus with anvil buttress
US10912559B2 (en) 2018-08-20 2021-02-09 Ethicon Llc Reinforced deformable anvil tip for surgical stapler anvil
US11324501B2 (en) 2018-08-20 2022-05-10 Cilag Gmbh International Surgical stapling devices with improved closure members
US11083458B2 (en) 2018-08-20 2021-08-10 Cilag Gmbh International Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions
US10856870B2 (en) 2018-08-20 2020-12-08 Ethicon Llc Switching arrangements for motor powered articulatable surgical instruments
US11253256B2 (en) 2018-08-20 2022-02-22 Cilag Gmbh International Articulatable motor powered surgical instruments with dedicated articulation motor arrangements
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
US11045192B2 (en) 2018-08-20 2021-06-29 Cilag Gmbh International Fabricating techniques for surgical stapler anvils
US11039834B2 (en) 2018-08-20 2021-06-22 Cilag Gmbh International Surgical stapler anvils with staple directing protrusions and tissue stability features
USD914878S1 (en) 2018-08-20 2021-03-30 Ethicon Llc Surgical instrument anvil
US10806459B2 (en) 2018-09-14 2020-10-20 Covidien Lp Drug patterned reinforcement material for circular anastomosis
US10952729B2 (en) 2018-10-03 2021-03-23 Covidien Lp Universal linear buttress retention/release assemblies and methods
US11172929B2 (en) 2019-03-25 2021-11-16 Cilag Gmbh International Articulation drive arrangements for surgical systems
US11147551B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11696761B2 (en) 2019-03-25 2023-07-11 Cilag Gmbh International Firing drive arrangements for surgical systems
US11147553B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11730472B2 (en) 2019-04-25 2023-08-22 Covidien Lp Surgical system and surgical loading units thereof
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11648009B2 (en) 2019-04-30 2023-05-16 Cilag Gmbh International Rotatable jaw tip for a surgical instrument
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
US11432816B2 (en) 2019-04-30 2022-09-06 Cilag Gmbh International Articulation pin for a surgical instrument
US11253254B2 (en) 2019-04-30 2022-02-22 Cilag Gmbh International Shaft rotation actuator on a surgical instrument
US11471157B2 (en) 2019-04-30 2022-10-18 Cilag Gmbh International Articulation control mapping for a surgical instrument
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US11596403B2 (en) 2019-05-08 2023-03-07 Covidien Lp Surgical stapling device
US11478245B2 (en) 2019-05-08 2022-10-25 Covidien Lp Surgical stapling device
US11051807B2 (en) 2019-06-28 2021-07-06 Cilag Gmbh International Packaging assembly including a particulate trap
US11638587B2 (en) 2019-06-28 2023-05-02 Cilag Gmbh International RFID identification systems for surgical instruments
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11224497B2 (en) 2019-06-28 2022-01-18 Cilag Gmbh International Surgical systems with multiple RFID tags
US12004740B2 (en) 2019-06-28 2024-06-11 Cilag Gmbh International Surgical stapling system having an information decryption protocol
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11298132B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Inlernational Staple cartridge including a honeycomb extension
US11259803B2 (en) 2019-06-28 2022-03-01 Cilag Gmbh International Surgical stapling system having an information encryption protocol
US11291451B2 (en) 2019-06-28 2022-04-05 Cilag Gmbh International Surgical instrument with battery compatibility verification functionality
US11229437B2 (en) 2019-06-28 2022-01-25 Cilag Gmbh International Method for authenticating the compatibility of a staple cartridge with a surgical instrument
US11298127B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Interational Surgical stapling system having a lockout mechanism for an incompatible cartridge
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
US11219455B2 (en) 2019-06-28 2022-01-11 Cilag Gmbh International Surgical instrument including a lockout key
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
US11553971B2 (en) 2019-06-28 2023-01-17 Cilag Gmbh International Surgical RFID assemblies for display and communication
US11246678B2 (en) 2019-06-28 2022-02-15 Cilag Gmbh International Surgical stapling system having a frangible RFID tag
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US11399837B2 (en) 2019-06-28 2022-08-02 Cilag Gmbh International Mechanisms for motor control adjustments of a motorized surgical instrument
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US11969169B2 (en) 2019-09-10 2024-04-30 Covidien Lp Anvil buttress loading unit for a surgical stapling apparatus
US11571208B2 (en) 2019-10-11 2023-02-07 Covidien Lp Surgical buttress loading units
US11523824B2 (en) 2019-12-12 2022-12-13 Covidien Lp Anvil buttress loading for a surgical stapling apparatus
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11576672B2 (en) 2019-12-19 2023-02-14 Cilag Gmbh International Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
US11291447B2 (en) 2019-12-19 2022-04-05 Cilag Gmbh International Stapling instrument comprising independent jaw closing and staple firing systems
US12035913B2 (en) 2019-12-19 2024-07-16 Cilag Gmbh International Staple cartridge comprising a deployable knife
US11304696B2 (en) 2019-12-19 2022-04-19 Cilag Gmbh International Surgical instrument comprising a powered articulation system
US11234698B2 (en) 2019-12-19 2022-02-01 Cilag Gmbh International Stapling system comprising a clamp lockout and a firing lockout
US11529139B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Motor driven surgical instrument
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US11559304B2 (en) 2019-12-19 2023-01-24 Cilag Gmbh International Surgical instrument comprising a rapid closure mechanism
US11931033B2 (en) 2019-12-19 2024-03-19 Cilag Gmbh International Staple cartridge comprising a latch lockout
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US11504122B2 (en) 2019-12-19 2022-11-22 Cilag Gmbh International Surgical instrument comprising a nested firing member
US11547407B2 (en) 2020-03-19 2023-01-10 Covidien Lp Staple line reinforcement for surgical stapling apparatus
US11337699B2 (en) 2020-04-28 2022-05-24 Covidien Lp Magnesium infused surgical buttress for surgical stapler
USD975278S1 (en) 2020-06-02 2023-01-10 Cilag Gmbh International Staple cartridge
USD976401S1 (en) 2020-06-02 2023-01-24 Cilag Gmbh International Staple cartridge
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD967421S1 (en) 2020-06-02 2022-10-18 Cilag Gmbh International Staple cartridge
USD975851S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD966512S1 (en) 2020-06-02 2022-10-11 Cilag Gmbh International Staple cartridge
USD974560S1 (en) 2020-06-02 2023-01-03 Cilag Gmbh International Staple cartridge
US20220031350A1 (en) 2020-07-28 2022-02-03 Cilag Gmbh International Surgical instruments with double pivot articulation joint arrangements
US11707276B2 (en) 2020-09-08 2023-07-25 Covidien Lp Surgical buttress assemblies and techniques for surgical stapling
US11399833B2 (en) 2020-10-19 2022-08-02 Covidien Lp Anvil buttress attachment for surgical stapling apparatus
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
US11617577B2 (en) 2020-10-29 2023-04-04 Cilag Gmbh International Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
USD980425S1 (en) 2020-10-29 2023-03-07 Cilag Gmbh International Surgical instrument assembly
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
US12053175B2 (en) 2020-10-29 2024-08-06 Cilag Gmbh International Surgical instrument comprising a stowed closure actuator stop
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
US11452526B2 (en) 2020-10-29 2022-09-27 Cilag Gmbh International Surgical instrument comprising a staged voltage regulation start-up system
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
US11944296B2 (en) 2020-12-02 2024-04-02 Cilag Gmbh International Powered surgical instruments with external connectors
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US11737751B2 (en) 2020-12-02 2023-08-29 Cilag Gmbh International Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11678882B2 (en) 2020-12-02 2023-06-20 Cilag Gmbh International Surgical instruments with interactive features to remedy incidental sled movements
US11534170B2 (en) 2021-01-04 2022-12-27 Covidien Lp Anvil buttress attachment for surgical stapling apparatus
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11980362B2 (en) 2021-02-26 2024-05-14 Cilag Gmbh International Surgical instrument system comprising a power transfer coil
US12108951B2 (en) 2021-02-26 2024-10-08 Cilag Gmbh International Staple cartridge comprising a sensing array and a temperature control system
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11950777B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Staple cartridge comprising an information access control system
US11950779B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11737749B2 (en) 2021-03-22 2023-08-29 Cilag Gmbh International Surgical stapling instrument comprising a retraction system
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11826012B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Stapling instrument comprising a pulsed motor-driven firing rack
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11806011B2 (en) 2021-03-22 2023-11-07 Cilag Gmbh International Stapling instrument comprising tissue compression systems
US11786243B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Firing members having flexible portions for adapting to a load during a surgical firing stroke
US11944336B2 (en) 2021-03-24 2024-04-02 Cilag Gmbh International Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments
US11896218B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Method of using a powered stapling device
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US12102323B2 (en) 2021-03-24 2024-10-01 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising a floatable component
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
US11786239B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Surgical instrument articulation joint arrangements comprising multiple moving linkage features
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US11826047B2 (en) 2021-05-28 2023-11-28 Cilag Gmbh International Stapling instrument comprising jaw mounts
US11596399B2 (en) 2021-06-23 2023-03-07 Covidien Lp Anvil buttress attachment for surgical stapling apparatus
US11510670B1 (en) 2021-06-23 2022-11-29 Covidien Lp Buttress attachment for surgical stapling apparatus
US11672538B2 (en) 2021-06-24 2023-06-13 Covidien Lp Surgical stapling device including a buttress retention assembly
US11678879B2 (en) 2021-07-01 2023-06-20 Covidien Lp Buttress attachment for surgical stapling apparatus
US11684368B2 (en) 2021-07-14 2023-06-27 Covidien Lp Surgical stapling device including a buttress retention assembly
US12076013B2 (en) 2021-08-03 2024-09-03 Covidien Lp Surgical buttress attachment assemblies for surgical stapling apparatus
US11801052B2 (en) 2021-08-30 2023-10-31 Covidien Lp Assemblies for surgical stapling instruments
US11751875B2 (en) 2021-10-13 2023-09-12 Coviden Lp Surgical buttress attachment assemblies for surgical stapling apparatus
US11980363B2 (en) 2021-10-18 2024-05-14 Cilag Gmbh International Row-to-row staple array variations
US11957337B2 (en) 2021-10-18 2024-04-16 Cilag Gmbh International Surgical stapling assembly with offset ramped drive surfaces
US11877745B2 (en) 2021-10-18 2024-01-23 Cilag Gmbh International Surgical stapling assembly having longitudinally-repeating staple leg clusters
US11937816B2 (en) 2021-10-28 2024-03-26 Cilag Gmbh International Electrical lead arrangements for surgical instruments
US12089841B2 (en) 2021-10-28 2024-09-17 Cilag CmbH International Staple cartridge identification systems
US11806017B2 (en) 2021-11-23 2023-11-07 Covidien Lp Anvil buttress loading system for surgical stapling apparatus
US12070213B2 (en) 2022-02-24 2024-08-27 Covidien Lp Surgical medical devices

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030045888A1 (en) 1998-02-24 2003-03-06 Endo Via Medical, Inc. Articulated apparatus for telemanipulator system
US20040153124A1 (en) 1999-06-02 2004-08-05 Whitman Michael P. Electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
US20050113821A1 (en) 2003-11-25 2005-05-26 Ethicon, Inc. Multi-function clamping device with stapler and ablation heads
US20070023477A1 (en) 2005-07-27 2007-02-01 Whitman Michael P Surgical device

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5578052A (en) * 1992-10-27 1996-11-26 Koros; Tibor Insulated laparoscopic grasper with removable shaft
CA2138076A1 (en) * 1993-12-17 1995-06-18 Philip E. Eggers Monopolar electrosurgical instruments
US5529235A (en) * 1994-04-28 1996-06-25 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
ES2371744T3 (en) 2000-02-22 2012-01-09 Tyco Healthcare Group Lp AN ELECTROMECHANICAL ACTUATOR AND REMOTE SURGICAL INSTRUMENT ACCESSORY THAT HAS COMPUTER ASSISTED CAPACITIES BY COMPUTER.
JP4131011B2 (en) * 2002-04-09 2008-08-13 Hoya株式会社 Endoscopic sputum treatment device
US7326202B2 (en) * 2003-03-07 2008-02-05 Starion Instruments Corporation Tubular resistance heater with electrically insulating high thermal conductivity core for use in a tissue welding device
US7090637B2 (en) * 2003-05-23 2006-08-15 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
US7168165B2 (en) * 2005-03-07 2007-01-30 Medtronic, Inc. Fabrication of electrical medical leads employing multi-filar wire conductors

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030045888A1 (en) 1998-02-24 2003-03-06 Endo Via Medical, Inc. Articulated apparatus for telemanipulator system
US20040153124A1 (en) 1999-06-02 2004-08-05 Whitman Michael P. Electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
US20050113821A1 (en) 2003-11-25 2005-05-26 Ethicon, Inc. Multi-function clamping device with stapler and ablation heads
US20070023477A1 (en) 2005-07-27 2007-02-01 Whitman Michael P Surgical device

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9579143B2 (en) 2010-08-12 2017-02-28 Immersion Corporation Electrosurgical tool having tactile feedback
US10245099B2 (en) 2010-10-04 2019-04-02 Covidien Lp Vessel sealing instrument
US9655672B2 (en) 2010-10-04 2017-05-23 Covidien Lp Vessel sealing instrument
US9795439B2 (en) 2010-10-04 2017-10-24 Covidien Lp Vessel sealing instrument
US10201384B2 (en) 2010-10-04 2019-02-12 Covidien Lp Vessel sealing instrument
US10729488B2 (en) 2010-10-04 2020-08-04 Covidien Lp Vessel sealing instrument
US11000330B2 (en) 2010-10-04 2021-05-11 Covidien Lp Surgical forceps
US11779385B2 (en) 2010-10-04 2023-10-10 Covidien Lp Surgical forceps
US8523043B2 (en) 2010-12-07 2013-09-03 Immersion Corporation Surgical stapler having haptic feedback
US8801710B2 (en) 2010-12-07 2014-08-12 Immersion Corporation Electrosurgical sealing tool having haptic feedback
EP2489317A1 (en) * 2010-12-07 2012-08-22 Immersion Corporation Electrosurgical sealing tool having haptic feedback
JP2012120841A (en) * 2010-12-07 2012-06-28 Immersion Corp Electrosurgical sealing tool having haptic feedback
US8845667B2 (en) 2011-07-18 2014-09-30 Immersion Corporation Surgical tool having a programmable rotary module for providing haptic feedback

Also Published As

Publication number Publication date
CN102088914A (en) 2011-06-08
EP2323564A1 (en) 2011-05-25
JP5841184B2 (en) 2016-01-13
JP2014204981A (en) 2014-10-30
EP2323564B1 (en) 2013-07-10
US20100016855A1 (en) 2010-01-21
US8834465B2 (en) 2014-09-16
CN102088914B (en) 2013-06-05
JP5766116B2 (en) 2015-08-19
JP2011528261A (en) 2011-11-17

Similar Documents

Publication Publication Date Title
US8834465B2 (en) Modular tool with signal feedback
US10881446B2 (en) Visual displays of electrical pathways
US20210263179A1 (en) Surgical adapter assemblies and wireless detection of surgical loading units
Thai et al. Advanced intelligent systems for surgical robotics
EP2173255B1 (en) Minimally invasive surgical tools with haptic feedback
US10561468B2 (en) Apparatus and method for using a remote control system in surgical procedures
US20150018816A1 (en) Electrode assembly for use with surgical instruments
CN110381868B (en) Surgical tool and robotic surgical system interface
CN102802551B (en) For can the robot system of musical form endoscope operation
RU2740114C1 (en) Surgical robot system and surgical instrument for it
Shi et al. A shape memory alloy‐actuated surgical instrument with compact volume
CN108697450A (en) Sensor membrane for endoscopic instrument
Naidu et al. An autoclavable wireless palpation instrument for minimally invasive surgery
US10478257B2 (en) Robotic surgical tool, system, and method
WO2018191821A1 (en) Autoclavable enclosure for a minimally invasive instrument
CN114222535A (en) Sterile barrier and sensor set for medical devices
US20170340381A1 (en) Surgical instrument incorporating a circuit board and methods of manufacturing the same
Platt et al. Modular wireless wheeled in vivo surgical robots
DUMPERT et al. Medicine Meets Virtual Reality 16 153 JD Westwood et al.(Eds.) IOS Press, 2008© 2008 The authors. All rights reserved.

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200980127458.0

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09789663

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2009789663

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2011518748

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE