WO2010041900A2 - Orifice et ensemble orifice destinés à être utilisés avec un instrument en chirurgie minimalement invasive, et procédé d'utilisation dudit orifice et dudit ensemble orifice - Google Patents

Orifice et ensemble orifice destinés à être utilisés avec un instrument en chirurgie minimalement invasive, et procédé d'utilisation dudit orifice et dudit ensemble orifice Download PDF

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Publication number
WO2010041900A2
WO2010041900A2 PCT/KR2009/005795 KR2009005795W WO2010041900A2 WO 2010041900 A2 WO2010041900 A2 WO 2010041900A2 KR 2009005795 W KR2009005795 W KR 2009005795W WO 2010041900 A2 WO2010041900 A2 WO 2010041900A2
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WO
WIPO (PCT)
Prior art keywords
port
cannulas
main body
minimally invasive
insert
Prior art date
Application number
PCT/KR2009/005795
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English (en)
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WO2010041900A3 (fr
Inventor
Chang Wook Jeong
Original Assignee
Chang Wook Jeong
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Filing date
Publication date
Application filed by Chang Wook Jeong filed Critical Chang Wook Jeong
Publication of WO2010041900A2 publication Critical patent/WO2010041900A2/fr
Publication of WO2010041900A3 publication Critical patent/WO2010041900A3/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • A61B2017/3447—Linked multiple cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • A61B2017/3449—Cannulas used as instrument channel for multiple instruments whereby the instrument channels merge into one single channel
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
    • A61B2017/3466—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals for simultaneous sealing of multiple instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B2017/348—Means for supporting the trocar against the body or retaining the trocar inside the body
    • A61B2017/3482—Means for supporting the trocar against the body or retaining the trocar inside the body inside
    • A61B2017/3484—Anchoring means, e.g. spreading-out umbrella-like structure
    • A61B2017/3488—Fixation to inner organ or inner body tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery

Definitions

  • the present invention relates to port and port assembly for use with an easy-to-control tool for minimally invasive surgery or a surgical robotic system that adopts the principles of the tool for minimally invasive surgery, and a method of using the same.
  • Minimally invasive surgery is a surgical approach that involves use of instruments inserted through several tiny incision openings to perform a surgery causing minimal tissue trauma.
  • This minimally invasive surgery relatively reduces changes in metabolism of the patient in the period of post-surgical care, so it is beneficial to rapid recovery of the patient. Therefore, using such minimally invasive surgery shortens length of a hospital stay of the patient after the surgery and allows patients to return to normal physical activities more quickly. In addition, minimally invasive surgery causes less pain and reduces scar to patients after surgery.
  • laparoscopic surgical tools include a laparoscope (for observation of a surgical site) and other working tools.
  • the working tools are similar in structure to the conventional tools used for small incision surgery, except that the end effector or working end of each tool is separated from its handle by an elongated shaft.
  • working tools may include a clamp, a grasper, scissors, a stapler, needle holder, and so forth.
  • a user such as a surgeon, puts the working tool into a surgical site through the trocar, and manipulates it from the outside of abdominal cavity. Then, the surgeon monitors the procedure of the surgery through a monitor that displays the image of the surgical site that is taken by the laparoscope.
  • the endoscopic approach similar to this is broadly used in retroperitoneoscopy, pelviscopy, arthroscopy, cisternoscopy, sinuscopy, hysteroscopy, nephroscopy, cystoscopy, urethroscopy, pyeloscopy, and so on.
  • the minimally invasive surgical tools disclosed in Korean Patent Application Nos. 2008-79126 and 2008-90560 are very useful in a case where only a single incision is formed in a patient's body to perform surgery. Accordingly, the inventor devised a port for use with the minimally invasive surgical tool described in at least one of the prior applications or with a surgical robotic system which adopts the principles of the tool.
  • the present invention is directed to solve all of the problems mentioned above.
  • an object of the present invention to provide a port suitable for use with a tool for carrying out a minimally invasive surgery in a dexterous and convenient manner with the least number of incisions in a patient's body, most preferably, with only one incision.
  • the present invention provides the port suitable for use with a tool for carrying out a minimally invasive surgery in a dexterous and convenient manner with the least number of incisions in a patient's body, most preferably, with only one incision.
  • minimally invasive surgery causes less pain, reduces scar to patients during or after surgery, and shortens length of a hospital stay of the patient after the surgery.
  • Fig. 1 is a perspective view showing the outer appearance of a port 100 in accordance with a first embodiment of the present invention
  • Fig. 2 is a perspective view showing the configuration of a main body 200 in accordance with the first embodiment of the present invention
  • Figs. 3 and 4 are a front through view and a top through view of the main body 200 in accordance with the first embodiment of the present invention
  • Fig. 5 is a perspective view showing the configuration of a cannula insert part 300 in accordance with the first embodiment of the present invention
  • Fig. 6 is a perspective view showing a state where plugs 350 cover cannulas 330 that constitute the cannula insert part 300 in accordance with the first embodiment of the present invention
  • Figs. 7, 8 and 9 respectively show a perspective view and a front through view showing the configuration of a plug 350 in accordance with the first embodiment of the present invention
  • Figs. 10 and 11 show a perspective view showing an example of configurations to maintain a coupled state between the main body 200 and the cannula insert part 300 in accordance with the first embodiment of the present invention
  • Fig. 12 is a perspective view showing another example of configurations to maintain a coupled state between the main body 200 and the cannula insert part 300 in accordance with the first embodiment of the present invention
  • Figs. 13 and 14 show a perspective view showing still another example of configurations to maintain a coupled state between the main body 200 and the cannula insert part 300 in accordance with the first embodiment of the present invention
  • Figs. 15 and 16 show a perspective view showing an example of configurations of main body 200 and obturator 400 in accordance with the first embodiment of the present invention
  • Figs. 17, 18 and 19 are a perspective view showing a state where a plurality of obturators used for the present invention is inserted into the main bodies 200, respectively;
  • Figs. 20 and 21 show a state where an insert port 100 in accordance with the first embodiment of the present invention is inserted into a patient s abdominal wall and secured with suture;
  • Fig. 22 shows an example of how a minimally invasive surgical tool 1 and an endoscope 2 are inserted through cannulas 330 in accordance with the first embodiment of the present invention
  • Fig. 23 shows another example of how a minimally invasive surgical tool 1 and an endoscope 2 are inserted through cannulas 330 in accordance with the first embodiment of the present invention
  • Fig. 24 is a perspective view showing the configuration of an insert port 100A in accordance with a second embodiment of the present invention.
  • Fig. 25 is a perspective view showing the configuration of a cannula insert part 300A used for the insert port 100A in accordance with the second embodiment of the present invention.
  • Figs. 26 and 27 show a perspective view and a front through view showing the configuration of the cannula insert part 300A in accordance with the second embodiment of the present invention, respectively;
  • Fig. 28 is a perspective view showing the configuration of an insert port 100B in accordance with a third embodiment of the present invention.
  • Fig. 29 is a perspective view showing the configuration of a cannula insert part 300B in accordance with the third embodiment of the present invention.
  • Figs. 30 and 31 show a perspective view and a side view showing a state where minimally invasive surgical tools 1 and an endoscope 2 are inserted and operated through an insert port 100A in accordance with the second embodiment of the present invention, respectively.
  • a port for minimally invasive surgery comprising, a main body, and a cannula insert part positioned in the main body, having an insert main body and a plurality of cannulas, wherein at least two cannulas of the plurality of cannulas are substantially parallel to each other.
  • a method for using the above port for minimally invasive surgery comprising, inserting at least one tool for minimally invasive surgery through at least one of the plurality of cannulas, and inserting at least another tool for minimally invasive surgery through at least another cannula.
  • a method for using the above port for minimally invasive surgery comprising, inserting an endoscope through the at least one cannula inclined at a predetermined angle, and inserting a tool for minimally invasive surgery through one of the two cannulas substantially parallel to each other.
  • Fig. 1 is a perspective view showing the outer appearance of a port 100 (hereinafter, referred to as an "insert port” or simply “port”) in accordance with a first embodiment of the present invention.
  • the insert port 100 in accordance with the first embodiment of the present invention has a barrel shape of predetermined diameter and length (it should be noted, however, that the shape of the insert port 100 is not always limited to the barrel shape).
  • the insert port 100 includes a main body 200 at least a portion of which is inserted into a patient's body, and a cannula insert part 300 positioned in the main body 200, to which an endoscope, minimally invasive surgical tools, etc., are inserted.
  • the insert port 100 may further include an obturator positioned inside the main body 200, for forming an incision, securing a path for inserting a surgical tool, protecting internal organs, and so on. More details on this will be provided below.
  • Fig. 2 is a perspective view showing the configuration of a main body 200 in accordance with the first embodiment of the present invention
  • Figs. 3 and 4 are a front through view and a top through view of the main body 200 in accordance with the first embodiment of the present invention.
  • a plurality of insert corrugations 210 is protrusively formed at regular intervals, along the outer contour of the main body 200. As shown in Fig. 3, one cross section of the insert corrugation 210 looks close to a right-angled triangle. This allows easy insertion of the main body 200 into a patient's body and for ensuring the inserted main body 200 stay secure inside the patient's body.
  • a first insert groove 220 of a predetermined depth is formed inside the main body 200.
  • the first insert groove 220 is matched with an insert ring of the cannula insert part 300 to be described later, thereby coupling the main body 200 to the cannula insert part 300.
  • the first insert groove 220 and the insert ring are configured in a manner that once they are matched and coupled, they are not easily separated from each other.
  • a plurality of (preferably three) fixing rods 230 are protrusively attached to an upper end of the main body 200.
  • the fixing rods 230 each have a fixing hole 232 at the tip, through which a suture thread is inserted to stitch each of the fixing roads 230 together with the epidermis of the body. In this way, the main body 200 and further, the insert port 100 can be fixed.
  • Fig. 5 is a perspective view showing the configuration of the cannula insert part 300 in accordance with the first embodiment of the present invention
  • Fig. 6 is a perspective view showing a state where plugs 350 cover cannulas that constitute the cannula insert part 300 in accordance with the first embodiment of the present invention.
  • the following is a detailed explanation about the configuration of the cannula insert part 300 with reference with the drawings.
  • An insert ring 320 which is to be inserted into the first insert groove 220 mentioned above is formed on the outside of an insert main body 310. This allows the main body 200 to couple to the insert main body 310.
  • a plurality of cannulas 330 is positioned inside the insert main body 310.
  • at least part of the plurality of cannulas 330 that are arranged adjacent to or in contact with each other have their central axes substantially parallel to each other.
  • the cannulas 330 are sufficiently long for a surgical tool to insert into them and be in position stably.
  • the cannulas 330 come in diverse sizes (diameters) to meet user's needs.
  • the cannulas 330 are preferably made of hard, non-bendable materials to continuously keep their straight barrel shape.
  • two or more cannulas 330 are included in the cannula insert part 300.
  • the number of cannulas 330 ranges 3 to 5.
  • Figs. 5 and 6 illustrate three cannulas 330 in a bundle.
  • the cannulas 330 are coupled to the insert main body 310 in an airtight manner.
  • the plurality of cannulas 330 covered with plugs 350 to be described later is positioned inside the insert main body 310 for the insert port 100 to stay in airtight state.
  • the plurality of cannulas 330 is positioned inside the insert main body 310 in a manner that there is no gap between them and the bottom of the insert main body 310.
  • At least one cannula 330 out of the plurality of cannulas 330 is provided with a gas supply pipe 340.
  • the gas supply pipe 340 has a cock valve 342 to control an inflow/outflow of gas. More details on this will follow.
  • each of the plural cannulas 330 is covered by a plug 350 such that gas cannot flow in or flow out through the cannulas having no surgical tool being inserted thereto and foreign matters cannot get into a patient's body either. More details on the configuration of the plug will be given below.
  • the plug 350 covers cannula 330, closing one end of the cannula 330.
  • the plug 350 is made of flexible materials in double layer to let an endoscope or minimally invasive surgical tools go through it.
  • a slit 352 is formed on each layer of the plug 350 in non-parallel directions (preferably, perpendicular to each other).
  • the plug 350 is made of silicon materials excellent in resilience and restoring force. The silicon plugs 350 prevent the inflow/outflow of gas and the intrusion of foreign matters through the cannulas 330 and facilitate the insertion of any kind of surgical tools through the cannulas 330. If necessary, a person skilled in the art may adopt a different gas inflow/outflow prevention mechanism besides the plug 350.
  • the cannula insert part 300 in accordance with this embodiment may further adopt the following configuration.
  • the cannula insert part 300 may rotate inside the main body 200. That is to say, although the cannula insert part 300 is closely coupled to the inside of the main body 200, if an external force that is not quite small is continuously applied, it may rotate. Depending on the type of surgery, it may not be always desirable to make the cannula insert part 300 rotate about the main body 200. To prevent this occurrence if necessary, as shown in Figs. 10 and 11, a linear protrusion 360 may be formed in the outer face of the insert main body 310. Preferably, the linear protrusion 360 is formed over the insert ring 320. Correspondingly, a linear groove 240 may be formed on the inside of the main body 200 to receive the linear protrusion 360. As the linear protrusion 360 is fitted into the linear groove 240, the cannula insert part 300 will not rotate unnecessarily.
  • a configuration to maintain the coupled state between the cannula insert part 300 and the main body 200 may be an example as shown in Fig. 12. That is, a second insert groove 322 may be formed on the outer face of an insert main body 310 and a fixing ring 324 made of resilient materials is fitted into the second insert groove 322.
  • the fixing ring 324 is inserted into the first insert groove 220 and the second insert groove 322 at the same time, thereby more easily achieving a strong fixation of the cannula insert part 300.
  • the cannula insert part 300 may further include a switch 370 for controlling the restoring force of the fixing ring 324.
  • the first insert groove 220 into which the fixing ring 324 is inserted has a sectional configuration to ensure that the fixing ring 324 is not slipped out accidently after insertion.
  • the first insert groove 220 may have an edged or rounded cross section.
  • a plurality of support rods 380 are protrusively formed on the outer face of the cannula insert part 300, and "L" shaped fixing grooves 250 are formed in the main body 200 to receive the support rods 380.
  • the fixing grooves 250 may take any shape as long as the support rods 380 are safely seated therein.
  • an obturator 400 may be inserted into the main body 200. As illustrated in Figs. 15 and 16, the obturator 400 is insertedly fixed into the main body 200.
  • the fixation principle or mechanism is substantially the same as above.
  • Figs. 17. 18 and 19 show a state where a plurality of obturators 400 in accordance with the present invention is inserted into the main bodies 200, respectively.
  • the end portion of the obturator 400 may be rounded (Fig. 17) or edged (Fig. 18), or may include a blade 430 (Fig. 19).
  • the insert port 100 having the above-described configuration in accordance with the first embodiment of the present invention is basically used as follows.
  • a user inserts the obturator 400, as shown in Fig. 15, into the main body 200, and fits the fixing ring 420 of the obturator 400 into the first insert groove 220 on the inside of the main body 200. In this manner, as depicted in Fig. 16, the obturator 400 is fixed on the main body 200.
  • the user inserts the obturator 400 being fixed on the main body 200 into an incision the user has formed by using a scalpel or the like. And then, the user separates the obturator 400 from the main body 200. After that, the user inserts the cannula insert part 300 into the main body 200. In result, the insert ring 320 of the insert main body 310 is fitted into the first insert groove 220 on the inside of the main body 200, thus allowing the cannula insert part 300 to fix or couple to the main body 200.
  • Fig. 20 and Fig. 21 well illustrate a state where the insert part 100 in accordance with the first embodiment of the present invention is inserted into a patient's abdominal wall and secured with suture.
  • the user inserts minimally invasive surgical tools 1 or an endoscope 2 as shown in Fig. 22 through the cannulas 330 of the cannula insert part 300 to conduct surgery (as shown in the drawing, the minimally invasive surgical tools 1 are preferably positioned in symmetric with each other). As shown in Fig. 22, when two or more minimally invasive surgical tools 1 are used, they are preferably inserted through the cannulas 330 which are positioned substantially in parallel with each other. By nature of the minimally invasive surgery, in the state shown in Fig.
  • the plurality of cannulas 330 (especially the cannulas 330 into which the minimally invasive surgical tools 1 are inserted) are positioned with their central axes substantially parallel to each other, so the user may conduct surgery using an endoscope in 0 to 5 degree direction of view.
  • a light-receiving lens of the endoscope 2 may crook at a predetermined angle to help the user conduct surgery more conveniently.
  • the endoscope 2 suitable for the present invention any of endoscopes that are bent at diverse angles such as a joint which are described in the previously-filed Korean Patent Application Nos. 2008-51248, 2008-61894, 2008-79126 and 2008-90560, or any of freely bending flexible endoscopes can be used.
  • Fig. 24 is a perspective view showing the configuration of an insert port 100A in accordance with a second embodiment of the present invention
  • Fig. 25 is a perspective view showing the configuration of a cannula insert part 300A used for the insert port 100A in accordance with the second embodiment of the present invention.
  • the insert port 100A and the cannula insert part 300A in accordance with the second embodiment of the present invention have many similarities with the configuration in accordance with the first embodiment of the present invention, so configuration, positions, etc. of individual elements thereof will be omitted here.
  • one of plural cannulas 330A included in the cannula insert part 300A is inclined at a predetermined angle to the other cannulas 330A.
  • the predetermined angle is about 15 degrees. It should be noted that although any of the plural cannulas 330A arranged in a bundle may be tilted as mentioned above, the other cannulas 330A should be positioned on both sides of the inclined cannula 330A.
  • Figs. 26 and 27 are a perspective view and a front through view showing the configuration of the cannula insert part 300A in accordance with the second embodiment of the present invention, respectively.
  • a gas supply pipe 340A may be connected directly to the bottom of an insert main body 310A, instead of being attached to the cannula 330A as in the first embodiment.
  • the position and the configuration of the gas supply pipe 340A may not be limited thereto, but can be modified as desired.
  • Figs. 30 and 31 are provided for further description in relation to this embodiment.
  • Fig. 30 is a perspective view showing a state where minimally invasive surgical tools 1 and an endoscope 2 are inserted and operated through the insert port 100A in accordance with the second embodiment of the present invention
  • Fig. 31 is a side view of Fig. 30.
  • the endoscope 2 can be inserted through the cannula 330A this is inclined at a predetermined angle. Since the endoscope 2 itself has approximately 30 degree direction of view, the user uses the insert port 100A of the second embodiment of the present invention to thus observe an operation field of a patient almost equally to a case where he or she watches it directly with his or her eyes.
  • the endoscope 2 used for this embodiment may be a rigid endoscope, and the inclination angle of the cannula 330A to the other cannulas 330A or the angle of the endoscope 2 itself may vary depending on user's needs.
  • Figs. 28 and 29 respectively show perspective views illustrating the configuration of an insert port 100B and the configuration of a cannula insert part 300B, in accordance with the third embodiment of the present invention.
  • the insert port 100B and the cannula insert part 300B in accordance with the third embodiment of the present invention have many similarities with the configuration in accordance with the first embodiment of the present invention, so configuration, positions, etc. of individual elements thereof will be omitted here.
  • the cannula insert part 300B may further include auxiliary cannulas 332B.
  • the auxiliary cannulas 332B may be used for an assistant of the user to insert other surgical tools that are different from ones the main user operates and push aside retracting organ(s) or tissue(s) during surgery, or to do other things to help the surgery go smoothly.
  • auxiliary cannulas 332B are illustrated, this is for illustrative purposes only.
  • the auxiliary cannulas 332B are preferably closed by plugs 350 to prevent the undesired inflow or outflow of gas.
  • Figs. 28 and 29 illustrate that the auxiliary cannulas 332B are smaller in diameter than the cannulas 330B, but the diameter of the auxiliary cannulas 332B may vary depending on needs.
  • the cannulas 330B and the auxiliary cannulas 332B may be undistinguishably used by the main user and the assistant of the user.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
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  • Endoscopes (AREA)

Abstract

La présente invention concerne un orifice et un ensemble orifice destinés à être utilisés avec un instrument facile à commander, pour une chirurgie minimalement invasive ou un système de robot chirurgical qui adopte les principes de l'instrument pour la chirurgie minimalement invasive. L'invention porte également sur un procédé d'utilisation de ceux-ci.
PCT/KR2009/005795 2008-10-10 2009-10-09 Orifice et ensemble orifice destinés à être utilisés avec un instrument en chirurgie minimalement invasive, et procédé d'utilisation dudit orifice et dudit ensemble orifice WO2010041900A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2008-0099872 2008-10-10
KR1020080099872A KR20100040633A (ko) 2008-10-10 2008-10-10 최소 침습 수술 도구와 병용될 수 있는 포트 및 포트 어셈블리와 그 사용 방법

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Publication Number Publication Date
WO2010041900A2 true WO2010041900A2 (fr) 2010-04-15
WO2010041900A3 WO2010041900A3 (fr) 2010-07-22

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WO2012153998A3 (fr) * 2011-05-12 2013-03-21 Seo O-Nam Orifice de dispositif de guidage pour un instrument chirurgical endoscopique, et soupape d'évacuation de gaz pour un orifice de dispositif de guidage pour un instrument chirurgical
US8465476B2 (en) 2009-09-23 2013-06-18 Intuitive Surgical Operations, Inc. Cannula mounting fixture
US8545515B2 (en) 2009-09-23 2013-10-01 Intuitive Surgical Operations, Inc. Curved cannula surgical system
WO2013153432A1 (fr) * 2012-04-11 2013-10-17 Nuzziello Vincenzo Dispositif chirurgical à double canal pour un accès à l'abdomen
US8623028B2 (en) 2009-09-23 2014-01-07 Intuitive Surgical Operations, Inc. Surgical port feature
US8888789B2 (en) 2009-09-23 2014-11-18 Intuitive Surgical Operations, Inc. Curved cannula surgical system control
US9254178B2 (en) 2009-09-23 2016-02-09 Intuitive Surgical Operations, Inc. Curved cannula surgical system
CN108697470A (zh) * 2016-03-25 2018-10-23 直观外科手术操作公司 由多个臂支撑的外科平台
RU208253U1 (ru) * 2021-07-26 2021-12-10 Частное учреждение образовательная организация высшего образования "Медицинский университет "Реавиз" Многопортовое устройство для ретроперитонеоскопии
CN114431941A (zh) * 2022-04-08 2022-05-06 江苏人冠医疗科技有限公司 一种气腹机用循环排烟功能单孔多通道穿刺器

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US6527753B2 (en) * 2000-02-29 2003-03-04 Olympus Optical Co., Ltd. Endoscopic treatment system
JP2002011011A (ja) * 2000-06-29 2002-01-15 Fuji Photo Optical Co Ltd 超音波検査装置
JP4266582B2 (ja) * 2002-07-15 2009-05-20 オリンパス株式会社 外科手術用器具と外科手術システム
EP2139377B1 (fr) * 2007-03-30 2017-08-09 Covidien LP Ensemble orifice laparoscopique
JP2007260419A (ja) * 2007-05-21 2007-10-11 Olympus Corp トロッカー

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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