WO2012128591A3 - 굽은 샤프트를 갖는 최소 침습 수술 기구 - Google Patents

굽은 샤프트를 갖는 최소 침습 수술 기구 Download PDF

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Publication number
WO2012128591A3
WO2012128591A3 PCT/KR2012/002148 KR2012002148W WO2012128591A3 WO 2012128591 A3 WO2012128591 A3 WO 2012128591A3 KR 2012002148 W KR2012002148 W KR 2012002148W WO 2012128591 A3 WO2012128591 A3 WO 2012128591A3
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WO
WIPO (PCT)
Prior art keywords
shaft
surgical instrument
minimally invasive
invasive surgical
end effector
Prior art date
Application number
PCT/KR2012/002148
Other languages
English (en)
French (fr)
Other versions
WO2012128591A2 (ko
Inventor
정창욱
김형태
Original Assignee
Jeong Chang Wook
Kim Hyung Tae
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 Jeong Chang Wook, Kim Hyung Tae filed Critical Jeong Chang Wook
Priority to US14/007,299 priority Critical patent/US9968343B2/en
Priority to EP12760257.1A priority patent/EP2689732A4/en
Publication of WO2012128591A2 publication Critical patent/WO2012128591A2/ko
Publication of WO2012128591A3 publication Critical patent/WO2012128591A3/ko

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—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
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00309—Cut-outs or slits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00738—Aspects not otherwise provided for part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2904—Details of shaft curved, but rigid
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Surgical Instruments (AREA)

Abstract

본 발명은 굽은 샤프트를 갖는 최소 침습 수술 기구에 관한 것으로서, 보다 상세하게는 샤프트의 적어도 일부에 있어서 곡부를 포함하는 최소 침습 수술 기구에 관한 것이다. 본 발명의 일 태양에 따르면, 최소 침습 수술 기구로서, 샤프트, 상기 샤프트의 일단에 연결되는 엔드 이펙터, 상기 샤프트와 상기 엔드 이펙터 사이에 개입되는 관절부, 및 상기 관절부에 연결되어 있는, 상기 엔드 이펙터를 관절 운동시키기 위한 다수의 와이어를 포함하고, 상기 샤프트는 적어도 하나의 곡부를 포함하며, 상기 적어도 하나의 곡부는, 상기 샤프트로부터 독립적으로, 상기 엔드 이펙터를 롤 방향으로 동작시키기 위한 힘을 그 내부에서 전달할 수 있는 최소 침습 수술 기구가 제공된다.
PCT/KR2012/002148 2011-03-24 2012-03-23 굽은 샤프트를 갖는 최소 침습 수술 기구 WO2012128591A2 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US14/007,299 US9968343B2 (en) 2011-03-24 2012-03-23 Minimally invasive surgical instrument having a bent shaft
EP12760257.1A EP2689732A4 (en) 2011-03-24 2012-03-23 VERY LITTLE INVASIVE SURGICAL INSTRUMENT WITH CURVED SHAFT

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020110026243A KR101259701B1 (ko) 2011-03-24 2011-03-24 굽은 샤프트를 갖는 최소 침습 수술 기구
KR10-2011-0026243 2011-03-24

Publications (2)

Publication Number Publication Date
WO2012128591A2 WO2012128591A2 (ko) 2012-09-27
WO2012128591A3 true WO2012128591A3 (ko) 2012-12-27

Family

ID=46879927

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/002148 WO2012128591A2 (ko) 2011-03-24 2012-03-23 굽은 샤프트를 갖는 최소 침습 수술 기구

Country Status (4)

Country Link
US (1) US9968343B2 (ko)
EP (1) EP2689732A4 (ko)
KR (1) KR101259701B1 (ko)
WO (1) WO2012128591A2 (ko)

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Also Published As

Publication number Publication date
EP2689732A4 (en) 2014-12-24
US20140114293A1 (en) 2014-04-24
KR101259701B1 (ko) 2013-05-06
WO2012128591A2 (ko) 2012-09-27
KR20120108416A (ko) 2012-10-05
US9968343B2 (en) 2018-05-15
EP2689732A2 (en) 2014-01-29

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