WO2021044386A1 - Cable and wire routing in a mechanical arm of a surgical apparatus - Google Patents

Cable and wire routing in a mechanical arm of a surgical apparatus Download PDF

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Publication number
WO2021044386A1
WO2021044386A1 PCT/IB2020/058292 IB2020058292W WO2021044386A1 WO 2021044386 A1 WO2021044386 A1 WO 2021044386A1 IB 2020058292 W IB2020058292 W IB 2020058292W WO 2021044386 A1 WO2021044386 A1 WO 2021044386A1
Authority
WO
WIPO (PCT)
Prior art keywords
sleeve
path
helical
wire
surgical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2020/058292
Other languages
English (en)
French (fr)
Inventor
Dvir Cohen
Yaron LEVINSON
Yiftah NETA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Momentis Surgical Ltd
Original Assignee
Memic Innovative Surgery Ltd
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 Memic Innovative Surgery Ltd filed Critical Memic Innovative Surgery Ltd
Priority to CN202080076289.9A priority Critical patent/CN114615918B/zh
Priority to US17/640,358 priority patent/US20220331003A1/en
Priority to EP20861688.8A priority patent/EP4025113A4/en
Priority to JP2022514813A priority patent/JP2022547100A/ja
Publication of WO2021044386A1 publication Critical patent/WO2021044386A1/en
Anticipated expiration legal-status Critical
Priority to JP2025093002A priority patent/JP2025131695A/ja
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical 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
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • 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
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
    • A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods 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
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/00336—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means with a protective sleeve, e.g. retractable or slidable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00589—Coagulation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00601—Cutting
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/309—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using white LEDs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/04—Flexible cables, conductors, or cords, e.g. trailing cables
    • H01B7/041—Flexible cables, conductors, or cords, e.g. trailing cables attached to mobile objects, e.g. portable tools, elevators, mining equipment, hoisting cables
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
    • H01B7/185—Sheaths comprising internal cavities or channels

Definitions

  • the present invention relates to surgical and electrosurgical apparatuses used for gripping, coagulating
  • the present invention relates to surgical and electrosurgical apparatuses used for gripping, coagulating, sealing, manipulating and/or cutting tissue. More particularly, it relates to electrosurgical apparatuses including mechanical arms, and devices for routing, in paths within and through such arms, mechanical cables and electrical wires needed for the operation of such apparatuses and arms.
  • the present invention is suitable for separating and retaining mechanical cables and electrical wires in such paths within bendable sections of mechanical surgical arms.
  • the plurality of surface features comprises alternating parallel longitudinal ribs and troughs, the ribs and troughs being helically aligned around the central longitudinal axis of the sleeve for at least a lengthwise portion of the sleeve, the helical wire-path passing within one of the troughs.
  • the plurality of surface features can comprise at least 3 ribs and at least 3 troughs.
  • a helical pitch of the helical wire-path can be at least 1/3 of the length of a central-axis path of a corresponding portion of the sleeve. In some embodiments, a helical pitch of the helical wire-path is at least 1/2 of the length of a central- axis path of a corresponding portion of the sleeve. In some embodiments, a helical pitch of the helical wire-path is at most equal to 1.5 times the length of a central-axis path of a corresponding portion of the sleeve, or 1.25 times the length, or the length itself.
  • a helical pitch of the helical wire-path is either constant or has a variability of less than ⁇ 10% along the length of the helical wire-path.
  • a helical pitch of the helical wire-path is at least 1/2 of the length of a central-axis path of a corresponding portion of the sleeve.
  • a helical pitch of the helical wire -path is at most equal to 1.5 times the length of a central-axis path of a corresponding portion of the sleeve, or 1.25 times the length, or the length itself.
  • Fig. 2A shows a surgical arm unit according to embodiments of the present invention.
  • Fig. 6 shows a sleeve having protrusions as surface features, according to embodiments of the present invention.
  • Control console 118 includes a plurality of user interfaces including one or more of: input devices, e.g., input device arms 120 where the control console is configured to generate control signals based upon movement of the input device arms 120; touch-screen display 128 configured to receive user input and/or display imaging of a surgical zone, for example, to display images collected by a camera inserted into patient 106 using one of surgical arms 102; and one or more additional user interfaces 130 (e.g. button, switch, etc.).
  • Control console 118 includes a processor (not shown) configured to receive signals from a user input/s and to send control signals to motor units 108 and/or electrosurgical generator 112.
  • the movement of input device arms 120 controls movement of a respective surgical device arm 102.
  • a user 124 can position and/or move an input arm 120 by grasping an input device arm handle 127.
  • a surgical arm be sized and/or shaped for insertion into a human body.
  • an arm can be sized and/or shaped for insertion through a laparoscopic port and/or for performing laparoscopic surgery.
  • an arm can be sized and/or shaped for insertion through a natural body orifice, e.g. vagina, anus, trachea, esophagus, ear canal.
  • FIG. 5A and 5B A non-limiting example of a sleeve 210 having an inner conduit 110 and surface features on its outer surface 211 is shown in Figs. 5A and 5B.
  • the inner conduit 110 can have a circular cross-section; this not only facilitates having a regularly helical wire-path on the outer surface of the sleeve 210, the circular-cross-section is also beneficial in assembly and operation of the mechanical arm 102.
  • a sleeve 210 comprising a circular-cross-section inner conduit 110 need not be oriented in a specific way during assembly, and the sleeve 210 can be bent, etc. with equal ease (force) in every direction. A different shape could complicate assembly, and/or affect the bending behavior of the sleeve 210.
  • a wire 255 disposed (in corresponding part) in a helical wire-path in one of the troughs 249.
  • a moderate number of wrappings of a wire is preferable to avoid producing a potentially problematic magnetic field around the actuation cable 240.
  • the helical pitch is such that there are fewer than two wrappings of the wire around this particular sleeve.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Otolaryngology (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Surgical Instruments (AREA)
PCT/IB2020/058292 2019-09-07 2020-09-06 Cable and wire routing in a mechanical arm of a surgical apparatus Ceased WO2021044386A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN202080076289.9A CN114615918B (zh) 2019-09-07 2020-09-06 外科设备的机械臂中的线缆和布线
US17/640,358 US20220331003A1 (en) 2019-09-07 2020-09-06 Cable and wire routing in a mechanical arm of a surgical apparatus
EP20861688.8A EP4025113A4 (en) 2019-09-07 2020-09-06 CABLE AND WIRE ROUTING IN A MECHANICAL ARM OF A SURGICAL DEVICE
JP2022514813A JP2022547100A (ja) 2019-09-07 2020-09-06 外科手術用装置の機械アームにおけるケーブルおよびワイヤのルーティング
JP2025093002A JP2025131695A (ja) 2019-09-07 2025-06-03 外科手術用装置の機械アームにおけるケーブルおよびワイヤのルーティング

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201962897293P 2019-09-07 2019-09-07
US62/897,293 2019-09-07

Related Child Applications (1)

Application Number Title Priority Date Filing Date
AU2021200192A Division AU2021200192B2 (en) 2018-06-17 2021-01-13 Surgical Articulated Arm

Publications (1)

Publication Number Publication Date
WO2021044386A1 true WO2021044386A1 (en) 2021-03-11

Family

ID=74852193

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2020/058292 Ceased WO2021044386A1 (en) 2019-09-07 2020-09-06 Cable and wire routing in a mechanical arm of a surgical apparatus

Country Status (5)

Country Link
US (1) US20220331003A1 (https=)
EP (1) EP4025113A4 (https=)
JP (2) JP2022547100A (https=)
CN (1) CN114615918B (https=)
WO (1) WO2021044386A1 (https=)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3593700A1 (en) 2014-12-05 2020-01-15 Fortimedix Surgical B.V. Method for manufacturing a steerable instrument and such steerable instrument
CA3103224A1 (en) 2018-06-17 2019-12-26 Memic Innovative Surgery Ltd. Surgical articulated arm
KR102880775B1 (ko) 2019-04-01 2025-11-07 포티메딕스 에셋츠 Ii 비.브이. 슬롯형 구조체를 갖는 힌지를 포함하는 조종가능한 기구
US12582300B2 (en) 2019-04-08 2026-03-24 Fortimedix Assets Ii B.V. Steerable instrument comprising a detachable part
EP3952717A2 (en) 2019-04-08 2022-02-16 Fortimedix Assets II B.V. Steerable instrument comprising a detachable part
CN116825422B (zh) * 2023-03-18 2024-05-24 三元科技（深圳）有限公司 一种血管内手术用微型传输线缆

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US20080004606A1 (en) * 2003-04-03 2008-01-03 Swain Paul C Guide wire structure for insertion into an internal space
US20080065098A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasive surgical apparatus with independent imaging system
US20110270081A1 (en) * 2010-04-30 2011-11-03 Medtronic Xomed, Inc. Navigated Malleable Surgical Instrument
US20140236083A1 (en) * 2011-06-28 2014-08-21 Fisher & Paykel Healthcare Limited Medical tubing

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US20170231701A1 (en) * 2014-09-04 2017-08-17 Memic Innovative Surgery Ltd. Method and devices for hysterectomy
DE102015104068A1 (de) * 2015-03-18 2016-09-22 Meflex Telecontrol Gmbh & Co. Kg Antriebskabel zur Betätigung eines Fahrzeugelements
US10258419B2 (en) * 2015-09-25 2019-04-16 Ethicon Llc Methods for hybrid robotic laparoscopic surgery
EP3432821B1 (en) * 2016-03-25 2025-08-27 Intuitive Surgical Operations, Inc. Surgical platform supported by multiple arms
KR102369534B1 (ko) * 2016-07-14 2022-03-03 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 기기용 경로 제공 기구와, 관련 장치, 시스템, 및 방법
US11350977B2 (en) * 2017-03-08 2022-06-07 Memic Innovative Surgery Ltd. Modular electrosurgical device
CA3103224A1 (en) * 2018-06-17 2019-12-26 Memic Innovative Surgery Ltd. Surgical articulated arm

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040138700A1 (en) * 2002-12-06 2004-07-15 Intuitive Surgical, Inc. Flexible wrist for surgical tool
US20080004606A1 (en) * 2003-04-03 2008-01-03 Swain Paul C Guide wire structure for insertion into an internal space
US20080065098A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasive surgical apparatus with independent imaging system
US20110270081A1 (en) * 2010-04-30 2011-11-03 Medtronic Xomed, Inc. Navigated Malleable Surgical Instrument
US20140236083A1 (en) * 2011-06-28 2014-08-21 Fisher & Paykel Healthcare Limited Medical tubing

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Title
See also references of EP4025113A4 *

Also Published As

Publication number Publication date
JP2022547100A (ja) 2022-11-10
CN114615918A (zh) 2022-06-10
EP4025113A4 (en) 2023-09-06
CN114615918B (zh) 2026-03-13
EP4025113A1 (en) 2022-07-13
US20220331003A1 (en) 2022-10-20
JP2025131695A (ja) 2025-09-09

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