JP2020501761A - 超音波ロボット用具の作動 - Google Patents
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- A61N7/00—Ultrasound therapy
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- A61B17/32—Surgical cutting instruments
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- A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
- A61B2017/00402—Piezo electric actuators
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- A—HUMAN NECESSITIES
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A61B2017/00477—Coupling
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- 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
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
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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
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
- A61B2017/320094—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw additional movable means performing clamping operation
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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
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
- A61B2017/320095—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw with sealing or cauterizing means
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- 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
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- 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
- A61B2018/00607—Coagulation and cutting with the same instrument
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- 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
- A61B2018/0063—Sealing
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- 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
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- 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
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Abstract
Description
(1) 手術用具であって、
ハウジングと、
前記ハウジングを通って延在し、前記ハウジングから遠位に延在するシャフトアセンブリであって、ブレードと、前記ブレードに枢動可能に結合されたクランプアームと、を有する遠位端部を有する、シャフトアセンブリと、
前記ハウジング内に配置され、前記シャフトアセンブリの周囲に摺動可能に配置されたヨークであって、前記クランプアームと前記ハウジングから突出する第1のアクチュエータとの間に動作可能に結合され、そのため、前記第1のアクチュエータの移動が、前記シャフトアセンブリに沿った前記ヨークの長手方向の並進を生じさせ、それによって、前記開放位置と前記閉鎖位置との間で前記クランプアームを移動させる、ヨークと、を備える、手術用具。
(2) 超音波エネルギを前記ブレードに送達するために、前記ハウジング内に配置され、前記ブレードに結合された超音波振動子を更に備える、実施態様1に記載の手術用具。
(3) 前記ハウジング内に配置され、前記ヨークを遠位に付勢して、前記クランプアームを前記開放位置に付勢する、少なくとも1つのばねを更に備える、実施態様1に記載の手術用具。
(4) 前記ヨークが前記ハウジング内で近位に移動されて、前記クランプアームを前記閉鎖位置に移動させるときに、前記ばねが圧縮するように構成されている、実施態様3に記載の手術用具。
(5) 前記ハウジング内に配置された第1のばね及び第2のばねを更に備え、前記ヨークの前記近位方向の移動の結果として、前記第1のばねの圧縮の後に、前記第2のばねが圧縮するように構成されている、実施態様1に記載の手術用具。
(7) 前記第1のアクチュエータが、直線的に並進して、第1の方向における前記ヨークの長手方向の並進を生じさせるように構成されている、実施態様1に記載の手術用具。
(8) 第2のアクチュエータが、直線的に並進して、第2の方向における前記ヨークの長手方向の並進を生じさせるように構成され、前記第2の方向が、前記第1の方向と反対方向である、実施態様7に記載の手術用具。
(9) 前記第1のアクチュエータが、回転して、前記ヨークの長手方向の並進を生じさせるように構成されている、実施態様1に記載の手術用具。
(10) 前記第1のアクチュエータの回転が、前記ハウジング内に配置された主ねじを回転させ、前記主ねじの回転が、前記ヨークの長手方向の並進を生じさせる、実施態様8に記載の手術用具。
(12) 前記ヨークが、レバーによって前記第1のアクチュエータに動作可能に結合されている、実施態様1に記載の手術用具。
(13) 前記ヨークが、ピニオン歯車によって前記第1のアクチュエータに動作可能に結合されている、実施態様1に記載の手術用具。
(14) 前記第1のアクチュエータが、第1の距離を移動して、前記ヨークに第2の距離を移動させるように構成され、前記第1の距離が、前記第2の距離よりも大きい、実施態様1に記載の手術用具。
(15) 前記第1のアクチュエータが、前記ヨーク上に形成され、前記ハウジングの開口部を通って延在する、少なくとも1つの突出部を備える、実施態様1に記載の手術用具。
(17) 組織をクランプするための方法であって、
手術ロボットの駆動装置用具上のモータを作動させて、前記モータに力を手術用具上のアクチュエータに印加させることを含み、前記アクチュエータの移動が、前記手術用具のハウジング内に配置されたヨークを、前記ハウジングを通って延在するシャフトアセンブリを中心に直線的に並進させ、前記ヨークの並進が、前記手術用具のエンドエフェクタ上のクランプアームを、開放位置から閉鎖位置まで移動させて、それによって、前記クランプアームとブレードとの間で組織に係合する、方法。
(18) 前記ヨークの近位並進が、前記ヨークを遠位に付勢する付勢部材を圧縮する、実施態様17に記載の方法。
(19) 前記モータが、直線力及び回転力のうちの1つを前記アクチュエータに印加して、前記ヨークを直線的に並進させる、実施態様17に記載の方法。
(20) 前記ヨークの第1の距離の移動が、前記クランプアームに、前記クランプアームと前記ブレードとの間に係合した前記組織に対して第1の力を印加させ、前記ヨークの第2の距離の更なる移動が、前記クランプアームに、前記クランプアームと前記ブレードとの間に係合した前記組織に対して第2の力を印加させ、前記第2の力が、前記第1の力よりも大きい、実施態様17に記載の方法。
Claims (16)
- 手術用具であって、
ハウジングと、
前記ハウジングを通って延在し、前記ハウジングから遠位に延在するシャフトアセンブリであって、ブレードと、前記ブレードに枢動可能に結合されたクランプアームと、を有する遠位端部を有する、シャフトアセンブリと、
前記ハウジング内に配置され、前記シャフトアセンブリの周囲に摺動可能に配置されたヨークであって、前記クランプアームと前記ハウジングから突出する第1のアクチュエータとの間に動作可能に結合され、そのため、前記第1のアクチュエータの移動が、前記シャフトアセンブリに沿った前記ヨークの長手方向の並進を生じさせ、それによって、前記開放位置と前記閉鎖位置との間で前記クランプアームを移動させる、ヨークと、を備える、手術用具。 - 超音波エネルギを前記ブレードに送達するために、前記ハウジング内に配置され、前記ブレードに結合された超音波振動子を更に備える、請求項1に記載の手術用具。
- 前記ハウジング内に配置され、前記ヨークを遠位に付勢して、前記クランプアームを前記開放位置に付勢する、少なくとも1つのばねを更に備える、請求項1に記載の手術用具。
- 前記ヨークが前記ハウジング内で近位に移動されて、前記クランプアームを前記閉鎖位置に移動させるときに、前記ばねが圧縮するように構成されている、請求項3に記載の手術用具。
- 前記ハウジング内に配置された第1のばね及び第2のばねを更に備え、前記ヨークの前記近位方向の移動の結果として、前記第1のばねの圧縮の後に、前記第2のばねが圧縮するように構成されている、請求項1に記載の手術用具。
- 前記クランプアームが、前記ヨークの第1の範囲の運動中に、前記クランプアームと前記ブレードとの間に係合された組織に対して第1の力を印加するように構成され、前記クランプアームが、前記ヨークの第2の範囲の運動中に、前記クランプアームと前記ブレードとの間に係合された組織に対して第2の力を印加するように構成されている、請求項1に記載の手術用具。
- 前記第1のアクチュエータが、直線的に並進して、第1の方向における前記ヨークの長手方向の並進を生じさせるように構成されている、請求項1に記載の手術用具。
- 第2のアクチュエータが、直線的に並進して、第2の方向における前記ヨークの長手方向の並進を生じさせるように構成され、前記第2の方向が、前記第1の方向と反対方向である、請求項7に記載の手術用具。
- 前記第1のアクチュエータが、回転して、前記ヨークの長手方向の並進を生じさせるように構成されている、請求項1に記載の手術用具。
- 前記第1のアクチュエータの回転が、前記ハウジング内に配置された主ねじを回転させ、前記主ねじの回転が、前記ヨークの長手方向の並進を生じさせる、請求項8に記載の手術用具。
- 前記ヨークが、プーリアセンブリによって前記第1のアクチュエータに動作可能に結合されている、請求項1に記載の手術用具。
- 前記ヨークが、レバーによって前記第1のアクチュエータに動作可能に結合されている、請求項1に記載の手術用具。
- 前記ヨークが、ピニオン歯車によって前記第1のアクチュエータに動作可能に結合されている、請求項1に記載の手術用具。
- 前記第1のアクチュエータが、第1の距離を移動して、前記ヨークに第2の距離を移動させるように構成され、前記第1の距離が、前記第2の距離よりも大きい、請求項1に記載の手術用具。
- 前記第1のアクチュエータが、前記ヨーク上に形成され、前記ハウジングの開口部を通って延在する、少なくとも1つの突出部を備える、請求項1に記載の手術用具。
- 前記ハウジングが、ロボット手術システムのロボットアームの駆動装置に結合するように構成されている、請求項1に記載の手術用具。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/386,516 US10471282B2 (en) | 2016-12-21 | 2016-12-21 | Ultrasonic robotic tool actuation |
US15/386,516 | 2016-12-21 | ||
PCT/IB2017/057703 WO2018116044A1 (en) | 2016-12-21 | 2017-12-06 | Ultrasonic robotic tool actuation |
Publications (2)
Publication Number | Publication Date |
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JP2020501761A true JP2020501761A (ja) | 2020-01-23 |
JP7130647B2 JP7130647B2 (ja) | 2022-09-05 |
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Application Number | Title | Priority Date | Filing Date |
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JP2019533353A Active JP7130647B2 (ja) | 2016-12-21 | 2017-12-06 | 超音波ロボット用具の作動 |
Country Status (6)
Country | Link |
---|---|
US (2) | US10471282B2 (ja) |
EP (1) | EP3558144A1 (ja) |
JP (1) | JP7130647B2 (ja) |
KR (1) | KR102561853B1 (ja) |
CN (1) | CN110114022B (ja) |
WO (1) | WO2018116044A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2023090488A1 (ko) * | 2021-11-18 | 2023-05-25 | 주식회사 인텍메디 | 조직 절제 장치 |
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US20200078611A1 (en) | 2020-03-12 |
KR20190095948A (ko) | 2019-08-16 |
KR102561853B1 (ko) | 2023-08-03 |
US11786761B2 (en) | 2023-10-17 |
WO2018116044A1 (en) | 2018-06-28 |
US20180168681A1 (en) | 2018-06-21 |
CN110114022A (zh) | 2019-08-09 |
US10471282B2 (en) | 2019-11-12 |
EP3558144A1 (en) | 2019-10-30 |
CN110114022B (zh) | 2022-08-09 |
JP7130647B2 (ja) | 2022-09-05 |
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