JP2022031311A - 手首構造 - Google Patents
手首構造 Download PDFInfo
- Publication number
- JP2022031311A JP2022031311A JP2021196029A JP2021196029A JP2022031311A JP 2022031311 A JP2022031311 A JP 2022031311A JP 2021196029 A JP2021196029 A JP 2021196029A JP 2021196029 A JP2021196029 A JP 2021196029A JP 2022031311 A JP2022031311 A JP 2022031311A
- Authority
- JP
- Japan
- Prior art keywords
- link
- outer link
- links
- journal
- shaft
- 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 92
- 239000012636 effector Substances 0.000 claims abstract description 52
- 230000033001 locomotion Effects 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000003825 pressing Methods 0.000 description 29
- 239000011295 pitch Substances 0.000 description 19
- 238000001356 surgical procedure Methods 0.000 description 9
- 238000005520 cutting process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000001839 endoscopy Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007912 intraperitoneal administration Methods 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
- 201000009482 yaws Diseases 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- 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
- A61B34/30—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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
-
- 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
- A61B2017/00327—Cables or rods with actuating members moving in opposite directions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07285—Stapler heads characterised by its cutter
-
- 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
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—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
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Ophthalmology & Optometry (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
- Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
Abstract
【解決手段】手術装置は、細長いシャフト、エンドエフェクタ、および手首アセンブリを含む。手首アセンブリは、第1の外側リンク、第1の内側リンク、および第2の外側リンクを含む。第1の外側リンクは、シャフトに接続されるとともに第1のギア歯を含む。第1の内側リンクは、第1の外側リンクと枢動可能に結合されている。第2の外側リンクは、第1の内側リンクと枢動可能に結合されている。第2の外側リンクは、第1のギア歯と噛み合い、手首アセンブリの配向の範囲全体にわたって第1の外側リンクおよび第1の外側リンクに対する第1の内側リンクの配向を制御する第2のギア歯を含む。
【選択図】図5B
Description
本出願は、2016年9月9日に出願された米国仮出願第62/385,621号の利益を主張し、その全開示はその全体が全ての目的に対して参照により本出願に援用される、
Claims (15)
- シャフト軸に沿って延びるシャフトと;
エンドエフェクタと;
前記エンドエフェクタを前記シャフトに移動可能に結合する手首アセンブリであって:
前記シャフトに結合される第1の外側リンクと;
前記エンドエフェクタに結合される第2の外側リンクと;
前記第1の外側リンク及び前記第2の外側リンクを移動可能に結合するとともに前記第1の外側リンク及び前記第2の外側リンクの半径方向内側に配置された内側リンクであって、前記内側リンクは、第1のジャーナルを有する第1の端部及び前記第1の端部の反対側の第2の端部を有し、前記第2の端部は第2のジャーナルを有する、内側リンクと;を有する、手首アセンブリと;を有し、
前記第1の外側リンクは、前記内側リンクの前記第1のジャーナルと回転可能に係合する第1のジャーナルベアリングを有し、
前記第2の外側リンクは、前記内側リンクの前記第2のジャーナルと回転可能に係合する第2のジャーナルベアリングを有し、
前記第1の外側リンクは、前記第1のジャーナルベアリング及び前記第1のジャーナルによって定められる第1の軸周りに前記内側リンクに対して回転するように構成され、
前記第2の外側リンクは、前記第2のジャーナルベアリング及び前記第2のジャーナルによって定められる第2の軸周りに前記内側リンクに対して回転するように構成され、
前記第2の軸は、前記第1の軸と平行且つ前記第1の軸に対してオフセットされる、
器具。 - 前記第1の軸及び前記第2の軸の各々は、前記シャフト軸に垂直である
請求項1に記載の器具。 - 前記内側リンクは第1の内側リンクであり、前記手首アセンブリは、さらに、第2の内側リンク及び第3の外側リンクを有し、前記第3の外側リンクは前記エンドエフェクタに結合され、前記第2の内側リンクは、前記第2の外側リンク及び前記第3の外側リンクを移動可能に結合するとともに前記第2の外側リンク及び前記第3の外側リンクの半径方向内側に配置される、
請求項1又は2に記載の器具。 - 前記第1のジャーナルベアリングは、ジャーナルベアリングの第1のペアのうちの1つであり、
前記第2のジャーナルベアリングは、ジャーナルベアリングの第2のペアのうちの1つであり、
前記第1のジャーナルは、前記ジャーナルベアリングの第1のペアのそれぞれのジャーナルベアリングと回転可能に係合するジャーナルの第1のペアのうちの1つであり、
前記第2のジャーナルは、前記ジャーナルベアリングの第2のペアのそれぞれのジャーナルベアリングと回転可能に係合するジャーナルの第2のペアのうちの1つである、
請求項1乃至3のいずれか1項に記載の器具。 - 前記ジャーナルの第1のペアは、前記シャフト軸に対して半径方向に互いに反対にあり、
前記ジャーナルベアリングの第1のペアは、前記シャフト軸に対して半径方向に互いに反対にある、
請求項4に記載の器具。 - 前記ジャーナルの第2のペアは、前記シャフト軸に対して半径方向に互いに反対にあり、
前記ジャーナルベアリングの第2のペアは、前記シャフト軸に対して半径方向に互いに反対にある、
請求項4又は5に記載の器具。 - 前記シャフトは、前記シャフトの長さに沿って延びるシャフト管腔を画定し、
前記内側リンクは、前記内側リンクの長さに沿って延びる内側リンク管腔を画定し、
前記器具は、さらに、前記エンドエフェクタから前記内側リンク管腔及び前記シャフト管腔を通って近位に延びる細長い駆動部材を有する、
請求項1乃至6のいずれか1項に記載の器具。 - 前記第1の外側リンクは第1のギア歯を有し、
前記第2の外側リンクは前記第1のギア歯と噛み合う第2のギア歯を有し、
前記第1のギア歯及び前記第2のギア歯の異なるものとの噛み合いは、前記第1の外側リンクと前記第2の外側リンクとの間の相対的な向きを制御する、
請求項1乃至7のいずれか1項に記載の器具。 - 前記第1の外側リンク及び前記第2の外側リンクを通って延びる1つ又は複数のケーブルをさらに有し、前記第1の外側リンク及び前記第2の外側リンクは、前記1つ又は複数のケーブルによって伝達される力に応じて互いに対して関節運動可能である、
請求項1乃至8のいずれか1項に記載の器具。 - 前記第1の外側リンクは第1のベアリング面を有し、
前記第2の外側リンクは第2のベアリング面を有し、
前記第1の外側リンク及び前記第2の外側リンクは、運動範囲にわたって互いに対して関節運動可能であり、
前記第1のベアリング面及び前記第2のベアリング面は、前記運動範囲全体にわたって互いに係合するように構成される、
請求項1乃至9のいずれか1項に記載の器具。 - 駆動機構を有するシャシーと;
前記シャシーに結合されるシャフトであって、シャフト軸に沿って延びるとともにシャフト管腔を画定する、シャフトと;
エンドエフェクタと;
前記シャフト管腔を通って延びるとともに、前記エンドエフェクタの作動のために前記エンドエフェクタに前記駆動機構を動作可能に結合する細長い駆動部材と;
複数の外側リンク及び前記複数の外側リンクの半径方向内側に配置された複数の内側リンクを有する手首部であって、前記エンドエフェクタを前記シャフトに結合する、手首部と;を有し、
前記複数の内側リンクの各内側リンクは、前記複数の外側リンクの2つの外側リンクに枢動可能に結合され、
前記手首部は、前記シャフトに対して前記エンドエフェクタを配向するようにヨー及びピッチで移動可能であり、
前記内側リンクは、前記細長い駆動部材が延びる内側通路を画定する、
装置。 - 前記外側リンクの各々は、ギア歯を有し、
前記複数の外側リンクの各々の前記外側リンクの前記ギア歯は、前記複数の外側リンクの別の外側リンクの前記ギア歯と噛み合う、
請求項11に記載の装置。 - 前記外側リンクの各々は、1つ又は複数のベアリング面を有し、
前記複数の外側リンクのうちの1つの外側リンクの前記1つ又は複数のベアリング面の各々は、前記複数の外側リンクのうちの別の外側リンクの前記1つ又は複数のベアリング面と係合する、
請求項11又は12に記載の装置。 - 前記複数の内側リンクの各々の前記内側リンクは、前記シャフトに垂直に向けられたそれぞれの軸に沿って前記複数の外側リンクのうちの外側リンクに枢動可能に結合される、
請求項11乃至13のいずれか1項に記載の装置。 - 前記複数の外側リンクの各々の前記外側リンクを通って延びる1つ又は複数のケーブルをさらに有し、前記複数の外側リンクのうちの少なくとも1つの外側リンクは、前記1つ又は複数のケーブルによる力の伝達に応じて前記複数の外側リンクのうちの少なくとも別の外側リンクに対して関節運動可能である、
請求項11乃至14のいずれか1項に記載の装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2023180840A JP2023174929A (ja) | 2016-09-09 | 2023-10-20 | 手首構造 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201662385621P | 2016-09-09 | 2016-09-09 | |
US62/385,621 | 2016-09-09 | ||
PCT/US2017/050754 WO2018049211A1 (en) | 2016-09-09 | 2017-09-08 | Wrist architecture |
JP2019513361A JP6989594B2 (ja) | 2016-09-09 | 2017-09-08 | 手首構造 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019513361A Division JP6989594B2 (ja) | 2016-09-09 | 2017-09-08 | 手首構造 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2023180840A Division JP2023174929A (ja) | 2016-09-09 | 2023-10-20 | 手首構造 |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2022031311A true JP2022031311A (ja) | 2022-02-18 |
Family
ID=61562696
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019513361A Active JP6989594B2 (ja) | 2016-09-09 | 2017-09-08 | 手首構造 |
JP2021196029A Pending JP2022031311A (ja) | 2016-09-09 | 2021-12-02 | 手首構造 |
JP2023180840A Pending JP2023174929A (ja) | 2016-09-09 | 2023-10-20 | 手首構造 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019513361A Active JP6989594B2 (ja) | 2016-09-09 | 2017-09-08 | 手首構造 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2023180840A Pending JP2023174929A (ja) | 2016-09-09 | 2023-10-20 | 手首構造 |
Country Status (6)
Country | Link |
---|---|
US (3) | US11234700B2 (ja) |
EP (2) | EP4122408A1 (ja) |
JP (3) | JP6989594B2 (ja) |
KR (2) | KR102662094B1 (ja) |
CN (2) | CN109688948B (ja) |
WO (1) | WO2018049211A1 (ja) |
Families Citing this family (276)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism |
US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
US11998198B2 (en) | 2004-07-28 | 2024-06-04 | Cilag Gmbh International | Surgical stapling instrument incorporating a two-piece E-beam firing mechanism |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
US8708213B2 (en) | 2006-01-31 | 2014-04-29 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a feedback system |
US8186555B2 (en) | 2006-01-31 | 2012-05-29 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting and fastening instrument with mechanical closure system |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
US8820603B2 (en) | 2006-01-31 | 2014-09-02 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
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 |
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 |
US7434717B2 (en) | 2007-01-11 | 2008-10-14 | Ethicon Endo-Surgery, Inc. | Apparatus for closing a curved anvil of a surgical stapling device |
US11857181B2 (en) | 2007-06-04 | 2024-01-02 | Cilag Gmbh International | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US7753245B2 (en) | 2007-06-22 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments |
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 |
US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
JP5410110B2 (ja) | 2008-02-14 | 2014-02-05 | エシコン・エンド−サージェリィ・インコーポレイテッド | Rf電極を有する外科用切断・固定器具 |
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 |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
US9770245B2 (en) | 2008-02-15 | 2017-09-26 | Ethicon Llc | Layer arrangements for surgical staple cartridges |
US9204923B2 (en) | 2008-07-16 | 2015-12-08 | Intuitive Surgical Operations, Inc. | Medical instrument electronically energized using drive cables |
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 |
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 |
US8608045B2 (en) | 2008-10-10 | 2013-12-17 | Ethicon Endo-Sugery, Inc. | Powered surgical cutting and stapling apparatus with manually retractable firing system |
US9168038B2 (en) | 2010-09-30 | 2015-10-27 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising a tissue thickness compensator |
US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
US9320523B2 (en) | 2012-03-28 | 2016-04-26 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising tissue ingrowth features |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US9839420B2 (en) | 2010-09-30 | 2017-12-12 | Ethicon Llc | Tissue thickness compensator comprising at least one medicament |
US10213198B2 (en) | 2010-09-30 | 2019-02-26 | Ethicon Llc | Actuator for releasing a tissue thickness compensator from a fastener cartridge |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
US11849952B2 (en) | 2010-09-30 | 2023-12-26 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
JP6026509B2 (ja) | 2011-04-29 | 2016-11-16 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | ステープルカートリッジ自体の圧縮可能部分内に配置されたステープルを含むステープルカートリッジ |
CN104334098B (zh) | 2012-03-28 | 2017-03-22 | 伊西康内外科公司 | 包括限定低压强环境的胶囊剂的组织厚度补偿件 |
MX358135B (es) | 2012-03-28 | 2018-08-06 | Ethicon Endo Surgery Inc | Compensador de grosor de tejido que comprende una pluralidad de capas. |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
US9364230B2 (en) | 2012-06-28 | 2016-06-14 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments with rotary joint assemblies |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
US9282974B2 (en) | 2012-06-28 | 2016-03-15 | Ethicon Endo-Surgery, Llc | Empty clip cartridge lockout |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
JP6382235B2 (ja) | 2013-03-01 | 2018-08-29 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | 信号通信用の導電路を備えた関節運動可能な外科用器具 |
US9629629B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgey, LLC | Control systems for surgical instruments |
US10136887B2 (en) | 2013-04-16 | 2018-11-27 | Ethicon Llc | Drive system decoupling arrangement for a surgical instrument |
BR112015026109B1 (pt) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | Instrumento cirúrgico |
US9808249B2 (en) | 2013-08-23 | 2017-11-07 | Ethicon Llc | Attachment portions for surgical instrument assemblies |
EP3578119B1 (en) | 2013-12-11 | 2021-03-17 | Covidien LP | Wrist and jaw assemblies for robotic surgical systems |
US9804618B2 (en) | 2014-03-26 | 2017-10-31 | Ethicon Llc | Systems and methods for controlling a segmented circuit |
BR112016021943B1 (pt) | 2014-03-26 | 2022-06-14 | Ethicon Endo-Surgery, Llc | Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico |
BR112016023807B1 (pt) | 2014-04-16 | 2022-07-12 | Ethicon Endo-Surgery, Llc | Conjunto de cartucho de prendedores para uso com um instrumento cirúrgico |
BR112016023698B1 (pt) | 2014-04-16 | 2022-07-26 | Ethicon Endo-Surgery, Llc | Cartucho de prendedores para uso com um instrumento cirúrgico |
CN106456158B (zh) | 2014-04-16 | 2019-02-05 | 伊西康内外科有限责任公司 | 包括非一致紧固件的紧固件仓 |
US20150297225A1 (en) | 2014-04-16 | 2015-10-22 | Ethicon Endo-Surgery, Inc. | Fastener cartridges including extensions having different configurations |
US10206677B2 (en) | 2014-09-26 | 2019-02-19 | Ethicon Llc | Surgical staple and driver arrangements for staple cartridges |
US9757128B2 (en) | 2014-09-05 | 2017-09-12 | Ethicon Llc | Multiple sensors with one sensor affecting a second sensor's output or interpretation |
BR112017004361B1 (pt) | 2014-09-05 | 2023-04-11 | Ethicon Llc | Sistema eletrônico para um instrumento cirúrgico |
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 |
US11141153B2 (en) | 2014-10-29 | 2021-10-12 | Cilag Gmbh International | Staple cartridges comprising driver arrangements |
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 |
MX2017008108A (es) | 2014-12-18 | 2018-03-06 | Ethicon Llc | Instrumento quirurgico con un yunque que puede moverse de manera selectiva sobre un eje discreto no movil con relacion a un cartucho de grapas. |
US9844375B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Drive arrangements for articulatable surgical instruments |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
US9968355B2 (en) | 2014-12-18 | 2018-05-15 | Ethicon Llc | Surgical instruments with articulatable end effectors and improved firing beam support arrangements |
EP3258874B1 (en) | 2015-02-19 | 2024-01-17 | Covidien LP | Input device for robotic surgical system |
US11154301B2 (en) | 2015-02-27 | 2021-10-26 | Cilag Gmbh International | Modular stapling assembly |
US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of powered surgical instruments |
JP2020121162A (ja) | 2015-03-06 | 2020-08-13 | エシコン エルエルシーEthicon LLC | 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価 |
US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
CN113040921A (zh) | 2015-03-10 | 2021-06-29 | 柯惠Lp公司 | 测量机器人手术***的连接器部件的健康状况 |
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 |
AU2016284040B2 (en) | 2015-06-23 | 2020-04-30 | Covidien Lp | Robotic surgical assemblies |
US10105139B2 (en) | 2015-09-23 | 2018-10-23 | Ethicon Llc | Surgical stapler having downstream current-based motor control |
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 |
US10806454B2 (en) | 2015-09-25 | 2020-10-20 | Covidien Lp | Robotic surgical assemblies and instrument drive connectors thereof |
US10736633B2 (en) | 2015-09-30 | 2020-08-11 | Ethicon Llc | Compressible adjunct with looping members |
US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
CN108348297B (zh) | 2015-11-19 | 2021-08-31 | 柯惠Lp公司 | 用于机器人手术***的光学力传感器 |
US10292704B2 (en) | 2015-12-30 | 2019-05-21 | Ethicon Llc | Mechanisms for compensating for battery pack failure in powered surgical instruments |
BR112018016098B1 (pt) | 2016-02-09 | 2023-02-23 | Ethicon Llc | Instrumento cirúrgico |
US11213293B2 (en) | 2016-02-09 | 2022-01-04 | Cilag Gmbh International | Articulatable surgical instruments with single articulation link arrangements |
US10448948B2 (en) | 2016-02-12 | 2019-10-22 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US11576562B2 (en) | 2016-04-07 | 2023-02-14 | Titan Medical Inc. | Camera positioning method and apparatus for capturing images during a medical procedure |
US10426467B2 (en) | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US20170296173A1 (en) | 2016-04-18 | 2017-10-19 | Ethicon Endo-Surgery, Llc | Method for operating a surgical instrument |
US10368867B2 (en) | 2016-04-18 | 2019-08-06 | Ethicon Llc | Surgical instrument comprising a lockout |
US11446099B2 (en) | 2016-06-03 | 2022-09-20 | Covidien Lp | Control arm for robotic surgical systems |
CN109275333B (zh) | 2016-06-03 | 2022-05-17 | 柯惠Lp公司 | 用于控制机器人递送操纵器的***、方法和计算机可读程序产品 |
KR102662094B1 (ko) * | 2016-09-09 | 2024-05-03 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 리스트 구조 |
KR20230093353A (ko) * | 2016-09-09 | 2023-06-27 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 스테이플러 빔 구조 |
US11090048B2 (en) | 2016-12-21 | 2021-08-17 | Cilag Gmbh International | Method for resetting a fuse of a surgical instrument shaft |
MX2019007295A (es) | 2016-12-21 | 2019-10-15 | Ethicon Llc | Sistema de instrumento quirúrgico que comprende un bloqueo del efector de extremo y un bloqueo de la unidad de disparo. |
US10524789B2 (en) | 2016-12-21 | 2020-01-07 | Ethicon Llc | Laterally actuatable articulation lock arrangements for locking an end effector of a surgical instrument in an articulated configuration |
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 |
US10542982B2 (en) | 2016-12-21 | 2020-01-28 | Ethicon Llc | Shaft assembly comprising first and second articulation lockouts |
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 |
US20180168625A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments with smart staple cartridges |
JP7010956B2 (ja) | 2016-12-21 | 2022-01-26 | エシコン エルエルシー | 組織をステープル留めする方法 |
US10639035B2 (en) | 2016-12-21 | 2020-05-05 | Ethicon Llc | Surgical stapling instruments and replaceable tool assemblies thereof |
CA3048039A1 (en) | 2017-02-15 | 2018-08-23 | Covidien Lp | System and apparatus for crush prevention for medical robot applications |
US11717361B2 (en) | 2017-05-24 | 2023-08-08 | Covidien Lp | Electrosurgical robotic system having tool presence detection |
CN110662507A (zh) | 2017-05-25 | 2020-01-07 | 柯惠Lp公司 | 具有自动引导的机器人手术*** |
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 |
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 |
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 |
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 |
US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
USD906355S1 (en) | 2017-06-28 | 2020-12-29 | Ethicon Llc | Display screen or portion thereof with a graphical user interface for a surgical instrument |
US11389161B2 (en) | 2017-06-28 | 2022-07-19 | Cilag Gmbh International | Surgical instrument comprising selectively actuatable rotatable couplers |
US10765427B2 (en) | 2017-06-28 | 2020-09-08 | Ethicon Llc | Method for articulating a surgical instrument |
US20190000459A1 (en) | 2017-06-28 | 2019-01-03 | Ethicon Llc | Surgical instruments with jaws constrained to pivot about an axis upon contact with a closure member that is parked in close proximity to the pivot axis |
EP3420947B1 (en) | 2017-06-28 | 2022-05-25 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
US11974742B2 (en) | 2017-08-03 | 2024-05-07 | Cilag Gmbh International | Surgical system comprising an articulation bailout |
US11471155B2 (en) | 2017-08-03 | 2022-10-18 | Cilag Gmbh International | Surgical system bailout |
US11944300B2 (en) | 2017-08-03 | 2024-04-02 | Cilag Gmbh International | Method for operating a surgical system bailout |
JP7349992B2 (ja) | 2017-09-05 | 2023-09-25 | コヴィディエン リミテッド パートナーシップ | ロボット手術システムのための衝突処理アルゴリズム |
US10842490B2 (en) | 2017-10-31 | 2020-11-24 | Ethicon Llc | Cartridge body design with force reduction based on firing completion |
US10863988B2 (en) | 2017-11-29 | 2020-12-15 | Intuitive Surgical Operations, Inc. | Surgical instrument with lockout mechanism |
US20200383739A1 (en) | 2017-12-14 | 2020-12-10 | Intuitive Surgical Operations, Inc. | Medical tools having tension bands |
US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
US11337691B2 (en) | 2017-12-21 | 2022-05-24 | Cilag Gmbh International | Surgical instrument configured to determine firing path |
US11730552B2 (en) * | 2018-01-04 | 2023-08-22 | Covidien Lp | Robotic surgical instrument including high articulation wrist assembly with torque transmission and mechanical manipulation |
JP2021510562A (ja) | 2018-01-04 | 2021-04-30 | コヴィディエン リミテッド パートナーシップ | 手術付属品をロボット手術システムに搭載し、それを通したアクセスを提供するためのシステムおよびアセンブリ |
US12029510B2 (en) | 2018-01-10 | 2024-07-09 | Covidien Lp | Determining positions and conditions of tools of a robotic surgical system utilizing computer vision |
US11517312B2 (en) | 2018-02-12 | 2022-12-06 | Intuitive Surgical Operations, Inc. | Surgical instrument with lockout mechanism |
EP3761897A4 (en) | 2018-03-07 | 2021-11-24 | Intuitive Surgical Operations, Inc. | LOW-FRICTION, LOW-PRESSURE MEDICAL TOOLS WITH EASY-TO-ASSEMBLE COMPONENTS |
WO2019173266A1 (en) | 2018-03-07 | 2019-09-12 | Intuitive Surgical Operations, Inc. | Low-friction medical tools having roller-assisted tension members |
CN111971150A (zh) | 2018-04-20 | 2020-11-20 | 柯惠Lp公司 | 手术机器人手推车放置的***和方法 |
US12029473B2 (en) | 2018-05-31 | 2024-07-09 | Intuitive Surgical Operations, Inc. | Surgical instruments having a jaw locking mechanism |
CN112105312A (zh) | 2018-07-03 | 2020-12-18 | 柯惠Lp公司 | 用于在手术程序期间检测图像退化的***、方法和计算机可读介质 |
US11207065B2 (en) | 2018-08-20 | 2021-12-28 | Cilag Gmbh International | Method for fabricating surgical stapler anvils |
CN112702970B (zh) * | 2018-09-17 | 2024-01-02 | 柯惠Lp公司 | 包括经由其的电信号传输的高度铰接腹腔镜接头 |
CN112739282A (zh) | 2018-09-17 | 2021-04-30 | 柯惠Lp公司 | 手术机器人*** |
US12029426B2 (en) | 2018-10-19 | 2024-07-09 | Intuitive Surgical Operations, Inc. | Endoscopic purse string suture surgical device |
WO2020131685A1 (en) | 2018-12-21 | 2020-06-25 | Intuitive Surgical Operations, Inc. | Surgical instruments with switches for deactivating and/or identifying stapler cartridges |
EP3897404A4 (en) | 2018-12-21 | 2023-01-04 | Intuitive Surgical Operations, Inc. | SURGICAL INSTRUMENTS WITH A REINFORCED STAPLER CARTRIDGE |
WO2020131290A1 (en) * | 2018-12-21 | 2020-06-25 | Intuitive Surgical Operations, Inc. | Articulation assemblies for surgical instruments |
US11607217B2 (en) * | 2018-12-31 | 2023-03-21 | Cilag Gmbh International | Surgical stapler shaft formed of segments of different materials |
US11576733B2 (en) | 2019-02-06 | 2023-02-14 | Covidien Lp | Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies |
WO2020176557A1 (en) | 2019-02-27 | 2020-09-03 | Intuitive Surgical Operations, Inc. | Stapler cartridge assemblies and related devices, systems, and methods |
US11696761B2 (en) | 2019-03-25 | 2023-07-11 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
EP3955831A4 (en) | 2019-04-15 | 2022-12-28 | Intuitive Surgical Operations, Inc. | STAPLE MAGAZINE FOR A SURGICAL INSTRUMENT |
WO2020214397A1 (en) | 2019-04-17 | 2020-10-22 | Intuitive Surgical Operations, Inc. | Surgical stapling instrument |
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 |
CN113905675A (zh) | 2019-05-31 | 2022-01-07 | 直观外科手术操作公司 | 用于外科器械的订合钉仓 |
US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
US11350938B2 (en) | 2019-06-28 | 2022-06-07 | Cilag Gmbh International | Surgical instrument comprising an aligned rfid sensor |
US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US12004740B2 (en) | 2019-06-28 | 2024-06-11 | Cilag Gmbh International | Surgical stapling system having an information decryption protocol |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
US11786325B2 (en) | 2019-07-02 | 2023-10-17 | Intuitive Surgical Operations, Inc. | Remotely controlling a system using video |
US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
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 |
US12035913B2 (en) | 2019-12-19 | 2024-07-16 | Cilag Gmbh International | Staple cartridge comprising a deployable knife |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
US11911032B2 (en) | 2019-12-19 | 2024-02-27 | Cilag Gmbh International | Staple cartridge comprising a seating cam |
US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
CN111407412B (zh) * | 2020-04-01 | 2021-03-30 | 深圳市人工智能与机器人研究院 | 一种自然腔道手术末端操作器 |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD975851S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
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 |
USD963851S1 (en) | 2020-07-10 | 2022-09-13 | Covidien Lp | Port apparatus |
US20220031320A1 (en) * | 2020-07-28 | 2022-02-03 | Cilag Gmbh International | Surgical instruments with flexible firing member actuator constraint arrangements |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
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 |
US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
USD980425S1 (en) | 2020-10-29 | 2023-03-07 | Cilag Gmbh International | Surgical instrument assembly |
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 |
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 |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
US11627960B2 (en) | 2020-12-02 | 2023-04-18 | Cilag Gmbh International | Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
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 |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
US11678882B2 (en) | 2020-12-02 | 2023-06-20 | Cilag Gmbh International | Surgical instruments with interactive features to remedy incidental sled movements |
US11744581B2 (en) | 2020-12-02 | 2023-09-05 | Cilag Gmbh International | Powered surgical instruments with multi-phase tissue treatment |
EP4280976A1 (en) | 2021-01-19 | 2023-11-29 | Intuitive Surgical Operations, Inc. | Stapler reload assemblies and related devices, systems, and methods |
US11950779B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Method of powering and communicating with a staple cartridge |
US11980362B2 (en) | 2021-02-26 | 2024-05-14 | Cilag Gmbh International | Surgical instrument system comprising a power transfer coil |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
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 |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
US11723658B2 (en) | 2021-03-22 | 2023-08-15 | Cilag Gmbh International | Staple cartridge comprising a firing lockout |
US11806011B2 (en) | 2021-03-22 | 2023-11-07 | Cilag Gmbh International | Stapling instrument comprising tissue compression systems |
US11826012B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising a pulsed motor-driven firing rack |
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 |
US11759202B2 (en) | 2021-03-22 | 2023-09-19 | Cilag Gmbh International | Staple cartridge comprising an implantable layer |
US11826042B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Surgical instrument comprising a firing drive including a selectable leverage mechanism |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
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 |
US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
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 |
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 |
US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
US11723662B2 (en) | 2021-05-28 | 2023-08-15 | Cilag Gmbh International | Stapling instrument comprising an articulation control display |
US11948226B2 (en) | 2021-05-28 | 2024-04-02 | Covidien Lp | Systems and methods for clinical workspace simulation |
US11957336B2 (en) | 2021-08-16 | 2024-04-16 | Cilag Gmbh International | Proximally located firing lockout mechanism for surgical stapler |
US20230052307A1 (en) | 2021-08-16 | 2023-02-16 | Cilag Gmbh International | Deflectable firing member for surgical stapler |
US20230049736A1 (en) | 2021-08-16 | 2023-02-16 | Cilag Gmbh International | Firing member tracking feature for surgical stapler |
US11992209B2 (en) | 2021-08-16 | 2024-05-28 | Cilag Gmbh International | Multi-threshold motor control algorithm for powered surgical stapler |
US12011164B2 (en) | 2021-08-16 | 2024-06-18 | Cilag Gmbh International | Cartridge-based firing lockout mechanism for surgical stapler |
US20230050707A1 (en) | 2021-08-16 | 2023-02-16 | Cilag Gmbh International | Firing system features for surgical stapler |
US12029508B2 (en) | 2021-08-16 | 2024-07-09 | Cilag Gmbh International | Adjustable power transmission mechanism for powered surgical stapler |
US20230045998A1 (en) | 2021-08-16 | 2023-02-16 | Cilag Gmbh International | Firing bailout system for powered surgical stapler |
US11992210B2 (en) | 2021-08-16 | 2024-05-28 | Cilag Gmbh International | Multiple-sensor firing lockout mechanism for powered surgical stapler |
US11779332B2 (en) | 2021-08-16 | 2023-10-10 | Cilag Gmbh International | Powered surgical stapler having independently operable closure and firing systems |
US11986182B2 (en) | 2021-08-16 | 2024-05-21 | Cilag Gmbh International | Multi-position restraining member for sled movement |
US11944297B2 (en) | 2021-08-16 | 2024-04-02 | Cilag Gmbh International | Variable response motor control algorithm for powered surgical stapler |
US11980363B2 (en) | 2021-10-18 | 2024-05-14 | Cilag Gmbh International | Row-to-row staple array variations |
US11937816B2 (en) | 2021-10-28 | 2024-03-26 | Cilag Gmbh International | Electrical lead arrangements for surgical instruments |
CN117072631B (zh) * | 2023-10-16 | 2024-01-12 | 深圳康诺思腾科技有限公司 | 齿盘副和手术器械 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009034483A (ja) * | 2007-05-30 | 2009-02-19 | Ethicon Endo Surgery Inc | 関節運動可能なエンドエフェクタを備えた外科用ステープル留め・切断器具 |
JP2011530375A (ja) * | 2008-08-12 | 2011-12-22 | ジョン、チャンウク | 最小侵襲手術用器具及びその使用方法 |
US20140257331A1 (en) * | 2013-03-11 | 2014-09-11 | Samsung Electronics Co., Ltd. | Laparoscopic surgical devices having wire reducer |
WO2015127250A1 (en) * | 2014-02-21 | 2015-08-27 | Intuitive Surgical Operations, Inc. | Mechanical wrist joints with enhanced range of motion, and related devices and methods |
Family Cites Families (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8529582B2 (en) | 1996-12-12 | 2013-09-10 | Intuitive Surgical Operations, Inc. | Instrument interface of a robotic surgical system |
US6817974B2 (en) * | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
US8100824B2 (en) * | 2003-05-23 | 2012-01-24 | Intuitive Surgical Operations, Inc. | Tool with articulation lock |
US9700334B2 (en) | 2004-11-23 | 2017-07-11 | Intuitive Surgical Operations, Inc. | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
DE112006002050T5 (de) | 2005-08-03 | 2008-06-19 | Sasol Technology (Proprietary) Ltd. | Transport und Aufbau von sehr großen Behältern |
US7481824B2 (en) * | 2005-12-30 | 2009-01-27 | Ethicon Endo-Surgery, Inc. | Surgical instrument with bending articulation controlled articulation pivot joint |
US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
JP4755047B2 (ja) * | 2006-08-08 | 2011-08-24 | テルモ株式会社 | 作業機構及びマニピュレータ |
WO2008045350A2 (en) * | 2006-10-06 | 2008-04-17 | Tyco Healthcare Group Lp | Endoscopic vessel sealer and divider having a flexible articulating shaft |
US7832408B2 (en) * | 2007-06-04 | 2010-11-16 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a directional switching mechanism |
US8870867B2 (en) * | 2008-02-06 | 2014-10-28 | Aesculap Ag | Articulable electrosurgical instrument with a stabilizable articulation actuator |
KR101016102B1 (ko) | 2008-05-30 | 2011-02-17 | 정창욱 | 최소 침습 수술 도구 |
EP2300724A1 (en) * | 2008-06-27 | 2011-03-30 | Allegiance Corporation | Flexible wrist-type element and methods of manufacture and use thereof |
US8465475B2 (en) * | 2008-08-18 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Instrument with multiple articulation locks |
US8784404B2 (en) * | 2009-06-29 | 2014-07-22 | Carefusion 2200, Inc. | Flexible wrist-type element and methods of manufacture and use thereof |
US20110022052A1 (en) * | 2009-07-22 | 2011-01-27 | OrthoDynamix, LLC | Method and Devices for Force-Limiting Trigger Mechanism |
US8887595B2 (en) * | 2009-12-22 | 2014-11-18 | Intuitive Surgical Operations, Inc. | Instrument wrist with cycloidal surfaces |
US8074859B2 (en) * | 2010-03-31 | 2011-12-13 | Tyco Healthcare Group Lp | Surgical instrument |
CN102440813B (zh) | 2010-09-30 | 2013-05-08 | 上海创亿医疗器械技术有限公司 | 带有链条关节的腔镜外科切割吻合器 |
US9161771B2 (en) | 2011-05-13 | 2015-10-20 | Intuitive Surgical Operations Inc. | Medical instrument with snake wrist structure |
KR101322030B1 (ko) * | 2011-09-05 | 2013-10-28 | 주식회사 모바수 | 구형 부품을 포함하는 관절부를 갖는 최소 침습 수술 기구 |
WO2013063522A2 (en) | 2011-10-26 | 2013-05-02 | Reid Robert Cyrus | Surgical instrument motor pack latch |
CN102488554B (zh) * | 2011-11-14 | 2013-06-05 | 天津大学 | 一种基于模块关节的微创外科手术机器人用微器械末端 |
KR101405087B1 (ko) | 2012-04-27 | 2014-06-10 | 한양대학교 에리카산학협력단 | 수술도구용 관절 |
KR101486645B1 (ko) * | 2012-05-07 | 2015-01-29 | 정창욱 | 가변 굴곡을 갖는 최소 침습 수술 기구 |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
US9289256B2 (en) * | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
US9028494B2 (en) * | 2012-06-28 | 2015-05-12 | Ethicon Endo-Surgery, Inc. | Interchangeable end effector coupling arrangement |
KR102194979B1 (ko) | 2012-12-31 | 2020-12-28 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 개선된 나이프 간격을 가진 수술용 스테이플 카트리지 |
BR112015022187A2 (pt) * | 2013-03-14 | 2017-07-18 | Stanford Res Inst Int | ferramentas cirúrgicas minimamente invasivas |
JP6267795B2 (ja) * | 2013-08-20 | 2018-01-24 | ボストン サイエンティフィック サイムド,インコーポレイテッドBoston Scientific Scimed,Inc. | 医療用挿入デバイス |
AU2014203843B2 (en) | 2013-08-23 | 2019-01-03 | Covidien Lp | Articulating apparatus for endoscopic procedures |
US10149694B2 (en) * | 2013-09-13 | 2018-12-11 | Vanderbilt University | Energy balance mechanism for flexure joint |
US9295522B2 (en) * | 2013-11-08 | 2016-03-29 | Covidien Lp | Medical device adapter with wrist mechanism |
CN110448377A (zh) * | 2013-12-12 | 2019-11-15 | 柯惠Lp公司 | 用于机器人手术***的齿轮系组件 |
CN104739469B (zh) * | 2013-12-27 | 2017-02-01 | 瑞奇外科器械(中国)有限公司 | 柔性驱动元件、末端执行器和外科手术器械 |
WO2016029047A1 (en) * | 2014-08-20 | 2016-02-25 | Brigham Young University | Rolling joint jaw mechanism |
KR102662094B1 (ko) | 2016-09-09 | 2024-05-03 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 리스트 구조 |
KR20230093353A (ko) | 2016-09-09 | 2023-06-27 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 스테이플러 빔 구조 |
-
2017
- 2017-09-08 KR KR1020227039567A patent/KR102662094B1/ko active IP Right Grant
- 2017-09-08 CN CN201780054693.4A patent/CN109688948B/zh active Active
- 2017-09-08 JP JP2019513361A patent/JP6989594B2/ja active Active
- 2017-09-08 CN CN202210984113.4A patent/CN115399819A/zh active Pending
- 2017-09-08 WO PCT/US2017/050754 patent/WO2018049211A1/en unknown
- 2017-09-08 EP EP22190853.6A patent/EP4122408A1/en active Pending
- 2017-09-08 EP EP17849645.1A patent/EP3509511B1/en active Active
- 2017-09-08 KR KR1020197004997A patent/KR102467745B1/ko active IP Right Grant
- 2017-09-08 US US16/331,672 patent/US11234700B2/en active Active
-
2021
- 2021-12-02 JP JP2021196029A patent/JP2022031311A/ja active Pending
-
2022
- 2022-01-06 US US17/569,595 patent/US11806016B2/en active Active
-
2023
- 2023-09-21 US US18/471,488 patent/US20240008873A1/en active Pending
- 2023-10-20 JP JP2023180840A patent/JP2023174929A/ja active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009034483A (ja) * | 2007-05-30 | 2009-02-19 | Ethicon Endo Surgery Inc | 関節運動可能なエンドエフェクタを備えた外科用ステープル留め・切断器具 |
JP2011530375A (ja) * | 2008-08-12 | 2011-12-22 | ジョン、チャンウク | 最小侵襲手術用器具及びその使用方法 |
US20140257331A1 (en) * | 2013-03-11 | 2014-09-11 | Samsung Electronics Co., Ltd. | Laparoscopic surgical devices having wire reducer |
WO2015127250A1 (en) * | 2014-02-21 | 2015-08-27 | Intuitive Surgical Operations, Inc. | Mechanical wrist joints with enhanced range of motion, and related devices and methods |
Also Published As
Publication number | Publication date |
---|---|
US11234700B2 (en) | 2022-02-01 |
JP2019528871A (ja) | 2019-10-17 |
WO2018049211A1 (en) | 2018-03-15 |
KR20190042009A (ko) | 2019-04-23 |
EP3509511A1 (en) | 2019-07-17 |
KR102467745B1 (ko) | 2022-11-17 |
KR20220156673A (ko) | 2022-11-25 |
US20220125428A1 (en) | 2022-04-28 |
CN109688948B (zh) | 2022-09-02 |
US11806016B2 (en) | 2023-11-07 |
US20240008873A1 (en) | 2024-01-11 |
JP2023174929A (ja) | 2023-12-08 |
US20190239877A1 (en) | 2019-08-08 |
EP4122408A1 (en) | 2023-01-25 |
JP6989594B2 (ja) | 2022-01-05 |
CN115399819A (zh) | 2022-11-29 |
EP3509511A4 (en) | 2020-04-08 |
CN109688948A (zh) | 2019-04-26 |
EP3509511B1 (en) | 2022-11-02 |
KR102662094B1 (ko) | 2024-05-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6989594B2 (ja) | 手首構造 | |
JP7428761B2 (ja) | ステープラビーム構造 | |
US9221179B2 (en) | Articulating mechanism | |
KR101909041B1 (ko) | 차별적인 구부림을 나타내는 조인트식 링크 구조체 및 관련 방법 | |
US20220354474A1 (en) | Low-friction, small profile medical tools having easy-to-assemble components | |
US20200397522A1 (en) | Low-friction, small profile medical tools having easy-to-assemble components | |
KR101699053B1 (ko) | 굽은 샤프트를 갖는 최소 침습 수술 기구 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20211228 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20221122 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230222 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20230620 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20231020 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20231027 |
|
A912 | Re-examination (zenchi) completed and case transferred to appeal board |
Free format text: JAPANESE INTERMEDIATE CODE: A912 Effective date: 20231201 |