JP6698543B2 - 関節接合エンドエフェクタを備える外科用デバイス - Google Patents
関節接合エンドエフェクタを備える外科用デバイス Download PDFInfo
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- A61B17/2909—Handles
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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
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- A—HUMAN NECESSITIES
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- 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
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- A61B2017/2912—Handles transmission of forces to actuating rod or piston
- A61B2017/2913—Handles transmission of forces to actuating rod or piston cams or guiding means
- A61B2017/2916—Handles transmission of forces to actuating rod or piston cams or guiding means pins in guiding slots
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- A61B2017/2912—Handles transmission of forces to actuating rod or piston
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- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
- A61B2017/2919—Handles transmission of forces to actuating rod or piston details of linkages or pivot points
- A61B2017/292—Handles transmission of forces to actuating rod or piston details of linkages or pivot points connection of actuating rod to handle, e.g. ball end in recess
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- A—HUMAN NECESSITIES
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- A61B2017/2912—Handles transmission of forces to actuating rod or piston
- A61B2017/2923—Toothed members, e.g. rack and pinion
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- A61B2017/2926—Details of heads or jaws
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Description
(1) 近位ハンドル部分と;
前記近位ハンドル部分から遠位に延在する第1の細長いシャフトと;
前記近位ハンドル部分から遠位に延在し、かつ前記第1の細長いシャフトの第1の通路内に配設された第2の細長いシャフトと;
前記近位ハンドル部分から遠位に延在し、かつ前記第2の細長いシャフトの第2の通路内に配設された第3の細長いシャフトと;
前記第1の細長いシャフトの遠位端に動作可能に接続された近位端を有する第1のジョーと;
前記第2の細長いシャフトの遠位端に動作可能に接続された近位端を有する第2のジョーと;
を具備し、前記第1及び第2の細長いシャフトが、前記第3の細長いシャフトの長手方向軸の周りを同時に回転するように構成され、前記第3の細長いシャフトがそれらに対し静止しており、前記第1及び第2の細長いシャフトの回転により、前記第3の細長いシャフトの前記長手方向軸に対して前記第1及び第2のジョーを、角度をつけて配向する、外科用デバイス。
(2) 前記第1及び第2のジョーは、前記第1の細長いシャフトが第1の方向に回転するのと同時に前記第2の細長いシャフトが前記第1の方向とは反対の第2の方向に回転することに応じて、前記第3の細長いシャフトの前記長手方向軸に対して同方向に角度をつけて配向されるように構成されている、実施態様1に記載のデバイス。
(3) 前記第1及び第2のジョーは、前記第1及び第2の細長いシャフトが同時に同方向に回転することに応じて互いから離れて移動するように構成されている、実施態様1に記載のデバイス。
(4) 前記第1のジョーの前記近位端が枢動点において前記第3の細長いシャフトに付着されており、前記第2のジョーの前記近位端が前記枢動点において前記第3の細長いシャフトに付着されており、前記第1及び第2のジョーを前記第3の細長いシャフトの前記長手方向軸に対して角度をつけて配向することが、前記第1及び第2のジョーを前記枢動点において枢動させることを含む、実施態様1に記載のデバイス。
(5) 近位ハンドル部分と;
前記近位ハンドル部分から遠位に延在する外管と;
前記近位ハンドル部分から遠位に延在し、かつ前記外管の通路内に配設された内管と;
前記外管の遠位端に動作可能に接続された近位端を有する第1のジョーと;
前記内管の遠位端に動作可能に接続された近位端を有する第2のジョーと;
前記近位ハンドル部分に連結されており、かつ作動されることによって前記内管及び外管を同時に回転させて、それにより、前記内管及び外管の共通の長手方向軸に対して前記第1及び第2のジョーを関節接合させるように構成されたアクチュエータと;
を具備する、外科用デバイス。
(7) 前記アクチュエータがノブを含み、前記ノブが、第1の方向に回転させられることによって作動し、それにより、前記外管を前記第1の方向に回転させ、かつ前記内管を第2の反対方向に回転させるように構成されていると共に、前記第2の方向に回転させられることによって作動し、それにより、前記外管を前記第2の方向に回転させ、かつ前記内管を前記第1の方向に回転させるように構成されている、実施態様5に記載のデバイス。
(8) 前記外管に動作可能に接続された第1のはすば歯車と、前記内管に動作可能に接続された第2のはすば歯車と、を更に具備し、
前記アクチュエータの作動により、前記第1のはすば歯車を第1の方向に回転させて、前記外管を前記第1の方向に回転させ、前記第2のはすば歯車を前記第1の方向とは反対の第2の方向に回転させて、前記内管を前記第2の方向に回転させるようにする、実施態様5に記載のデバイス。
(9) スリーブと、前記スリーブ内に配設されたブッシングと、前記外管に動作可能に接続され、かつ前記ブッシングと螺合可能に係合した第1のはすば歯車と、前記内管に動作可能に接続され、かつ前記ブッシングと螺合可能に係合した第2のはすば歯車と、を含む、移動組立体を更に具備し、
前記アクチュエータが前記移動組立体に動作可能に接続されており、そのため、前記アクチュエータの作動により、前記スリーブ及び前記ブッシングを前記共通の長手方向軸に沿って並進させ、かつ前記第1及び第2のはすば歯車を前記共通の長手方向軸の周りで回転させる、実施態様5に記載のデバイス。
(10) 前記近位ハンドル部分から遠位に延在し、かつ前記内管の通路内に配設されているロッドを更に具備し、前記内管及び外管が、前記アクチュエータの作動に応じて前記ロッドに対して同時に回転し、前記第1及び第2のジョーが、前記アクチュエータの作動に応じて前記ロッドに対して関節接合する、実施態様5に記載のデバイス。
(12) 前記第2のアクチュエータが、互いに向かって及び互いから離れて移動し、それにより、前記外管及び前記内管の両方を同方向に回転させるように構成された第1及び第2のハンドルを含む、実施態様11に記載のデバイス。
(13) 前記外管に動作可能に接続された第1のはすば歯車と、前記内管に動作可能に接続された第2のはすば歯車と、を更に具備し、
前記第2のアクチュエータの作動により、前記第1及び第2のはすば歯車の各々を時計回りの方向及び反時計回りの方向のうちのどちらか一方向に回転させて、前記内管及び外管の各々を、前記時計回りの方向及び前記反時計回りの方向のうちのどちらか一方向に回転させるようにする、実施態様11に記載のデバイス。
(14) スリーブと、前記スリーブ内に配設されたブッシングと、前記外管に動作可能に接続され、かつ前記ブッシングと螺合可能に係合した第1のはすば歯車と、前記内管に動作可能に接続され、かつ前記ブッシングと螺合可能に係合した第2のはすば歯車と、を含む、移動組立体を更に具備し、
前記アクチュエータが前記移動組立体に動作可能に接続されており、そのため、前記アクチュエータの作動により、前記スリーブ及び前記ブッシングを前記共通の長手方向軸に沿って並進させ、かつ前記第1及び第2のはすば歯車を前記共通の長手方向軸の周りで回転させ、
前記第2のアクチュエータが、前記移動組立体に動作可能に接続されており、そのため、前記第2のアクチュエータの作動により、前記ブッシングを前記スリーブに対して回転させ、かつ前記第1及び第2のはすば歯車を前記共通の長手方向軸の周りで回転させる、実施態様11に記載のデバイス。
(15) モーターを更に具備し、前記アクチュエータの作動によって、前記モーターに前記内管及び外管の回転を駆動させる、実施態様5に記載のデバイス。
(17) 第1の駆動機構の第1の長手方向軸の周りを回転するように構成された、前記第1の駆動機構に連結された第1のジョーと;
第2の駆動機構の第2の長手方向軸の周りを回転するように構成された、前記第2の駆動機構に連結された第2のジョーであって、前記第2の駆動機構が前記第1の駆動機構から独立している、第2のジョーと;
前記第1及び第2の駆動機構に動作可能に接続され、かつ前記第1及び第2の駆動機構を同期的に回転させ、それにより、前記第1及び第2のジョーを選択的に開放及び閉鎖させるべく駆動するか、又は前記第1及び第2のジョーを互いと同方向に関節接合させるべく駆動するように構成されたモーターと;
を具備する、外科用デバイス。
(18) 前記第1及び第2の駆動機構の各々が剛性管状シャフトを含む、実施態様17に記載の外科用デバイス。
(19) 近位ハンドル部分を更に具備し、前記第1及び第2の駆動機構が各々前記近位ハンドル部分から遠位に延在し、かつ前記第1及び第2のジョーが前記第1及び第2の駆動機構のそれぞれの遠位端に連結されている、実施態様17に記載の外科用デバイス。
(20) 前記第1及び第2の長手方向軸が同軸である、実施態様17に記載の外科用デバイス。
(22) 外科的方法であって、
外科用器具の遠位端にあるジョーを身体の中へと前進させることであって、前記外科用器具が、ハンドルと、前記ハンドルから遠位に延在する外管と、前記外管内に配設され、かつ前記ハンドルから遠位に延在する内管と、を含む、前進させることと;
前記ハンドルに連結された第1のアクチュエータを作動させて、前記内管及び外管をそれぞれ反対の方向に回転させ、それにより、前記ジョーを互いと同方向に関節接合させることと;
前記ハンドルに連結された第2のアクチュエータを作動させて、前記内管及び外管を同方向に回転させ、それにより、前記ジョーを選択的に開放及び閉鎖させることと;
を含む、外科的方法。
(23) 前記第1のアクチュエータを作動させることが、前記第1のアクチュエータを第1の方向又は前記第1の方向とは反対の第2の方向に回転させることを含み、前記第1のアクチュエータの前記第1の方向への回転により、前記外管を前記第1の方向に回転させ、かつ前記内管を前記第2の方向に回転させ、前記第1のアクチュエータの前記第2の方向への回転により、前記外管を前記第2の方向に回転させ、かつ前記内管を前記第1の方向に回転させる、実施態様17に記載の方法。
(24) 前記第1のアクチュエータを作動させることにより、モーターに前記内管及び外管の前記それぞれ反対の方向への回転を駆動させる、実施態様17に記載の方法。
(25) 前記第2のアクチュエータが第1及び第2のハンドルを含み、前記第2のアクチュエータを作動させることが、前記第1及び第2のハンドルを互いに向かって及び互いから離れて移動させることを含む、実施態様17に記載の方法。
Claims (16)
- 近位ハンドル部分と;
前記近位ハンドル部分から遠位に延在する第1の細長いシャフトと;
前記近位ハンドル部分から遠位に延在し、かつ前記第1の細長いシャフトの第1の通路内に配設された第2の細長いシャフトと;
前記近位ハンドル部分から遠位に延在し、かつ前記第2の細長いシャフトの第2の通路内に配設された第3の細長いシャフトと;
前記第1の細長いシャフトの遠位端に動作可能に接続された近位端を有する第1のジョーと;
前記第2の細長いシャフトの遠位端に動作可能に接続された近位端を有する第2のジョーと;
を具備し、前記第1の細長いシャフト及び前記第2の細長いシャフトが、前記第3の細長いシャフトの長手方向軸の周りを同時に回転するように構成され、前記第3の細長いシャフトがそれらに対し静止しており、前記第1の細長いシャフト及び前記第2の細長いシャフトの回転により、前記第3の細長いシャフトの前記長手方向軸に対して前記第1のジョー及び前記第2のジョーを、角度をつけて配向する、外科用デバイス。 - 前記第1のジョー及び前記第2のジョーは、前記第1の細長いシャフトが第1の方向に回転するのと同時に前記第2の細長いシャフトが前記第1の方向とは反対の第2の方向に回転することに応じて、前記第3の細長いシャフトの前記長手方向軸に対して同方向に角度をつけて配向されるように構成されている、請求項1に記載のデバイス。
- 前記第1のジョー及び前記第2のジョーは、前記第1の細長いシャフト及び前記第2の細長いシャフトが同時に同方向に回転することに応じて互いから離れて移動するように構成されている、請求項1に記載のデバイス。
- 前記第1のジョーの前記近位端が枢動点において前記第3の細長いシャフトに付着されており、前記第2のジョーの前記近位端が前記枢動点において前記第3の細長いシャフトに付着されており、前記第1のジョー及び前記第2のジョーを前記第3の細長いシャフトの前記長手方向軸に対して角度をつけて配向することが、前記第1のジョー及び前記第2のジョーを前記枢動点において枢動させることを含む、請求項1に記載のデバイス。
- 前記近位ハンドル部分に連結されており、かつ作動されることによって前記第1の細長いシャフト及び前記第2の細長いシャフトを同時に回転させて、それにより、前記第1の細長いシャフト及び前記第2の細長いシャフトの共通の長手方向軸に対して前記第1のジョー及び前記第2のジョーを関節接合させるように構成されたアクチュエータと;
を具備する、請求項1に記載の外科用デバイス。 - 前前記アクチュエータの作動により、前記第1の細長いシャフトを第1の方向に回転させ、かつ前記第2の細長いシャフトを前記第1の方向とは反対の第2の方向に回転させる、請求項5に記載のデバイス。
- 前記アクチュエータがノブを含み、前記ノブが、第1の方向に回転させられることによって作動し、それにより、前記第1の細長いシャフトを前記第1の方向に回転させ、かつ前記第2の細長いシャフトを前記第1の方向とは反対の第2の方向に回転させるように構成されていると共に、前記第2の方向に回転させられることによって作動し、それにより、前記第1の細長いシャフトを前記第2の方向に回転させ、かつ前記第2の細長いシャフトを前記第1の方向に回転させるように構成されている、請求項5に記載のデバイス。
- 前記第1の細長いシャフトに動作可能に接続された第1のはすば歯車と、前記第2の細長いシャフトに動作可能に接続された第2のはすば歯車と、を更に具備し、
前記アクチュエータの作動により、前記第1のはすば歯車を第1の方向に回転させて、前記第1の細長いシャフトを前記第1の方向に回転させ、前記第2のはすば歯車を前記第1の方向とは反対の第2の方向に回転させて、前記第2の細長いシャフトを前記第2の方向に回転させるようにする、請求項5に記載のデバイス。 - スリーブと、前記スリーブ内に配設されたブッシングと、前記第1の細長いシャフトに動作可能に接続され、かつ前記ブッシングと螺合可能に係合した第1のはすば歯車と、前記第2の細長いシャフトに動作可能に接続され、かつ前記ブッシングと螺合可能に係合した第2のはすば歯車と、を含む、移動組立体を更に具備し、
前記アクチュエータが前記移動組立体に動作可能に接続されており、そのため、前記アクチュエータの作動により、前記スリーブ及び前記ブッシングを前記共通の長手方向軸に沿って並進させ、かつ前記第1のはすば歯車及び前記第2のはすば歯車を前記共通の長手方向軸の周りで回転させる、請求項5に記載のデバイス。 - 前記第1の細長いシャフト及び前記第2の細長いシャフトが、前記アクチュエータの作動に応じて前記第3の細長いシャフトに対して同時に回転し、前記第1のジョー及び前記第2のジョーが、前記アクチュエータの作動に応じて前記第3の細長いシャフトに対して関節接合する、請求項5に記載のデバイス。
- 前記近位ハンドル部分に連結されており、かつ作動されることによって前記第1の細長いシャフト及び前記第2の細長いシャフトを同時に回転させ、それにより、前記第1のジョー及び前記第2のジョーを選択的に開放及び閉鎖させるように構成された第2のアクチュエータを更に具備する、請求項5に記載のデバイス。
- 前記第2のアクチュエータが、互いに向かって及び互いから離れて移動し、それにより、前記第1の細長いシャフト及び前記第2の細長いシャフトの両方を同方向に回転させるように構成された第1のハンドル及び第2のハンドルを含む、請求項11に記載のデバイス。
- 前記第1の細長いシャフトに動作可能に接続された第1のはすば歯車と、前記第2の細長いシャフトに動作可能に接続された第2のはすば歯車と、を更に具備し、
前記第2のアクチュエータの作動により、前記第1のはすば歯車及び前記第2のはすば歯車の各々を時計回りの方向及び反時計回りの方向のうちのどちらか一方向に回転させて、前記第1の細長いシャフト及び前記第2の細長いシャフトの各々を、前記時計回りの方向及び前記反時計回りの方向のうちのどちらか一方向に回転させるようにする、請求項11に記載のデバイス。 - スリーブと、前記スリーブ内に配設されたブッシングと、前記第1の細長いシャフトに動作可能に接続され、かつ前記ブッシングと螺合可能に係合した第1のはすば歯車と、前記第2の細長いシャフトに動作可能に接続され、かつ前記ブッシングと螺合可能に係合した第2のはすば歯車と、を含む、移動組立体を更に具備し、
前記アクチュエータが前記移動組立体に動作可能に接続されており、そのため、前記アクチュエータの作動により、前記スリーブ及び前記ブッシングを前記共通の長手方向軸に沿って並進させ、かつ前記第1のはすば歯車及び前記第2のはすば歯車を前記共通の長手方向軸の周りで回転させ、
前記第2のアクチュエータが、前記移動組立体に動作可能に接続されており、そのため、前記第2のアクチュエータの作動により、前記ブッシングを前記スリーブに対して回転させ、かつ前記第1のはすば歯車及び前記第2のはすば歯車を前記共通の長手方向軸の周りで回転させる、請求項11に記載のデバイス。 - モーターを更に具備し、前記アクチュエータの作動によって、前記モーターに前記第1の細長いシャフト及び前記第2の細長いシャフトの回転を駆動させる、請求項5に記載のデバイス。
- 前記アクチュエータが、前記モーターと電気的に通信するように構成されたスイッチを含む、請求項15に記載のデバイス。
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US20150272603A1 (en) | 2015-10-01 |
WO2015153042A1 (en) | 2015-10-08 |
BR112016022471A2 (ja) | 2017-08-15 |
CN106413596B (zh) | 2019-11-01 |
US20210330340A1 (en) | 2021-10-28 |
EP3861943A1 (en) | 2021-08-11 |
US20190105069A1 (en) | 2019-04-11 |
CN106413596A (zh) | 2017-02-15 |
JP2017510359A (ja) | 2017-04-13 |
EP3125786B1 (en) | 2020-12-23 |
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