JP6968874B2 - ステープラ再装填検出及び識別 - Google Patents
ステープラ再装填検出及び識別 Download PDFInfo
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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
-
- 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
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00075—Motion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0023—Surgical instruments, devices or methods, e.g. tourniquets disposable
-
- 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
- A61B2017/07278—Stapler heads characterised by its sled or its staple holder
-
- 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
- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0814—Preventing re-use
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Surgical Instruments (AREA)
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, 649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 (11)
- 交換可能なステープラカートリッジを介して組織をステープル留めするように構成可能な手術システムであって、前記手術システムは:
手術器具であって:
エンドエフェクタであって、前記交換可能なステープラカートリッジを前記エンドエフェクタに取り付けるように構成された、エンドエフェクタ;
前記交換可能なステープラカートリッジからステープルを展開するよう前記交換可能なステープラカートリッジに含まれるステープル押しシャトルを押すように構成されたプッシャ部材;
細長いシャフトであって、前記エンドエフェクタが前記細長いシャフトの遠位端部に取り付けられる、細長いシャフト;及び
前記細長いシャフトの近位端部を支持し、前記プッシャ部材と駆動連結された作動入力部を含む、近位シャシ;
を含む、手術器具と;
前記近位シャシが取り付けられることができるマニピュレータであって、前記作動入力部と駆動連結されるように構成された作動出力部を含む、マニピュレータと;
前記作動出力部と駆動連結された作動機構と;
制御ユニットであって:
前記作動機構によって加えられる力を力制限まで制限しながら第1の位置から第2の位置に前記プッシャ部材を移動させることを試みるように前記作動出力部を連結するために前記作動機構の動作を制御し、前記作動機構の前記力制限が超過された場合、前記プッシャ部材の移動が中止され;
前記プッシャ部材を前記第1の位置から前記第2の位置に移動させる試みの間に達成される前記プッシャ部材の移動量を示すパラメータを決定し;
前記パラメータに基づいて:
複数の種類の前記交換可能なステープラカートリッジから選択された前記交換可能なステープラカートリッジの種類;
前記交換可能なステープラカートリッジが既に発射されているかどうか;及び
交換可能なステープラカートリッジが前記エンドエフェクタにとりつけられていないこと;
からなるグループから選択される前記交換可能なステープラカートリッジの少なくとも1つの属性を決定する;ように構成される、
制御ユニットと;
を有する、
手術システム。 - 前記制御ユニットは、前記プッシャ部材を前記第1の位置から前記第2の位置に移動させる前記試みの間に前記プッシャ部材が前記第2の位置に達するのに応答して、前記交換可能なステープラカートリッジが前記手術器具に取り付けられていないと決定するように構成される、
請求項1に記載の手術システム。 - 前記制御ユニットは、前記プッシャ部材を前記第1の位置から前記第2の位置に移動させる前記試みの間に前記作動機構の前記力制限の超過のために前記プッシャ部材が停止位置で停止することに応答して、前記交換可能なステープラカートリッジが前記手術器具に取り付けられていると決定するように構成される、
請求項1に記載の手術システム。 - 前記制御ユニットは、前記停止位置が前記第1の位置と前記第2の位置との間の移動の初期範囲内に位置することに応答して、前記手術器具に取り付けられた前記交換可能なステープラカートリッジが既に発射されたと決定するように構成される、
請求項3に記載の手術システム。 - 前記制御ユニットは、前記停止位置が前記第1の位置と前記第2の位置との間の移動の初期範囲外に位置することに応答して、前記手術器具に取り付けられた前記交換可能なステープラカートリッジが発射されていないと決定するように構成される、
請求項3に記載の手術システム。 - 前記制御ユニットは、前記パラメータに基づいて、複数の種類の前記交換可能なステープラカートリッジから前記手術器具に取り付けられた前記交換可能なステープラカートリッジの種類を決定するように構成される、
請求項5に記載の手術システム。 - 前記制御ユニットは、前記作動機構によって加えられる前記力を第2の力制限まで制限しながら前記第2の位置より前記第1の位置からさらに離れた第3の位置に前記プッシャ部材を移動させるよう前記作動機構を動作させるように構成され、前記第2の力制限は、前記作動機構の前記力制限より大きく、前記作動機構の前記第2の力制限が超過された場合、前記プッシャ部材の移動は中止される、
請求項6に記載の手術システム。 - 前記制御ユニットは、前記プッシャ部材を前記第1の位置から前記第2の位置に移動させる前記試みの前に、前記プッシャ部材を前記第1の位置に位置決めするよう前記作動機構を動作させるように構成される、
請求項1に記載の手術システム。 - 前記制御ユニットは、前記プッシャ部材を前記第1の位置に位置決めするために、前記プッシャ部材を前記第2の位置から離れて移動させて前記手術器具の一部と接触させるよう前記作動機構を動作させるように構成され、前記手術器具の一部は、前記第2の位置から離れる前記プッシャ部材のさらなる移動を阻止する、
請求項8に記載の手術システム。 - 前記交換可能なステープラカートリッジは、ボディであって:
前記交換可能なステープラカートリッジの前記ボディに対して前記ステープル押しシャトルを位置決めする;または
前記プッシャ部材を前記第1の位置から前記第2の位置に移動させる前記試みの間に前記交換可能なステープラカートリッジが前記プッシャ部材によって接触されるとき、前記交換可能なステープラカートリッジの前記ボディに対する前記ステープル押しシャトルの変位を妨げる;ことの少なくとも一方を行うように前記ステープル押しシャトルを拘束する、ボディと、を有する、
請求項1に記載の手術システム。 - 交換可能なステープラカートリッジを介して組織をステープル留めするように構成された手術装置であって:
エンドエフェクタであって、前記交換可能なステープラカートリッジを前記エンドエフェクタに取り付けるように構成された、エンドエフェクタと;
前記交換可能なステープラカートリッジを連結して前記交換可能なステープラカートリッジからステープルを展開するように構成されたプッシャ部材と;
前記プッシャ部材と駆動連結された作動機構と;
制御ユニットであって:
前記作動機構によって加えられる力を力制限まで制限しながら前記プッシャ部材を第1の位置から第2の位置に移動させることを試みるように前記作動機構の動作を制御し、前記作動機構の前記力制限が超過された場合に前記プッシャ部材の移動は中止され;
前記プッシャ部材を前記第1の位置から前記第2の位置に移動させる試みの間に達成された前記プッシャ部材の移動量に基づいて前記交換可能なステープラカートリッジの少なくとも1つの属性を決定する;ように構成され、
前記交換可能なステープラカートリッジの前記少なくとも1つの属性は:
複数の種類の前記交換可能なステープラカートリッジから選択された前記交換可能なステープラカートリッジの種類;
前記交換可能なステープラカートリッジが既に発射されているかどうか;及び
交換可能なステープラカートリッジが前記エンドエフェクタに取り付けられていないこと;からなるグループから選択される、
制御ユニットと;
を有する、
手術装置。
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JP2021175911A JP7379440B2 (ja) | 2016-09-09 | 2021-10-27 | ステープラ再装填検出及び識別 |
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US201662385649P | 2016-09-09 | 2016-09-09 | |
US62/385,649 | 2016-09-09 | ||
PCT/US2017/050747 WO2018049206A1 (en) | 2016-09-09 | 2017-09-08 | Stapler reload detection and identification |
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JP2021175911A Division JP7379440B2 (ja) | 2016-09-09 | 2021-10-27 | ステープラ再装填検出及び識別 |
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JP2019526385A JP2019526385A (ja) | 2019-09-19 |
JP6968874B2 true JP6968874B2 (ja) | 2021-11-17 |
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JP2021175911A Active JP7379440B2 (ja) | 2016-09-09 | 2021-10-27 | ステープラ再装填検出及び識別 |
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US (3) | US11364029B2 (ja) |
EP (1) | EP3509525A4 (ja) |
JP (2) | JP6968874B2 (ja) |
KR (2) | KR102456430B1 (ja) |
CN (2) | CN114699127A (ja) |
WO (1) | WO2018049206A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022009615A (ja) * | 2016-09-09 | 2022-01-14 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | ステープラ再装填検出及び識別 |
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JP2022009615A (ja) * | 2016-09-09 | 2022-01-14 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | ステープラ再装填検出及び識別 |
JP7379440B2 (ja) | 2016-09-09 | 2023-11-14 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | ステープラ再装填検出及び識別 |
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JP2022009615A (ja) | 2022-01-14 |
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