JP6989594B2 - 手首構造 - Google Patents
手首構造 Download PDFInfo
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- JP6989594B2 JP6989594B2 JP2019513361A JP2019513361A JP6989594B2 JP 6989594 B2 JP6989594 B2 JP 6989594B2 JP 2019513361 A JP2019513361 A JP 2019513361A JP 2019513361 A JP2019513361 A JP 2019513361A JP 6989594 B2 JP6989594 B2 JP 6989594B2
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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
- A61B17/068—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
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
- A61B17/28—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
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Ophthalmology & Optometry (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
- Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
- Transmission Devices (AREA)
Description
本出願は、2016年9月9日に出願された米国仮出願第62/385,621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 (13)
- 第1の軸に沿って延びる細長いシャフトと;
上側ジョー部および下側ジョー部を有するエンドエフェクタと;
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と駆動可能に結合される細長い駆動部材であって、前記細長い駆動部材は、前記細長い駆動部材の軸方向の圧縮を介して前記エンドエフェクタに遠位方向に向けられた力を伝えるように動作可能である、細長い駆動部材と;
前記エンドエフェクタを前記細長いシャフトに移動可能に接続する手首アセンブリであって:
前記細長いシャフトに接続されるとともに第1のギア歯を有する、第1の外側リンクと;
前記第1の軸に対して垂直に配向された第2の軸の周りで前記第1の外側リンクに対して回転するように前記第1の外側リンクと枢動可能に結合された第1の内側リンクであって、前記細長い駆動部材は、前記第1の内側リンクによって画定された内部通路を通って延びる、第1の内側リンクと;
前記第2の軸と平行且つ前記第2の軸からオフセットされた第3の軸の周りで前記第1の内側リンクに対して回転するように前記第1の内側リンクと枢動可能に結合された第2の外側リンクであって、前記第2の外側リンクは、前記第1のギア歯と噛み合い、前記第1の外側リンクに対する前記第2の外側リンクの配向の範囲全体にわたる前記第1の外側リンクおよび前記第2の外側リンクに対する前記第1の内側リンクの配向を制御する第2のギア歯を有する、第2の外側リンクと;
を有する、手首アセンブリと;
を有する、
手術装置。 - 前記第1の内側リンクは、前記第2の軸と整列する第1の突出ジャーナルのペアおよび前記第3の軸と整列する第2の突出ジャーナルのペアを有し;
前記第1の外側リンクは、前記第1の突出ジャーナルのペアと接する第1の外側リンクジャーナルベアリングのペアを有し;
前記第2の外側リンクは、前記第2の突出ジャーナルのペアと接する第2の外側リンクジャーナルベアリングのペアを有する;
請求項1に記載の手術装置。 - 前記第1の内側リンクは、第1の内側リンク第1部分と第1の内側リンク第2部分とを含むツーピース構造を有する、
請求項1又は2に記載の手術装置。 - 前記第1の内側リンク第1部分および前記第1の内側リンク第2部分は、前記第2の外側リンクに対する前記第1の内側リンク第1部分および前記第1の内側リンク第2部分のそれぞれの回転を介して前記第2の外側リンクと接するように構成される、
請求項3に記載の手術装置。 - 前記第1の外側リンクは、前記第1の内側リンクが前記第2の外側リンクと組み立てられた後に前記第1の内側リンクへの組み立てに適応するように構成されたツーピース構造を有する、
請求項4に記載の手術装置。 - 前記手首アセンブリと駆動可能に結合され、前記手首アセンブリを関節運動させるように連結されたケーブル部分をさらに有し、前記第1の内側リンクは、前記ケーブル部分のいずれにも張力がかかっていない場合でも、前記第2の外側リンクを前記第1の外側リンクと接した状態に保つように、前記細長い駆動部材によって前記エンドエフェクタに加えられて前記第1の外側リンクに戻る引張荷重および圧縮荷重の両方に対抗するように構成される、
請求項1に記載の手術装置。 - 前記手首アセンブリは:
前記第1の軸および前記第3の軸に対して垂直に配向された第4の軸の周りで前記第2の外側リンクに対して回転するように前記第2の外側リンクと枢動可能に結合された第2の内側リンクと;
前記第4の軸と平行且つ前記第4の軸からオフセットされた第5の軸の周りで前記第2の内側リンクに対して回転するように前記第2の内側リンクと枢動可能に結合された第3の外側リンクであって、前記第2の外側リンクのギア歯と接し、前記第2の外側リンクに対する前記第3の外側リンクの配向の範囲全体にわたって前記第3の外側リンクおよび前記第2の外側リンクに対する前記第2の内側リンクの配向を制御するギア歯を有する、第3の外側リンクと;
をさらに有する、
請求項1に記載の手術装置。 - 前記第2の内側リンクは、前記第4の軸と整列する第1の突出ジャーナルのペアおよび前記第5の軸と整列する第2の突出ジャーナルのペアを有し;
前記第2の外側リンクは、前記第2の内側リンクの前記第1の突出ジャーナルのペアと接する第2の外側リンクジャーナルベアリングのペアを有し;
前記第3の外側リンクは、前記第2の内側リンクの前記第2の突出ジャーナルのペアと接する第3の外側リンクジャーナルベアリングのペアを有する;
請求項7に記載の手術装置。 - 前記第2の内側リンクは、第2の内側リンク第1部分と第2の内側リンク第2部分とを有するツーピース構造を有する、
請求項7又は8に記載の手術装置。 - 前記第2の内側リンク第1部分および前記第2の内側リンク第2部分は、前記第3の外側リンクに対する前記第2の内側リンク第1部分および前記第2の内側リンク第2部分のそれぞれの回転を介して前記第3の外側リンクと接するように構成される、
請求項9に記載の手術装置。 - 前記第2の外側リンクは、前記第2の内側リンクが前記第3の外側リンクと組み立てられ後に前記第2の内側リンクへの組み立てに適応するように構成されたツーピース構造を有する、
請求項10に記載の手術装置。 - 前記第2の内側リンクは第2の内側リンク開口部を形成し、前記細長い駆動部材は、前記第2の内側リンク開口部を通って延びる、
請求項7に記載の手術装置。 - 前記手首アセンブリと駆動可能に結合され、前記手首アセンブリを関節運動させるように連結されたケーブル部分をさらに有し、前記第1の内側リンクおよび前記第2の内側リンクは、前記ケーブル部分のいずれにも張力がかかっていない場合でも、前記第3の外側リンクを前記第2の外側リンクと接し且つ前記第2の外側リンクを前記第1の外側リンクと接した状態に保つように、前記細長い駆動部材によって前記エンドエフェクタに加えられて前記第1の外側リンクに戻る引張荷重および圧縮荷重の両方に対抗するように構成される、
請求項12に記載の手術装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021196029A JP2022031311A (ja) | 2016-09-09 | 2021-12-02 | 手首構造 |
JP2023180840A JP2023174929A (ja) | 2016-09-09 | 2023-10-20 | 手首構造 |
Applications Claiming Priority (3)
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 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021196029A Division JP2022031311A (ja) | 2016-09-09 | 2021-12-02 | 手首構造 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019528871A JP2019528871A (ja) | 2019-10-17 |
JP6989594B2 true JP6989594B2 (ja) | 2022-01-05 |
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ID=61562696
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
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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 After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
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 |
Country Status (6)
Country | Link |
---|---|
US (3) | US11234700B2 (ja) |
EP (2) | EP3509511B1 (ja) |
JP (3) | JP6989594B2 (ja) |
KR (2) | KR102662094B1 (ja) |
CN (2) | CN115399819A (ja) |
WO (1) | WO2018049211A1 (ja) |
Families Citing this family (276)
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EP4122408A1 (en) | 2023-01-25 |
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