JPS62122650A - Endoscope - Google Patents
EndoscopeInfo
- Publication number
- JPS62122650A JPS62122650A JP60264132A JP26413285A JPS62122650A JP S62122650 A JPS62122650 A JP S62122650A JP 60264132 A JP60264132 A JP 60264132A JP 26413285 A JP26413285 A JP 26413285A JP S62122650 A JPS62122650 A JP S62122650A
- Authority
- JP
- Japan
- Prior art keywords
- tip
- gripping
- endoscope
- gripping claws
- claw
- 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.)
- Granted
Links
- 210000000078 claw Anatomy 0.000 claims description 48
- 238000003780 insertion Methods 0.000 claims description 27
- 230000037431 insertion Effects 0.000 claims description 27
- 230000003287 optical effect Effects 0.000 claims description 4
- 239000012780 transparent material Substances 0.000 claims description 3
- 239000004575 stone Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 210000003445 biliary tract Anatomy 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 241000270728 Alligator Species 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 201000001883 cholelithiasis Diseases 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000013467 fragmentation Methods 0.000 description 1
- 238000006062 fragmentation reaction Methods 0.000 description 1
- 208000001130 gallstones Diseases 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
Landscapes
- Endoscopes (AREA)
- Surgical Instruments (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は挿入部先端に把持爪を備えた内視鏡に係り、特
に胆道内結石の如く比較的大形な対象物の摘出、破砕等
に好適な内視鏡に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an endoscope equipped with a grasping claw at the tip of the insertion section, and is particularly suitable for extracting and crushing relatively large objects such as stones in the biliary tract. This invention relates to a suitable endoscope.
従来の内視鏡は胆石等を摘出するのに挿入部先端の鉗子
口を介して挿入部内方から挿入部先端外方にバスケット
、鉗子等の各種処置具を突出させて結石等の摘出や破砕
操作を行なうようにしている。Conventional endoscopes remove gallstones, etc. by protruding various treatment tools such as baskets and forceps from the inside of the insertion tube to the outside of the tip of the insertion tube through the forceps port at the tip of the insertion tube. I am trying to perform the operation.
しかし、内視鏡挿入部先端の径及びこれに開口される鉗
子口の大きさには一定の制限があり、したがって鉗子口
に通す処置具の能力も大きさの面から制約を受ける。However, there are certain limitations on the diameter of the tip of the endoscope insertion portion and the size of the forceps port opened therein, and therefore the ability of the treatment tool to pass through the forceps port is also limited in terms of size.
このため、従来の内視鏡では胆道内に生じた比較的大き
い結石等の摘出や破砕が十分に行えない不具合があった
。For this reason, conventional endoscopes have a problem in that relatively large stones and the like formed in the biliary tract cannot be sufficiently removed or crushed.
本発明はこのような事情に鑑みてなされたもので、体腔
内の大きな対象物等を確実に把持して、その摘出や破砕
等の処置が確実に行なえると共に挿入部先端から前方が
充分観察できる内視鏡を提案することを目的としている
。The present invention has been developed in view of the above circumstances, and is capable of reliably grasping large objects within a body cavity, reliably performing procedures such as extraction and crushing them, and allowing sufficient observation of the front from the tip of the insertion tube. The aim is to propose an endoscope that can
本発明は、前記目的を達成する為に、挿入部先端に支軸
を介して一対の把持爪を開閉可能に設け、その各把持爪
を挿入部内に挿通した操作ワイヤを介して、開閉動作さ
せるようにし、観察光学系を、挿入部先端の各把持爪皮
軸間中心位置で、且つ挿入部先端の外周側に偏位した位
置に配置したものである。In order to achieve the above object, the present invention provides a pair of gripping claws that can be opened and closed via a support shaft at the tip of the insertion section, and each of the gripping claws is operated to open and close via an operating wire inserted into the insertion section. The observation optical system is arranged at a central position between the gripping nail skin axes at the tip of the insertion section and at a position offset toward the outer circumference of the tip of the insertion section.
以下、添付図面に従って本発明に係る内視鏡の好ましい
実施例を詳説する。Hereinafter, preferred embodiments of the endoscope according to the present invention will be described in detail with reference to the accompanying drawings.
第１図に示すように挿入部２ば、湾曲部４とその先端に
取付けた先端金具６を有し、湾曲部４は、複数の節輪８
から構成され、節輪Ｂの外側はゴムあるいは合成樹脂製
のチューブ状外皮材１４で被覆されている。As shown in FIG. 1, the insertion section 2 has a curved section 4 and a distal end fitting 6 attached to its distal end.
The outside of the node ring B is covered with a tubular outer cover material 14 made of rubber or synthetic resin.
第２図に示すように挿入部２内には一対（左右上下の四
方向への湾曲ができるようにしたものにあっては周知の
ように二対）の湾曲操作用ワイヤ１６を挿入部２後端の
図示しない操作部で操作することにより、湾曲部４を湾
曲することができる（第９図参照）。As shown in FIG. 2, a pair of bending operation wires 16 (two pairs as is well known in the case of a device capable of bending in four directions (left, right, top, and bottom)) are inserted into the insertion portion 2. The bending portion 4 can be bent by operating an operation section (not shown) at the rear end (see FIG. 9).
先端金具６は第１図に示すようにその円筒基部１８が上
記節輪８の先頭部に接続され被覆材１４でその円筒基部
１８が被覆され、外側から糸線付具２０で結束保持され
ている。この先端金具６の先端側に取付けられる把持爪
ユニットは、第３図で示すように軸受２２と、この軸受
２２に支軸２６．２６を介して取付けられた一対の把持
爪２４．２４とから構成されている（第５図、第６図参
照）。なお先端金具６の先端部は段付形状とされ、その
段部にユニットの軸受２２が嵌込まれ、接着等により固
定される。この軸受２２の表面に形成した２枚の突片２
８．２８に把持爪２４のボス部２４ａが支軸２６を介し
て回転自在に支持されている。As shown in FIG. 1, the end fitting 6 has its cylindrical base 18 connected to the top of the node ring 8, the cylindrical base 18 covered with a covering material 14, and bound and held from the outside with a string attachment 20. There is. As shown in FIG. 3, the gripping claw unit attached to the tip side of the tip fitting 6 is made up of a bearing 22 and a pair of gripping claws 24.24 attached to the bearing 22 via a support shaft 26.26. (See Figures 5 and 6). The tip end of the tip fitting 6 is stepped, and the bearing 22 of the unit is fitted into the step and fixed by adhesive or the like. Two protrusions 2 formed on the surface of this bearing 22
At 8.28, a boss portion 24a of the gripping claw 24 is rotatably supported via a support shaft 26.
各支軸２６．２６は第４図並びに第１０図に示すように
、先端金具６の中心から外側に離れた位置に配置され、
把持爪２４．２４をそれぞれ離間した二点で回動支持す
る。これにより、第１０図に示すように、先端金具６の
中心位置に空間を確保することができ、その部分に後述
する鉗子チャンネルを設けることを可能とし、また、第
１０図に示すように、内視鏡先端部の外側に把持爪２４
．２４の回動支点を配置させて、より大きな異物の把持
を可能としている。つまり、把持爪を第１０図の仮想線
ａで示すように先端部中心の支点すで支持する場合に比
べて、より大きな直径りの異物３２を把持することがで
きる（仮想線ａの把持爪では爪先端間の距離が小さくな
り、把持できる異物３２′の径ｄは小さいということと
、爪角度が小さくなり異物を把持しやすいことに基づく
）把持爪２４の形状は使用目的に応じて種々設定できる
。この実施例では比較的幅広い角形で先端側が対向方向
に折曲した形状としているが、先端側がスプーン状に湾
曲する形状にしたり、先細テーバ付、その他の形状にし
てもよい。なお、把持爪２４の基端側は第８図に示すよ
うに、軸受２２と反対側の部分に切開部３４を有する形
状となっている。これにより、切開部３４が窓状に開き
、後述するように観察の視野が広げられる。As shown in FIGS. 4 and 10, each support shaft 26, 26 is arranged at a position away from the center of the tip fitting 6,
The gripping claws 24, 24 are rotatably supported at two points spaced apart from each other. As a result, as shown in FIG. 10, a space can be secured at the center position of the tip fitting 6, and a forceps channel, which will be described later, can be provided in that space, and as shown in FIG. Grasping claw 24 on the outside of the tip of the endoscope
．． 24 pivot points are arranged to enable gripping of larger foreign objects. In other words, compared to the case where the gripping claws are already supported at the fulcrum at the center of the tip as shown by the imaginary line a in FIG. (Based on the fact that the distance between the tips of the claws is small, the diameter d of the foreign object 32' that can be gripped is small, and the claw angle is small, making it easier to grip the foreign object) The shape of the gripping claws 24 varies depending on the purpose of use. Can be set. In this embodiment, the tip has a relatively wide rectangular shape with the distal end bent in opposite directions, but the distal end may be curved into a spoon shape, have a tapered taper, or have other shapes. As shown in FIG. 8, the proximal end of the gripping claw 24 has a cutout 34 on the side opposite to the bearing 22. As a result, the incision 34 opens like a window, and the field of view for observation is expanded as will be described later.
各把持爪２４．２４は、挿入部２内に挿通した操作ワイ
ヤの押引により開閉動作するようになっている。即ち、
第１図、第４図に示すように把持爪２４の基端部には、
支軸２６よりも挿入部中心側にこれと平行に操作用のビ
ン３８が挿着されている。このビン３８にレバー４０が
連結され、レバー４０は、挿入部に挿通した爪開閉操作
用ワイヤ４２先端の円柱状ワイヤ止め４４にビン４６を
介して連結されている。レバー４０は先端金具６にあけ
たガイド孔４８内に挿通されている。Each gripping claw 24.24 is configured to open and close by pushing and pulling an operating wire inserted into the insertion portion 2. That is,
As shown in FIGS. 1 and 4, at the base end of the gripping claw 24,
An operating bottle 38 is inserted parallel to the support shaft 26 toward the center of the insertion portion. A lever 40 is connected to this pin 38, and the lever 40 is connected via a pin 46 to a cylindrical wire stopper 44 at the tip of a claw opening/closing operation wire 42 inserted into the insertion portion. The lever 40 is inserted into a guide hole 48 formed in the tip metal fitting 6.
しかして、操作者が挿入部２後端の図示しない周知の鉗
子揺動操作ノブの如く構成された操作ノブを操作すれば
、ワイヤ４２を介して伝達される押引力によりレバー４
０がガイド孔４８内で進退し、それにより把持爪２４が
開閉する。なお、ワイヤ４２引張時に把持爪２４が閉じ
るので、異物の把持は確実なものとなる。Therefore, when the operator operates an operation knob configured like a well-known forceps swinging operation knob (not shown) at the rear end of the insertion section 2, the lever 4 is moved by the pushing and pulling force transmitted via the wire 42.
0 moves forward and backward within the guide hole 48, thereby opening and closing the gripping claws 24. Note that since the gripping claws 24 close when the wire 42 is pulled, the foreign object can be gripped reliably.
また第２図、第４図および第８図等に示すように、対物
レンズ５０は、先端金具６に接着固定される軸受２２の
嵌合部と異なる側、つまり先端段部の後部側に設けられ
ている。この対物レンズ５０の位置は、各把持爪２４の
支軸２２の軸心ｅ。Further, as shown in FIGS. 2, 4, and 8, the objective lens 50 is provided on a side different from the fitting portion of the bearing 22 that is adhesively fixed to the tip fitting 6, that is, on the rear side of the tip stepped portion. It is being The position of this objective lens 50 is the axis e of the support shaft 22 of each gripping claw 24.
、ｅ２ （第４図）の間の中心位置で、かつ先端金具６
の外周側に変位した部分に配置されている。, e2 (Fig. 4), and the tip fitting 6
It is located at a portion displaced toward the outer circumference of the
この対物レンズ５０の後方には対物レンズ５０に基づく
観察像を前記操作部に設けた接眼部に伝送するイメージ
ガイド用ファイバ束５２の入射端部が保持パイプ５４を
介して連結されている。対物レンズ５０をこのような配
置構成としたことにより、観察範囲は把持爪２４の内外
に亘って広く設定することができる。第５図〜第７図に
観察範囲を示す。即ち、対物レンズ５０は支軸２６の軸
心ｅ、 、ｅｚ間の中心位置にあるから、第５図に示す
ように、把持爪２４を閉じた状態では把持爪２４の各内
側を平均的に観察できる（なお対物レンズ５０による視
野は図示のθ。の如く例えば１１０°とする）。また、
把持爪２４を開いた状態では第６図に示ずように把持爪
２４の先端部間を介して外方（前方）が開き角度θだげ
観察できるとともに、１１０°以内の範囲θ′で把持爪
２４の内側を観察できる。一方、爪の幅方向においては
、把持爪２４を閉じた状態では、第７図に示すように、
イメージガイド５０が偏位した側の外部一定範囲θ１を
観察できるほか、先端部軸線に沿って爪内側一定範囲θ
２で爪内側観察が可能であり、対物レンズ５０と反対の
側では一定範囲θ３で爪内外の観察が行なえる。Behind the objective lens 50, an input end of an image guide fiber bundle 52 for transmitting an observation image based on the objective lens 50 to an eyepiece provided in the operating section is connected via a holding pipe 54. By arranging the objective lens 50 in this manner, the observation range can be set to be wide ranging from the inside to the outside of the gripping claw 24. The observation range is shown in FIGS. 5 to 7. That is, since the objective lens 50 is located at the center between the axes e, , and ez of the support shaft 26, as shown in FIG. (Note that the field of view through the objective lens 50 is, for example, 110° as shown in θ in the figure). Also,
When the gripping claws 24 are opened, as shown in FIG. 6, the outside (front) can be observed between the tips of the gripping claws 24 within an opening angle θ, and the gripping claws 24 can be grasped within a range θ' of 110°. The inside of the nail 24 can be observed. On the other hand, in the width direction of the claws, when the gripping claws 24 are closed, as shown in FIG.
In addition to observing an external fixed range θ1 on the side where the image guide 50 is deviated, a fixed internal range θ1 of the claw can be observed along the tip axis.
2, it is possible to observe the inside of the nail, and on the opposite side to the objective lens 50, it is possible to observe the inside and outside of the nail within a certain range θ3.
なお、把持爪２４の基端側に切開部３４を設けたことに
より、把持爪２４を閉じた場合の観察範囲の狭少化が防
１にされる。即ち、各把持爪２４の支点を個別として離
間させた構成においては、把持爪２４を開いた場合に各
支点を中心にそれぞれ基端側か逆に閉じ状態となって視
野を狭める可能性がある。この点、切開部３４が対物レ
ンズ５０側に設けであるこの実施では切開部３４により
常に一定範囲の開口量が確保され、爪閉塞時に設定した
観察範囲が爪開放時にも失われない。Note that by providing the incision 34 on the proximal end side of the gripping claw 24, narrowing of the observation range when the gripping claw 24 is closed is prevented. In other words, in a configuration in which the fulcrums of each gripping claw 24 are separate and separated, when the gripping claws 24 are opened, the gripping claws 24 may close to the proximal end or vice versa, narrowing the field of view around each fulcrum. . In this regard, in this implementation in which the incision 34 is provided on the objective lens 50 side, the incision 34 always ensures a certain range of opening amount, and the observation range set when the nail is closed is not lost even when the nail is opened.
なお、第４図に示すように、照明窓５６は先端金具６の
先端面に、対物レンズ５０に近接して配設され、把持爪
２４の内外に投光するようになっている。As shown in FIG. 4, the illumination window 56 is disposed on the distal end surface of the distal end fitting 6, close to the objective lens 50, and is adapted to project light into and out of the gripping claw 24.
なお、把持爪２４は、その一部又は前部を透明な材料に
よって構成してもよい。即ち、対物レンズ５０の前方一
定範囲に把持爪２４が突出するこの実施例においては、
対物レンズ５０の視野を把持爪２４の一部が妨げること
は避けられない。そこで、透明材料を使用して、把持爪
２４の一部又は全部が外部透視可能とすれば、それだけ
外部の視野を拡大することができる。なお、把持爪２４
の全体を透明にすれば、前記の切開部３５を省略するこ
とが可能となり、また、前述した観察範囲については、
全ての範囲で把持爪２４の外部観察が可能である。Note that a portion or a front portion of the gripping claw 24 may be made of a transparent material. That is, in this embodiment in which the gripping claws 24 protrude in a certain range in front of the objective lens 50,
It is inevitable that a portion of the gripping claws 24 will obstruct the field of view of the objective lens 50. Therefore, if a transparent material is used to make part or all of the gripping claws 24 visible through the outside, the outside field of view can be expanded accordingly. Note that the gripping claw 24
If the entire area is made transparent, it becomes possible to omit the incision section 35, and the observation range described above is
External observation of the gripping claws 24 is possible in all ranges.
なお、先端金具６の中心部には鉗子口６０が開設され、
その後方に鉗子ガイドチューブ６２を接続されている。In addition, a forceps opening 60 is opened in the center of the tip fitting 6,
A forceps guide tube 62 is connected to the rear thereof.
これにより、挿入部先端中央に各種の鉗子（図示せず）
を突出させることができる。例えば、把持爪２４によっ
て大形な胆道内結石等を把持した状態で、鉗子口６０か
ら釘付鉗子を突出させて、その結石を破砕する。破砕後
は、標準形、ワニロ形又ははさみ形等の鉗子によって結
石回収が行なえる。後に洗浄等を行なうこともできる。This allows you to attach various forceps (not shown) to the center of the insertion tube tip.
can be made to stand out. For example, with the grasping claws 24 grasping a large stone in the biliary tract, nailed forceps are made to protrude from the forceps opening 60 to crush the stone. After fragmentation, the stone can be recovered using standard, alligator, or scissor-type forceps. Cleaning etc. can also be performed afterwards.
以」二のように、本発明に係る内視鏡によれば、挿入部
先端の前方に把持爪を開閉操作可能に設けたので、従来
のものでは回収、破砕できなかった大きな患部、例えば
胆道内の結石等の異物でも、これを把持し、回収又は破
砕することができ、内視鏡による処置範囲を拡大するこ
とが可能となるしかも、光学系を挿入部先端の各把持爪
の支軸の軸心間中心位置で、且つ挿入部先端側に偏位さ
せた配置としたので、挿入部先端側に把持爪が設けられ
たにも拘らず、充分広範囲の光学的観察が可能となる。As described above, according to the endoscope of the present invention, the gripping claw is provided in front of the tip of the insertion part so that it can be opened and closed, so it can be used to remove large affected areas, such as the biliary tract, which could not be recovered or crushed with conventional endoscopes. Even foreign objects such as stones inside the body can be grasped and recovered or crushed, making it possible to expand the scope of treatment with the endoscope. Since it is arranged at the center position between the axes of , and is offset toward the distal end side of the insertion section, optical observation over a sufficiently wide range is possible despite the gripping claws being provided on the distal end side of the insertion section.
図面は本発明に係る内視鏡の一実施例を示すもので、第
１図は一部断面にした正面図、第２図は一部断面にした
底面図、第３図は外形全体を示す底面図、第４図は第２
図の■−■線断面図、第５図は把持爪の閉状態における
作用説明図、第６図は開状態における作用説明図、第７
図は閉状態における作用説明図で第５図の底面図、第８
図は第６図の左側面図、第９図は屈曲作用説明図、第１
０図は把持作用の説明図である。
２・・・挿入部、 ６・・・先端金具、 ２４・・・把
持爪、 ２６・・・支軸、 ４２・・・操作ワイヤ
、 ５０・・・光学系。The drawings show an embodiment of the endoscope according to the present invention, in which Fig. 1 is a front view partially cut away, Fig. 2 is a bottom view partially cut away, and Fig. 3 shows the entire external shape. Bottom view, Figure 4 is the 2nd
5 is an explanatory diagram of the action of the gripping claw in the closed state, FIG. 6 is an explanatory diagram of the action of the gripping claw in the open state, and FIG.
The figures are explanatory diagrams of the action in the closed state, the bottom view of figure 5 and the bottom view of figure 8.
The figure is a left side view of Fig. 6, Fig. 9 is an explanatory diagram of bending action, and Fig. 1
Figure 0 is an explanatory diagram of the gripping action. 2... Insertion part, 6... Tip metal fitting, 24... Gripping claw, 26... Support shaft, 42... Operation wire, 50... Optical system.
Claims (2)
は、挿入部中心から外周側に離れた位置に設けた一対の
支軸を介して夫々挿入部先端より前方の突出した位置で
互いに開閉可能に設けられ、各把持爪は挿入部内に挿通
した操作ワイヤの押引により開閉動作するようにしたも
のであって、観察光学系を、前記挿入部先端の前記各把
持爪の支軸の軸心間中心位置で、且つ挿入部中心から外
周側に偏位した位置に配置したことを特徴とする内視鏡
。(1) A pair of gripping claws are provided at the tip of the insertion tube, and each of these gripping nails is positioned at a position protruding forward from the tip of the insertion tube, respectively, via a pair of support shafts provided at positions spaced apart from the center of the insertion tube toward the outer periphery. The gripping claws are opened and closed by pushing and pulling an operating wire inserted into the insertion section, and the observation optical system is connected to the support of each of the gripping claws at the tip of the insertion section. An endoscope characterized in that the endoscope is disposed at a center position between the axes of the shafts and at a position offset from the center of the insertion part to the outer circumferential side.
請求の範囲第１項記載の内視鏡。(2) The endoscope according to claim 1, wherein the gripping claw is made of a transparent material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60264132A JPS62122650A (en) | 1985-11-25 | 1985-11-25 | Endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60264132A JPS62122650A (en) | 1985-11-25 | 1985-11-25 | Endoscope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62122650A true JPS62122650A (en) | 1987-06-03 |
| JPH0324216B2 JPH0324216B2 (en) | 1991-04-02 |
Family
ID=17398904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60264132A Granted JPS62122650A (en) | 1985-11-25 | 1985-11-25 | Endoscope |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62122650A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012143581A (en) * | 2001-06-29 | 2012-08-02 | Intuitive Surgical Inc | Minimally invasive surgical apparatus with end effector |
| US9005112B2 (en) | 2001-06-29 | 2015-04-14 | Intuitive Surgical Operations, Inc. | Articulate and swapable endoscope for a surgical robot |
| US9095317B2 (en) | 2002-12-06 | 2015-08-04 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS505877A (en) * | 1973-05-18 | 1975-01-22 | ||
| JPS59184801U (en) * | 1983-05-28 | 1984-12-08 | 富士写真光機株式会社 | Endoscope |
-
1985
- 1985-11-25 JP JP60264132A patent/JPS62122650A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS505877A (en) * | 1973-05-18 | 1975-01-22 | ||
| JPS59184801U (en) * | 1983-05-28 | 1984-12-08 | 富士写真光機株式会社 | Endoscope |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012143581A (en) * | 2001-06-29 | 2012-08-02 | Intuitive Surgical Inc | Minimally invasive surgical apparatus with end effector |
| JP2013208506A (en) * | 2001-06-29 | 2013-10-10 | Intuitive Surgical Inc | Minimally invasive surgical apparatus with end effector |
| US9005112B2 (en) | 2001-06-29 | 2015-04-14 | Intuitive Surgical Operations, Inc. | Articulate and swapable endoscope for a surgical robot |
| US9717486B2 (en) | 2001-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Apparatus for pitch and yaw rotation |
| US9730572B2 (en) | 2001-06-29 | 2017-08-15 | Intuitive Surgical Operations, Inc. | Articulate and swappable endoscope for a surgical robot |
| US10105128B2 (en) | 2001-06-29 | 2018-10-23 | Intuitive Surgical Operations, Inc. | Apparatus for pitch and yaw rotation |
| US10506920B2 (en) | 2001-06-29 | 2019-12-17 | Intuitive Surgical Operations, Inc. | Articulate and swappable endoscope for a surgical robot |
| US11051794B2 (en) | 2001-06-29 | 2021-07-06 | Intuitive Surgical Operations, Inc. | Apparatus for pitch and yaw rotation |
| US9095317B2 (en) | 2002-12-06 | 2015-08-04 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
| US9585641B2 (en) | 2002-12-06 | 2017-03-07 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
| US10524868B2 (en) | 2002-12-06 | 2020-01-07 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
| US11633241B2 (en) | 2002-12-06 | 2023-04-25 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0324216B2 (en) | 1991-04-02 |
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