[go: up one dir, main page]

US20200359877A1 - Robotic surgical assemblies and adapter assemblies thereof - Google Patents

Robotic surgical assemblies and adapter assemblies thereof Download PDF

Info

Publication number
US20200359877A1
US20200359877A1 US16/961,321 US201916961321A US2020359877A1 US 20200359877 A1 US20200359877 A1 US 20200359877A1 US 201916961321 A US201916961321 A US 201916961321A US 2020359877 A1 US2020359877 A1 US 2020359877A1
Authority
US
United States
Prior art keywords
housing
endoscope
proximal
distal
assembly
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.)
Abandoned
Application number
US16/961,321
Other languages
English (en)
Inventor
Chi Min Seow
Jaimeen Kapadia
Michael Zemlok
Mark MACLEOD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Covidien LP
Original Assignee
Covidien LP
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Covidien LP filed Critical Covidien LP
Priority to US16/961,321 priority Critical patent/US20200359877A1/en
Assigned to COVIDIEN LP reassignment COVIDIEN LP ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SEOW, CHI MIN, MACLEOD, MARK, KAPADIA, Jaimeen, ZEMLOK, MICHAEL
Publication of US20200359877A1 publication Critical patent/US20200359877A1/en
Abandoned legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • 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
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for 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
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
    • A61B90/96—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes

Definitions

  • an adapter assembly for connecting an endoscope to a robotic surgical system.
  • the adapter assembly includes a proximal housing, a distal housing, and a drive assembly.
  • the proximal housing has a proximal portion and a distal portion.
  • the proximal portion of the proximal housing is configured to be coupled to an instrument drive unit of a robotic surgical system.
  • the distal portion of the proximal housing defines an opening therein.
  • the distal housing includes a proximal portion and a distal portion.
  • the proximal portion of the distal housing is rotatably received within the opening of the distal portion of the proximal housing.
  • the distal portion of the distal housing defines a channel longitudinally therethrough that is configured for non-rotatable receipt of an endoscope.
  • the drive assembly includes an input and an output.
  • the input is configured to be operably coupled to a motor of the instrument drive unit.
  • the output is operably coupled to the proximal portion of the distal housing to rotate the distal housing relative to the proximal housing.
  • the adapter assembly may include a pair of bearings.
  • the pair of bearings may be longitudinally spaced from one another and disposed between an outer surface of the distal housing and an inner surface of the proximal housing to facilitate rotation of the distal housing relative to the proximal housing.
  • the proximal housing may define an opening in the proximal portion thereof for passage of a cable of an endoscope.
  • a surgical assembly for interconnecting an endoscope and a surgical robotic arm.
  • the surgical assembly includes a surgical instrument holder and an adapter assembly.
  • the surgical instrument holder is supported on a surgical robotic arm.
  • the adapter assembly includes a proximal housing, a distal housing, and a drive assembly.
  • the proximal housing has a proximal portion and a distal portion.
  • the proximal portion of the proximal housing is configured to be coupled to an instrument drive unit of the surgical assembly.
  • the distal portion of the proximal housing defines an opening therein.
  • the distal housing includes a proximal portion and a distal portion.
  • the proximal portion of the distal housing is rotatably received within the opening of the distal portion of the proximal housing.
  • the distal portion of the distal housing defines a channel longitudinally therethrough that is configured for non-rotatable receipt of an endoscope.
  • the drive assembly includes an input and an output.
  • the input is configured to be operably coupled to a motor of the instrument drive unit.
  • the output is operably coupled to the proximal portion of the distal housing to rotate the distal housing and the endoscope relative to the proximal housing.
  • the surgical instrument holder may include a motor operably coupled to the instrument drive unit such that actuation of the motor of the surgical instrument holder effects rotation of each of the instrument drive unit, the proximal and distal housings of the adapter assembly, and the endoscope relative to the surgical instrument holder.
  • the rotation of the endoscope caused by the motor of the surgical instrument holder may be at a slower rate than the rotation of the endoscope caused by the motor of the instrument drive unit.
  • a method of assembling an endoscopic surgical assembly includes supporting a surgical instrument holder on a surgical robotic arm.
  • the surgical instrument holder includes a motor.
  • An instrument drive unit having a motor is provided, and the adapter assembly is provided.
  • the method further includes supporting the instrument drive unit on the surgical instrument holder, coupling the proximal portion of the proximal housing to the instrument drive unit thereby operably coupling the input of the adapter assembly to the motor of the instrument drive unit, disposing a proximal portion of an endoscope within the channel defined in the distal housing of the adapter assembly, and actuating the motor of the instrument drive unit to effect rotation of the distal housing of the adapter assembly and the endoscope relative to the proximal housing of the adapter assembly.
  • the adapter assembly may further include a latch pivotably connected to the proximal portion of the distal housing, and a lock connected to the proximal portion of the distal housing.
  • the latch is configured to selectively connect to the lock for selectively retaining an endoscope within the adapter assembly.
  • an adapter assembly for an endoscope includes an elongate housing and a locking collar.
  • the elongate housing defines a channel longitudinally therethrough that is configured for receipt of an endoscope.
  • the locking collar includes an annular member non-rotatably connected to a proximal end of the elongate housing, and a surface feature extending distally from the annular member. The surface feature is configured for coupling the locking collar to a surgical robotic arm.
  • the annular member may include a threaded inner surface configured to threadingly engage a surgical instrument holder.
  • the surface feature of the locking collar may include two arcuate tabs that extend distally from the annular member.
  • the elongate housing may include a first half section and a second half section removably connected to the first half section.
  • the annular member of the locking collar may include a threaded inner surface configured to threadingly engage a threaded outer surface of the inner member of the surgical instrument holder.
  • the surgical instrument holder may include a motor operably coupled to the inner member of the surgical instrument holder such that actuation of the motor rotates the inner member, the adapter assembly, and the endoscope.
  • the surgical assembly may further include a drive assembly, which includes a pulley, a belt, and a ring gear.
  • the pulley is rotatably disposed within the outer member and in operable engagement with the motor such that actuation of the motor rotates the pulley.
  • the belt is rotatably disposed within the outer member and in operable engagement with the pulley such that rotation of the pulley effects rotation of the belt.
  • the ring gear is non-rotatably disposed about the inner member and in operable engagement with the belt such that rotation of the belt effects rotation of the inner member.
  • the belt may be a closed loop and may include teeth extending from an inner surface of the belt.
  • the ring gear may have teeth extending from an outer surface thereof that are in operable engagement with the teeth of the belt.
  • FIG. 1 is a schematic illustration of a robotic surgical system including a robotic surgical assembly in accordance with the present disclosure
  • FIG. 6 is a perspective view of the adapter assembly of FIG. 3 , illustrating a proximal housing, in transparent form, a distal housing, and a drive assembly;
  • FIG. 9 is a cross-sectional view, taken along lines 9 - 9 in FIG. 8 , of the adapter assembly having the endoscope disposed therein;
  • FIG. 11 is a perspective view of the adapter assembly of FIG. 8 with the endoscope disposed therein and illustrating a latch mechanism in an unlocked state;
  • FIG. 13 is a perspective view of the adapter assembly of FIG. 12 coupled to the endoscope of FIG. 7 ;
  • FIG. 14 is an enlarged view of the adapter assembly of FIG. 13 having the endoscope coupled thereto;
  • FIG. 15 is a perspective view of the surgical instrument holder of FIG. 12 ;
  • FIG. 17 is a cross-sectional view, taken along lines 17 - 17 of FIG. 15 , illustrating a drive assembly of the surgical instrument holder;
  • FIG. 18 is a cross-sectional view, taken along lines 18 - 18 of FIG. 15 , illustrating the drive assembly of the surgical instrument holder;
  • FIG. 19 is a cross-sectional view, taken along lines 19 - 19 of FIG. 15 , illustrating the drive assembly of the surgical instrument holder;
  • FIG. 21A is a perspective view of another embodiment of an adapter assembly for interconnecting the instrument drive unit of FIG. 2 and the endoscope of FIG. 7 ;
  • FIG. 23 is a perspective view of the adapter assembly of FIG. 21A illustrating a door of the adapter assembly in an open configuration exposing a locking assembly;
  • Embodiments of the presently disclosed surgical assembly including a surgical instrument holder, an instrument drive unit, an adapter assembly, and an endoscope, and methods thereof, are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views.
  • distal refers to that portion of the surgical instrument holder, instrument drive unit, adapter assembly, and/or endoscope, that is closer to the patient
  • proximal refers to that portion of the surgical instrument holder, instrument drive unit, adapter assembly, and/or endoscope, that is farther from the patient.
  • a robotic surgical system that includes a robotic surgical assembly, which is coupled with or to a robotic arm.
  • the robotic surgical assembly generally includes a surgical instrument holder, an adapter assembly, which is coupled to the surgical instrument holder, and an endoscope, which is coupled to the adapter assembly.
  • the endoscope may be rotated by actuation of a motor supported in the surgical instrument holder, which transfers its rotational motion to the adapter assembly and in turn the endoscope.
  • Operating console 5 includes a display device 6 , which is set up in particular to display three-dimensional images; and manual input devices 7 , 8 , by means of which a person (not shown), for example a surgeon, is able to telemanipulate robotic arms 2 , 3 in a first operating mode, as known in principle to a person skilled in the art.
  • Each of the robotic arms 2 , 3 may be composed of a plurality of members, which are connected through joints.
  • Robotic arms 2 , 3 may be driven by electric drives (not shown) that are connected to control device 4 .
  • Robotic surgical system 1 is configured for use on a patient “P” lying on a surgical table “ST” to be treated in a minimally invasive manner by means of a surgical instrument, e.g., endoscope 200 .
  • Robotic surgical system 1 may also include more than two robotic arms 2 , 3 , the additional robotic arms likewise being connected to control device 4 and being telemanipulatable by means of operating console 5 .
  • a surgical instrument, for example, endoscope 200 may also be attached to the additional robotic arm.
  • each motor of the instrument drive unit 110 can be configured to actuate a drive rod/cable or a lever arm to effect operation and/or movement of an electromechanical surgical instrument (not shown).
  • robotic surgical system 1 includes the robotic surgical assembly 100 , which is coupled with or to robotic arm 2 or 3 .
  • the robotic surgical assembly 100 includes the surgical instrument holder 102 , the instrument drive unit 110 , the adapter assembly 120 , and the endoscope 200 .
  • Instrument drive unit 110 transfers power and actuation forces from a motor 115 thereof to a drive assembly 160 (See FIG. 5 ) of adapter assembly 120 to drive a rotation of endoscope 200 up to least about 180 degrees about its longitudinal axis “X.”
  • Endoscope 200 may be rotated at least an additional 180 degrees by actuation of motor “M” supported in surgical instrument holder 102 , which transfers its rotational motion to adapter assembly 120 and in turn to endoscope 200 .
  • surgical assembly 100 provides two mechanical pathways to adjust the rotational position of endoscope 200 , with each mechanical pathway resulting in a different rate of rotation of endoscope 200 , as will be described below.
  • surgical instrument holder 102 of surgical assembly 100 functions to support instrument drive unit 110 and to actuate a rotation of motor assembly 114 of instrument drive unit 110 .
  • Surgical instrument holder 102 includes a back member or carriage 104 , and an outer member or housing 106 extending laterally (e.g., perpendicularly) from an end of carriage 104 .
  • housing 106 may extend at various angles relative to carriage 104 and from various portions of carriage 104 .
  • Carriage 104 has a first side 108 a and a second side 108 b , opposite first side 108 a .
  • First side 108 a of carriage 104 is detachably connectable to rail 40 of robotic arm 2 and enables surgical instrument holder 102 to slide or translate along rail 40 of robotic arm 2 .
  • Second side 108 b of carriage 104 is configured to non-rotatably support a housing or outer shell 112 of instrument drive unit 110 .
  • the drive shaft of carriage 104 has a gear or coupling member (not shown) configured for operable engagement with a gear or coupling member (not shown) of motor assembly 114 of instrument drive unit 110 to transfer a rotation from motor “M” of surgical instrument holder 102 to motor assembly 114 of instrument drive unit 110 , as will be described in detail below.
  • motor “M” of surgical instrument holder 102 may drive the rotation of motor assembly 114 of instrument drive unit 110 by any suitable drive mechanism, for example, a gear assembly, a rack and pinion, pulley friction drive, hydraulics, pneumatics, a cable, belt, or the like.
  • Housing 106 of surgical instrument holder 102 defines a channel (not shown) therethrough configured to rotatably receive and support instrument drive unit 110 therein.
  • Housing 106 has a generally oblong semicircular shape, but in some embodiments, housing 106 may assume a variety of shapes, such as, for example, C-shaped, U-shaped, V-shaped, hook-shaped, or the like.
  • surgical assembly 100 includes the adapter assembly 120 that selectively intercouples instrument drive unit 110 and endoscope 200 to transfer rotational motion originating from instrument drive unit 110 into rotational motion of endoscope 200 about its longitudinal axis “X.”
  • Adapter assembly 120 generally includes a proximal housing 122 , a distal housing 124 rotatably coupled to proximal housing 122 , and a drive assembly 160 disposed within proximal housing 122 and configured to rotate distal housing 124 relative to proximal housing 122 .
  • Proximal portion 122 a of proximal housing 120 defines another pair of openings 134 a , 134 b that extend between inner and outer surfaces 132 a , 132 b . Openings 134 a , 134 b are configured for the passage of cables, for example, a light or fiber optic cable 210 and a communications cable 212 of endoscope 200 , from hollow interior 128 of proximal housing 122 to an exterior of proximal housing 122 of adapter assembly 120 .
  • proximal portion 122 a may have more than two openings for the passage of cables, or only one opening for the passage of one cable.
  • Distal portion 122 b of proximal housing 122 defines a distal opening 136 therethrough that is in line with a longitudinal axis defined by proximal housing 122 .
  • Distal portion 122 b of proximal housing 122 defines a pair of annular cutouts 138 a , 138 b formed in inner surface 132 a thereof.
  • Annular cutouts 138 a , 138 b are longitudinally spaced from one another and rotatably retain respective first and second bearings 140 a , 140 b of drive assembly 160 .
  • first and second bearings 140 a , 140 b may be substituted with bushings.
  • distal housing 124 of adapter assembly 120 has a proximal portion 124 a rotatably received in distal opening 136 of proximal housing 122 , and a distal portion 124 b .
  • Proximal portion 124 a of distal housing 124 has the first and second bearings 140 a , 140 b disposed thereabout.
  • first and second bearings 140 a , 140 b are disposed between inner surface 132 a of proximal housing 122 and an outer surface of distal housing 124 to facilitate rotation of distal housing 124 relative to proximal housing 122 .
  • Distal housing 124 of adapter assembly 120 has a generally elongated tubular configuration and defines a channel 142 longitudinally therethrough.
  • Channel 142 is configured to non-rotatably receive and retain a proximal portion 202 (e.g., a handle portion) of endoscope 200 .
  • distal housing 124 may be monolithically formed from a pliable material that conforms to proximal portion 202 of endoscope 200 such that endoscope 200 can be selectively inserted into or removed from distal housing 124 .
  • Distal housing 124 defines an opening 146 extending between an inner surface 148 a and an outer surface 148 b thereof. Opening 146 of distal housing 124 has an elliptical shape and is configured to align with control buttons 203 on proximal portion 202 of endoscope 200 upon receipt of endoscope 200 into distal housing 124 .
  • drive assembly 160 of adapter assembly 120 is configured to transfer rotation of drive shaft 117 ( FIG. 2 ) of instrument drive unit 110 into rotation of distal housing 124 of adapter assembly 120 relative to proximal housing 122 of adapter assembly 120 .
  • Drive assembly 160 includes a first drive shaft 162 having a proximal end 162 a and a distal end 162 b .
  • Proximal end 162 a of first drive shaft 160 has an input 164 configured for detachable operable engagement with the gear (not shown) of drive shaft 117 ( FIG. 2 ) of motor 115 of instrument drive unit 110 such that actuation of motor 115 of instrument drive unit 110 results in rotation of first drive shaft 162 of drive assembly 160 .
  • Input 164 of drive assembly 160 is in the form of a gear, such as, for example, a crown gear.
  • Distal end 162 b of first drive shaft 162 has a gear, such as, for example, a spur gear 166 that is rotatably supported on a proximal mounting plate 168 a of proximal housing 122 .
  • Proximal mounting plate 168 a is fixed within proximal portion 122 a of proximal housing 122 and is prevented from rotating therein.
  • Proximal mounting plate 168 a defines a bore 170 therethrough.
  • Proximal mounting plate 168 has a robotic system identification connector 165 that interfaces with a corresponding connector (not shown) of instrument drive unit 110 .
  • Connector 165 of adapter assembly 120 may be a magnetic, resistive or digital interface for identification, use, and/or life management, which can be read by a surgical system and/or feedback display.
  • Drive assembly 160 includes a second drive shaft 172 extending longitudinally through hollow interior 128 of proximal housing 122 and is laterally offset from first drive shaft 162 .
  • Second drive shaft 172 has a proximal end 172 a extending through bore 170 of proximal mounting plate 168 a , and a distal end 172 b extending through a bore 169 of a distal mounting plate 168 b , located distally from proximal mounting plate 168 a .
  • Distal mounting plate 168 b similar to proximal mounting plate 168 a , is fixed within proximal housing 122 and prevented from rotating therein.
  • Proximal end 172 a of second drive shaft 172 has a gear, such as, for example, a spur gear 174 , in operable engagement with spur gear 166 of first drive shaft 162 such that rotation of first drive shaft 162 results in rotation of second drive shaft 172 .
  • Distal end 172 b of second drive shaft 172 has an output 176 in the form of a gear in operable engagement with teeth 152 of ring gear 150 of distal housing 124 such that rotation of second drive shaft 172 results in rotation of distal housing 124 relative to proximal housing 122 .
  • surgical assembly 100 includes an endoscope, such as, for example, a standalone endoscope 200 . It is contemplated that a plurality of different types of endoscopes may be able to fit within distal housing 124 of adapter assembly 120 other than endoscope 200 illustrated in FIG. 7 . Alternately, it is contemplated that a variety of different distal housings 124 for adapter assembly 120 may be available or provided which are specifically configured to interconnect a specific endoscope to robotic surgical system 1 .
  • Endoscope 200 generally includes a proximal portion 202 having manual control buttons 203 , and an endoscopic tube housing 204 extending distally from proximal portion 202 .
  • Rotation of input 164 rotates first drive shaft 162 of drive assembly 160 , and in turn rotates second drive shaft 172 of drive assembly 160 due to gears 166 , 174 of respective first and second drive shafts 162 , 172 being in meshing engagement. Since gear 174 of second drive shaft 172 is in operable engagement with ring gear 150 of distal housing 124 , rotation of second drive shaft 172 of drive assembly 160 effects rotation of distal housing 124 relative to proximal housing 122 . With endoscope 200 retained within distal housing 124 , endoscope 200 rotates about its longitudinal axis “X” as distal housing 124 rotates. It is contemplated that by actuating motor 115 of motor assembly 114 , distal housing 124 and endoscope 200 can be rotated up to about 180 degrees, in either direction, relative to proximal housing 122 .
  • motor assembly 114 of instrument drive unit 110 is non-rotatably connected to proximal portion 122 a of proximal housing 122 of adapter assembly 120 , rotation of motor assembly 114 of instrument drive unit 110 causes proximal housing 122 of adapter assembly 120 to rotate and in turn rotates distal housing 124 of adapter assembly 120 and endoscope 200 about its longitudinal axis “X.” It is contemplated that distal housing 124 of adapter assembly 120 and endoscope 200 can be rotated up to about 180 degrees, in either direction, by motor “M” of surgical instrument holder 102 .
  • the endoscope 200 may be rotated in such a manner that the cables 210 , 212 thereof do not swing close to the rail 40 .
  • Proximal housing 322 of adapter assembly 320 has a mechanical interface, such as, for example, a female or male mating feature 326 , configured to non-rotatably couple to a corresponding mating feature (not shown) of motor assembly 114 ( FIG. 2 ) of instrument drive unit 110 .
  • a rotation of motor assembly 114 of instrument drive unit 110 results in a rotation of adapter assembly 320 and any surgical instrument attached thereto, for example, endoscope 200 .
  • a proximal end 322 a of proximal housing 322 has a plurality of openings 334 a , 334 b defined therein configured for passage of proximal ends of a light cable 212 and a communications cable 210 of endoscope 200 .
  • Proximal housing 322 has a wire holder 323 configured to store cables 210 , 212 of endoscope 200 therein when cables 210 , 212 are not passed through openings 334 a , 334 b.
  • Latch 342 of latch lock mechanism 340 is pivotable between a locked configuration, as shown in FIG. 10 , and an unlocked configuration, as shown in FIG. 11 .
  • the locked configuration male mating feature 346 of latch 342 is engaged to the female mating feature of lock 344 , thereby encapsulating couplers 206 , 208 of endoscope 200 within proximal portion 324 a of distal housing 324 and inhibiting removal of endoscope 200 therefrom.
  • latch 342 is spaced from lock 344 allowing for either the removal of endoscope 200 from adapter assembly 320 or the insertion of endoscope 200 into adapter assembly 320 .
  • any suitable locking mechanism may be provided on distal portion 324 b of adapter assembly 320 or any portion of adapter assembly 320 to aid in the selective securement of endoscope 200 within adapter assembly 320 .
  • Distal portion 324 b of distal housing 324 has a generally elongate configuration and a hollow interior 328 configured for receipt of an endoscope, for example, endoscope 200 .
  • Hollow interior 328 has a generally non-circular shape, for example, rectangular, for non-rotatably retaining endoscope 200 therein. Due to the shape of hollow interior 328 of distal portion 324 b of distal housing 324 , a rotation of distal housing 324 of adapter assembly 320 causes endoscope 200 to rotate therewith.
  • Distal housing 324 of adapter assembly 320 further includes an inner housing 350 seated within distal portion 324 b of distal housing 324 .
  • Inner housing 350 has a curved wall 352 that extends longitudinally within distal housing 324 and is configured to cup or partially surround an outer surface of proximal portion 202 of endoscope 200 .
  • Inner housing 350 also includes a base 354 having a generally squared shape that prevents inner housing 350 from rotating within and relative to distal housing 324 . Base 354 prevents endoscope 200 from sliding distally out of adapter assembly 320 .
  • inner housing 350 may be pivotable in relation to distal portion 324 b of distal housing 324 to facilitate insertion of endoscope 200 into bore 356 of inner housing 350 .
  • drive assembly 360 of adapter assembly 320 is configured to transfer rotation of drive shaft 117 ( FIG. 2 ) of instrument drive unit 110 into rotation of distal housing 324 of adapter assembly 320 relative to proximal housing 322 of adapter assembly 320 .
  • Drive assembly 360 includes a first drive shaft 362 having a proximal end 362 a and a distal end 362 b .
  • Proximal end 362 a of first drive shaft 360 has an input 364 in the form of a gear, such as, for example, a crown gear.
  • Input 364 is configured for detachable operable engagement with the gear (not shown) of drive shaft 117 ( FIG.
  • Distal end 362 b of first drive shaft 362 has a gear, such as, for example, a spur gear 366 .
  • Distal end 372 b of second drive shaft 372 is disposed within proximal portion 324 a of distal housing 324 and is fixed to a surface thereof such that rotation of second drive shaft 372 results in a rotation of distal housing 324 relative to proximal housing 322 .
  • drive assembly 360 of adapter assembly 320 may be substituted with any suitable mechanism that transfers rotational motion originating from motor 115 of instrument drive unit 110 into rotation of distal housing 324 of adapter assembly 320 relative to proximal housing 322 of adapter assembly 320 .
  • carriage 104 ( FIG. 2 ) of surgical instrument holder 102 is attached to rail 40 of robotic arm 2 .
  • Instrument drive unit 110 is positioned within the channel (not shown) of surgical instrument holder 102 and supported on side 108 b of carriage 104 of surgical instrument holder 102 .
  • Proximal portion 322 a of proximal housing 322 of adapter assembly 320 is non-rotatably coupled to motor assembly 114 of instrument drive unit 110 and motor 115 of instrument drive unit 110 is operably coupled to input 364 of drive assembly 360 of adapter assembly 320 .
  • Tube 204 of endoscope 200 is slidably received within bore 356 of inner housing 350 of adapter assembly 320 to seat endoscope 200 in inner housing 350 of adapter assembly 320 .
  • endoscope 200 may be rotated at a first rate or a second rate, slower than the first rate, depending on how precise the clinician needs to be with positioning the endoscope 200 in a surgical site.
  • a clinician operating manual input devices 7 , 8 of surgical system 1 may actuate motor 115 of motor assembly 114 of instrument drive unit 110 .
  • Actuation of motor 115 of instrument drive unit 110 rotates the gear (not shown) thereof, which rotates input 364 of drive assembly 360 of adapter assembly 320 due to input 364 of drive assembly 360 being operably engaged to the gear of instrument drive unit 110 .
  • Rotation of input 364 rotates first drive shaft 362 of drive assembly 360 , and in turn rotates second drive shaft 372 of drive assembly 360 due to gears 366 , 374 of respective first and second drive shafts 362 , 372 being in meshing engagement. Since distal end 372 b of second drive shaft 372 is fixed to distal housing 324 , rotation of second drive shaft 372 of drive assembly 360 effects rotation of distal housing 324 relative to proximal housing 322 . With endoscope 200 retained within distal housing 324 , endoscope 200 rotates about its longitudinal axis “X” as distal housing 324 rotates. It is contemplated that by actuating motor 115 of motor assembly 114 , distal housing 324 and endoscope 200 can be rotated up to about 180 degrees, in either direction, relative to proximal housing 322 .
  • a clinician operating manual input devices 7 , 8 of surgical system 1 may actuate motor “M” of surgical instrument holder 102 .
  • Actuation of motor “M” of surgical instrument holder 102 drives a rotation of the motor shaft (not shown) thereof, which transfers its rotational motion to motor assembly 114 of instrument drive unit 110 .
  • motor assembly 114 of instrument drive unit 110 is non-rotatably connected to proximal portion 322 a of proximal housing 322 of adapter assembly 320 , rotation of motor assembly 114 of instrument drive unit 110 causes proximal housing 322 of adapter assembly 320 to rotate and in turn rotates distal housing 324 of adapter assembly 320 and endoscope 200 about its longitudinal axis “X.” It is contemplated that distal housing 324 of adapter assembly 320 and endoscope 200 can be rotated up to about 180 degrees, in either direction, by motor “M” of surgical instrument holder 102 .
  • the surgical assembly 400 includes an endoscope, such as, for example, the stand alone endoscope 200 of FIG. 7 , and an adapter assembly 420 configured for receipt of endoscope 200 . It is contemplated that a plurality of different types of endoscopes may be able to fit within an elongate housing 422 of adapter assembly 420 other than endoscope 200 illustrated in FIG. 7 . Alternately, it is contemplated that a variety of different elongate housings 422 of adapter assembly 420 may be available or provided which are specifically configured to interconnect a specific endoscope to robotic surgical system 1 ( FIG. 1 ).
  • Locking collar 424 of adapter assembly 420 is receivable within surgical instrument holder 402 to be drivingly coupled to a motor “M” ( FIG. 20 ) of surgical instrument holder 402 such that an actuation of motor “M” effects rotation of adapter assembly 420 .
  • Locking collar 424 includes an annular member 426 and a pair of surface features 428 a , 428 b extending distally therefrom.
  • Annular member 426 of locking collar 424 is non-rotatably disposed about proximal end 422 a of elongate housing 422 to transfer rotation caused by actuation of “M” of surgical instrument holder 402 to elongate housing 422 and in turn to endoscope 200 .
  • Surface features 428 a , 428 b of locking collar 424 are male mating members, such as, for example, a pair of arcuate tabs extending distally from annular member 426 of locking collar 424 .
  • Tabs 428 a , 428 b are configured for mating receipt within respective recesses 494 a , 494 b defined in inner member 490 of surgical instrument holder 402 to assist in the transfer of rotational motion from inner member 490 of surgical instrument holder 402 to locking collar 424 of adapter assembly 420 .
  • surgical instrument holder 402 of surgical assembly 400 functions to support adapter assembly 420 therein, and to effect a rotation of adapter assembly 420 relative thereto.
  • Surgical instrument holder 402 which is similar to the holder 102 of FIG. 2 , includes a back member or carriage 404 , and an outer member or housing 406 extending laterally (e.g., perpendicularly) from an end of carriage 404 .
  • outer member 406 may extend at various angles relative to carriage 404 and from various portions of carriage 404 .
  • Carriage 404 has a first side 408 a and a second side 408 b , opposite first side 408 a .
  • First side 408 a of carriage 404 is slidably connected to rail 40 of robotic arm 2 ( FIG. 2 ) to enable surgical instrument holder 402 to slide or translate along rail 40 ( FIG. 2 ) of robotic arm 2 .
  • first side 408 a of carriage 404 may also be detachably connected to rail 40 .
  • the drive shaft of carriage 404 is operably coupled to a drive assembly 450 of surgical instrument holder 402 , which transfers a rotation from motor “M” of surgical instrument holder 402 to adapter assembly 420 when adapter assembly 420 is received in surgical instrument holder 402 , as will be described in detail below.
  • drive assembly 450 of surgical instrument holder 402 resides within outer member 406 of surgical instrument holder 402 and is configured to transfer a rotation of the drive shaft of motor “M” of surgical instrument holder 402 into rotational motion of adapter assembly 420 when adapter assembly 420 is operably received within surgical instrument holder 402 .
  • drive assembly 450 of surgical instrument holder 402 includes a first pulley 454 and a second pulley 456 each disposed within outer member 406 .
  • First pulley 454 is non-rotatably coupled to the drive shaft of motor “M” of surgical instrument holder 402 such that rotation of the drive shaft effects rotation of first pulley 454 relative to outer member 406 .
  • First and second pulleys 454 , 456 may be selectively movable within housing 406 to different locations of housing 406 .
  • First and second pulleys 454 , 456 are each in the form of gears, such as, for example, spur gears, having teeth 458 extending radially from a periphery thereof.
  • first and second pulleys 454 , 456 may have smooth outer surfaces without teeth.
  • Drive assembly 450 further includes a drive strap or belt 460 rotatably and/or translatably received within outer member 406 .
  • Belt 460 is a closed loop and fabricated from a pliable material such that belt 460 may be manipulated into any suitable shape.
  • belt 460 takes on the oblong semicircular shape of outer member 406 upon being received in outer member 406 .
  • belt 460 may be formed from a rigid material and have a permanent oblong semicircular shape corresponding to the shape of outer member 406 .
  • Belt 460 has teeth 462 extending from an inner surface thereof.
  • Recess 494 b of lower inner member 490 c is configured for receipt of the other tab of tabs 428 a , 428 b of adapter assembly 420 such that upon receipt of adapter assembly 420 within surgical instrument holder 402 , tabs 428 a , 428 b of locking collar 424 of adapter assembly 420 are seated within recesses 494 a , 494 b of inner member 490 of surgical instrument holder 402 . In this way, rotation of inner member 490 relative to outer member 406 causes adapter assembly 420 to rotate therewith.
  • endoscope 200 may be manipulated, for example, rotated, to a selected rotational position about its longitudinal axis “X.”
  • a clinician operating manual input devices 7 , 8 of surgical system 1 may actuate motor “M” of surgical instrument holder 402 .
  • Actuation of motor “M” of surgical instrument holder 402 drives a rotation of the motor shaft thereof, which transfers its rotational motion to first pulley 454 of drive assembly 450 .
  • belt 460 of drive assembly 450 is in operable engagement with first pulley 454 of drive assembly 450
  • ring gear 480 of drive assembly 450 is in operable engagement with belt 460
  • rotation of first pulley 454 causes belt 460 of drive assembly 450 to rotate and in turn causes ring gear 480 of drive assembly 450 to rotate.
  • Adapter assembly 520 selectively intercouples instrument drive unit 110 ( FIG. 2 ) and an endoscope, for example, endoscope 200 ( FIG. 7 ), to transfer rotational motion originating from instrument drive unit 110 ( FIG. 2 ) into rotational motion of endoscope 200 about its longitudinal axis “X.”
  • Adapter assembly 520 generally includes a proximal housing 522 , and a distal housing 524 non-rotatably coupled to proximal housing 522 .
  • Proximal housing 522 of adapter assembly 520 has a mechanical interface, such as, for example, a female or male mating feature 526 , configured to non-rotatably couple to a corresponding mating feature (not shown) of motor assembly 114 ( FIG. 2 ) of instrument drive unit 110 .
  • a rotation of motor assembly 114 of instrument drive unit 110 results in a rotation of adapter assembly 520 and any surgical instrument attached thereto, for example, endoscope 200 .
  • Proximal housing 522 of adapter assembly 520 has a main body 522 a and a latch or door 522 b pivotably coupled to main body 522 a .
  • Main body 522 a defines an arcuate channel 529 therein configured for the passage of proximal ends of a light cable 212 and a communications cable 210 of endoscope 200 , or any suitable wire or cable of endoscope 200 , for example, a fiber optic cable.
  • the configuration of the arcuate channel 529 is such that the arcuate channel 529 bends the cable of endoscope 200 and routs the proximal end of the cable of endoscope 200 in a distal direction.
  • Proximal housing 522 of adapter assembly 520 includes a locking assembly 530 disposed in the main body 522 a and which is configured to releasably lock the door 522 b of proximal housing 522 to main body 522 a , as will be described herein.
  • Locking assembly 530 includes a rotatable member or button 532 , a biasing member, for example, a torsion spring 534 , and a cap 536 .
  • the rotatable member 532 is rotatably disposed within main body 522 a so as to not project from main body 522 a , thereby reducing the likelihood of an inadvertent actuation of rotatable member 532 .
  • ramped end 542 of projection 540 of door 522 b engages finger 538 of rotatable member 532 to lift or raise finger 538 of rotatable member 532 , which, in turn, rotates rotatable member 532 in a first direction (e.g., a clockwise direction).
  • a first direction e.g., a clockwise direction
  • finger 538 of rotatable member 532 Upon closing door 522 b of proximal housing 522 , finger 538 of rotatable member 532 passes over ramped end 542 of projection 540 to permit the resilient bias of torsion spring 534 of locking assembly 530 to rotate rotatable member 532 in a second direction (e.g., a counter-clockwise direction) to seat or dispose finger 538 of rotatable member 532 in cutout 544 of projection 540 .
  • a second direction e.g., a counter-clockwise direction
  • finger 538 of locking assembly 530 With finger 538 of locking assembly 530 disposed within cutout 544 of projection 540 , opening door 522 b relative to main housing 522 a is resisted or prevented by the coupling of finger 538 of main body 522 a and projection 540 of door 522 b.
  • distal housing 524 of adapter assembly 520 has a semi-cylindrical shape (see FIG. 21B ) configured to partially surround endoscope 200 .
  • Distal housing 524 defines a hollow interior 528 having a generally non-circular shape, for example, rectangular, for non-rotatably retaining endoscope 200 therein. Due to the shape of hollow interior 528 of distal housing 524 , a rotation of distal housing 524 of adapter assembly 520 causes endoscope 200 to rotate therewith.
  • Distal housing 524 includes a flexible ring member 560 disposed therein. It is contemplated that ring member 560 may be fabricated from any suitable, flexible material, for example, an elastomer. Ring member 560 of distal housing 524 is configured to cup or partially surround an outer surface of proximal portion 202 of endoscope 200 . Ring member 560 prevents endoscope 200 from sliding distally out of adapter assembly 520 . Ring member 560 defines a bore 562 therethrough configured for receipt of endoscope 200 . Bore 562 of ring member 560 is cone-shaped to receive a cone-shaped or tapered distal end 202 b of proximal portion 202 of endoscope 200 .
  • Adapter assembly 520 may include a memory 564 , such as, for example, an identification chip ( FIG. 22 ), that stores a variety of information regarding various components of system 1 ( FIG. 1 ).
  • memory 564 may store identification information that can be used by system 1 to determine the identification of adapter assembly 520 or endoscope 200 connected to robotic arm 2 ( FIG. 2 ). Based on the determined identification of an adapter assembly or endoscope, system 1 may or may not provide energy to the surgical assembly 100 ( FIG. 2 ).
  • Each of the adapter assemblies of the present disclosure may be fabricated from a variety of suitable materials, for example, PEEK, PEK, PEKK, PEKEKK, UDEL, RADEL PPS, PPSU, UltemTM, ValoxTM, and/or various non-conductive materials including thermoplastics or resin-based materials.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Endoscopes (AREA)
US16/961,321 2018-01-10 2019-01-09 Robotic surgical assemblies and adapter assemblies thereof Abandoned US20200359877A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/961,321 US20200359877A1 (en) 2018-01-10 2019-01-09 Robotic surgical assemblies and adapter assemblies thereof

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201862615677P 2018-01-10 2018-01-10
US16/961,321 US20200359877A1 (en) 2018-01-10 2019-01-09 Robotic surgical assemblies and adapter assemblies thereof
PCT/US2019/012834 WO2019139941A1 (fr) 2018-01-10 2019-01-09 Ensembles chirurgicaux robotisés et ensembles adaptateurs associés

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2019/012834 A-371-Of-International WO2019139941A1 (fr) 2018-01-10 2019-01-09 Ensembles chirurgicaux robotisés et ensembles adaptateurs associés

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/441,615 Continuation US12478246B2 (en) 2018-01-10 2024-02-14 Robotic surgical assemblies and adapter assemblies thereof

Publications (1)

Publication Number Publication Date
US20200359877A1 true US20200359877A1 (en) 2020-11-19

Family

ID=67219893

Family Applications (2)

Application Number Title Priority Date Filing Date
US16/961,321 Abandoned US20200359877A1 (en) 2018-01-10 2019-01-09 Robotic surgical assemblies and adapter assemblies thereof
US18/441,615 Active US12478246B2 (en) 2018-01-10 2024-02-14 Robotic surgical assemblies and adapter assemblies thereof

Family Applications After (1)

Application Number Title Priority Date Filing Date
US18/441,615 Active US12478246B2 (en) 2018-01-10 2024-02-14 Robotic surgical assemblies and adapter assemblies thereof

Country Status (5)

Country Link
US (2) US20200359877A1 (fr)
EP (2) EP4147664A1 (fr)
JP (1) JP7041273B2 (fr)
CN (2) CN117243697A (fr)
WO (1) WO2019139941A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110786932A (zh) * 2019-11-19 2020-02-14 常州脉康仪医疗机器人有限公司 聚散式微创手术机器人从臂系统
US20210259528A1 (en) * 2020-02-20 2021-08-26 Omnivision Technologies, Inc. Medical micro-cable structure and connection method with mini camera cube chip
US11185215B2 (en) * 2017-08-07 2021-11-30 Boston Scientific Scimed, Inc. Medical systems, devices, and related methods
US11517181B2 (en) * 2018-04-04 2022-12-06 Coopersurgical, Inc. Endoscopic devices and related methods
US20220395161A1 (en) * 2019-12-04 2022-12-15 Hoya Corporation Endoscope device
WO2024148331A3 (fr) * 2023-01-06 2024-10-10 Horizon Surgical Systems, Inc. Porte-outil chirurgical pour des systèmes chirurgicaux robotiques intraoculaires

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6777694B2 (ja) 2018-08-28 2020-10-28 株式会社メディカロイド 内視鏡アダプタ
CN115867220B (zh) * 2019-11-25 2025-09-09 柯惠Lp公司 机器人外科系统
EP3888524B1 (fr) 2020-03-30 2023-11-29 Medicaroid Corporation Adaptateur d'endoscope
JP7536609B2 (ja) 2020-03-30 2024-08-20 株式会社メディカロイド 内視鏡アダプタ
JP7257353B2 (ja) 2020-03-30 2023-04-13 株式会社メディカロイド 内視鏡アダプタ、ロボット手術システムおよび内視鏡アダプタの回転位置調整方法
WO2022107073A1 (fr) * 2020-11-19 2022-05-27 Auris Health, Inc. Endoscope et système de montage pour un système chirurgical robotique
DE102021114429B4 (de) 2021-06-04 2025-11-06 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotersystem für minimalinvasive Chirurgie
US11839440B2 (en) * 2021-07-30 2023-12-12 Corindus, Inc. Attachment for robotic medical system
EP4555913A1 (fr) * 2022-07-13 2025-05-21 ROEN Surgical, Inc. Ensemble d'entraînement d'endoscope
DE102022118388B4 (de) 2022-07-22 2024-12-12 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgiesystem für die minimalinvasive robotische Chirurgie
DE102023104936A1 (de) 2023-02-28 2024-08-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgiesystem für minimalinvasive robotische Chirurgie System
CN118948444A (zh) * 2023-05-15 2024-11-15 瑞龙诺赋(上海)医疗科技有限公司 驱动装置、无菌屏障及手术机器人

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120065470A1 (en) * 2010-09-14 2012-03-15 The Johns Hopkins University Robotic system to augment endoscopes
US20120145427A1 (en) * 2010-12-14 2012-06-14 Robert Bosch Gmbh Handheld Power Tool, in Particular Power Drill or Power Screwdriver
US20140243849A1 (en) * 2013-02-26 2014-08-28 Remzi Saglam Remotely-operated robotic control system for use with a medical instrument and associated use thereof
US20150080907A1 (en) * 2013-09-13 2015-03-19 Vanderbilt University System and method for endoscopic deployment of robotic concentric tube manipulators for performing surgery
US20170095299A1 (en) * 2015-10-02 2017-04-06 Vanderbilt University Concentric tube robot
US20170348060A1 (en) * 2016-06-07 2017-12-07 Corindus, Inc. Device drive for catheter procedure system

Family Cites Families (421)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2957353A (en) 1958-08-26 1960-10-25 Teleflex Inc Connector
US3111328A (en) 1961-07-03 1963-11-19 Rito Vincent L J Di Multiuse adapter for manipulators
US3734515A (en) 1971-01-29 1973-05-22 Thor Power Tool Co Power wrench with interchangeable adapters
US3695058A (en) 1971-05-26 1972-10-03 Marvin W Keith Jr Flexible link rotatable drive coupling
US3759336A (en) 1972-01-21 1973-09-18 D Marcovitz Interchangeable power operated tools
US4162399A (en) 1977-09-16 1979-07-24 Bei Electronics, Inc. Optical encoder with fiber optics
US4606343A (en) 1980-08-18 1986-08-19 United States Surgical Corporation Self-powered surgical fastening instrument
US4705038A (en) 1985-01-23 1987-11-10 Dyonics, Inc. Surgical system for powered instruments
US4722685A (en) 1985-05-30 1988-02-02 Estrada Juan M De Tool for adapting a portable lathe to treat the back molar teeth of horses
US4683772A (en) 1985-07-25 1987-08-04 Westinghouse Electric Corp. Hand gear train with three degrees of freedom
SE469823B (sv) 1987-02-23 1993-09-27 Univ Western Australia Ledmekanism för robotarmar
US4823807A (en) 1988-02-11 1989-04-25 Board Of Regents, Univ. Of Texas System Device for non-invasive diagnosis and monitoring of articular and periarticular pathology
US4874181A (en) 1988-05-31 1989-10-17 Hsu Shing Wang Coupling member for securing a drilling head to the rotatable rod of a pneumatic tool body
US5301061A (en) 1989-07-27 1994-04-05 Olympus Optical Co., Ltd. Endoscope system
US5152744A (en) 1990-02-07 1992-10-06 Smith & Nephew Dyonics Surgical instrument
ATE105224T1 (de) 1990-02-23 1994-05-15 Stefan Kerpe Antrieb mindestens zweier konzentrischer wellen zum bewegen einer robotor-abtriebseinrichtung.
JP3034019B2 (ja) 1990-11-26 2000-04-17 旭光学工業株式会社 内視鏡の先端部
US5129570A (en) 1990-11-30 1992-07-14 Ethicon, Inc. Surgical stapler
US5413267A (en) 1991-05-14 1995-05-09 United States Surgical Corporation Surgical stapler with spent cartridge sensing and lockout means
US5129118A (en) 1991-07-29 1992-07-14 Walmesley Mark W Accessory tool apparatus for use on power drills
US5312023A (en) 1991-10-18 1994-05-17 United States Surgical Corporation Self contained gas powered surgical apparatus
US5478003A (en) 1991-10-18 1995-12-26 United States Surgical Corporation Surgical apparatus
US5326013A (en) 1991-10-18 1994-07-05 United States Surgical Corporation Self contained gas powered surgical apparatus
US5197649A (en) 1991-10-29 1993-03-30 The Trustees Of Columbia University In The City Of New York Gastrointestinal endoscoptic stapler
US5383874A (en) 1991-11-08 1995-01-24 Ep Technologies, Inc. Systems for identifying catheters and monitoring their use
US5383880A (en) 1992-01-17 1995-01-24 Ethicon, Inc. Endoscopic surgical system with sensing means
US5433721A (en) 1992-01-17 1995-07-18 Ethicon, Inc. Endoscopic instrument having a torsionally stiff drive shaft for applying fasteners to tissue
US5350355A (en) 1992-02-14 1994-09-27 Automated Medical Instruments, Inc. Automated surgical instrument
US5389098A (en) 1992-05-19 1995-02-14 Olympus Optical Co., Ltd. Surgical device for stapling and/or fastening body tissues
US5658300A (en) 1992-06-04 1997-08-19 Olympus Optical Co., Ltd. Tissue fixing surgical instrument, tissue-fixing device, and method of fixing tissues
US5609560A (en) 1992-08-19 1997-03-11 Olympus Optical Co., Ltd. Medical operation device control system for controlling a operation devices accessed respectively by ID codes
US5601224A (en) 1992-10-09 1997-02-11 Ethicon, Inc. Surgical instrument
US5431323A (en) 1992-10-09 1995-07-11 Ethicon, Inc. Endoscopic surgical instrument with pivotable and rotatable staple cartridge
US5662662A (en) 1992-10-09 1997-09-02 Ethicon Endo-Surgery, Inc. Surgical instrument and method
US5626587A (en) 1992-10-09 1997-05-06 Ethicon Endo-Surgery, Inc. Method for operating a surgical instrument
US5400267A (en) 1992-12-08 1995-03-21 Hemostatix Corporation Local in-device memory feature for electrically powered medical equipment
US5540706A (en) 1993-01-25 1996-07-30 Aust; Gilbert M. Surgical instrument
US5540375A (en) 1993-04-20 1996-07-30 United States Surgical Corporation Endoscopic stapler
US5467911A (en) 1993-04-27 1995-11-21 Olympus Optical Co., Ltd. Surgical device for stapling and fastening body tissues
CA2124109A1 (fr) 1993-05-24 1994-11-25 Mark T. Byrne Instrument chirurgical endoscopique avec capteur electromagnetique
US5542594A (en) 1993-10-06 1996-08-06 United States Surgical Corporation Surgical stapling apparatus with biocompatible surgical fabric
US5487499A (en) 1993-10-08 1996-01-30 United States Surgical Corporation Surgical apparatus for applying surgical fasteners including a counter
US5476379A (en) 1993-11-04 1995-12-19 Disel; Jimmy D. Illumination system and connector assembly for a dental handpiece
AU1558995A (en) 1994-01-04 1995-08-01 Alpha Surgical Technologies, Inc. Stapling device
US6165169A (en) 1994-03-04 2000-12-26 Ep Technologies, Inc. Systems and methods for identifying the physical, mechanical, and functional attributes of multiple electrode arrays
US5526822A (en) 1994-03-24 1996-06-18 Biopsys Medical, Inc. Method and apparatus for automated biopsy and collection of soft tissue
US5529235A (en) 1994-04-28 1996-06-25 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
US5553675A (en) 1994-06-10 1996-09-10 Minnesota Mining And Manufacturing Company Orthopedic surgical device
US5779130A (en) 1994-08-05 1998-07-14 United States Surgical Corporation Self-contained powered surgical apparatus
EP0699418A1 (fr) 1994-08-05 1996-03-06 United States Surgical Corporation Appareil chirurgical motorisé indépendant
EP0705571A1 (fr) 1994-10-07 1996-04-10 United States Surgical Corporation Dispositif motorisé et autonome de chirurgie
US5549637A (en) 1994-11-10 1996-08-27 Crainich; Lawrence Articulated medical instrument
US5868760A (en) 1994-12-07 1999-02-09 Mcguckin, Jr.; James F. Method and apparatus for endolumenally resectioning tissue
US5713505A (en) 1996-05-13 1998-02-03 Ethicon Endo-Surgery, Inc. Articulation transmission mechanism for surgical instruments
US5704534A (en) 1994-12-19 1998-01-06 Ethicon Endo-Surgery, Inc. Articulation assembly for surgical instruments
US5632432A (en) 1994-12-19 1997-05-27 Ethicon Endo-Surgery, Inc. Surgical instrument
US6321855B1 (en) 1994-12-29 2001-11-27 George Edward Barnes Anti-vibration adaptor
US5649956A (en) 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
US5762256A (en) 1995-08-28 1998-06-09 United States Surgical Corporation Surgical stapler
US6032849A (en) 1995-08-28 2000-03-07 United States Surgical Surgical stapler
US5782396A (en) 1995-08-28 1998-07-21 United States Surgical Corporation Surgical stapler
US5784542A (en) 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
EP0792119A4 (fr) 1995-09-15 1999-01-13 Pinotage Llc Thompson Robert L Dispositif d'imagerie a usage chirurgical/diagnostique
US7141049B2 (en) 1999-03-09 2006-11-28 Thermage, Inc. Handpiece for treatment of tissue
US6699177B1 (en) 1996-02-20 2004-03-02 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5820009A (en) 1996-02-20 1998-10-13 Richard-Allan Medical Industries, Inc. Articulated surgical instrument with improved jaw closure mechanism
US6010054A (en) 1996-02-20 2000-01-04 Imagyn Medical Technologies Linear stapling instrument with improved staple cartridge
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5797900A (en) 1996-05-20 1998-08-25 Intuitive Surgical, Inc. Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6119913A (en) 1996-06-14 2000-09-19 Boston Scientific Corporation Endoscopic stapler
US6017354A (en) 1996-08-15 2000-01-25 Stryker Corporation Integrated system for powered surgical tools
US8529582B2 (en) 1996-12-12 2013-09-10 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
US9050119B2 (en) 2005-12-20 2015-06-09 Intuitive Surgical Operations, Inc. Cable tensioning in a robotic surgical system
US7699855B2 (en) 1996-12-12 2010-04-20 Intuitive Surgical Operations, Inc. Sterile surgical adaptor
US6129547A (en) 1997-05-06 2000-10-10 Ballard Medical Products Oral care system
WO1999007441A1 (fr) 1997-08-11 1999-02-18 Mayer Paul W Porte-outil de sutures mecanique a annulation de mouvements
US6434507B1 (en) 1997-09-05 2002-08-13 Surgical Navigation Technologies, Inc. Medical instrument and method for use with computer-assisted image guided surgery
US5865361A (en) 1997-09-23 1999-02-02 United States Surgical Corporation Surgical stapling apparatus
US5863159A (en) 1997-12-12 1999-01-26 Lasko; Leonard J. Drill angle attachment coupling
DE69922791T2 (de) 1998-02-19 2005-12-08 California Institute Of Technology, Pasadena Gerät zur bereitstellung eines spherischen sehfeldes während endoskopischen eingriffen
US6554844B2 (en) 1998-02-24 2003-04-29 Endovia Medical, Inc. Surgical instrument
US6239732B1 (en) 1998-04-13 2001-05-29 Dallas Semiconductor Corporation One-wire device with A-to-D converter
US6126058A (en) 1998-06-19 2000-10-03 Scimed Life Systems, Inc. Method and device for full thickness resectioning of an organ
US6256859B1 (en) 1998-09-25 2001-07-10 Sherwood Services Ag Method of manufacturing an aspiring tool
US5993454A (en) 1998-09-29 1999-11-30 Stryker Corporation Drill attachment for a surgical drill
US7238021B1 (en) 1998-12-03 2007-07-03 Johnson Gary E Powered cutting surface with protective guard for equine teeth
US6451027B1 (en) 1998-12-16 2002-09-17 Intuitive Surgical, Inc. Devices and methods for moving an image capture device in telesurgical systems
US6860892B1 (en) 1999-05-28 2005-03-01 General Surgical Innovations, Inc. Specially shaped balloon device for use in surgery and method of use
US7951071B2 (en) 1999-06-02 2011-05-31 Tyco Healthcare Group Lp Moisture-detecting shaft for use with an electro-mechanical surgical device
US7032798B2 (en) 1999-06-02 2006-04-25 Power Medical Interventions, Inc. Electro-mechanical surgical device
US6443973B1 (en) 1999-06-02 2002-09-03 Power Medical Interventions, Inc. Electromechanical driver device for use with anastomosing, stapling, and resecting instruments
US8025199B2 (en) 2004-02-23 2011-09-27 Tyco Healthcare Group Lp Surgical cutting and stapling device
US6716233B1 (en) 1999-06-02 2004-04-06 Power Medical Interventions, Inc. Electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
US6491201B1 (en) 2000-02-22 2002-12-10 Power Medical Interventions, Inc. Fluid delivery mechanism for use with anastomosing, stapling, and resecting instruments
US6981941B2 (en) 1999-06-02 2006-01-03 Power Medical Interventions Electro-mechanical surgical device
US6793652B1 (en) 1999-06-02 2004-09-21 Power Medical Interventions, Inc. Electro-mechanical surgical device
US6315184B1 (en) 1999-06-02 2001-11-13 Powermed, Inc. Stapling device for use with an electromechanical driver device for use with anastomosing, stapling, and resecting instruments
US6264087B1 (en) 1999-07-12 2001-07-24 Powermed, Inc. Expanding parallel jaw device for use with an electromechanical driver device
US8241322B2 (en) 2005-07-27 2012-08-14 Tyco Healthcare Group Lp Surgical device
US6451007B1 (en) 1999-07-29 2002-09-17 Dale E. Koop Thermal quenching of tissue
US6611793B1 (en) 1999-09-07 2003-08-26 Scimed Life Systems, Inc. Systems and methods to identify and disable re-use single use devices based on detecting environmental changes
US6368324B1 (en) 1999-09-24 2002-04-09 Medtronic Xomed, Inc. Powered surgical handpiece assemblies and handpiece adapter assemblies
US7770773B2 (en) 2005-07-27 2010-08-10 Power Medical Interventions, Llc Surgical device
US6533157B1 (en) 2000-02-22 2003-03-18 Power Medical Interventions, Inc. Tissue stapling attachment for use with an electromechanical driver device
US6488197B1 (en) 2000-02-22 2002-12-03 Power Medical Interventions, Inc. Fluid delivery device for use with anastomosing resecting and stapling instruments
US6348061B1 (en) 2000-02-22 2002-02-19 Powermed, Inc. Vessel and lumen expander attachment for use with an electromechanical driver device
US8016855B2 (en) 2002-01-08 2011-09-13 Tyco Healthcare Group Lp Surgical device
JP3897962B2 (ja) 2000-07-19 2007-03-28 株式会社モリタ製作所 識別型のインスツルメント体、識別型のアダプタ、識別型のチューブ、これらを用いた診療装置
US6830174B2 (en) 2000-08-30 2004-12-14 Cerebral Vascular Applications, Inc. Medical instrument
JP4014792B2 (ja) 2000-09-29 2007-11-28 株式会社東芝 マニピュレータ
US6817508B1 (en) 2000-10-13 2004-11-16 Tyco Healthcare Group, Lp Surgical stapling device
US6716226B2 (en) 2001-06-25 2004-04-06 Inscope Development, Llc Surgical clip
US20050004559A1 (en) 2003-06-03 2005-01-06 Senorx, Inc. Universal medical device control console
US6840938B1 (en) 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
US8313496B2 (en) 2001-02-02 2012-11-20 Lsi Solutions, Inc. System for endoscopic suturing
US7699835B2 (en) 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
US7905897B2 (en) 2001-03-14 2011-03-15 Tyco Healthcare Group Lp Trocar device
US8398634B2 (en) 2002-04-18 2013-03-19 Intuitive Surgical Operations, Inc. Wristed robotic surgical tool for pluggable end-effectors
US7824401B2 (en) 2004-10-08 2010-11-02 Intuitive Surgical Operations, Inc. Robotic tool with wristed monopolar electrosurgical end effectors
EP1381321B1 (fr) 2001-04-20 2012-04-04 Tyco Healthcare Group LP Dispositif chirurgical bipolaire ou ultrasonique
CA2450199C (fr) 2001-06-20 2009-10-13 Power Medical Interventions, Inc. Procede et systeme de suivi medical integre
JP4268038B2 (ja) 2001-06-22 2009-05-27 パワー メディカル インターベンションズ，インコーポレイテッド 電気機械式手術装置
US7044911B2 (en) 2001-06-29 2006-05-16 Philometron, Inc. Gateway platform for biological monitoring and delivery of therapeutic compounds
WO2003013372A2 (fr) 2001-08-08 2003-02-20 Stryker Corporation Systeme d'outil chirurgical dote de constituants realisant un transfert de donnees par induction
DE10147145C2 (de) 2001-09-25 2003-12-18 Kunz Reiner Multifunktionsinstrument für die mikroinvasive Chirurgie
CA2695579C (fr) 2001-10-05 2012-09-25 Tyco Healthcare Group Lp Dispositif d'agrafage chirurgical
US7464847B2 (en) 2005-06-03 2008-12-16 Tyco Healthcare Group Lp Surgical stapler with timer and feedback display
US10285694B2 (en) 2001-10-20 2019-05-14 Covidien Lp Surgical stapler with timer and feedback display
US6783533B2 (en) 2001-11-21 2004-08-31 Sythes Ag Chur Attachable/detachable reaming head for surgical reamer
CA2466812C (fr) 2001-12-04 2012-04-03 Michael P. Whitman Systeme et procede d'etalonnage d'un appareil chirurgical
IL148702A (en) 2002-03-14 2008-04-13 Innoventions Inc Insertion and retrieval system for inflatable devices
CA2483094C (fr) 2002-04-25 2011-03-15 Tyco Healthcare Group, Lp Instruments chirurgicaux comprenant des dispositifs mems
ES2278167T3 (es) 2002-06-14 2007-08-01 Power Medical Interventions, Inc. Dispositivo para pinzar, cortar y grapar tejido.
US20030038938A1 (en) 2002-06-20 2003-02-27 Jung Wayne D. Apparatus and method for measuring optical characteristics of an object or material
US8182494B1 (en) 2002-07-31 2012-05-22 Cardica, Inc. Minimally-invasive surgical system
US6645218B1 (en) 2002-08-05 2003-11-11 Endius Incorporated Surgical instrument
US20040176751A1 (en) 2002-08-14 2004-09-09 Endovia Medical, Inc. Robotic medical instrument system
WO2004021867A2 (fr) * 2002-09-06 2004-03-18 C.R. Bard, Inc. Adaptateur de fixation d'accessoire endoscopique
US7331967B2 (en) * 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
CN101904734B (zh) 2002-09-30 2013-01-02 Tyco医疗健康集团 整装的可灭菌外科系统
EP2401969B1 (fr) 2002-10-04 2013-04-03 Covidien LP Dispositif d'agrafage chirurgical électrique pneumatique
US7559927B2 (en) 2002-12-20 2009-07-14 Medtronic Xomed, Inc. Surgical instrument with telescoping attachment
JP2004208922A (ja) 2002-12-27 2004-07-29 Olympus Corp 医療装置及び医療用マニピュレータ並びに医療装置の制御方法
US6988649B2 (en) 2003-05-20 2006-01-24 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a spent cartridge lockout
US7140528B2 (en) 2003-05-20 2006-11-28 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated single lockout mechanism for prevention of firing
US7380696B2 (en) 2003-05-20 2008-06-03 Ethicon Endo-Surgery, Inc. 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
US7044352B2 (en) 2003-05-20 2006-05-16 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a single lockout mechanism for prevention of firing
US7380695B2 (en) 2003-05-20 2008-06-03 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a single lockout mechanism for prevention of firing
US7143923B2 (en) 2003-05-20 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a firing lockout for an unclosed anvil
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
WO2005009482A2 (fr) 2003-05-21 2005-02-03 The Johns Hopkins University Dispositifs, systemes et procedes permettant de realiser une chirurgie invasive minimale au niveau de la gorge et d'autres parties du corps de mammiferes
EP1635712B1 (fr) 2003-06-20 2015-09-30 Covidien LP Instrument d'agrafage chirurgical
US6981628B2 (en) 2003-07-09 2006-01-03 Ethicon Endo-Surgery, Inc. Surgical instrument with a lateral-moving articulation control
US7055731B2 (en) 2003-07-09 2006-06-06 Ethicon Endo-Surgery Inc. Surgical stapling instrument incorporating a tapered firing bar for increased flexibility around the articulation joint
US6964363B2 (en) 2003-07-09 2005-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having articulation joint support plates for supporting a firing bar
US7111769B2 (en) 2003-07-09 2006-09-26 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an articulation mechanism having rotation about the longitudinal axis
JP4398813B2 (ja) 2003-07-18 2010-01-13 ヤーマン株式会社 美肌装置
US7364061B2 (en) 2003-09-29 2008-04-29 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multistroke firing position indicator and retraction mechanism
US6905057B2 (en) 2003-09-29 2005-06-14 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a firing mechanism having a linked rack transmission
US6959852B2 (en) 2003-09-29 2005-11-01 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with multistroke firing incorporating an anti-backup mechanism
US10588629B2 (en) 2009-11-20 2020-03-17 Covidien Lp Surgical console and hand-held surgical device
US20090090763A1 (en) 2007-10-05 2009-04-09 Tyco Healthcare Group Lp Powered surgical stapling device
US9055943B2 (en) 2007-09-21 2015-06-16 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
US8806973B2 (en) 2009-12-02 2014-08-19 Covidien Lp Adapters for use between surgical handle assembly and surgical end effector
US10022123B2 (en) 2012-07-09 2018-07-17 Covidien Lp Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors
US10105140B2 (en) 2009-11-20 2018-10-23 Covidien Lp Surgical console and hand-held surgical device
WO2005037329A2 (fr) 2003-10-17 2005-04-28 Tyco Healthcare Group, Lp Agrafeuse chirurgicale a rotation independante du bout
US8968276B2 (en) 2007-09-21 2015-03-03 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
US7172415B2 (en) 2003-11-22 2007-02-06 Flexi-Float, Llc Equine dental grinding apparatus
DE10357105B3 (de) 2003-12-06 2005-04-07 Richard Wolf Gmbh Medizinisches Instrument
ES2286725T3 (es) 2004-02-17 2007-12-01 Tyco Healthcare Group Lp Aparato de grapado quirurgico.
EP1723913A1 (fr) 2004-03-10 2006-11-22 Olympus Corporation Instrument de traitement chirurgical
US7059508B2 (en) 2004-06-30 2006-06-13 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an uneven multistroke firing mechanism having a rotary transmission
US20060142744A1 (en) 2004-07-27 2006-06-29 Dmitri Boutoussov Identification connector for a medical laser handpiece
US7147138B2 (en) 2004-07-28 2006-12-12 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated buttress deployment mechanism
US7143926B2 (en) 2005-02-07 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multi-stroke firing mechanism with return spring rotary manual retraction system
US7143925B2 (en) 2004-07-28 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating EAP blocking lockout mechanism
US7487899B2 (en) 2004-07-28 2009-02-10 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating EAP complete firing system lockout mechanism
US7947034B2 (en) 2004-07-30 2011-05-24 Tyco Healthcare Group Lp Flexible shaft extender and method of using same
US7540872B2 (en) 2004-09-21 2009-06-02 Covidien Ag Articulating bipolar electrosurgical instrument
US7922719B2 (en) 2004-10-06 2011-04-12 Biodynamics, Llc Adjustable angle pawl handle for surgical instruments
PL1802245T3 (pl) 2004-10-08 2017-01-31 Ethicon Endosurgery Llc Ultradźwiękowy przyrząd chirurgiczny
EP1833390B1 (fr) 2004-12-09 2010-05-12 Stryker Corporation Systeme sans fil pour fournir des donnees sur des implants et instruments a une unite de navigation chirurgicale
US20060142740A1 (en) 2004-12-29 2006-06-29 Sherman Jason T Method and apparatus for performing a voice-assisted orthopaedic surgical procedure
US7822458B2 (en) 2005-05-19 2010-10-26 The Johns Hopkins University Distal bevel-tip needle control device and algorithm
EP1736112B1 (fr) 2005-06-20 2011-08-17 Heribert Schmid Dispositif médical
US8579176B2 (en) 2005-07-26 2013-11-12 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting device and method for using the device
US8028885B2 (en) 2006-05-19 2011-10-04 Ethicon Endo-Surgery, Inc. Electric surgical instrument with optimized power supply and drive
US8627995B2 (en) 2006-05-19 2014-01-14 Ethicon Endo-Sugery, Inc. Electrically self-powered surgical instrument with cryptographic identification of interchangeable part
CN102988087B (zh) 2005-07-27 2015-09-09 柯惠Lp公司 例如用于机电手术设备的轴
US20070029363A1 (en) 2005-08-07 2007-02-08 Sergey Popov Surgical apparatus with remote drive
US8579178B2 (en) 2005-08-15 2013-11-12 Covidien Lp Surgical stapling instruments including a cartridge having multiple staples sizes
US8348855B2 (en) 2005-08-29 2013-01-08 Galil Medical Ltd. Multiple sensor device for measuring tissue temperature during thermal treatment
US7407078B2 (en) 2005-09-21 2008-08-05 Ehthicon Endo-Surgery, Inc. Surgical stapling instrument having force controlled spacing end effector
CA2561653C (fr) 2005-09-30 2014-07-08 Ethicon Endo-Surgery, Inc. Mecanisme pour articulation a base de polymere electroactif pour agrafeuse chirurgicale lineaire
US7641091B2 (en) 2005-10-04 2010-01-05 Tyco Healthcare Group Lp Staple drive assembly
US20070102472A1 (en) 2005-11-04 2007-05-10 Ethicon Endo-Surgery, Inc. Electrosurgical stapling instrument with disposable severing / stapling unit
US7328828B2 (en) 2005-11-04 2008-02-12 Ethicon Endo-Surgery, Inc, Lockout mechanisms and surgical instruments including same
US7673780B2 (en) 2005-11-09 2010-03-09 Ethicon Endo-Surgery, Inc. Articulation joint with improved moment arm extension for articulating an end effector of a surgical instrument
US7799039B2 (en) 2005-11-09 2010-09-21 Ethicon Endo-Surgery, Inc. Surgical instrument having a hydraulically actuated end effector
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US7246734B2 (en) 2005-12-05 2007-07-24 Ethicon Endo-Surgery, Inc. Rotary hydraulic pump actuated multi-stroke surgical instrument
US8672922B2 (en) 2005-12-20 2014-03-18 Intuitive Surgical Operations, Inc. Wireless communication in a robotic surgical system
US7481824B2 (en) 2005-12-30 2009-01-27 Ethicon Endo-Surgery, Inc. Surgical instrument with bending articulation controlled articulation pivot joint
US7670334B2 (en) 2006-01-10 2010-03-02 Ethicon Endo-Surgery, Inc. Surgical instrument having an articulating end effector
US20070175955A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Surgical cutting and fastening instrument with closure trigger locking mechanism
US7464846B2 (en) 2006-01-31 2008-12-16 Ethicon Endo-Surgery, Inc. Surgical instrument having a removable battery
US7568603B2 (en) 2006-01-31 2009-08-04 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with articulatable end effector
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US20070175951A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Gearing selector for a powered surgical cutting and fastening instrument
US7766210B2 (en) 2006-01-31 2010-08-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with user feedback system
US20070175950A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Disposable staple cartridge having an anvil with tissue locator for use with a surgical cutting and fastening instrument and modular end effector system therefor
US7464849B2 (en) 2006-01-31 2008-12-16 Ethicon Endo-Surgery, Inc. Electro-mechanical surgical instrument with closure system and anvil alignment components
US7575144B2 (en) 2006-01-31 2009-08-18 Ethicon Endo-Surgery, Inc. Surgical fastener and cutter with single cable actuator
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US7770775B2 (en) 2006-01-31 2010-08-10 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with adaptive user feedback
US7422139B2 (en) 2006-01-31 2008-09-09 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting fastening instrument with tactile position feedback
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US7644848B2 (en) 2006-01-31 2010-01-12 Ethicon Endo-Surgery, Inc. Electronic lockouts and surgical instrument including same
US7416101B2 (en) 2006-01-31 2008-08-26 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with loading force feedback
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
WO2007111571A1 (fr) * 2006-03-27 2007-10-04 Nanyang Technological University Système robotique chirurgical pour endoscopie souple
WO2007146984A2 (fr) * 2006-06-13 2007-12-21 Intuitive Surgical, Inc. Système de commande configuré pour compenser des caractéristiques de liaison d'actionneur au joint non idéales dans un système robotique médical
US8551076B2 (en) 2006-06-13 2013-10-08 Intuitive Surgical Operations, Inc. Retrograde instrument
US20080029574A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Pneumatically powered surgical cutting and fastening instrument with actuator at distal end
US7740159B2 (en) 2006-08-02 2010-06-22 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with a variable control of the actuating rate of firing with mechanical power assist
US20080029570A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Pneumatically powered surgical cutting and fastening instrument with improved volume storage
JP4654165B2 (ja) 2006-08-08 2011-03-16 テルモ株式会社 作業機構及びマニピュレータ
US9554843B2 (en) 2006-09-01 2017-01-31 Conmed Corporation Adapter and method for converting gas-enhanced electrosurgical coagulation instrument for cutting
US7967178B2 (en) 2006-10-06 2011-06-28 Tyco Healthcare Group Lp Grasping jaw mechanism
US8733614B2 (en) 2006-10-06 2014-05-27 Covidien Lp End effector identification by mechanical features
US8584921B2 (en) 2006-10-06 2013-11-19 Covidien Lp Surgical instrument with articulating tool assembly
JP5085996B2 (ja) 2006-10-25 2012-11-28 テルモ株式会社 マニピュレータシステム
US8157793B2 (en) 2006-10-25 2012-04-17 Terumo Kabushiki Kaisha Manipulator for medical use
US20080109012A1 (en) 2006-11-03 2008-05-08 General Electric Company System, method and apparatus for tableside remote connections of medical instruments and systems using wireless communications
US7721930B2 (en) 2006-11-10 2010-05-25 Thicon Endo-Surgery, Inc. Disposable cartridge with adhesive for use with a stapling device
US7935130B2 (en) 2006-11-16 2011-05-03 Intuitive Surgical Operations, Inc. Two-piece end-effectors for robotic surgical tools
WO2008061313A1 (fr) 2006-11-24 2008-05-29 Mems-Id Pty Ltd Procédés et appareil de marquage
US7954682B2 (en) 2007-01-10 2011-06-07 Ethicon Endo-Surgery, Inc. Surgical instrument with elements to communicate between control unit and end effector
US7738971B2 (en) 2007-01-10 2010-06-15 Ethicon Endo-Surgery, Inc. Post-sterilization programming of surgical instruments
US7900805B2 (en) 2007-01-10 2011-03-08 Ethicon Endo-Surgery, Inc. Surgical instrument with enhanced battery performance
US7721931B2 (en) 2007-01-10 2010-05-25 Ethicon Endo-Surgery, Inc. Prevention of cartridge reuse in a surgical instrument
WO2008097902A2 (fr) 2007-02-05 2008-08-14 Novian Health, Inc. Coffrets de thérapie laser interstitielle et système de commande de thérapie laser interstitielle
CA2680148C (fr) 2007-03-06 2015-09-01 Tyco Healthcare Group Lp Appareil de fixation chirurgicale
US8011550B2 (en) 2009-03-31 2011-09-06 Tyco Healthcare Group Lp Surgical stapling apparatus
US7422136B1 (en) 2007-03-15 2008-09-09 Tyco Healthcare Group Lp Powered surgical stapling device
EP2139422B1 (fr) 2007-03-26 2016-10-26 Hansen Medical, Inc. Systèmes et procédés de cathéters robotiques
US8893946B2 (en) 2007-03-28 2014-11-25 Ethicon Endo-Surgery, Inc. Laparoscopic tissue thickness and clamp load measuring devices
US8056787B2 (en) 2007-03-28 2011-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with travel-indicating retraction member
JP5090045B2 (ja) 2007-04-03 2012-12-05 テルモ株式会社 マニピュレータ及びその制御方法
US20080255413A1 (en) * 2007-04-13 2008-10-16 Michael Zemlok Powered surgical instrument
US20080251561A1 (en) 2007-04-13 2008-10-16 Chad Eades Quick connect base plate for powder actuated tool
US8800837B2 (en) 2007-04-13 2014-08-12 Covidien Lp Powered surgical instrument
US7708182B2 (en) 2007-04-17 2010-05-04 Tyco Healthcare Group Lp Flexible endoluminal surgical instrument
CN101765414B (zh) 2007-04-20 2013-09-25 多汉尼眼科研究所 独立外科手术中心
US20080281301A1 (en) 2007-04-20 2008-11-13 Deboer Charles Personal Surgical Center
US20090012533A1 (en) 2007-04-23 2009-01-08 Hansen Medical, Inc. Robotic instrument control system
US7549564B2 (en) 2007-06-22 2009-06-23 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulating end effector
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US8534528B2 (en) 2007-06-04 2013-09-17 Ethicon Endo-Surgery, Inc. Surgical instrument having a multiple rate directional switching mechanism
US7588175B2 (en) 2007-06-18 2009-09-15 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with improved firing system
WO2009004616A2 (fr) * 2007-07-02 2009-01-08 M.S.T. Medical Surgery Technologies Ltd Système de positionnement d'un endoscope et autres instruments chirurgicaux
WO2009039506A1 (fr) 2007-09-21 2009-03-26 Power Medical Interventions, Inc. Instrument chirurgical
CN101801283B (zh) 2007-09-21 2012-07-18 Tyco医疗健康集团 手术器械
US9023014B2 (en) 2007-09-21 2015-05-05 Covidien Lp Quick connect assembly for use between surgical handle assembly and surgical accessories
US10779818B2 (en) 2007-10-05 2020-09-22 Covidien Lp Powered surgical stapling device
US8960520B2 (en) 2007-10-05 2015-02-24 Covidien Lp Method and apparatus for determining parameters of linear motion in a surgical instrument
US8517241B2 (en) 2010-04-16 2013-08-27 Covidien Lp Hand-held surgical devices
EP2428166A1 (fr) 2007-10-05 2012-03-14 Tyco Healthcare Group LP Agrafeuse chirurgicale avec mécanisme d'engrenage en nutation
US20130214025A1 (en) 2007-10-05 2013-08-22 Covidien Lp Powered surgical stapling device
US8967443B2 (en) 2007-10-05 2015-03-03 Covidien Lp Method and apparatus for determining parameters of linear motion in a surgical instrument
US7922063B2 (en) 2007-10-31 2011-04-12 Tyco Healthcare Group, Lp Powered surgical instrument
US8758342B2 (en) 2007-11-28 2014-06-24 Covidien Ag Cordless power-assisted medical cauterization and cutting device
WO2009073577A2 (fr) 2007-11-29 2009-06-11 Surgiquest, Inc. Instruments chirurgicaux améliorant la dextérité utilisables dans des interventions chirurgicales mini-invasives
US20090171147A1 (en) 2007-12-31 2009-07-02 Woojin Lee Surgical instrument
WO2009089539A1 (fr) 2008-01-10 2009-07-16 Power Medical Interventions, Inc. Système d'imagerie pour dispositif chirurgical
US8647258B2 (en) 2008-01-10 2014-02-11 Covidien Lp Apparatus for endoscopic procedures
TW200934621A (en) 2008-02-01 2009-08-16 Mobiletron Electronics Co Ltd Extended transmission rod for power tool
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
US7857185B2 (en) 2008-02-14 2010-12-28 Ethicon Endo-Surgery, Inc. Disposable loading unit for surgical stapling apparatus
US7793812B2 (en) 2008-02-14 2010-09-14 Ethicon Endo-Surgery, Inc. Disposable motor-driven loading unit for use with a surgical cutting and stapling apparatus
US8758391B2 (en) 2008-02-14 2014-06-24 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
US8657174B2 (en) 2008-02-14 2014-02-25 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument having handle based power source
US20090206131A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. End effector coupling arrangements for a surgical cutting and stapling instrument
US7959051B2 (en) 2008-02-15 2011-06-14 Ethicon Endo-Surgery, Inc. Closure systems for a surgical cutting and stapling instrument
US8733611B2 (en) 2008-03-12 2014-05-27 Covidien Lp Ratcheting mechanism for surgical stapling device
US20090254094A1 (en) 2008-04-08 2009-10-08 Knapp Troy D Ratcheting mechanical driver for cannulated surgical systems
EP2278927A2 (fr) 2008-04-25 2011-02-02 Downey, Earl C. Instrument chirurgical laparoscopique
US7922061B2 (en) 2008-05-21 2011-04-12 Ethicon Endo-Surgery, Inc. Surgical instrument with automatically reconfigurable articulating end effector
US8403926B2 (en) 2008-06-05 2013-03-26 Ethicon Endo-Surgery, Inc. Manually articulating devices
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US8771270B2 (en) 2008-07-16 2014-07-08 Intuitive Surgical Operations, Inc. Bipolar cautery instrument
JP5575379B2 (ja) 2008-07-25 2014-08-20 東京電力株式会社 圧縮機及び冷凍機
US20100023022A1 (en) 2008-07-25 2010-01-28 Zeiner Mark S Reloadable laparoscopic fastener deploying device with disposable cartridge use in a gastric volume reduction procedure
KR101056232B1 (ko) 2008-09-12 2011-08-11 정창욱 최소 침습 수술 도구 및 그 사용 방법
US20100069942A1 (en) 2008-09-18 2010-03-18 Ethicon Endo-Surgery, Inc. Surgical instrument with apparatus for measuring elapsed time between actions
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
US7988028B2 (en) 2008-09-23 2011-08-02 Tyco Healthcare Group Lp Surgical instrument having an asymmetric dynamic clamping member
US8372057B2 (en) 2008-10-10 2013-02-12 Coeur, Inc. Luer lock adapter
US8020743B2 (en) 2008-10-15 2011-09-20 Ethicon Endo-Surgery, Inc. Powered articulatable surgical cutting and fastening instrument with flexible drive member
DE102008053842B4 (de) 2008-10-30 2010-08-26 Kirchner, Hilmar O. Chirurgische Zerspanvorrichtung
EP3456238B1 (fr) * 2008-11-18 2020-05-13 United States Endoscopy Group, Inc. Procede de fixation de dispositifs a des endoscopes a l'aide d'un adaptateur
US8517239B2 (en) 2009-02-05 2013-08-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
ES2664129T3 (es) * 2009-02-26 2018-04-18 Stryker Corporation Disposición de herramienta quirúrgica que tiene una pieza de mano utilizable con múltiples herramientas quirúrgicas
WO2010102062A1 (fr) 2009-03-03 2010-09-10 Westport Medical, Inc. Supports de foret
US8423182B2 (en) 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
US8365972B2 (en) 2009-03-31 2013-02-05 Covidien Lp Surgical stapling apparatus
US8348126B2 (en) 2009-03-31 2013-01-08 Covidien Lp Crimp and release of suture holding buttress material
US8016178B2 (en) 2009-03-31 2011-09-13 Tyco Healthcare Group Lp Surgical stapling apparatus
US7967179B2 (en) 2009-03-31 2011-06-28 Tyco Healthcare Group Lp Center cinch and release of buttress material
US10537713B2 (en) * 2009-05-25 2020-01-21 Stereotaxis, Inc. Remote manipulator device
US8827134B2 (en) 2009-06-19 2014-09-09 Covidien Lp Flexible surgical stapler with motor in the head
US8146790B2 (en) 2009-07-11 2012-04-03 Tyco Healthcare Group Lp Surgical instrument with safety mechanism
US8314354B2 (en) 2009-07-27 2012-11-20 Apple Inc. Accessory controller for electronic devices
KR100947491B1 (ko) 2009-08-07 2010-03-17 주식회사 래보 외과 수술용 장치의 인스트루먼트
US8465476B2 (en) 2009-09-23 2013-06-18 Intuitive Surgical Operations, Inc. Cannula mounting fixture
US20110077673A1 (en) 2009-09-29 2011-03-31 Cardiovascular Systems, Inc. Rotational atherectomy device with frictional clutch having magnetic normal force
ES2333509B2 (es) 2009-10-07 2011-01-03 Universidad De Cantabria Instrumento para cirugia endoscopica.
US8157151B2 (en) 2009-10-15 2012-04-17 Tyco Healthcare Group Lp Staple line reinforcement for anvil and cartridge
US8322590B2 (en) 2009-10-28 2012-12-04 Covidien Lp Surgical stapling instrument
US8561871B2 (en) 2009-12-31 2013-10-22 Covidien Lp Indicators for surgical staplers
US8376937B2 (en) 2010-01-28 2013-02-19 Warsaw Orhtopedic, Inc. Tissue monitoring surgical retractor system
WO2011108840A2 (fr) 2010-03-05 2011-09-09 주식회사 이턴 Instrument chirurgical, structure de connexion de l'instrument chirurgical et procédé de réglage du point d'origine
KR101765727B1 (ko) 2010-09-01 2017-08-08 (주)미래컴퍼니 수술용 인스트루먼트의 커플링 구조 및 원점 조정 방법
US8074859B2 (en) 2010-03-31 2011-12-13 Tyco Healthcare Group Lp Surgical instrument
IT1399603B1 (it) 2010-04-26 2013-04-26 Scuola Superiore Di Studi Universitari E Di Perfez Apparato robotico per interventi di chirurgia minimamente invasiva
US8562592B2 (en) 2010-05-07 2013-10-22 Ethicon Endo-Surgery, Inc. Compound angle laparoscopic methods and devices
US9149324B2 (en) 2010-07-08 2015-10-06 Ethicon Endo-Surgery, Inc. Surgical instrument comprising an articulatable end effector
US8968337B2 (en) 2010-07-28 2015-03-03 Covidien Lp Articulating clip applier
CN101966093B (zh) 2010-09-28 2012-01-11 常州市康迪医用吻合器有限公司 带有可更换钉仓的腔镜外科切割吻合器
US8529600B2 (en) 2010-09-30 2013-09-10 Ethicon Endo-Surgery, Inc. Fastener system comprising a retention matrix
US8292150B2 (en) 2010-11-02 2012-10-23 Tyco Healthcare Group Lp Adapter for powered surgical devices
DE102010043584A1 (de) 2010-11-08 2012-05-10 Kuka Laboratories Gmbh Medizinscher Arbeitsplatz
US20120116368A1 (en) 2010-11-10 2012-05-10 Viola Frank J Surgical instrument with add-on power adapter for accessory
US8523043B2 (en) 2010-12-07 2013-09-03 Immersion Corporation Surgical stapler having haptic feedback
US8348130B2 (en) 2010-12-10 2013-01-08 Covidien Lp Surgical apparatus including surgical buttress
US8936614B2 (en) 2010-12-30 2015-01-20 Covidien Lp Combined unilateral/bilateral jaws on a surgical instrument
US8517242B2 (en) 2011-01-04 2013-08-27 Covidien Lp Surgical fastener-applying apparatuses with sequential firing
US9549758B2 (en) 2011-03-23 2017-01-24 Covidien Lp Surgical access assembly with adapter
CN102247182A (zh) 2011-04-29 2011-11-23 常州市康迪医用吻合器有限公司 外科用电动吻合器
US9017314B2 (en) 2011-06-01 2015-04-28 Covidien Lp Surgical articulation assembly
US9381010B2 (en) 2011-06-27 2016-07-05 Covidien Lp Surgical instrument with adapter for facilitating multi-direction end effector articulation
JP5931497B2 (ja) 2011-08-04 2016-06-08 オリンパス株式会社 手術支援装置およびその組立方法
EP2574368B1 (fr) 2011-09-30 2014-12-24 Sorin CRM SAS Sonde de stimulation épicardique multizone
DE102011084499A1 (de) 2011-10-14 2013-04-18 Robert Bosch Gmbh Werkzeugvorsatz
US9480492B2 (en) 2011-10-25 2016-11-01 Covidien Lp Apparatus for endoscopic procedures
US8672206B2 (en) 2011-10-25 2014-03-18 Covidien Lp Apparatus for endoscopic procedures
US9492146B2 (en) 2011-10-25 2016-11-15 Covidien Lp Apparatus for endoscopic procedures
US8657177B2 (en) 2011-10-25 2014-02-25 Covidien Lp Surgical apparatus and method for endoscopic surgery
US8899462B2 (en) 2011-10-25 2014-12-02 Covidien Lp Apparatus for endoscopic procedures
US9113899B2 (en) 2011-11-29 2015-08-25 Covidien Lp Coupling mechanisms for surgical instruments
US9168042B2 (en) 2012-01-12 2015-10-27 Covidien Lp Circular stapling instruments
US9241757B2 (en) 2012-01-13 2016-01-26 Covidien Lp System and method for performing surgical procedures with a reusable instrument module
FR2987734B1 (fr) 2012-03-08 2014-04-11 Univ Strasbourg Dispositif d'instrumentation motorise et modulable et systeme d'endoscope comprenant un tel dispositif
DE102012206413A1 (de) * 2012-04-18 2013-10-24 Karl Storz Gmbh & Co. Kg Rotationsvorrichtung und Verfahren zum Rotieren eines Endoskops
AU2013203675B2 (en) 2012-05-31 2014-11-27 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
US9597104B2 (en) 2012-06-01 2017-03-21 Covidien Lp Handheld surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
US10080563B2 (en) 2012-06-01 2018-09-25 Covidien Lp Loading unit detection assembly and surgical device for use therewith
US9868198B2 (en) 2012-06-01 2018-01-16 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical loading units, and methods of use
US9364220B2 (en) 2012-06-19 2016-06-14 Covidien Lp Apparatus for endoscopic procedures
US20140005640A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Surgical end effector jaw and electrode configurations
US9839480B2 (en) 2012-07-09 2017-12-12 Covidien Lp Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors
US10492814B2 (en) 2012-07-09 2019-12-03 Covidien Lp Apparatus for endoscopic procedures
US9402604B2 (en) 2012-07-20 2016-08-02 Covidien Lp Apparatus for endoscopic procedures
US9421014B2 (en) 2012-10-18 2016-08-23 Covidien Lp Loading unit velocity and position feedback
US10828019B2 (en) 2013-01-18 2020-11-10 W.L. Gore & Associates, Inc. Sealing device and delivery system
US9782187B2 (en) 2013-01-18 2017-10-10 Covidien Lp Adapter load button lockout
US10918364B2 (en) 2013-01-24 2021-02-16 Covidien Lp Intelligent adapter assembly for use with an electromechanical surgical system
WO2014126757A2 (fr) * 2013-02-15 2014-08-21 Nico Corporation Interface chirurgicale utilisable avec un endoscope
US9216013B2 (en) * 2013-02-18 2015-12-22 Covidien Lp Apparatus for endoscopic procedures
US9421003B2 (en) 2013-02-18 2016-08-23 Covidien Lp Apparatus for endoscopic procedures
US9782169B2 (en) 2013-03-01 2017-10-10 Ethicon Llc Rotary powered articulation joints for surgical instruments
US9492189B2 (en) 2013-03-13 2016-11-15 Covidien Lp Apparatus for endoscopic procedures
ITMI20130516A1 (it) * 2013-04-05 2014-10-06 Sofar Spa Sistema chirurgico con teli sterili
US9775610B2 (en) 2013-04-09 2017-10-03 Covidien Lp Apparatus for endoscopic procedures
US9700318B2 (en) 2013-04-09 2017-07-11 Covidien Lp Apparatus for endoscopic procedures
US9801646B2 (en) 2013-05-30 2017-10-31 Covidien Lp Adapter load button decoupled from loading unit sensor
US9797486B2 (en) 2013-06-20 2017-10-24 Covidien Lp Adapter direct drive with manual retraction, lockout and connection mechanisms
US9629633B2 (en) 2013-07-09 2017-04-25 Covidien Lp Surgical device, surgical adapters for use between surgical handle assembly and surgical loading units, and methods of use
KR102312595B1 (ko) 2013-08-15 2021-10-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기구 살균 어댑터 구동 피처
US9955966B2 (en) 2013-09-17 2018-05-01 Covidien Lp Adapter direct drive with manual retraction, lockout, and connection mechanisms for improper use prevention
US9962157B2 (en) 2013-09-18 2018-05-08 Covidien Lp Apparatus and method for differentiating between tissue and mechanical obstruction in a surgical instrument
CN105848703B (zh) * 2013-10-15 2019-10-18 科林达斯公司 引导导管控制柔性轨道
US9974540B2 (en) 2013-10-18 2018-05-22 Covidien Lp Adapter direct drive twist-lock retention mechanism
US9295522B2 (en) 2013-11-08 2016-03-29 Covidien Lp Medical device adapter with wrist mechanism
US20150150574A1 (en) 2013-12-04 2015-06-04 Covidien Lp Adapter direct drive push button retention mechanism
US10236616B2 (en) 2013-12-04 2019-03-19 Covidien Lp Adapter assembly for interconnecting surgical devices and surgical attachments, and surgical systems thereof
US10561417B2 (en) 2013-12-09 2020-02-18 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US9937626B2 (en) 2013-12-11 2018-04-10 Covidien Lp Wrist and jaw assemblies for robotic surgical systems
US9808245B2 (en) 2013-12-13 2017-11-07 Covidien Lp Coupling assembly for interconnecting an adapter assembly and a surgical device, and surgical systems thereof
US9839424B2 (en) 2014-01-17 2017-12-12 Covidien Lp Electromechanical surgical assembly
US10164466B2 (en) 2014-04-17 2018-12-25 Covidien Lp Non-contact surgical adapter electrical interface
US10080552B2 (en) 2014-04-21 2018-09-25 Covidien Lp Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
KR20150128049A (ko) * 2014-05-08 2015-11-18 삼성전자주식회사 수술 로봇 및 그 제어방법
US9913643B2 (en) 2014-05-09 2018-03-13 Covidien Lp Interlock assemblies for replaceable loading unit
US9713466B2 (en) 2014-05-16 2017-07-25 Covidien Lp Adaptor for surgical instrument for converting rotary input to linear output
US10561418B2 (en) 2014-06-26 2020-02-18 Covidien Lp Adapter assemblies for interconnecting surgical loading units and handle assemblies
US9987095B2 (en) 2014-06-26 2018-06-05 Covidien Lp Adapter assemblies for interconnecting electromechanical handle assemblies and surgical loading units
US10163589B2 (en) 2014-06-26 2018-12-25 Covidien Lp Adapter assemblies for interconnecting surgical loading units and handle assemblies
US9763661B2 (en) 2014-06-26 2017-09-19 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US9839425B2 (en) 2014-06-26 2017-12-12 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US20150374372A1 (en) 2014-06-26 2015-12-31 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use
DE102014213383A1 (de) * 2014-07-09 2016-01-14 Fidlock Gmbh Manuell zu betätigende Verschlussvorrichtung mit Verzögerungseinrichtung
EP3193767B1 (fr) 2014-09-15 2022-04-20 Covidien LP Ensembles chirurgicaux à commande robotique
US20170296040A1 (en) * 2014-09-30 2017-10-19 Riverfield Inc. Adapter component set
WO2016057225A1 (fr) 2014-10-07 2016-04-14 Covidien Lp Système chirurgical électromécanique portatif
US10226254B2 (en) 2014-10-21 2019-03-12 Covidien Lp Adapter, extension, and connector assemblies for surgical devices
US9949737B2 (en) 2014-10-22 2018-04-24 Covidien Lp Adapter assemblies for interconnecting surgical loading units and handle assemblies
US10085750B2 (en) 2014-10-22 2018-10-02 Covidien Lp Adapter with fire rod J-hook lockout
CN107405165B (zh) * 2014-11-29 2021-04-09 赞克特机器人有限公司 插入导引件
US10667877B2 (en) * 2015-06-19 2020-06-02 Covidien Lp Controlling robotic surgical instruments with bidirectional coupling
AU2016280014B2 (en) 2015-06-19 2020-07-09 Covidien Lp Robotic surgical assemblies
WO2016209891A1 (fr) * 2015-06-23 2016-12-29 Covidien Lp Assemblage chirurgical robotisé
US10231793B2 (en) * 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
WO2017142738A1 (fr) 2016-02-16 2017-08-24 Covidien Lp Ensembles chirurgicaux robotiques et support d'instrument chirurgical associé
CA3013232A1 (fr) * 2016-03-04 2017-09-08 Covidien Lp Ensembles chirurgicaux robotiques
AU2017272072B2 (en) 2016-05-26 2021-03-25 Covidien Lp Robotic surgical assemblies
WO2018055621A1 (fr) * 2016-09-23 2018-03-29 Xact Robotics Ltd. Support universel pour un instrument médical insérable
US10624671B2 (en) * 2016-12-21 2020-04-21 Ethicon Llc Trocar attachment devices and methods

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120065470A1 (en) * 2010-09-14 2012-03-15 The Johns Hopkins University Robotic system to augment endoscopes
US20120145427A1 (en) * 2010-12-14 2012-06-14 Robert Bosch Gmbh Handheld Power Tool, in Particular Power Drill or Power Screwdriver
US20140243849A1 (en) * 2013-02-26 2014-08-28 Remzi Saglam Remotely-operated robotic control system for use with a medical instrument and associated use thereof
US20150080907A1 (en) * 2013-09-13 2015-03-19 Vanderbilt University System and method for endoscopic deployment of robotic concentric tube manipulators for performing surgery
US20170095299A1 (en) * 2015-10-02 2017-04-06 Vanderbilt University Concentric tube robot
US20170348060A1 (en) * 2016-06-07 2017-12-07 Corindus, Inc. Device drive for catheter procedure system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11185215B2 (en) * 2017-08-07 2021-11-30 Boston Scientific Scimed, Inc. Medical systems, devices, and related methods
US12075973B2 (en) 2017-08-07 2024-09-03 Boston Scientific Scimed, Inc. Medical systems, devices, and related methods
US11517181B2 (en) * 2018-04-04 2022-12-06 Coopersurgical, Inc. Endoscopic devices and related methods
CN110786932A (zh) * 2019-11-19 2020-02-14 常州脉康仪医疗机器人有限公司 聚散式微创手术机器人从臂系统
US20220395161A1 (en) * 2019-12-04 2022-12-15 Hoya Corporation Endoscope device
US12207791B2 (en) * 2019-12-04 2025-01-28 Hoya Corporation Endoscope device
US20210259528A1 (en) * 2020-02-20 2021-08-26 Omnivision Technologies, Inc. Medical micro-cable structure and connection method with mini camera cube chip
US11172806B2 (en) * 2020-02-20 2021-11-16 Omnivision Technologies, Inc. Medical micro-cable structure and connection method with mini camera cube chip
WO2024148331A3 (fr) * 2023-01-06 2024-10-10 Horizon Surgical Systems, Inc. Porte-outil chirurgical pour des systèmes chirurgicaux robotiques intraoculaires

Also Published As

Publication number Publication date
JP2021510109A (ja) 2021-04-15
EP3737325A1 (fr) 2020-11-18
JP7041273B2 (ja) 2022-03-23
EP3737325A4 (fr) 2022-01-19
CN117243697A (zh) 2023-12-19
US20240180400A1 (en) 2024-06-06
CN111587094A (zh) 2020-08-25
WO2019139941A1 (fr) 2019-07-18
EP3737325B1 (fr) 2025-06-18
US12478246B2 (en) 2025-11-25
EP4147664A1 (fr) 2023-03-15

Similar Documents

Publication Publication Date Title
US12478246B2 (en) Robotic surgical assemblies and adapter assemblies thereof
US12433700B2 (en) Robotic surgical assemblies
US11272992B2 (en) Robotic surgical assemblies and instrument drive units thereof
CN106456256B (zh) 机器人手术系统和器械驱动单元
CN112998862B (zh) 柔性手术工具和柔性手术工具系统
US20020103418A1 (en) Endoscope device
KR20200118795A (ko) 기구 기반 삽입 아키텍처를 위한 시스템 및 방법
CN109310472B (zh) 机器人手术组合件及其器械驱动单元
WO2022001994A1 (fr) Endoscope souple à tête et poignée détachables
KR20130094823A (ko) 수술 기구에서 기구 샤프트 감김과 단부 작동기 작동의 해제
WO2018041159A1 (fr) Système d'instrument chirurgical flexible basé sur une structure corporelle continue
CN111050685B (zh) 机器人手术系统和器械驱动组件
JP2021516097A (ja) ロボット手術システムおよび器具駆動アセンブリ
US11633243B2 (en) Instrument insertion system, method, and apparatus for performing medical procedures
US11751961B2 (en) Systems, methods, and apparatuses for capturing images during a medical procedure
JP2023550631A (ja) 内視鏡システム
CN117015331A (zh) 内窥镜系统
CN223009101U (zh) 具有一次性使用部和可重复使用部的人体工学输尿管镜
US20250160629A1 (en) Accessory actuation devices and related methods
US20240252031A1 (en) Ergonomic ureteroscope having single-use and reusable portions
HK1220098B (zh) 铰接式工具定位器及采用它的系统

Legal Events

Date Code Title Description
AS Assignment

Owner name: COVIDIEN LP, MASSACHUSETTS

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SEOW, CHI MIN;KAPADIA, JAIMEEN;ZEMLOK, MICHAEL;AND OTHERS;SIGNING DATES FROM 20200707 TO 20200709;REEL/FRAME:053240/0295

STPP Information on status: patent application and granting procedure in general

Free format text: APPLICATION DISPATCHED FROM PREEXAM, NOT YET DOCKETED

STPP Information on status: patent application and granting procedure in general

Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION

STPP Information on status: patent application and granting procedure in general

Free format text: NON FINAL ACTION MAILED

STPP Information on status: patent application and granting procedure in general

Free format text: RESPONSE TO NON-FINAL OFFICE ACTION ENTERED AND FORWARDED TO EXAMINER

STPP Information on status: patent application and granting procedure in general

Free format text: FINAL REJECTION MAILED

STPP Information on status: patent application and granting procedure in general

Free format text: RESPONSE AFTER FINAL ACTION FORWARDED TO EXAMINER

STPP Information on status: patent application and granting procedure in general

Free format text: ADVISORY ACTION MAILED

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION