CA2276316C - Method of balancing asymmetric ultrasonic surgical blades - Google Patents
Method of balancing asymmetric ultrasonic surgical blades Download PDFInfo
- Publication number
- CA2276316C CA2276316C CA002276316A CA2276316A CA2276316C CA 2276316 C CA2276316 C CA 2276316C CA 002276316 A CA002276316 A CA 002276316A CA 2276316 A CA2276316 A CA 2276316A CA 2276316 C CA2276316 C CA 2276316C
- Authority
- CA
- Canada
- Prior art keywords
- balance
- ultrasonic
- blade
- torque
- point
- 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.)
- Expired - Lifetime
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B2017/320069—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic for ablating tissue
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B2017/320072—Working tips with special features, e.g. extending parts
- A61B2017/320074—Working tips with special features, e.g. extending parts blade
- A61B2017/320077—Working tips with special features, e.g. extending parts blade double edge blade, e.g. reciprocating
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B2017/320089—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic node location
Abstract
The present invention describes a method of designing a balanced ultrasonic surgical instrument including an ultrasonic transmission rod and an asymmetric ultrasonically actuated blade attached to the distal end of the ultrasonic transmission rod. According to the present invention, the ultrasonically actuated blade includes a treatment portion. The treatment portion has a functional feature such as, for example, a curved blade which makes the treatment portion asymmetric. In the method according to the present invention, a balance portion including at least a first asymmetric balance feature is designed and positioned between the ultrasonically actuated blade and the ultrasonic transmission rod to balance out any undesirable torque generated by the treatment portion.
Description
METHOD OF BALANCING ASYMMETRIC
ULTRASONIC SURGICAL BLADES
] 0 Field of the Invention The present invention relates, in general, to a method of balancing asymmetric ultrasonic blades for use in surgical instruments and, more particularly, to a method of balancing asymmetric ultrasonic blades by including a balance region with one or more balance asymmetries proximal to the asymmetric ultrasonic blade.
Background of the Invention Ultrasonic instruments are often used in surgery to cut and coagulate tissue.
Exciting the end effector (e.g. cutting blades) of such instruments at ultrasonic frequencies induces longitudinal vibratory movement which generates localized heat within adjacent tissue, facilitating both cutting and coagulation.
Because of the nature of ultrasonic instruments, a particular ultrasonically actuated end effector may be designed to perform numerous functions, including, for example, cutting and coagulation. The structural stress induced in such end effectors by vibrating the blade at ultrasonic frequencies may have a number of undesirable effects. Such undesirable effects may include, for example, substantial transverse motion in the instrument waveguide which may lead to, for example, excess heat generation in the waveguide or premature stress failure. The undesirable effects of vibrating a surgical end effector at ultrasonic frequencies are compounded where the end effector is not symmetrical, that is, where the mass of the end effector is not distributed symmetrically about a line extending through the central axis of the transmission waveguide. Therefore, one way to improve the performance of ultrasonically actuated end effectors is to design end effectors which are substantially symmetric about the central axis of the transmission waveguide.
Alternatively, the surgical end effector may be small and short, in which case the end effector will act like a small lumped mass at the end' of the transmission waveguide and will not induce substantial transverse motion 'in the waveguide.
Where it is desirable to design end effectors which are not symmetric, performance may be improved by designing the end effector such that the center of mass of the end effector is located along a line which extends through the central axis of the waveguide. One known method of moving the center of mass is to add or subtract mass opposite or close to the asymmetric region until the center of mass lies along a central axis. As a further altemative, longitudinal vibratory motion in the waveguide may be reduced or eliminated by using thicker, more robust waveguides which are not as subject to transverse vibratory motion.
However, the use of thick waveguides may not be an acceptable alternative where the ultrasonic surgical instrument is being designed for use in minimally invasive surgery such as endoscopic or laparoscopic surgery. In such instruments it is generally desirable to reduce the diameter of the ultrasonic waveguide in order to fit the instrument through the tiny surgical incisions, narrow body orifices and through trocars presently being used and being designed for future procedures.
Long thin ultrasonic waveguides, such as those used in instruments for minimally invasive surgery, are particularly susceptible to transverse vibrations introduced by imbalances in the end effector.
For certain applications, it is desirable to include one or more axially asymmetrical features, (e.g. blade curvature) to enhance performance of the end effector. It may also be desirable to design such end effectors to be relatively long, in order to facilitate certain surgical procedures. In such end effectors, it is not always possible or desirable to include opposed balancing features in the treatment portion in order to balance the end effector by aligning the center of mass with the central axis of the transmission waveguide. It tvould, therefore, be desirable to develop a method of designing an ultrasonic surgical instrument including a waveguide and an ultrasonic end effector wherein undesirable transverse vibrations resulting from the inclusion of beneficial asymmetrical features (e.g. a long curved blade) in the working portion of the end effector have been reduced or eliminated. It would further be advantageous to develop a method of designing such an instrument wherein the undesirable transverse vibrations have been reduced or eliminated without adding balancing featu'res to the treatment portion of the end effector. It would further be advantageous to'develop a method of designing an end effector wherein undesirable transverse vibrations resulting from the inclusion of beneficial asymmetrical features in the treatment portion of the end effector have been reduced or eliminated by adding asymmetrical balancing features proximal to the treatment portion of the end effector. It would further be advantageous to develop a method of designing an asymmetric end effector with a center of mass which is not on the central axis of the transmission wave guide wherein significant transverse motion is not induced in the waveguide by the asymmetric end effector.
Summary of the Invention The present invention describes a method of designing a balanced ultrasonic surgical instrument including an ultrasonic transmission rod and an asymmetric ultrasonically actuated blade attached to the distal end of the ultrasonic transmission rod. According to the present invention, the ultrasonically actuated blade includes a treatment portion. The treatment portion has a functional feature such as, for example, a curved blade which makes the treatment portion asymmetric. Such a functional feature may be referred to as a functional asymmetry. In the method according to the present invention, a balance portion including at least a first asymmetric balance feature is designed and positioned between the ultrasonically actuated blade and the ultrasonic transmission rod to balance out any undesirable torque generated by the treatment portion. Such balance features may be referred to as balance asymmetries and may include asymmetric features such as, for example, notches, flats, bumps or raised regions. In an ultrasonic instrument designed according to the method of the present invention, the balaAce portion generally extends from a node point on the ultrasonic transmission rod to the proximal end of the treatment portion. In an ultrasonic surgical instrument designed according to the method of the present invention, the first and second balance asymmetries are positioned such that transverse vibrations in the ultrasonic transmission rod are substantially reduced and may be reduced to approximately zero. Further, in an ultrasonic surgical instrument designed according to the present invention, the balance ratio of the transmission waveguide may be reduced to less than 1:10 and may be further reduced to less than 1:200.
In some aspects, there is provided a method of balancing an ultrasonic instrument including an asymmetric ultrasonically actuated blade and an ultrasonic waveguide wherein said asymmetric ultrasonically actuated blade induces an undesirable torque in said ultrasound waveguide, said method comprising the steps of: incorporating a balance region between a distal end of said ultrasonic waveguide and a proximal end of said asymmetric ultrasonically actuated blade; incorporating one or more balance asymmetries generate into said balance region, wherein said one or more balance asymmetries generate a counter torque which opposes said undesirable torque and said one or more balance asymmetries are positioned such that traverse vibrations in the ultrasonic instrument are substantially reduced.
In some aspects, there is provided an ultrasonic surgical instrument including an asymmetric ultrasonically actuated blade and an ultrasonic waveguide wherein said asymmetric ultrasonically actuated blade induces an undesirable torque in said ultrasonic waveguide, said ultrasonic surgical instrument being balanced by a method comprising the steps of: incorporating a balance region between a distal end of said ultrasonic waveguide and a proximal end of said asymmetric ultrasonically actuated blade;
incorporating one or more balance asymmetries into said balance region, wherein said one or more balance asymmetries generate a counter torque which opposes said undesirable torque, and said one or more balance asymmetries are positioned such that traverse vibrations in the ultrasonic instrument are substantially reduced.
- 4a -Brief Description of the DrawiM
The novel features of the invention are set forth with particularity in the appended claims. The invention itself, however, both as to organization and methods of operation, together with further objects and advantages thereof, may best be understood by reference to the following description, taken in conjunction with the accompanying drawings in which:
Figure 1 is an exploded perspective view of an ultrasonic surgical instrument according to the present invention.
Figure 2 is a side view of the distal end of an ultrasonic transmission assembly according to the present invention.
Figure 3 is a top view of the distal end of an ultrasonic transmission assembly according to the present invention.
Figure 4 is a perspective view of the distal end of an alternate embodiment of an ultrasonic transmission assembly according to the present invention.
Figure 5 is a perspective view of the distal end of the ultrasonic transmission assembly shown in Figure 4 with a phantom x,y plane drawn through the center of the ultrasonic transmission waveguide.
ULTRASONIC SURGICAL BLADES
] 0 Field of the Invention The present invention relates, in general, to a method of balancing asymmetric ultrasonic blades for use in surgical instruments and, more particularly, to a method of balancing asymmetric ultrasonic blades by including a balance region with one or more balance asymmetries proximal to the asymmetric ultrasonic blade.
Background of the Invention Ultrasonic instruments are often used in surgery to cut and coagulate tissue.
Exciting the end effector (e.g. cutting blades) of such instruments at ultrasonic frequencies induces longitudinal vibratory movement which generates localized heat within adjacent tissue, facilitating both cutting and coagulation.
Because of the nature of ultrasonic instruments, a particular ultrasonically actuated end effector may be designed to perform numerous functions, including, for example, cutting and coagulation. The structural stress induced in such end effectors by vibrating the blade at ultrasonic frequencies may have a number of undesirable effects. Such undesirable effects may include, for example, substantial transverse motion in the instrument waveguide which may lead to, for example, excess heat generation in the waveguide or premature stress failure. The undesirable effects of vibrating a surgical end effector at ultrasonic frequencies are compounded where the end effector is not symmetrical, that is, where the mass of the end effector is not distributed symmetrically about a line extending through the central axis of the transmission waveguide. Therefore, one way to improve the performance of ultrasonically actuated end effectors is to design end effectors which are substantially symmetric about the central axis of the transmission waveguide.
Alternatively, the surgical end effector may be small and short, in which case the end effector will act like a small lumped mass at the end' of the transmission waveguide and will not induce substantial transverse motion 'in the waveguide.
Where it is desirable to design end effectors which are not symmetric, performance may be improved by designing the end effector such that the center of mass of the end effector is located along a line which extends through the central axis of the waveguide. One known method of moving the center of mass is to add or subtract mass opposite or close to the asymmetric region until the center of mass lies along a central axis. As a further altemative, longitudinal vibratory motion in the waveguide may be reduced or eliminated by using thicker, more robust waveguides which are not as subject to transverse vibratory motion.
However, the use of thick waveguides may not be an acceptable alternative where the ultrasonic surgical instrument is being designed for use in minimally invasive surgery such as endoscopic or laparoscopic surgery. In such instruments it is generally desirable to reduce the diameter of the ultrasonic waveguide in order to fit the instrument through the tiny surgical incisions, narrow body orifices and through trocars presently being used and being designed for future procedures.
Long thin ultrasonic waveguides, such as those used in instruments for minimally invasive surgery, are particularly susceptible to transverse vibrations introduced by imbalances in the end effector.
For certain applications, it is desirable to include one or more axially asymmetrical features, (e.g. blade curvature) to enhance performance of the end effector. It may also be desirable to design such end effectors to be relatively long, in order to facilitate certain surgical procedures. In such end effectors, it is not always possible or desirable to include opposed balancing features in the treatment portion in order to balance the end effector by aligning the center of mass with the central axis of the transmission waveguide. It tvould, therefore, be desirable to develop a method of designing an ultrasonic surgical instrument including a waveguide and an ultrasonic end effector wherein undesirable transverse vibrations resulting from the inclusion of beneficial asymmetrical features (e.g. a long curved blade) in the working portion of the end effector have been reduced or eliminated. It would further be advantageous to develop a method of designing such an instrument wherein the undesirable transverse vibrations have been reduced or eliminated without adding balancing featu'res to the treatment portion of the end effector. It would further be advantageous to'develop a method of designing an end effector wherein undesirable transverse vibrations resulting from the inclusion of beneficial asymmetrical features in the treatment portion of the end effector have been reduced or eliminated by adding asymmetrical balancing features proximal to the treatment portion of the end effector. It would further be advantageous to develop a method of designing an asymmetric end effector with a center of mass which is not on the central axis of the transmission wave guide wherein significant transverse motion is not induced in the waveguide by the asymmetric end effector.
Summary of the Invention The present invention describes a method of designing a balanced ultrasonic surgical instrument including an ultrasonic transmission rod and an asymmetric ultrasonically actuated blade attached to the distal end of the ultrasonic transmission rod. According to the present invention, the ultrasonically actuated blade includes a treatment portion. The treatment portion has a functional feature such as, for example, a curved blade which makes the treatment portion asymmetric. Such a functional feature may be referred to as a functional asymmetry. In the method according to the present invention, a balance portion including at least a first asymmetric balance feature is designed and positioned between the ultrasonically actuated blade and the ultrasonic transmission rod to balance out any undesirable torque generated by the treatment portion. Such balance features may be referred to as balance asymmetries and may include asymmetric features such as, for example, notches, flats, bumps or raised regions. In an ultrasonic instrument designed according to the method of the present invention, the balaAce portion generally extends from a node point on the ultrasonic transmission rod to the proximal end of the treatment portion. In an ultrasonic surgical instrument designed according to the method of the present invention, the first and second balance asymmetries are positioned such that transverse vibrations in the ultrasonic transmission rod are substantially reduced and may be reduced to approximately zero. Further, in an ultrasonic surgical instrument designed according to the present invention, the balance ratio of the transmission waveguide may be reduced to less than 1:10 and may be further reduced to less than 1:200.
In some aspects, there is provided a method of balancing an ultrasonic instrument including an asymmetric ultrasonically actuated blade and an ultrasonic waveguide wherein said asymmetric ultrasonically actuated blade induces an undesirable torque in said ultrasound waveguide, said method comprising the steps of: incorporating a balance region between a distal end of said ultrasonic waveguide and a proximal end of said asymmetric ultrasonically actuated blade; incorporating one or more balance asymmetries generate into said balance region, wherein said one or more balance asymmetries generate a counter torque which opposes said undesirable torque and said one or more balance asymmetries are positioned such that traverse vibrations in the ultrasonic instrument are substantially reduced.
In some aspects, there is provided an ultrasonic surgical instrument including an asymmetric ultrasonically actuated blade and an ultrasonic waveguide wherein said asymmetric ultrasonically actuated blade induces an undesirable torque in said ultrasonic waveguide, said ultrasonic surgical instrument being balanced by a method comprising the steps of: incorporating a balance region between a distal end of said ultrasonic waveguide and a proximal end of said asymmetric ultrasonically actuated blade;
incorporating one or more balance asymmetries into said balance region, wherein said one or more balance asymmetries generate a counter torque which opposes said undesirable torque, and said one or more balance asymmetries are positioned such that traverse vibrations in the ultrasonic instrument are substantially reduced.
- 4a -Brief Description of the DrawiM
The novel features of the invention are set forth with particularity in the appended claims. The invention itself, however, both as to organization and methods of operation, together with further objects and advantages thereof, may best be understood by reference to the following description, taken in conjunction with the accompanying drawings in which:
Figure 1 is an exploded perspective view of an ultrasonic surgical instrument according to the present invention.
Figure 2 is a side view of the distal end of an ultrasonic transmission assembly according to the present invention.
Figure 3 is a top view of the distal end of an ultrasonic transmission assembly according to the present invention.
Figure 4 is a perspective view of the distal end of an alternate embodiment of an ultrasonic transmission assembly according to the present invention.
Figure 5 is a perspective view of the distal end of the ultrasonic transmission assembly shown in Figure 4 with a phantom x,y plane drawn through the center of the ultrasonic transmission waveguide.
Figure 6 is a perspective view of the distal end of the ultrasonic transmission assembly shown in Figure 4 with a phantom x,z plane drawn through the center of the ultrasonic transmission waveguide.
Figure 7 is a side view of an alternate embodiment of the distal end of the ultrasonic transmission assembly shown in Figure 4.
Figure 8 is a top view of the distal end of the ultrasonic transmission assembly shown in Figure 7.
Figure 9 is a perspective view of the distal end of the ultrasonic transmission assembly shown in Figure 7.
Detailed Description of the Invention Figure l is an exploded perspective view of an ultrasonic surgical instrument 10 according to the present invention. In Figure 1, ultrasonic end effector 12 is mechanically coupled to ultrasonic transmission waveguide 14 to form ultrasonic transmission assembly 11. Ultrasonic transmission waveguide 14 is positioned in outer sheath 16 by mounting o-ring 18 and sealing ring 20.
One or more additional dampers or support members (not shown) may also be included along ultrasonic transmission waveguide 14. Ultrasonic transmission waveguide 14 is affixed to outer sheath 16 by mounting pin 21, which passes through mounting holes 23 in outer sheath 16 and mounting slot 25 in transmission waveguide 14.
Figure 2 is a side view of the distal end of ultrasonic transmission assembly 11, including end effector 12. Figure 2 further includes an ordinate system in which: the x-axis lies along central axis 24 of ultrasonic transmission waveguide 14 while the y-axis is the axis of curvature of treatment region 26. In the embodiments of the invention described herein, end effectort 12 is affixed to the distal end of transmission waveguide 14 at balance node 22. Central axis 24 of transmission waveguide 14 extends from the proximal end of transmission -b-waveguide, 14 to the distal . end of transmission waveguide 14. Transmission waveguide 14 is symmetrical about central axis 24. End effector 12 includes treatment region 26, which is located at the distal end of end effector 12 and balance region 28 which is located between treatment region 26 and balance node 22. Treatment region 26, being curved, includes two surfaces, a concave top surface 30 and a convex bottom surface 32. Convex bottom surface 32 is substantially planar or flat along the y-axis of the blade. Treatment region further includes rounded tip 34. In the illustrated embodiment of the invention, balance region 28 includes a first cutout 38 and a second cutout 40 which act as asymmetric balance features. First cutout 38 extending from the proximal end of concave surface 30 to a first predetermined point 42 which is distal to balance node 22. Second cutout 40 extends from the proximal end of convex surface 32 to a second predetermined point 44 which is distal to point 42 and balance node 22.
Figure 3 is a top view of the distal end of ultrasonic transmission assembly 11, including end effector 12. In Figure 3, blade edges 36 are positioned on both sides of treatnient region 26 and extend from the proximal end of treatment region 26 to rounded tip 34. The intersection of concave surface 30 and convex surface 32 form blade edges 36. Central ridge 37 runs from the distal end of balance region 28 to rounded tip 34 along the center of treatment region 26. Central ridge 37 forms a portion of concave top surface 30. Central ridge 37 adds strength, stiffness and rigidity to treatment region 26 by giving treatment region 26 a substantially trapezoidal cross-section.
Figure 4 is a perspective view of the distal end of an embodiment of an ultrasonic transmission assembly 11. Figure 5 is a perspective view of the distal end of ultrasonic transmission assembly 11 of the embodiment of the invention shown in Figure 4 with a phantom x,y plane 52 drawn through the center of ultrasonic transmission waveguide 14. In Figure 5, phantom x,y plane 52 passes through centr'al axis 24. Since treatment region 26 curves away from x,y plane 52, end effector 12 is not symmetrical about x,y plane 52. Plane 52 may, therefore, be referred to as the plane of asymmetry for end effector 12.
Figure 6 is a perspective view of the distal end of the ultrasonic transmission assembly 11 of the embodiment of the invention shown in Figure 4 with a phantom x,z plane 50 drawn through the center of ultrasonic transmission waveguide 14. In Figure 6, phantom x,z plane 50 passes through central axis 24 at an angle at 90 to x,y plane 52. End effector 12 is substantially symmetrical about x,z plane 50. Plane 50 may, therefore, be referred to, as the plane of symmetry for end effector 12. Figure 7 is a side view of an alternate embodiment of the distal end of the ultrasonic transmission assembly shown in Figure 4.
In the embodiment of the invention illustrated in Figure 7, end effector 12 has substantially the same shape and structure as the embodiment of the invention illustrated in Figures 1-7 except the embodiment of Figure 7 includes sharp tip 35 at the distal end of treatment region 26. Figure 8 is a top view of the distal end of the ultrasonic transmission assembly shown in Figure 4. Figure 9 is a perspective view of the distal end of the ultrasonic transmission assembly shown in Figure 4.
Ultrasonic surgical instrument 10 has a treatment region 26 which includes a curved blade designed to cut and coagulate tissue when vibrated at ultrasonic frequencies, such as, for example, fifty-five kilohertz (55kHz). Treatment region 26 is curved to provide the surgeon with better access and visibility when using ultrasonic instrument 10. As illustrated in Figures 5-6, curved treatment region 26 is symmetrical about x,z plane 50 but is not symmetrical about x,y plane 52.
When treatment region 26 is vibrated at an appropriate ultrasonic frequency to facilitate cutting and coagulation, the asymmetrical shape of treatment region will tend to induce undesirable forces, including torque, which are transmitted back to transmission waveguide 14 and induce undesirable transverse vibrations in transmission waveguide 14.
As previously described, it is known that these undesirable transverse vibrations may be minimized and the end effector balanced by designing the end effector such that the center of mass at any point along the end effector is positioned on or very near the central axis of the transmission waveguide.
However, where, as in the present invention, the asymmetry (e.g. the curve of treatment region 26), causes the center of mass to diverge substantially from a line -tS-extending.from the central axis of the transmission waveguide and the addition of balance features within the treatment region is undesirable, the blade must be balanced using an alternative method.
a According to the present invention, end effector 12 is balanced by reducing or eliminating the torque induced in end effector 12 proximal to treatment region 26 as a result of including functional asymmetrical features in treatment region 26.
A convenient physical point of reference at the proximal end of end effector 12 is balance node 22. It should be noted that balance node 22 may be any node of longitudinal vibration along transmission waveguide 14 and is not necessarily the most distal vibratory node. Nodes of longitudinal vibration occur at half wavelength intervals along the transmission waveguide, wherein the wavelength of interest is the wavelength of the frequency at which the ultrasonic end effector is driven (e.g. 55kHz). In the embodiment of the invention illustrated in Figure 3, the asynimetric functional features comprise curved treatment region 26 having rounded tip 34. A feature is asymmetric when its cross-section is not symmetric with respect to waveguide central axis 24. A feature is symmetric when the cross-section is symmetric with respect to waveguide central axis 24. That is, a feature is symmetric when a chord through a cross-section of the portion of the end effector, which includes the feature, is bisected by central axis 24.
According to the present invention, a balance region 28 is included in end effector 12 and end effector 12 is balanced by positioning at least two asymmetric balance features in balance region 28 between the proximal end of treatment region 26 and balance node 22. The size, shape and position of the asymmetric balance features included in balance region 28 are selected to reduce the torque at a balance point 29 to zero or as close to zero as possible. Balance point 29 is on central axis 24 positioned at, for example, balance node 22. The degree to which torque is reduced will depend upon particular design and manufacturing constraints. " Thus, by appropriately arranging asymmetric balance features in balance region 28, the torque induced by the asymmetric functional features in treatment region 26 may be canceled by the torque induced by the asymmetric balance features. With the summation of torque distal to end effector 12 minimized, the transverse vibration induced in transmission waveguide 14 will be substantially reduced and may be reduced to approximately zero.
In order to determine whether an asymmetric end effector has been properly balanced, it may be appropriate to measure the' torque induced in transmission waveguide 14. The relative magnitude of the tdrque induced in transmission waveguide 14 may be estimated by taking the ratio of the peak lateral displacement, less Poisson's swelling (also referred to as longitudinal node swelling), at any transverse vibratory antinode of the transmission wave guide to the peak longitudinal displacement at any longitudinal vibratory antinode of the transmission - waveguide. The closer the ratio is to zero, the less transverse vibration is being induced in the waveguide. Thus, the ratio of peak lateral displacement to peak longitudinal displacement may be referred to as the "balance ratio". In one embodiment of the present invention, a blade would be considered balanced if the balance ratio of peak lateral displacement to peak longitudinal displacement is 1:10 or less. More particularly, using the techniques described herein, it may be possible to achieve balance ratios of 1:200 or less.
An asymmetric feature is a feature of the end effector wherein the center of mass of the feature is off a line extending from the central axis of the transmission waveguide. In an end effector having a symmetrical orientation and an asymmetricaJ orientation, such as the end effector illustrated in the Figures, all of the asymmetric features are in a plane parallel to the plane of synunetry.
The mass and shape of the asymmetric balance features introduced into balance region 26 are determined by a number of factors. The torque' induced at balance point 29 is equal to the integral over volume of the cross product of the vector acceleration at each point on the end effector with a position vector multiplied by a density scalar. The density scaler is a function which represents the density of the end effector at each point on the end effector. Expressing that equation mathematically, the torque ( T) at balance point 29 is xi Yi =i (1 ) J J J A(x, y, Z) x 0(x, y,' )P(x, y, z)Cizdy&, l so Yo Zo where:
xo, yo, and zo are located in the plane x=0 at balance point 29;
x,, y,, and z, are located in a plane tangential to the distal tip of end effector 12 and, with xo, yo, and zo, define a region which encloses end effector 12;
A(x, y,z) is the acceleration of the blade at any point (x,y,z);
o(x, y,z) is a vector indicative of the position of the point (x,y,z) with respect to balance point 29;
and p(x, y,z) is the density of the blade at any point (x,y,z).
Therefore, in a balanced end effector designed according to the present invention, an end effector 12 is first designed which incorporates one or more beneficial asymmetries in treatment region 26 (e.g. curved blade edges 36). A
balance node point is then selected at a convenient vibratory node along waveguide 14. Normally the balance node point will be the most distal vibratory node on waveguide 14. A symmetrical (e.g. cylindrical) balance region 28 is then incorporated into end efI'ector 12. In the illustrated embodiments, balance region 28 extends from balance node 22 to the proximal end of treatment region 26.
Normally the proximal end of treatment region 26 will correspond with the proximal end of the proximal most beneficial asymmetry. For example, in the embodiment of the invention illustrated in Figure 2, the proximal end of treatment region 26 corresponds to the proximal end of curved blade edge 36. Once the appropriate beneficial asymmetries have been designed into the end effector, the torque induced at balance point 29 by the end effector design, including beneficial asymmetries. may be calculated using Equation (1) above.
In using Equation (1) above to calculate the torque induced by any particular asymmetry at balance point 29, a suitable first tstep is to find a mathematical expression for A(x, y, z) , the acceleration at each point along end effector 12, along with a mathematical expression for p(x,y,z), the density at each point along end effector 12, and a mathematical expression for o'(x, y,z), the position vector for each point along end effector 12 with respect to balance point 29. For convenience, o(x, y, z) may be referred to as the offset vector. As Equation (1) indicates, the torque induced at balance point 29 by,end effector 12 is the volume integral of the cross product of the acceleration vector with the product of the offset vector and scalar density. In Equation (1), the integral is taken over the volume of the end effector. Generally stated, the torque induced at balance point 29 will be equal to the sum of the torques induced by each asymmetry in end effector 12. Thus an optimum design may be obtained where balance asymmetries are incorporated into balance region 28 such that the torque induced by the balance asymmetries cancel the torque induced by the beneficial asymmetries.
In an ideal situation it would be possible to express A(x,y,z), o"(x,y,z), and p(x,y,z) using mathematical formulas which could be conveniently integrated over the volume of end effector 12. However, it is generally very difficult to develop such mathematical formulas for ultrasonic surgical end effector geometry because ultrasonic surgical end effectors do not generally assume continuous geometric shapes such as cones or cylinders. Therefore, once the variables have been calculated or modeled, the integral may be calculated using, for example, a numerical integration program. Of the parameters A(x,y,z), o"(x,y,z), and ,o(x, y, z) , the most difficult to calculate is generally the acceleration vector A(x, y, z) for each point along end effector 12, particularly for end effectors having complex geometry. Therefore, it is usually necessary to use methods other than direct calculation to obtain an approximation of the acceleration at any point along end effector 12. For example, the displacement at each point may be a suitable approximation of the acceleration with a suitable scaling factor.
Displacement may be calculated using, for example, finite element analysis of the blade. Alternatively, velocity at each point may be used to obtain an estimate of acceleration at a given frequency. The velocity at specific points may be calculated by, for example, physically observing extemal points along the blade surface, (e.g. using a laser vibrometer) and assuming that the interior points are acting in the same manner as the surface points. As another example, the velocity of any point along the blade may be approximated as substantially sinusoidal function of the distance from the balance node point.
The calculation of position vector o(x,y,z) is generally tied to the method used to calculate A(x, y, z) . For example, if A(x, y, z) is measured or approximated at specific points along the end effector, then o(x, y,z) would be the position vector taken at those specific points.
Since ultrasonic instruments according to the present invention normally utilize end effectors constructed of titanium, aluminum or an alloy of titanium or aluminum the density at any point P(x,y,z) is a constant. Therefore, in general p(x, y, z) = P where P is the density of the material used in the end effector.
In practice, an end effector is designed which incorporates suitable beneficial asymmetries into treatment region 26. Those beneficial asynunetries induce an undesirable torque T. at balance point 29 which may be calculated using Equation (1). Once the undesirable torque Tõ for a particular design is known, balance asymmetries may be added in balance region 28 to generate a balance torque Tb at balance point 29 which cancels the undesirable torque Tõ generated by the beneficial asymmetries. Adding balance asymmetries to balance region 28 consists of adding or subtracting mass from particular portions of balance region 28. The size and position of the mass added or subtracted is determined not only by the balance torque Tb induced at balance point 29 but also by considerations such as the effect upon the look, feel and ergonomics of the end effector. Therefore, once Tõ is calculated, the designer may begin to add and subtract mass from balance region 28 to create two or more balance asymmetries which induce a rbeneficial torque at balance point 29.
It may be possible to simplify the calculations required, for example, using suitable assumptions, it is possible to simplify Equation (1) for the purpose of calculating Tb. In particular, by assuming that the balance asymmetries can be modeled as a series of point masses and neglecting the effect of rotation:
k /2) T = mn A,." x oc-,~ , l where: mn is the mass of the end effector at each point n;
Tb is the torque induced at balance point 29 by the balance asymmetries designed into balance region 26;
k is the total number of balance asymmetries;
A, ,, is the average over a surface, or a representative vector acceleration at the point in balance region 26 where mass n is added;
and o,,,,n is an offset vector pointing to the Center of Mass of mass n.
By designing the balance asymmetries to be symmetrical about plane of symmetry 50, the torque exerted at node 22 may be modeled as being entirely about the y-axis of the end effector. If all balance asymmetries are located on a plane of symmetry 50, equation (2) becomes:
T= m, A,, x ocw, + mZ A,, Z x oCA4ry + m, A, 3 x 5 CM.3 +... (3) or T j= m, A, , x o " c , , . , j+ m~ A, Z x o " a , , , , = j+ m3 A, 3 x o ' a , . , = j+... (4) or, neglecting signs, = k (5) IT~- im. As~ x cm, T-I
It will be apparent that a significant number of combinations of balance asymmetry sizes and shapes may be used to generate an appropriate torque Tb at balance node 29. Further, the size and shape of the particular balance asymmetries chosen will be a function of the material used to create those asymmetries.
Therefore, the designer is normally left to select balance asymmetries which not only generate the desired balance torque Tb, but meet other design criteria as well. Thus, the actual design of appropriate balance asymmetries becomes an iterative exercise, with the blade designer selecting preferred shapes and positions for the balance asymmetries then checking those shapes and positions using one of Equation (1), (2) ., ~
or (5). The shape and size of the balance asymmetries may be adjusted as required to generate Tb.
An end effector according to the present invention may also be designed using one or more empirical methods such as, for example, using modal analysis.
In the empirical methods, the end effector is designed with appropriate beneficial asymmetries included in treatment region 26 and balance region 28 is modeled as a symmetric connector between the treatment region and transmission waveguide 14. Since treatment region 28 includes beneficial asymmetries (e.g. curved blade edges 36) without corresponding balance asymmetries in balance region 28, this first pass end effector will tend to be unbalanced. Once a first pass end effector is developed, a suitable measurement of the torque generated at a preselected point, such as balance point 29, may be selected. For example, the balance ratio of peak lateral displacement to peak longitudinal displacement as measured in the transmission waveguide. The first pass end effector may then be numerically modeled and vibrated using modal analysis or finite element analysis techniques.
With the first pass numerical model driven at a suitable generator frequency (e.g.
55 kHz), it is possible, using, for example, finite element analysis programs to determine the ratio of peak lateral displacement to peak longitudinal displacement at selected points along the transmission waveguide. The end effector may then be balanced (i.e. the ratio of peak lateral displacement to peak longitudinal displacement reduced to less than 1:10) by adding or subtracting mass in the balance region. This is, of course, an iterative process which may be enhanced (i.e. fewer iterations required) by the skill and experience of the designer.
t A further empirical design technique involves designing a first pass end effector in the manner set forth above. A physical model of the first pass end -,.~-effector is then built and tested by driving the input of the transmission waveguide at a suitable generator frequency. The frequency at which the end effector is driven may be referred to as the drive frequency. With the first pass end effector driven at the drive frequency, a suitable measurement of the torque generated at the balance node may be selected, for example, the balance ratio can be measured directly from the transmission waveguide. The end effector may then be balanced (i.e. the balance ratio reduced to less than 1:10) by physically adding or subtracting mass in the balance region. This is, of course, an iterative process which may be enhanced (i.e. fewer iterations required) by the skill and experience of the designer. No matter the design method chosen, whether empirical or analytical, if it is an iterative process, the rougher the first approximation used, the more iterations will be necessary to arrive at balanced blade design.
As described herein, balance node 22 was selected as the proximal origin of balance region 26 in order to provide clarity and to set forth a physically definable point of reference which may be located on any transmission waveguide, using either mathematical computation or physical measurements. As it happens, using node 22 as the proximal origin of balance region 26 is also beneficial in that it is believed to make 'the mathematics set forth herein cleaner and more understandable. However, it should be recognized that using the present invention, the undesirable torque generated in the waveguide will be substantially canceled by the balance torque generated in the wave guide from a point just proximal to the proximal most balance asymmetry. For example, in the embodiment of the invention illustrated in Figure 2, the torque will converge toward zero in the portion of the waveguide proximal to first predetermined point 42.
While the embodiments illustrated and described herein have beneficial asymmetries in only one direction, the present technique could be used to balance blades having asymmetries in any two or more directions. It will be further be apparent that, in a surgical end effector designed according to the present invention, the center of mass of the end effector may not be positioned on the central axis of the waveguide. A blade according to the present invention may also be designed to include a single or multiple angle of curvature and to include blunt, square or sharp blade edges. A balanced ultrasonic blade designed according to the present invention may be used to perform many open and endoscopic surgical procedures, including: intemal mammary artery (IMA) takedown procedures; removal or dissection of the radial artery; breast reduction and reconstruction; and hemorrhoid removal. Ultrasonic blades,' according to the present invention, have multiple functions and may include multiple features to facilitate those functions, for example, flats or blunt regions for configuration, sharp or dull edges and serrated blade edges.
While preferred embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the invention. Accordingly, it is intended that the invention be limited only by the spirit and scope of the appended claims.
Figure 7 is a side view of an alternate embodiment of the distal end of the ultrasonic transmission assembly shown in Figure 4.
Figure 8 is a top view of the distal end of the ultrasonic transmission assembly shown in Figure 7.
Figure 9 is a perspective view of the distal end of the ultrasonic transmission assembly shown in Figure 7.
Detailed Description of the Invention Figure l is an exploded perspective view of an ultrasonic surgical instrument 10 according to the present invention. In Figure 1, ultrasonic end effector 12 is mechanically coupled to ultrasonic transmission waveguide 14 to form ultrasonic transmission assembly 11. Ultrasonic transmission waveguide 14 is positioned in outer sheath 16 by mounting o-ring 18 and sealing ring 20.
One or more additional dampers or support members (not shown) may also be included along ultrasonic transmission waveguide 14. Ultrasonic transmission waveguide 14 is affixed to outer sheath 16 by mounting pin 21, which passes through mounting holes 23 in outer sheath 16 and mounting slot 25 in transmission waveguide 14.
Figure 2 is a side view of the distal end of ultrasonic transmission assembly 11, including end effector 12. Figure 2 further includes an ordinate system in which: the x-axis lies along central axis 24 of ultrasonic transmission waveguide 14 while the y-axis is the axis of curvature of treatment region 26. In the embodiments of the invention described herein, end effectort 12 is affixed to the distal end of transmission waveguide 14 at balance node 22. Central axis 24 of transmission waveguide 14 extends from the proximal end of transmission -b-waveguide, 14 to the distal . end of transmission waveguide 14. Transmission waveguide 14 is symmetrical about central axis 24. End effector 12 includes treatment region 26, which is located at the distal end of end effector 12 and balance region 28 which is located between treatment region 26 and balance node 22. Treatment region 26, being curved, includes two surfaces, a concave top surface 30 and a convex bottom surface 32. Convex bottom surface 32 is substantially planar or flat along the y-axis of the blade. Treatment region further includes rounded tip 34. In the illustrated embodiment of the invention, balance region 28 includes a first cutout 38 and a second cutout 40 which act as asymmetric balance features. First cutout 38 extending from the proximal end of concave surface 30 to a first predetermined point 42 which is distal to balance node 22. Second cutout 40 extends from the proximal end of convex surface 32 to a second predetermined point 44 which is distal to point 42 and balance node 22.
Figure 3 is a top view of the distal end of ultrasonic transmission assembly 11, including end effector 12. In Figure 3, blade edges 36 are positioned on both sides of treatnient region 26 and extend from the proximal end of treatment region 26 to rounded tip 34. The intersection of concave surface 30 and convex surface 32 form blade edges 36. Central ridge 37 runs from the distal end of balance region 28 to rounded tip 34 along the center of treatment region 26. Central ridge 37 forms a portion of concave top surface 30. Central ridge 37 adds strength, stiffness and rigidity to treatment region 26 by giving treatment region 26 a substantially trapezoidal cross-section.
Figure 4 is a perspective view of the distal end of an embodiment of an ultrasonic transmission assembly 11. Figure 5 is a perspective view of the distal end of ultrasonic transmission assembly 11 of the embodiment of the invention shown in Figure 4 with a phantom x,y plane 52 drawn through the center of ultrasonic transmission waveguide 14. In Figure 5, phantom x,y plane 52 passes through centr'al axis 24. Since treatment region 26 curves away from x,y plane 52, end effector 12 is not symmetrical about x,y plane 52. Plane 52 may, therefore, be referred to as the plane of asymmetry for end effector 12.
Figure 6 is a perspective view of the distal end of the ultrasonic transmission assembly 11 of the embodiment of the invention shown in Figure 4 with a phantom x,z plane 50 drawn through the center of ultrasonic transmission waveguide 14. In Figure 6, phantom x,z plane 50 passes through central axis 24 at an angle at 90 to x,y plane 52. End effector 12 is substantially symmetrical about x,z plane 50. Plane 50 may, therefore, be referred to, as the plane of symmetry for end effector 12. Figure 7 is a side view of an alternate embodiment of the distal end of the ultrasonic transmission assembly shown in Figure 4.
In the embodiment of the invention illustrated in Figure 7, end effector 12 has substantially the same shape and structure as the embodiment of the invention illustrated in Figures 1-7 except the embodiment of Figure 7 includes sharp tip 35 at the distal end of treatment region 26. Figure 8 is a top view of the distal end of the ultrasonic transmission assembly shown in Figure 4. Figure 9 is a perspective view of the distal end of the ultrasonic transmission assembly shown in Figure 4.
Ultrasonic surgical instrument 10 has a treatment region 26 which includes a curved blade designed to cut and coagulate tissue when vibrated at ultrasonic frequencies, such as, for example, fifty-five kilohertz (55kHz). Treatment region 26 is curved to provide the surgeon with better access and visibility when using ultrasonic instrument 10. As illustrated in Figures 5-6, curved treatment region 26 is symmetrical about x,z plane 50 but is not symmetrical about x,y plane 52.
When treatment region 26 is vibrated at an appropriate ultrasonic frequency to facilitate cutting and coagulation, the asymmetrical shape of treatment region will tend to induce undesirable forces, including torque, which are transmitted back to transmission waveguide 14 and induce undesirable transverse vibrations in transmission waveguide 14.
As previously described, it is known that these undesirable transverse vibrations may be minimized and the end effector balanced by designing the end effector such that the center of mass at any point along the end effector is positioned on or very near the central axis of the transmission waveguide.
However, where, as in the present invention, the asymmetry (e.g. the curve of treatment region 26), causes the center of mass to diverge substantially from a line -tS-extending.from the central axis of the transmission waveguide and the addition of balance features within the treatment region is undesirable, the blade must be balanced using an alternative method.
a According to the present invention, end effector 12 is balanced by reducing or eliminating the torque induced in end effector 12 proximal to treatment region 26 as a result of including functional asymmetrical features in treatment region 26.
A convenient physical point of reference at the proximal end of end effector 12 is balance node 22. It should be noted that balance node 22 may be any node of longitudinal vibration along transmission waveguide 14 and is not necessarily the most distal vibratory node. Nodes of longitudinal vibration occur at half wavelength intervals along the transmission waveguide, wherein the wavelength of interest is the wavelength of the frequency at which the ultrasonic end effector is driven (e.g. 55kHz). In the embodiment of the invention illustrated in Figure 3, the asynimetric functional features comprise curved treatment region 26 having rounded tip 34. A feature is asymmetric when its cross-section is not symmetric with respect to waveguide central axis 24. A feature is symmetric when the cross-section is symmetric with respect to waveguide central axis 24. That is, a feature is symmetric when a chord through a cross-section of the portion of the end effector, which includes the feature, is bisected by central axis 24.
According to the present invention, a balance region 28 is included in end effector 12 and end effector 12 is balanced by positioning at least two asymmetric balance features in balance region 28 between the proximal end of treatment region 26 and balance node 22. The size, shape and position of the asymmetric balance features included in balance region 28 are selected to reduce the torque at a balance point 29 to zero or as close to zero as possible. Balance point 29 is on central axis 24 positioned at, for example, balance node 22. The degree to which torque is reduced will depend upon particular design and manufacturing constraints. " Thus, by appropriately arranging asymmetric balance features in balance region 28, the torque induced by the asymmetric functional features in treatment region 26 may be canceled by the torque induced by the asymmetric balance features. With the summation of torque distal to end effector 12 minimized, the transverse vibration induced in transmission waveguide 14 will be substantially reduced and may be reduced to approximately zero.
In order to determine whether an asymmetric end effector has been properly balanced, it may be appropriate to measure the' torque induced in transmission waveguide 14. The relative magnitude of the tdrque induced in transmission waveguide 14 may be estimated by taking the ratio of the peak lateral displacement, less Poisson's swelling (also referred to as longitudinal node swelling), at any transverse vibratory antinode of the transmission wave guide to the peak longitudinal displacement at any longitudinal vibratory antinode of the transmission - waveguide. The closer the ratio is to zero, the less transverse vibration is being induced in the waveguide. Thus, the ratio of peak lateral displacement to peak longitudinal displacement may be referred to as the "balance ratio". In one embodiment of the present invention, a blade would be considered balanced if the balance ratio of peak lateral displacement to peak longitudinal displacement is 1:10 or less. More particularly, using the techniques described herein, it may be possible to achieve balance ratios of 1:200 or less.
An asymmetric feature is a feature of the end effector wherein the center of mass of the feature is off a line extending from the central axis of the transmission waveguide. In an end effector having a symmetrical orientation and an asymmetricaJ orientation, such as the end effector illustrated in the Figures, all of the asymmetric features are in a plane parallel to the plane of synunetry.
The mass and shape of the asymmetric balance features introduced into balance region 26 are determined by a number of factors. The torque' induced at balance point 29 is equal to the integral over volume of the cross product of the vector acceleration at each point on the end effector with a position vector multiplied by a density scalar. The density scaler is a function which represents the density of the end effector at each point on the end effector. Expressing that equation mathematically, the torque ( T) at balance point 29 is xi Yi =i (1 ) J J J A(x, y, Z) x 0(x, y,' )P(x, y, z)Cizdy&, l so Yo Zo where:
xo, yo, and zo are located in the plane x=0 at balance point 29;
x,, y,, and z, are located in a plane tangential to the distal tip of end effector 12 and, with xo, yo, and zo, define a region which encloses end effector 12;
A(x, y,z) is the acceleration of the blade at any point (x,y,z);
o(x, y,z) is a vector indicative of the position of the point (x,y,z) with respect to balance point 29;
and p(x, y,z) is the density of the blade at any point (x,y,z).
Therefore, in a balanced end effector designed according to the present invention, an end effector 12 is first designed which incorporates one or more beneficial asymmetries in treatment region 26 (e.g. curved blade edges 36). A
balance node point is then selected at a convenient vibratory node along waveguide 14. Normally the balance node point will be the most distal vibratory node on waveguide 14. A symmetrical (e.g. cylindrical) balance region 28 is then incorporated into end efI'ector 12. In the illustrated embodiments, balance region 28 extends from balance node 22 to the proximal end of treatment region 26.
Normally the proximal end of treatment region 26 will correspond with the proximal end of the proximal most beneficial asymmetry. For example, in the embodiment of the invention illustrated in Figure 2, the proximal end of treatment region 26 corresponds to the proximal end of curved blade edge 36. Once the appropriate beneficial asymmetries have been designed into the end effector, the torque induced at balance point 29 by the end effector design, including beneficial asymmetries. may be calculated using Equation (1) above.
In using Equation (1) above to calculate the torque induced by any particular asymmetry at balance point 29, a suitable first tstep is to find a mathematical expression for A(x, y, z) , the acceleration at each point along end effector 12, along with a mathematical expression for p(x,y,z), the density at each point along end effector 12, and a mathematical expression for o'(x, y,z), the position vector for each point along end effector 12 with respect to balance point 29. For convenience, o(x, y, z) may be referred to as the offset vector. As Equation (1) indicates, the torque induced at balance point 29 by,end effector 12 is the volume integral of the cross product of the acceleration vector with the product of the offset vector and scalar density. In Equation (1), the integral is taken over the volume of the end effector. Generally stated, the torque induced at balance point 29 will be equal to the sum of the torques induced by each asymmetry in end effector 12. Thus an optimum design may be obtained where balance asymmetries are incorporated into balance region 28 such that the torque induced by the balance asymmetries cancel the torque induced by the beneficial asymmetries.
In an ideal situation it would be possible to express A(x,y,z), o"(x,y,z), and p(x,y,z) using mathematical formulas which could be conveniently integrated over the volume of end effector 12. However, it is generally very difficult to develop such mathematical formulas for ultrasonic surgical end effector geometry because ultrasonic surgical end effectors do not generally assume continuous geometric shapes such as cones or cylinders. Therefore, once the variables have been calculated or modeled, the integral may be calculated using, for example, a numerical integration program. Of the parameters A(x,y,z), o"(x,y,z), and ,o(x, y, z) , the most difficult to calculate is generally the acceleration vector A(x, y, z) for each point along end effector 12, particularly for end effectors having complex geometry. Therefore, it is usually necessary to use methods other than direct calculation to obtain an approximation of the acceleration at any point along end effector 12. For example, the displacement at each point may be a suitable approximation of the acceleration with a suitable scaling factor.
Displacement may be calculated using, for example, finite element analysis of the blade. Alternatively, velocity at each point may be used to obtain an estimate of acceleration at a given frequency. The velocity at specific points may be calculated by, for example, physically observing extemal points along the blade surface, (e.g. using a laser vibrometer) and assuming that the interior points are acting in the same manner as the surface points. As another example, the velocity of any point along the blade may be approximated as substantially sinusoidal function of the distance from the balance node point.
The calculation of position vector o(x,y,z) is generally tied to the method used to calculate A(x, y, z) . For example, if A(x, y, z) is measured or approximated at specific points along the end effector, then o(x, y,z) would be the position vector taken at those specific points.
Since ultrasonic instruments according to the present invention normally utilize end effectors constructed of titanium, aluminum or an alloy of titanium or aluminum the density at any point P(x,y,z) is a constant. Therefore, in general p(x, y, z) = P where P is the density of the material used in the end effector.
In practice, an end effector is designed which incorporates suitable beneficial asymmetries into treatment region 26. Those beneficial asynunetries induce an undesirable torque T. at balance point 29 which may be calculated using Equation (1). Once the undesirable torque Tõ for a particular design is known, balance asymmetries may be added in balance region 28 to generate a balance torque Tb at balance point 29 which cancels the undesirable torque Tõ generated by the beneficial asymmetries. Adding balance asymmetries to balance region 28 consists of adding or subtracting mass from particular portions of balance region 28. The size and position of the mass added or subtracted is determined not only by the balance torque Tb induced at balance point 29 but also by considerations such as the effect upon the look, feel and ergonomics of the end effector. Therefore, once Tõ is calculated, the designer may begin to add and subtract mass from balance region 28 to create two or more balance asymmetries which induce a rbeneficial torque at balance point 29.
It may be possible to simplify the calculations required, for example, using suitable assumptions, it is possible to simplify Equation (1) for the purpose of calculating Tb. In particular, by assuming that the balance asymmetries can be modeled as a series of point masses and neglecting the effect of rotation:
k /2) T = mn A,." x oc-,~ , l where: mn is the mass of the end effector at each point n;
Tb is the torque induced at balance point 29 by the balance asymmetries designed into balance region 26;
k is the total number of balance asymmetries;
A, ,, is the average over a surface, or a representative vector acceleration at the point in balance region 26 where mass n is added;
and o,,,,n is an offset vector pointing to the Center of Mass of mass n.
By designing the balance asymmetries to be symmetrical about plane of symmetry 50, the torque exerted at node 22 may be modeled as being entirely about the y-axis of the end effector. If all balance asymmetries are located on a plane of symmetry 50, equation (2) becomes:
T= m, A,, x ocw, + mZ A,, Z x oCA4ry + m, A, 3 x 5 CM.3 +... (3) or T j= m, A, , x o " c , , . , j+ m~ A, Z x o " a , , , , = j+ m3 A, 3 x o ' a , . , = j+... (4) or, neglecting signs, = k (5) IT~- im. As~ x cm, T-I
It will be apparent that a significant number of combinations of balance asymmetry sizes and shapes may be used to generate an appropriate torque Tb at balance node 29. Further, the size and shape of the particular balance asymmetries chosen will be a function of the material used to create those asymmetries.
Therefore, the designer is normally left to select balance asymmetries which not only generate the desired balance torque Tb, but meet other design criteria as well. Thus, the actual design of appropriate balance asymmetries becomes an iterative exercise, with the blade designer selecting preferred shapes and positions for the balance asymmetries then checking those shapes and positions using one of Equation (1), (2) ., ~
or (5). The shape and size of the balance asymmetries may be adjusted as required to generate Tb.
An end effector according to the present invention may also be designed using one or more empirical methods such as, for example, using modal analysis.
In the empirical methods, the end effector is designed with appropriate beneficial asymmetries included in treatment region 26 and balance region 28 is modeled as a symmetric connector between the treatment region and transmission waveguide 14. Since treatment region 28 includes beneficial asymmetries (e.g. curved blade edges 36) without corresponding balance asymmetries in balance region 28, this first pass end effector will tend to be unbalanced. Once a first pass end effector is developed, a suitable measurement of the torque generated at a preselected point, such as balance point 29, may be selected. For example, the balance ratio of peak lateral displacement to peak longitudinal displacement as measured in the transmission waveguide. The first pass end effector may then be numerically modeled and vibrated using modal analysis or finite element analysis techniques.
With the first pass numerical model driven at a suitable generator frequency (e.g.
55 kHz), it is possible, using, for example, finite element analysis programs to determine the ratio of peak lateral displacement to peak longitudinal displacement at selected points along the transmission waveguide. The end effector may then be balanced (i.e. the ratio of peak lateral displacement to peak longitudinal displacement reduced to less than 1:10) by adding or subtracting mass in the balance region. This is, of course, an iterative process which may be enhanced (i.e. fewer iterations required) by the skill and experience of the designer.
t A further empirical design technique involves designing a first pass end effector in the manner set forth above. A physical model of the first pass end -,.~-effector is then built and tested by driving the input of the transmission waveguide at a suitable generator frequency. The frequency at which the end effector is driven may be referred to as the drive frequency. With the first pass end effector driven at the drive frequency, a suitable measurement of the torque generated at the balance node may be selected, for example, the balance ratio can be measured directly from the transmission waveguide. The end effector may then be balanced (i.e. the balance ratio reduced to less than 1:10) by physically adding or subtracting mass in the balance region. This is, of course, an iterative process which may be enhanced (i.e. fewer iterations required) by the skill and experience of the designer. No matter the design method chosen, whether empirical or analytical, if it is an iterative process, the rougher the first approximation used, the more iterations will be necessary to arrive at balanced blade design.
As described herein, balance node 22 was selected as the proximal origin of balance region 26 in order to provide clarity and to set forth a physically definable point of reference which may be located on any transmission waveguide, using either mathematical computation or physical measurements. As it happens, using node 22 as the proximal origin of balance region 26 is also beneficial in that it is believed to make 'the mathematics set forth herein cleaner and more understandable. However, it should be recognized that using the present invention, the undesirable torque generated in the waveguide will be substantially canceled by the balance torque generated in the wave guide from a point just proximal to the proximal most balance asymmetry. For example, in the embodiment of the invention illustrated in Figure 2, the torque will converge toward zero in the portion of the waveguide proximal to first predetermined point 42.
While the embodiments illustrated and described herein have beneficial asymmetries in only one direction, the present technique could be used to balance blades having asymmetries in any two or more directions. It will be further be apparent that, in a surgical end effector designed according to the present invention, the center of mass of the end effector may not be positioned on the central axis of the waveguide. A blade according to the present invention may also be designed to include a single or multiple angle of curvature and to include blunt, square or sharp blade edges. A balanced ultrasonic blade designed according to the present invention may be used to perform many open and endoscopic surgical procedures, including: intemal mammary artery (IMA) takedown procedures; removal or dissection of the radial artery; breast reduction and reconstruction; and hemorrhoid removal. Ultrasonic blades,' according to the present invention, have multiple functions and may include multiple features to facilitate those functions, for example, flats or blunt regions for configuration, sharp or dull edges and serrated blade edges.
While preferred embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the invention. Accordingly, it is intended that the invention be limited only by the spirit and scope of the appended claims.
Claims (12)
1. A method of balancing a ultrasonic instrument including an asymmetric ultrasonically actuated blade and an ultrasonic waveguide wherein said asymmetric ultrasonically actuated blade induces an undesirable torque in said ultrasound waveguide, said method comprising the steps of:
incorporating a balance region between a distal end of said ultrasonic waveguide and a proximal end of said asymmetric ultrasonically actuated blade;
incorporating one or more balance asymmetries generate into said balance region, wherein said one or more balance asymmetries generate a counter torque which opposes said undesirable torque and said one or more balance asymmetries are positioned such that traverse vibrations in the ultrasonic instrument are substantially reduced.
incorporating a balance region between a distal end of said ultrasonic waveguide and a proximal end of said asymmetric ultrasonically actuated blade;
incorporating one or more balance asymmetries generate into said balance region, wherein said one or more balance asymmetries generate a counter torque which opposes said undesirable torque and said one or more balance asymmetries are positioned such that traverse vibrations in the ultrasonic instrument are substantially reduced.
2. A method of balancing an ultrasonic instrument as set forth in Claim 1 wherein said counter torque is substantially equal in magnitude to said undesirable torque.
3. A method of balancing ultrasonic instrument as set forth in Claim 1 wherein mass is added to said balance region until said counter torque is substantially equal in magnitude to said undesirable torque.
4. A method of balancing an ultrasonic instrument as set forth in Claim 1 wherein mass is removed from said balance region until said counter torque is substantially equal in magnitude to said undesirable torque.
5. A method of balancing an ultrasonic instrument as set forth in Claim 1 wherein said balance region and said asymmetric blade together comprise a blade assembly, and wherein said method further includes the step of selectively adding and subtracting mass in said balance region until:
is approximately equal to zero, where:
x0, y0, and z0 are located in a plane x=0 through said blade assembly at a balance point which is proximal to a proximal most one of said balance asymmetries;
x1, y1, and z1 are located in a plane tangential to a distal tip of said blade assembly;
x0, y0, and z0 define with x1, y1, and z1 a volume which encloses said blade assembly;
~(x, y,z) is the acceleration of said blade assembly at any point (x,Y,z);
~(x,y,z) is a vector indicative of the position of any point (x,y,z) on said blade assembly with respect to said balance point; and .rho.(x, y,z) is the density of said blade assembly at any point (x,y,z).
is approximately equal to zero, where:
x0, y0, and z0 are located in a plane x=0 through said blade assembly at a balance point which is proximal to a proximal most one of said balance asymmetries;
x1, y1, and z1 are located in a plane tangential to a distal tip of said blade assembly;
x0, y0, and z0 define with x1, y1, and z1 a volume which encloses said blade assembly;
~(x, y,z) is the acceleration of said blade assembly at any point (x,Y,z);
~(x,y,z) is a vector indicative of the position of any point (x,y,z) on said blade assembly with respect to said balance point; and .rho.(x, y,z) is the density of said blade assembly at any point (x,y,z).
6. An ultrasonic surgical instrument including an asymmetric ultrasonically actuated blade and an ultrasonic waveguide wherein said asymmetric ultrasonically actuated blade induces an undesirable torque in said ultrasonic waveguide, said ultrasonic surgical instrument being balanced by a method comprising the steps of:
incorporating a balance region between a distal end of said ultrasonic waveguide and a proximal end of said asymmetric ultrasonically actuated blade;
incorporating one or more balance asymmetries into said balance region, wherein said one or more balance asymmetries generate a counter torque which opposes said undesirable torque, and said one or more balance asymmetries are positioned such that traverse vibrations in the ultrasonic instrument are substantially reduced.
incorporating a balance region between a distal end of said ultrasonic waveguide and a proximal end of said asymmetric ultrasonically actuated blade;
incorporating one or more balance asymmetries into said balance region, wherein said one or more balance asymmetries generate a counter torque which opposes said undesirable torque, and said one or more balance asymmetries are positioned such that traverse vibrations in the ultrasonic instrument are substantially reduced.
7. An ultrasonic surgical instrument balanced according to the method set forth in Claim 6 wherein said counter torque is substantially equal in magnitude to said undesirable torque.
8. An ultrasonic surgical instrument balanced according to the method set forth in Claim 6 wherein mass is added to said balance region until said counter torque is substantially equal in magnitude to said undesirable torque.
9. An ultrasonic surgical instrument balanced according to the method set forth in Claim 6 wherein mass is removed from said balance region until said counter torque is substantially equal in magnitude to said undesirable torque.
10. An ultrasonic surgical instrument balanced according to the method set forth in Claim 6 wherein said balance region and said asymmetric blade together comprise a blade assembly, and wherein said method further includes the step of selectively adding and subtracting mass in said, balance region until:
is approximately equal to zero, where:
x0, y0, and z0 are located in a plane x=0 through said blade assembly at a balance point which is proximal to a proximal most one of said balance asymmetries;
x1, y1, and z1 are located in a plane tangential to a distal tip of said blade assembly;
x0, y0, and z0 define with x1, y1, and z1 a volume which encloses said blade assembly;
~(x,y,z) is the acceleration of said blade assembly at any point (x,y,z);
.delta.(x,y,z) is a vector indicative of the position of any point (x,y,z) on said blade assembly with respect to said balance point; and .rho.(x,y,z) is the density of said blade assembly at any point (x,y,z).
is approximately equal to zero, where:
x0, y0, and z0 are located in a plane x=0 through said blade assembly at a balance point which is proximal to a proximal most one of said balance asymmetries;
x1, y1, and z1 are located in a plane tangential to a distal tip of said blade assembly;
x0, y0, and z0 define with x1, y1, and z1 a volume which encloses said blade assembly;
~(x,y,z) is the acceleration of said blade assembly at any point (x,y,z);
.delta.(x,y,z) is a vector indicative of the position of any point (x,y,z) on said blade assembly with respect to said balance point; and .rho.(x,y,z) is the density of said blade assembly at any point (x,y,z).
11. An ultrasonic surgical instrument balanced according to the method set forth in Claim 6 wherein said wherein said transmission waveguide has a balance ratio of less than 1:10.
12. An ultrasonic surgical instrument balanced according to the method set forth in Claim 11 wherein said balance ratio of said transmission rod is less than 1:200.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10666198A | 1998-06-29 | 1998-06-29 | |
US09/106,661 | 1998-06-29 |
Publications (2)
Publication Number | Publication Date |
---|---|
CA2276316A1 CA2276316A1 (en) | 1999-12-29 |
CA2276316C true CA2276316C (en) | 2008-02-12 |
Family
ID=22312594
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA002276316A Expired - Lifetime CA2276316C (en) | 1998-06-29 | 1999-06-25 | Method of balancing asymmetric ultrasonic surgical blades |
Country Status (7)
Country | Link |
---|---|
US (1) | US6283981B1 (en) |
EP (1) | EP0968684B1 (en) |
JP (1) | JP3510157B2 (en) |
AU (1) | AU741478B2 (en) |
CA (1) | CA2276316C (en) |
DE (1) | DE69934358T2 (en) |
ES (1) | ES2279605T3 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8469982B2 (en) | 1999-10-05 | 2013-06-25 | Ethicon Endo-Surgery, Inc. | Curved clamp arm for use with ultrasonic surgical instruments |
Families Citing this family (650)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6309400B2 (en) * | 1998-06-29 | 2001-10-30 | Ethicon Endo-Surgery, Inc. | Curved ultrasonic blade having a trapezoidal cross section |
US6325811B1 (en) * | 1999-10-05 | 2001-12-04 | Ethicon Endo-Surgery, Inc. | Blades with functional balance asymmetries for use with ultrasonic surgical instruments |
US6432118B1 (en) * | 1999-10-05 | 2002-08-13 | Ethicon Endo-Surgery, Inc. | Multifunctional curved blade for use with an ultrasonic surgical instrument |
JP2002143177A (en) * | 2000-11-07 | 2002-05-21 | Miwatec:Kk | Ultrasonic hand piece and ultrasonic horn used therefor |
US7530986B2 (en) | 2001-01-08 | 2009-05-12 | Ethicon Endo-Surgery, Inc. | Laminated ultrasonic end effector |
US6752815B2 (en) * | 2001-01-31 | 2004-06-22 | Ethicon Endo-Surgery, Inc. | Method and waveguides for changing the direction of longitudinal vibrations |
US11229472B2 (en) | 2001-06-12 | 2022-01-25 | Cilag Gmbh International | Modular battery powered handheld surgical instrument with multiple magnetic position sensors |
EP1450702B1 (en) | 2001-11-08 | 2012-06-13 | Ethicon Endo-Surgery, Inc. | An ultrasonic clamp coagulator apparatus having an improved clamping end-effector |
DE10241702A1 (en) * | 2002-09-09 | 2004-03-18 | Berchtold Holding Gmbh | ultrasonic instrument |
US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | 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 |
US8182501B2 (en) | 2004-02-27 | 2012-05-22 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical shears and method for sealing a blood vessel using same |
US11890012B2 (en) | 2004-07-28 | 2024-02-06 | Cilag Gmbh International | Staple cartridge comprising cartridge body and attached support |
US8215531B2 (en) | 2004-07-28 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having a medical substance dispenser |
JP5009159B2 (en) | 2004-10-08 | 2012-08-22 | エシコン・エンド−サージェリィ・インコーポレイテッド | Ultrasonic surgical instrument |
US7479148B2 (en) * | 2004-11-08 | 2009-01-20 | Crescendo Technologies, Llc | Ultrasonic shear with asymmetrical motion |
GB2423931B (en) | 2005-03-03 | 2009-08-26 | Michael John Radley Young | Ultrasonic cutting tool |
US20060211943A1 (en) * | 2005-03-15 | 2006-09-21 | Crescendo Technologies, Llc | Ultrasonic blade with terminal end balance features |
JP4398408B2 (en) * | 2005-06-16 | 2010-01-13 | オリンパスメディカルシステムズ株式会社 | Ultrasonic treatment apparatus, probe for ultrasonic treatment apparatus, and manufacturing method thereof |
US20070016236A1 (en) * | 2005-07-18 | 2007-01-18 | Crescendo Technologies, Llc | Balanced ultrasonic curved blade |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
US9237891B2 (en) | 2005-08-31 | 2016-01-19 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical stapling devices that produce formed staples having different lengths |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US9072554B2 (en) | 2005-09-21 | 2015-07-07 | Children's Hospital Medical Center | Orthopedic implant |
US20070191713A1 (en) * | 2005-10-14 | 2007-08-16 | Eichmann Stephen E | Ultrasonic device for cutting and coagulating |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
US8246642B2 (en) * | 2005-12-01 | 2012-08-21 | Ethicon Endo-Surgery, Inc. | Ultrasonic medical instrument and medical instrument connection assembly |
US20070167965A1 (en) * | 2006-01-05 | 2007-07-19 | Ethicon Endo-Surgery, Inc. | Ultrasonic medical instrument |
US7621930B2 (en) * | 2006-01-20 | 2009-11-24 | Ethicon Endo-Surgery, Inc. | Ultrasound medical instrument having a medical ultrasonic blade |
US20070173872A1 (en) * | 2006-01-23 | 2007-07-26 | Ethicon Endo-Surgery, Inc. | Surgical instrument for cutting and coagulating patient tissue |
US20110024477A1 (en) | 2009-02-06 | 2011-02-03 | Hall Steven G | Driven Surgical Stapler Improvements |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
US8708213B2 (en) | 2006-01-31 | 2014-04-29 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a feedback system |
US8820603B2 (en) | 2006-01-31 | 2014-09-02 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
US8186555B2 (en) | 2006-01-31 | 2012-05-29 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting and fastening instrument with mechanical closure system |
US11278279B2 (en) | 2006-01-31 | 2022-03-22 | Cilag Gmbh International | Surgical instrument assembly |
US11224427B2 (en) | 2006-01-31 | 2022-01-18 | Cilag Gmbh International | Surgical stapling system including a console and retraction assembly |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
US7753904B2 (en) | 2006-01-31 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Endoscopic surgical instrument with a handle that can articulate with respect to the shaft |
US20070191712A1 (en) * | 2006-02-15 | 2007-08-16 | Ethicon Endo-Surgery, Inc. | Method for sealing a blood vessel, a medical system and a medical instrument |
US7854735B2 (en) * | 2006-02-16 | 2010-12-21 | Ethicon Endo-Surgery, Inc. | Energy-based medical treatment system and method |
US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
GB2438679A (en) * | 2006-05-31 | 2007-12-05 | Sra Dev Ltd | Ultrasonic surgical tool having two modes of vibration |
US8322455B2 (en) | 2006-06-27 | 2012-12-04 | Ethicon Endo-Surgery, Inc. | Manually driven surgical cutting and fastening instrument |
US7506791B2 (en) | 2006-09-29 | 2009-03-24 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with mechanical mechanism for limiting maximum tissue compression |
US10568652B2 (en) | 2006-09-29 | 2020-02-25 | Ethicon Llc | Surgical staples having attached drivers of different heights and stapling instruments for deploying the same |
US11291441B2 (en) | 2007-01-10 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with wireless communication between control unit and remote sensor |
US8684253B2 (en) | 2007-01-10 | 2014-04-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor |
US8652120B2 (en) | 2007-01-10 | 2014-02-18 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and sensor transponders |
US8540128B2 (en) | 2007-01-11 | 2013-09-24 | Ethicon Endo-Surgery, Inc. | Surgical stapling device with a curved end effector |
US11039836B2 (en) | 2007-01-11 | 2021-06-22 | Cilag Gmbh International | Staple cartridge for use with a surgical stapling instrument |
US8727197B2 (en) | 2007-03-15 | 2014-05-20 | Ethicon Endo-Surgery, Inc. | Staple cartridge cavity configuration with cooperative surgical staple |
US8057498B2 (en) | 2007-11-30 | 2011-11-15 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instrument blades |
US8142461B2 (en) | 2007-03-22 | 2012-03-27 | Ethicon Endo-Surgery, Inc. | Surgical instruments |
US8911460B2 (en) | 2007-03-22 | 2014-12-16 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instruments |
US8226675B2 (en) | 2007-03-22 | 2012-07-24 | Ethicon Endo-Surgery, Inc. | Surgical instruments |
US20080234709A1 (en) | 2007-03-22 | 2008-09-25 | Houser Kevin L | Ultrasonic surgical instrument and cartilage and bone shaping blades therefor |
ES2547487T3 (en) * | 2007-03-22 | 2015-10-06 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instrument blades |
US11857181B2 (en) | 2007-06-04 | 2024-01-02 | Cilag Gmbh International | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
GB0711151D0 (en) * | 2007-06-11 | 2007-07-18 | Sra Dev Ltd | Switch for use with an ultrasonic surgical tool |
US7753245B2 (en) | 2007-06-22 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments |
US11849941B2 (en) | 2007-06-29 | 2023-12-26 | Cilag Gmbh International | Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis |
US8257377B2 (en) | 2007-07-27 | 2012-09-04 | Ethicon Endo-Surgery, Inc. | Multiple end effectors ultrasonic surgical instruments |
US8882791B2 (en) | 2007-07-27 | 2014-11-11 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instruments |
US8523889B2 (en) | 2007-07-27 | 2013-09-03 | Ethicon Endo-Surgery, Inc. | Ultrasonic end effectors with increased active length |
CN101765408B (en) | 2007-07-27 | 2013-07-31 | 伊西康内外科公司 | Ultrasonic surgical instruments |
US8348967B2 (en) | 2007-07-27 | 2013-01-08 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instruments |
US8808319B2 (en) | 2007-07-27 | 2014-08-19 | Ethicon Endo-Surgery, Inc. | Surgical instruments |
US9044261B2 (en) | 2007-07-31 | 2015-06-02 | Ethicon Endo-Surgery, Inc. | Temperature controlled ultrasonic surgical instruments |
US8430898B2 (en) | 2007-07-31 | 2013-04-30 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instruments |
US8252012B2 (en) | 2007-07-31 | 2012-08-28 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instrument with modulator |
US8512365B2 (en) | 2007-07-31 | 2013-08-20 | Ethicon Endo-Surgery, Inc. | Surgical instruments |
USD594983S1 (en) | 2007-10-05 | 2009-06-23 | Ethicon Endo-Surgery, Inc. | Handle assembly for surgical instrument |
US8623027B2 (en) | 2007-10-05 | 2014-01-07 | Ethicon Endo-Surgery, Inc. | Ergonomic surgical instruments |
US7901423B2 (en) | 2007-11-30 | 2011-03-08 | Ethicon Endo-Surgery, Inc. | Folded ultrasonic end effectors with increased active length |
US10010339B2 (en) | 2007-11-30 | 2018-07-03 | Ethicon Llc | Ultrasonic surgical blades |
US8338726B2 (en) | 2009-08-26 | 2012-12-25 | Covidien Ag | Two-stage switch for cordless hand-held ultrasonic cautery cutting device |
US8419757B2 (en) * | 2007-12-03 | 2013-04-16 | Covidien Ag | Cordless hand-held ultrasonic cautery cutting device |
US9314261B2 (en) | 2007-12-03 | 2016-04-19 | Covidien Ag | Battery-powered hand-held ultrasonic surgical cautery cutting device |
US9107690B2 (en) | 2007-12-03 | 2015-08-18 | Covidien Ag | Battery-powered hand-held ultrasonic surgical cautery cutting device |
US8061014B2 (en) | 2007-12-03 | 2011-11-22 | Covidien Ag | Method of assembling a cordless hand-held ultrasonic cautery cutting device |
US8435257B2 (en) * | 2007-12-03 | 2013-05-07 | Covidien Ag | Cordless hand-held ultrasonic cautery cutting device and method |
US9017355B2 (en) | 2007-12-03 | 2015-04-28 | Covidien Ag | Battery-powered hand-held ultrasonic surgical cautery cutting device |
US8663262B2 (en) | 2007-12-03 | 2014-03-04 | Covidien Ag | Battery assembly for battery-powered surgical instruments |
BRPI0901282A2 (en) | 2008-02-14 | 2009-11-17 | Ethicon Endo Surgery Inc | surgical cutting and fixation instrument with rf electrodes |
US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
US8758391B2 (en) | 2008-02-14 | 2014-06-24 | Ethicon Endo-Surgery, Inc. | Interchangeable tools for surgical instruments |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
US9770245B2 (en) | 2008-02-15 | 2017-09-26 | Ethicon Llc | Layer arrangements for surgical staple cartridges |
GB0809243D0 (en) * | 2008-05-21 | 2008-06-25 | Sra Dev Ltd | Improved torsional mode tissue dissector |
US8058771B2 (en) | 2008-08-06 | 2011-11-15 | Ethicon Endo-Surgery, Inc. | Ultrasonic device for cutting and coagulating with stepped output |
US9089360B2 (en) | 2008-08-06 | 2015-07-28 | Ethicon Endo-Surgery, Inc. | Devices and techniques for cutting and coagulating tissue |
US20100057118A1 (en) * | 2008-09-03 | 2010-03-04 | Dietz Timothy G | Ultrasonic surgical blade |
US9005230B2 (en) | 2008-09-23 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
US8210411B2 (en) | 2008-09-23 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument |
US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
US9386983B2 (en) | 2008-09-23 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Robotically-controlled motorized surgical instrument |
US8608045B2 (en) | 2008-10-10 | 2013-12-17 | Ethicon Endo-Sugery, Inc. | Powered surgical cutting and stapling apparatus with manually retractable firing system |
US20100106173A1 (en) * | 2008-10-23 | 2010-04-29 | Hideto Yoshimine | Ultrasonic surgical device |
US8517239B2 (en) | 2009-02-05 | 2013-08-27 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument comprising a magnetic element driver |
CN102341048A (en) | 2009-02-06 | 2012-02-01 | 伊西康内外科公司 | Driven surgical stapler improvements |
US8444036B2 (en) | 2009-02-06 | 2013-05-21 | Ethicon Endo-Surgery, Inc. | Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector |
US9700339B2 (en) | 2009-05-20 | 2017-07-11 | Ethicon Endo-Surgery, Inc. | Coupling arrangements and methods for attaching tools to ultrasonic surgical instruments |
US8344596B2 (en) | 2009-06-24 | 2013-01-01 | Ethicon Endo-Surgery, Inc. | Transducer arrangements for ultrasonic surgical instruments |
US8623040B2 (en) | 2009-07-01 | 2014-01-07 | Alcon Research, Ltd. | Phacoemulsification hook tip |
US8461744B2 (en) | 2009-07-15 | 2013-06-11 | Ethicon Endo-Surgery, Inc. | Rotating transducer mount for ultrasonic surgical instruments |
US8663220B2 (en) | 2009-07-15 | 2014-03-04 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instruments |
IN2012DN00339A (en) | 2009-07-15 | 2015-08-21 | Ethicon Endo Surgery Inc | |
US9017326B2 (en) | 2009-07-15 | 2015-04-28 | Ethicon Endo-Surgery, Inc. | Impedance monitoring apparatus, system, and method for ultrasonic surgical instruments |
US9737735B2 (en) | 2009-08-14 | 2017-08-22 | Ethicon Llc | Ultrasonic surgical apparatus with silicon waveguide |
AU2010282256A1 (en) | 2009-08-14 | 2012-03-01 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical apparatus and silicon waveguide and methods for use thereof |
USRE47996E1 (en) | 2009-10-09 | 2020-05-19 | Ethicon Llc | Surgical generator for ultrasonic and electrosurgical devices |
US9168054B2 (en) | 2009-10-09 | 2015-10-27 | Ethicon Endo-Surgery, Inc. | Surgical generator for ultrasonic and electrosurgical devices |
US10172669B2 (en) | 2009-10-09 | 2019-01-08 | Ethicon Llc | Surgical instrument comprising an energy trigger lockout |
US8986302B2 (en) | 2009-10-09 | 2015-03-24 | Ethicon Endo-Surgery, Inc. | Surgical generator for ultrasonic and electrosurgical devices |
US11090104B2 (en) | 2009-10-09 | 2021-08-17 | Cilag Gmbh International | Surgical generator for ultrasonic and electrosurgical devices |
US10441345B2 (en) | 2009-10-09 | 2019-10-15 | Ethicon Llc | Surgical generator for ultrasonic and electrosurgical devices |
US8220688B2 (en) | 2009-12-24 | 2012-07-17 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument with electric actuator directional control assembly |
US8851354B2 (en) | 2009-12-24 | 2014-10-07 | Ethicon Endo-Surgery, Inc. | Surgical cutting instrument that analyzes tissue thickness |
US8951272B2 (en) | 2010-02-11 | 2015-02-10 | Ethicon Endo-Surgery, Inc. | Seal arrangements for ultrasonically powered surgical instruments |
US8419759B2 (en) | 2010-02-11 | 2013-04-16 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instrument with comb-like tissue trimming device |
US8382782B2 (en) | 2010-02-11 | 2013-02-26 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instruments with partially rotating blade and fixed pad arrangement |
US8961547B2 (en) | 2010-02-11 | 2015-02-24 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instruments with moving cutting implement |
US8579928B2 (en) | 2010-02-11 | 2013-11-12 | Ethicon Endo-Surgery, Inc. | Outer sheath and blade arrangements for ultrasonic surgical instruments |
US8323302B2 (en) | 2010-02-11 | 2012-12-04 | Ethicon Endo-Surgery, Inc. | Methods of using ultrasonically powered surgical instruments with rotatable cutting implements |
US8469981B2 (en) | 2010-02-11 | 2013-06-25 | Ethicon Endo-Surgery, Inc. | Rotatable cutting implement arrangements for ultrasonic surgical instruments |
US9259234B2 (en) | 2010-02-11 | 2016-02-16 | Ethicon Endo-Surgery, Llc | Ultrasonic surgical instruments with rotatable blade and hollow sheath arrangements |
US8486096B2 (en) | 2010-02-11 | 2013-07-16 | Ethicon Endo-Surgery, Inc. | Dual purpose surgical instrument for cutting and coagulating tissue |
US8531064B2 (en) | 2010-02-11 | 2013-09-10 | Ethicon Endo-Surgery, Inc. | Ultrasonically powered surgical instruments with rotating cutting implement |
GB2480498A (en) | 2010-05-21 | 2011-11-23 | Ethicon Endo Surgery Inc | Medical device comprising RF circuitry |
US8795327B2 (en) | 2010-07-22 | 2014-08-05 | Ethicon Endo-Surgery, Inc. | Electrosurgical instrument with separate closure and cutting members |
US9192431B2 (en) | 2010-07-23 | 2015-11-24 | Ethicon Endo-Surgery, Inc. | Electrosurgical cutting and sealing instrument |
US8783543B2 (en) | 2010-07-30 | 2014-07-22 | Ethicon Endo-Surgery, Inc. | Tissue acquisition arrangements and methods for surgical stapling devices |
US10258505B2 (en) | 2010-09-17 | 2019-04-16 | Alcon Research, Ltd. | Balanced phacoemulsification tip |
US9386988B2 (en) | 2010-09-30 | 2016-07-12 | Ethicon End-Surgery, LLC | Retainer assembly including a tissue thickness compensator |
US11849952B2 (en) | 2010-09-30 | 2023-12-26 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
US9211120B2 (en) | 2011-04-29 | 2015-12-15 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising a plurality of medicaments |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US9016542B2 (en) | 2010-09-30 | 2015-04-28 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising compressible distortion resistant components |
US9282962B2 (en) | 2010-09-30 | 2016-03-15 | Ethicon Endo-Surgery, Llc | Adhesive film laminate |
US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
US8888809B2 (en) | 2010-10-01 | 2014-11-18 | Ethicon Endo-Surgery, Inc. | Surgical instrument with jaw member |
US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
US8979890B2 (en) | 2010-10-01 | 2015-03-17 | Ethicon Endo-Surgery, Inc. | Surgical instrument with jaw member |
US10470788B2 (en) | 2010-12-07 | 2019-11-12 | Misonix, Inc | Ultrasonic instrument, associated method of use and related manufacturing method |
US8968293B2 (en) | 2011-04-12 | 2015-03-03 | Covidien Lp | Systems and methods for calibrating power measurements in an electrosurgical generator |
CN103596510A (en) * | 2011-04-28 | 2014-02-19 | 伊西康内外科公司 | Ultrasonic device for cutting and coagulating |
CA2834649C (en) | 2011-04-29 | 2021-02-16 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising staples positioned within a compressible portion thereof |
CN102475567B (en) * | 2011-05-03 | 2014-07-09 | 江苏水木天蓬科技有限公司 | Ultrasonic bone knife head |
WO2012149837A1 (en) * | 2011-05-03 | 2012-11-08 | 江苏水木天蓬科技有限公司 | Piezosurgery tool bit |
US11207064B2 (en) | 2011-05-27 | 2021-12-28 | Cilag Gmbh International | Automated end effector component reloading system for use with a robotic system |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
US9259265B2 (en) | 2011-07-22 | 2016-02-16 | Ethicon Endo-Surgery, Llc | Surgical instruments for tensioning tissue |
USD700967S1 (en) | 2011-08-23 | 2014-03-11 | Covidien Ag | Handle for portable surgical device |
US8894673B2 (en) * | 2011-10-07 | 2014-11-25 | Misonix, Incorporated | Ultrasonic osteotome |
CN104114115B (en) * | 2011-10-17 | 2017-02-22 | 声外科技术有限公司 | ultrasonic probe for treating cellulite |
USD687549S1 (en) | 2011-10-24 | 2013-08-06 | Ethicon Endo-Surgery, Inc. | Surgical instrument |
US9314292B2 (en) | 2011-10-24 | 2016-04-19 | Ethicon Endo-Surgery, Llc | Trigger lockout mechanism |
JP5893399B2 (en) * | 2011-12-28 | 2016-03-23 | 株式会社ソノテック | Ultrasonic processing equipment |
EP2811932B1 (en) | 2012-02-10 | 2019-06-26 | Ethicon LLC | Robotically controlled surgical instrument |
US9044230B2 (en) | 2012-02-13 | 2015-06-02 | Ethicon Endo-Surgery, Inc. | Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status |
BR112014024102B1 (en) | 2012-03-28 | 2022-03-03 | Ethicon Endo-Surgery, Inc | CLAMP CARTRIDGE ASSEMBLY FOR A SURGICAL INSTRUMENT AND END ACTUATOR ASSEMBLY FOR A SURGICAL INSTRUMENT |
BR112014024098B1 (en) | 2012-03-28 | 2021-05-25 | Ethicon Endo-Surgery, Inc. | staple cartridge |
CN104379068B (en) | 2012-03-28 | 2017-09-22 | 伊西康内外科公司 | Holding device assembly including tissue thickness compensation part |
US9237921B2 (en) | 2012-04-09 | 2016-01-19 | Ethicon Endo-Surgery, Inc. | Devices and techniques for cutting and coagulating tissue |
US9241731B2 (en) | 2012-04-09 | 2016-01-26 | Ethicon Endo-Surgery, Inc. | Rotatable electrical connection for ultrasonic surgical instruments |
US9439668B2 (en) | 2012-04-09 | 2016-09-13 | Ethicon Endo-Surgery, Llc | Switch arrangements for ultrasonic surgical instruments |
US9724118B2 (en) | 2012-04-09 | 2017-08-08 | Ethicon Endo-Surgery, Llc | Techniques for cutting and coagulating tissue for ultrasonic surgical instruments |
US9226766B2 (en) | 2012-04-09 | 2016-01-05 | Ethicon Endo-Surgery, Inc. | Serial communication protocol for medical device |
WO2013183714A1 (en) * | 2012-06-06 | 2013-12-12 | オリンパスメディカルシステムズ株式会社 | Ultrasound probe, and ultrasound-probe production method |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
US11278284B2 (en) | 2012-06-28 | 2022-03-22 | Cilag Gmbh International | Rotary drive arrangements for surgical instruments |
US20140005705A1 (en) | 2012-06-29 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Surgical instruments with articulating shafts |
US9204879B2 (en) | 2012-06-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Flexible drive member |
US9226751B2 (en) | 2012-06-28 | 2016-01-05 | Ethicon Endo-Surgery, Inc. | Surgical instrument system including replaceable end effectors |
JP6290201B2 (en) | 2012-06-28 | 2018-03-07 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | Lockout for empty clip cartridge |
US9282974B2 (en) | 2012-06-28 | 2016-03-15 | Ethicon Endo-Surgery, Llc | Empty clip cartridge lockout |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
BR112014032776B1 (en) | 2012-06-28 | 2021-09-08 | Ethicon Endo-Surgery, Inc | SURGICAL INSTRUMENT SYSTEM AND SURGICAL KIT FOR USE WITH A SURGICAL INSTRUMENT SYSTEM |
US9326788B2 (en) | 2012-06-29 | 2016-05-03 | Ethicon Endo-Surgery, Llc | Lockout mechanism for use with robotic electrosurgical device |
US9198714B2 (en) | 2012-06-29 | 2015-12-01 | Ethicon Endo-Surgery, Inc. | Haptic feedback devices for surgical robot |
US9820768B2 (en) | 2012-06-29 | 2017-11-21 | Ethicon Llc | Ultrasonic surgical instruments with control mechanisms |
US9226767B2 (en) | 2012-06-29 | 2016-01-05 | Ethicon Endo-Surgery, Inc. | Closed feedback control for electrosurgical device |
US9393037B2 (en) | 2012-06-29 | 2016-07-19 | Ethicon Endo-Surgery, Llc | Surgical instruments with articulating shafts |
US9283045B2 (en) | 2012-06-29 | 2016-03-15 | Ethicon Endo-Surgery, Llc | Surgical instruments with fluid management system |
US9408622B2 (en) | 2012-06-29 | 2016-08-09 | Ethicon Endo-Surgery, Llc | Surgical instruments with articulating shafts |
US9351754B2 (en) | 2012-06-29 | 2016-05-31 | Ethicon Endo-Surgery, Llc | Ultrasonic surgical instruments with distally positioned jaw assemblies |
US20140005702A1 (en) | 2012-06-29 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instruments with distally positioned transducers |
BR112015007010B1 (en) | 2012-09-28 | 2022-05-31 | Ethicon Endo-Surgery, Inc | end actuator |
US9095367B2 (en) | 2012-10-22 | 2015-08-04 | Ethicon Endo-Surgery, Inc. | Flexible harmonic waveguides/blades for surgical instruments |
US10201365B2 (en) | 2012-10-22 | 2019-02-12 | Ethicon Llc | Surgeon feedback sensing and display methods |
US20140135804A1 (en) | 2012-11-15 | 2014-05-15 | Ethicon Endo-Surgery, Inc. | Ultrasonic and electrosurgical devices |
US9848900B2 (en) | 2012-12-07 | 2017-12-26 | Ethicon Llc | Ultrasonic surgical blade |
JP6345707B2 (en) | 2013-03-01 | 2018-06-20 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | Surgical instrument with soft stop |
JP6382235B2 (en) | 2013-03-01 | 2018-08-29 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | Articulatable surgical instrument with a conductive path for signal communication |
US9332987B2 (en) | 2013-03-14 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Control arrangements for a drive member of a surgical instrument |
US10226273B2 (en) | 2013-03-14 | 2019-03-12 | Ethicon Llc | Mechanical fasteners for use with surgical energy devices |
US9629629B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgey, LLC | Control systems for surgical instruments |
US9241728B2 (en) | 2013-03-15 | 2016-01-26 | Ethicon Endo-Surgery, Inc. | Surgical instrument with multiple clamping mechanisms |
US9844368B2 (en) | 2013-04-16 | 2017-12-19 | Ethicon Llc | Surgical system comprising first and second drive systems |
BR112015026109B1 (en) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | surgical instrument |
JP5797355B2 (en) * | 2013-06-07 | 2015-10-21 | オリンパス株式会社 | Ultrasonic probe and ultrasonic treatment apparatus |
US9320528B2 (en) * | 2013-06-26 | 2016-04-26 | Misonix, Incorporated | Ultrasonic cutting blade with cooling liquid conduction |
US10398463B2 (en) | 2013-06-28 | 2019-09-03 | Misonix Incorporated | Ultrasonic instrument and method for manufacturing same |
US9387005B2 (en) | 2013-06-28 | 2016-07-12 | Misonix, Incorporated | Ultrasonic cutting blade with cooling liquid conduction |
US20150053746A1 (en) | 2013-08-23 | 2015-02-26 | Ethicon Endo-Surgery, Inc. | Torque optimization for surgical instruments |
JP6416260B2 (en) | 2013-08-23 | 2018-10-31 | エシコン エルエルシー | Firing member retractor for a powered surgical instrument |
US9814514B2 (en) | 2013-09-13 | 2017-11-14 | Ethicon Llc | Electrosurgical (RF) medical instruments for cutting and coagulating tissue |
CN105682587B (en) | 2013-11-01 | 2019-03-08 | 奥林巴斯株式会社 | Ultrasonic probe and ultrasonic treatment unit |
US9265926B2 (en) | 2013-11-08 | 2016-02-23 | Ethicon Endo-Surgery, Llc | Electrosurgical devices |
USD749730S1 (en) | 2013-11-26 | 2016-02-16 | Ethicon Endo-Surgery, Llc | Blade for ultrasonic surgical instrument |
GB2521229A (en) | 2013-12-16 | 2015-06-17 | Ethicon Endo Surgery Inc | Medical device |
GB2521228A (en) | 2013-12-16 | 2015-06-17 | Ethicon Endo Surgery Inc | Medical device |
US9795436B2 (en) | 2014-01-07 | 2017-10-24 | Ethicon Llc | Harvesting energy from a surgical generator |
US9962161B2 (en) | 2014-02-12 | 2018-05-08 | Ethicon Llc | Deliverable surgical instrument |
US9554854B2 (en) | 2014-03-18 | 2017-01-31 | Ethicon Endo-Surgery, Llc | Detecting short circuits in electrosurgical medical devices |
US9733663B2 (en) | 2014-03-26 | 2017-08-15 | Ethicon Llc | Power management through segmented circuit and variable voltage protection |
US10004497B2 (en) | 2014-03-26 | 2018-06-26 | Ethicon Llc | Interface systems for use with surgical instruments |
BR112016021943B1 (en) | 2014-03-26 | 2022-06-14 | Ethicon Endo-Surgery, Llc | SURGICAL INSTRUMENT FOR USE BY AN OPERATOR IN A SURGICAL PROCEDURE |
US10092310B2 (en) | 2014-03-27 | 2018-10-09 | Ethicon Llc | Electrosurgical devices |
US10463421B2 (en) | 2014-03-27 | 2019-11-05 | Ethicon Llc | Two stage trigger, clamp and cut bipolar vessel sealer |
US9737355B2 (en) | 2014-03-31 | 2017-08-22 | Ethicon Llc | Controlling impedance rise in electrosurgical medical devices |
US9913680B2 (en) | 2014-04-15 | 2018-03-13 | Ethicon Llc | Software algorithms for electrosurgical instruments |
US10561422B2 (en) | 2014-04-16 | 2020-02-18 | Ethicon Llc | Fastener cartridge comprising deployable tissue engaging members |
US20150297223A1 (en) | 2014-04-16 | 2015-10-22 | Ethicon Endo-Surgery, Inc. | Fastener cartridges including extensions having different configurations |
JP6532889B2 (en) | 2014-04-16 | 2019-06-19 | エシコン エルエルシーEthicon LLC | Fastener cartridge assembly and staple holder cover arrangement |
US10327764B2 (en) | 2014-09-26 | 2019-06-25 | Ethicon Llc | Method for creating a flexible staple line |
JP6636452B2 (en) | 2014-04-16 | 2020-01-29 | エシコン エルエルシーEthicon LLC | Fastener cartridge including extension having different configurations |
BR112016023825B1 (en) | 2014-04-16 | 2022-08-02 | Ethicon Endo-Surgery, Llc | STAPLE CARTRIDGE FOR USE WITH A SURGICAL STAPLER AND STAPLE CARTRIDGE FOR USE WITH A SURGICAL INSTRUMENT |
US9700333B2 (en) | 2014-06-30 | 2017-07-11 | Ethicon Llc | Surgical instrument with variable tissue compression |
US9750521B2 (en) | 2014-07-22 | 2017-09-05 | Ethicon Llc | Ultrasonic blade overmold |
US10285724B2 (en) | 2014-07-31 | 2019-05-14 | Ethicon Llc | Actuation mechanisms and load adjustment assemblies for surgical instruments |
US11311294B2 (en) | 2014-09-05 | 2022-04-26 | Cilag Gmbh International | Powered medical device including measurement of closure state of jaws |
US10111679B2 (en) | 2014-09-05 | 2018-10-30 | Ethicon Llc | Circuitry and sensors for powered medical device |
BR112017004361B1 (en) | 2014-09-05 | 2023-04-11 | Ethicon Llc | ELECTRONIC SYSTEM FOR A SURGICAL INSTRUMENT |
US10058346B2 (en) | 2014-09-17 | 2018-08-28 | Ethicon Llc | Ultrasonic surgical instrument with removable clamp arm |
US9901360B2 (en) | 2014-09-17 | 2018-02-27 | Ethicon Llc | Ultrasonic surgical instrument with retractable integral clamp arm |
US10105142B2 (en) | 2014-09-18 | 2018-10-23 | Ethicon Llc | Surgical stapler with plurality of cutting elements |
JP6648119B2 (en) | 2014-09-26 | 2020-02-14 | エシコン エルエルシーEthicon LLC | Surgical stapling buttress and accessory materials |
US11523821B2 (en) | 2014-09-26 | 2022-12-13 | Cilag Gmbh International | Method for creating a flexible staple line |
US10076325B2 (en) | 2014-10-13 | 2018-09-18 | Ethicon Llc | Surgical stapling apparatus comprising a tissue stop |
US9907565B2 (en) | 2014-10-15 | 2018-03-06 | Eithicon LLC | Activation features for ultrasonic surgical instrument |
US9924944B2 (en) | 2014-10-16 | 2018-03-27 | Ethicon Llc | Staple cartridge comprising an adjunct material |
US10517594B2 (en) | 2014-10-29 | 2019-12-31 | Ethicon Llc | Cartridge assemblies for surgical staplers |
US11141153B2 (en) | 2014-10-29 | 2021-10-12 | Cilag Gmbh International | Staple cartridges comprising driver arrangements |
US9844376B2 (en) | 2014-11-06 | 2017-12-19 | Ethicon Llc | Staple cartridge comprising a releasable adjunct material |
US10206705B2 (en) | 2014-11-25 | 2019-02-19 | Ethicon Llc | Features for communication of fluid through shaft assembly of ultrasonic surgical instrument |
US10004529B2 (en) | 2014-11-25 | 2018-06-26 | Ethicon Llc | Features to drive fluid toward an ultrasonic blade of a surgical instrument |
US10433863B2 (en) | 2014-11-25 | 2019-10-08 | Ethicon Llc | Ultrasonic surgical instrument with blade cooling through retraction |
US10639092B2 (en) | 2014-12-08 | 2020-05-05 | Ethicon Llc | Electrode configurations for surgical instruments |
US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument system |
MX2017008108A (en) | 2014-12-18 | 2018-03-06 | Ethicon Llc | Surgical instrument with an anvil that is selectively movable about a discrete non-movable axis relative to a staple cartridge. |
US10004501B2 (en) | 2014-12-18 | 2018-06-26 | Ethicon Llc | Surgical instruments with improved closure arrangements |
US9844374B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member |
US9844375B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Drive arrangements for articulatable surgical instruments |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
US10327796B2 (en) | 2014-12-19 | 2019-06-25 | Ethicon Llc | Ultrasonic surgical instrument with dual modes |
US10159524B2 (en) | 2014-12-22 | 2018-12-25 | Ethicon Llc | High power battery powered RF amplifier topology |
CN107072702B (en) * | 2015-01-07 | 2020-04-24 | 奥林巴斯株式会社 | Ultrasonic probe and ultrasonic treatment instrument |
JP6001214B1 (en) * | 2015-01-07 | 2016-10-05 | オリンパス株式会社 | Ultrasonic probe |
US10245095B2 (en) | 2015-02-06 | 2019-04-02 | Ethicon Llc | Electrosurgical instrument with rotation and articulation mechanisms |
US11154301B2 (en) | 2015-02-27 | 2021-10-26 | Cilag Gmbh International | Modular stapling assembly |
US10687806B2 (en) | 2015-03-06 | 2020-06-23 | Ethicon Llc | Adaptive tissue compression techniques to adjust closure rates for multiple tissue types |
US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of powered surgical instruments |
US9924961B2 (en) | 2015-03-06 | 2018-03-27 | Ethicon Endo-Surgery, Llc | Interactive feedback system for powered surgical instruments |
US10548504B2 (en) | 2015-03-06 | 2020-02-04 | Ethicon Llc | Overlaid multi sensor radio frequency (RF) electrode system to measure tissue compression |
US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
JP2020121162A (en) | 2015-03-06 | 2020-08-13 | エシコン エルエルシーEthicon LLC | Time dependent evaluation of sensor data to determine stability element, creep element and viscoelastic element of measurement |
US10617412B2 (en) | 2015-03-06 | 2020-04-14 | Ethicon Llc | System for detecting the mis-insertion of a staple cartridge into a surgical stapler |
US10245033B2 (en) | 2015-03-06 | 2019-04-02 | Ethicon Llc | Surgical instrument comprising a lockable battery housing |
US9808246B2 (en) | 2015-03-06 | 2017-11-07 | Ethicon Endo-Surgery, Llc | Method of operating a powered surgical instrument |
US9901342B2 (en) | 2015-03-06 | 2018-02-27 | Ethicon Endo-Surgery, Llc | Signal and power communication system positioned on a rotatable shaft |
US10321950B2 (en) | 2015-03-17 | 2019-06-18 | Ethicon Llc | Managing tissue treatment |
US10342602B2 (en) | 2015-03-17 | 2019-07-09 | Ethicon Llc | Managing tissue treatment |
US10595929B2 (en) | 2015-03-24 | 2020-03-24 | Ethicon Llc | Surgical instruments with firing system overload protection mechanisms |
US10213201B2 (en) | 2015-03-31 | 2019-02-26 | Ethicon Llc | Stapling end effector configured to compensate for an uneven gap between a first jaw and a second jaw |
US10314638B2 (en) | 2015-04-07 | 2019-06-11 | Ethicon Llc | Articulating radio frequency (RF) tissue seal with articulating state sensing |
JPWO2016163450A1 (en) * | 2015-04-10 | 2017-04-27 | オリンパス株式会社 | Medical equipment |
US10034684B2 (en) | 2015-06-15 | 2018-07-31 | Ethicon Llc | Apparatus and method for dissecting and coagulating tissue |
US11020140B2 (en) * | 2015-06-17 | 2021-06-01 | Cilag Gmbh International | Ultrasonic surgical blade for use with ultrasonic surgical instruments |
US10898256B2 (en) | 2015-06-30 | 2021-01-26 | Ethicon Llc | Surgical system with user adaptable techniques based on tissue impedance |
US11141213B2 (en) | 2015-06-30 | 2021-10-12 | Cilag Gmbh International | Surgical instrument with user adaptable techniques |
US10357303B2 (en) | 2015-06-30 | 2019-07-23 | Ethicon Llc | Translatable outer tube for sealing using shielded lap chole dissector |
US11051873B2 (en) | 2015-06-30 | 2021-07-06 | Cilag Gmbh International | Surgical system with user adaptable techniques employing multiple energy modalities based on tissue parameters |
US10034704B2 (en) | 2015-06-30 | 2018-07-31 | Ethicon Llc | Surgical instrument with user adaptable algorithms |
US11129669B2 (en) | 2015-06-30 | 2021-09-28 | Cilag Gmbh International | Surgical system with user adaptable techniques based on tissue type |
US10154852B2 (en) | 2015-07-01 | 2018-12-18 | Ethicon Llc | Ultrasonic surgical blade with improved cutting and coagulation features |
JP6147440B1 (en) * | 2015-07-23 | 2017-06-14 | オリンパス株式会社 | Ultrasonic treatment device and ultrasonic treatment assembly |
US10874417B2 (en) | 2015-08-11 | 2020-12-29 | Reach Surgical, Inc. | Double hook ultrasonic surgical blade |
WO2017027853A1 (en) * | 2015-08-12 | 2017-02-16 | Reach Surgical, Inc. | Curved ultrasonic surgical blade |
US11058425B2 (en) | 2015-08-17 | 2021-07-13 | Ethicon Llc | Implantable layers for a surgical instrument |
US10321930B2 (en) | 2015-08-24 | 2019-06-18 | Ethicon Llc | Activation features for ultrasonic surgical instrument |
US10130383B2 (en) | 2015-08-25 | 2018-11-20 | Ethicon Llc | Ultrasonic surgical instrument with rotatable actuation levers and mechanical lockout |
US10413314B2 (en) | 2015-08-26 | 2019-09-17 | Ethicon Llc | Ultrasonic surgical instrument with activation member pair and slidable cover |
US10258361B2 (en) | 2015-08-26 | 2019-04-16 | Ethicon Llc | Ultrasonic surgical instrument with slidable flexing activation member |
US10507033B2 (en) | 2015-08-26 | 2019-12-17 | Ethicon Llc | Ultrasonic surgical instrument with replaceable clamp pad |
US10426506B2 (en) | 2015-08-26 | 2019-10-01 | Ethicon Llc | Ultrasonic surgical instrument with multi-grip activation and power selection |
US10456157B2 (en) | 2015-08-26 | 2019-10-29 | Ethicon Llc | Ultrasonic surgical instrument clamp arm with snap-on clamp pad |
US10238386B2 (en) | 2015-09-23 | 2019-03-26 | Ethicon Llc | Surgical stapler having motor control based on an electrical parameter related to a motor current |
US10105139B2 (en) | 2015-09-23 | 2018-10-23 | Ethicon Llc | Surgical stapler having downstream current-based motor control |
US10299878B2 (en) | 2015-09-25 | 2019-05-28 | Ethicon Llc | Implantable adjunct systems for determining adjunct skew |
US11033322B2 (en) | 2015-09-30 | 2021-06-15 | Ethicon Llc | Circuit topologies for combined generator |
US10285699B2 (en) | 2015-09-30 | 2019-05-14 | Ethicon Llc | Compressible adjunct |
US10327777B2 (en) | 2015-09-30 | 2019-06-25 | Ethicon Llc | Implantable layer comprising plastically deformed fibers |
US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
US10980539B2 (en) | 2015-09-30 | 2021-04-20 | Ethicon Llc | Implantable adjunct comprising bonded layers |
US10327797B2 (en) | 2015-10-16 | 2019-06-25 | Ethicon Llc | Ultrasonic surgical instrument with removable shaft assembly portion |
US10959771B2 (en) | 2015-10-16 | 2021-03-30 | Ethicon Llc | Suction and irrigation sealing grasper |
US10595930B2 (en) | 2015-10-16 | 2020-03-24 | Ethicon Llc | Electrode wiping surgical device |
US10028765B2 (en) | 2015-10-30 | 2018-07-24 | Ethicon Llc | Ultrasonic surgical instrument clamp arm with proximal nodal pad |
US20170164997A1 (en) | 2015-12-10 | 2017-06-15 | Ethicon Endo-Surgery, Llc | Method of treating tissue using end effector with ultrasonic and electrosurgical features |
US10660692B2 (en) | 2015-12-10 | 2020-05-26 | Ethicon Llc | End effector for instrument with ultrasonic blade and bipolar clamp arm |
US20170164972A1 (en) | 2015-12-10 | 2017-06-15 | Ethicon Endo-Surgery, Llc | End effector for instrument with ultrasonic and electrosurgical features |
US10238413B2 (en) | 2015-12-16 | 2019-03-26 | Ethicon Llc | Surgical instrument with multi-function button |
US10470790B2 (en) | 2015-12-16 | 2019-11-12 | Ethicon Llc | Surgical instrument with selector |
US20170172614A1 (en) | 2015-12-17 | 2017-06-22 | Ethicon Endo-Surgery, Llc | Surgical instrument with multi-functioning trigger |
US10492885B2 (en) | 2015-12-17 | 2019-12-03 | Ethicon Llc | Ultrasonic surgical instrument with cleaning port |
US10314607B2 (en) | 2015-12-21 | 2019-06-11 | Ethicon Llc | Ultrasonic surgical instrument with tubular acoustic waveguide segment |
US10231749B2 (en) | 2015-12-21 | 2019-03-19 | Ethicon Llc | Ultrasonic surgical instrument with blade replacement features |
US10368894B2 (en) | 2015-12-21 | 2019-08-06 | Ethicon Llc | Surgical instrument with variable clamping force |
US10368957B2 (en) | 2015-12-21 | 2019-08-06 | Ethicon Llc | Ultrasonic surgical instrument with blade cleaning feature |
US10743901B2 (en) | 2015-12-29 | 2020-08-18 | Ethicon Llc | Snap fit clamp pad for ultrasonic surgical instrument |
US10368865B2 (en) | 2015-12-30 | 2019-08-06 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10470791B2 (en) | 2015-12-30 | 2019-11-12 | Ethicon Llc | Surgical instrument with staged application of electrosurgical and ultrasonic energy |
US10959806B2 (en) | 2015-12-30 | 2021-03-30 | Ethicon Llc | Energized medical device with reusable handle |
US10265068B2 (en) | 2015-12-30 | 2019-04-23 | Ethicon Llc | Surgical instruments with separable motors and motor control circuits |
US10179022B2 (en) | 2015-12-30 | 2019-01-15 | Ethicon Llc | Jaw position impedance limiter for electrosurgical instrument |
US10292704B2 (en) | 2015-12-30 | 2019-05-21 | Ethicon Llc | Mechanisms for compensating for battery pack failure in powered surgical instruments |
US10575892B2 (en) | 2015-12-31 | 2020-03-03 | Ethicon Llc | Adapter for electrical surgical instruments |
US10716615B2 (en) | 2016-01-15 | 2020-07-21 | Ethicon Llc | Modular battery powered handheld surgical instrument with curved end effectors having asymmetric engagement between jaw and blade |
US11229471B2 (en) | 2016-01-15 | 2022-01-25 | Cilag Gmbh International | Modular battery powered handheld surgical instrument with selective application of energy based on tissue characterization |
US11129670B2 (en) | 2016-01-15 | 2021-09-28 | Cilag Gmbh International | Modular battery powered handheld surgical instrument with selective application of energy based on button displacement, intensity, or local tissue characterization |
US11051840B2 (en) | 2016-01-15 | 2021-07-06 | Ethicon Llc | Modular battery powered handheld surgical instrument with reusable asymmetric handle housing |
BR112018016098B1 (en) | 2016-02-09 | 2023-02-23 | Ethicon Llc | SURGICAL INSTRUMENT |
US11213293B2 (en) | 2016-02-09 | 2022-01-04 | Cilag Gmbh International | Articulatable surgical instruments with single articulation link arrangements |
US20170224332A1 (en) | 2016-02-09 | 2017-08-10 | Ethicon Endo-Surgery, Llc | Surgical instruments with non-symmetrical articulation arrangements |
US10448948B2 (en) | 2016-02-12 | 2019-10-22 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US11224426B2 (en) | 2016-02-12 | 2022-01-18 | Cilag Gmbh International | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10555769B2 (en) | 2016-02-22 | 2020-02-11 | Ethicon Llc | Flexible circuits for electrosurgical instrument |
US10617413B2 (en) | 2016-04-01 | 2020-04-14 | Ethicon Llc | Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts |
US10456137B2 (en) | 2016-04-15 | 2019-10-29 | Ethicon Llc | Staple formation detection mechanisms |
US11179150B2 (en) | 2016-04-15 | 2021-11-23 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10426467B2 (en) | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
US10492783B2 (en) | 2016-04-15 | 2019-12-03 | Ethicon, Llc | Surgical instrument with improved stop/start control during a firing motion |
US10335145B2 (en) | 2016-04-15 | 2019-07-02 | Ethicon Llc | Modular surgical instrument with configurable operating mode |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US20170296173A1 (en) | 2016-04-18 | 2017-10-19 | Ethicon Endo-Surgery, Llc | Method for operating a surgical instrument |
US11317917B2 (en) | 2016-04-18 | 2022-05-03 | Cilag Gmbh International | Surgical stapling system comprising a lockable firing assembly |
US10368867B2 (en) | 2016-04-18 | 2019-08-06 | Ethicon Llc | Surgical instrument comprising a lockout |
US10286424B2 (en) | 2016-04-26 | 2019-05-14 | Ethicon Llc | Ultrasonic cleaning of surgical instrument |
US10485607B2 (en) | 2016-04-29 | 2019-11-26 | Ethicon Llc | Jaw structure with distal closure for electrosurgical instruments |
US10172684B2 (en) | 2016-04-29 | 2019-01-08 | Ethicon Llc | Lifecycle monitoring features for surgical instrument |
US10987156B2 (en) | 2016-04-29 | 2021-04-27 | Ethicon Llc | Electrosurgical instrument with electrically conductive gap setting member and electrically insulative tissue engaging members |
US10702329B2 (en) | 2016-04-29 | 2020-07-07 | Ethicon Llc | Jaw structure with distal post for electrosurgical instruments |
US10856934B2 (en) | 2016-04-29 | 2020-12-08 | Ethicon Llc | Electrosurgical instrument with electrically conductive gap setting and tissue engaging members |
US10646269B2 (en) | 2016-04-29 | 2020-05-12 | Ethicon Llc | Non-linear jaw gap for electrosurgical instruments |
US10456193B2 (en) | 2016-05-03 | 2019-10-29 | Ethicon Llc | Medical device with a bilateral jaw configuration for nerve stimulation |
US10368898B2 (en) | 2016-05-05 | 2019-08-06 | Covidien Lp | Ultrasonic surgical instrument |
US10258362B2 (en) | 2016-07-12 | 2019-04-16 | Ethicon Llc | Ultrasonic surgical instrument with AD HOC formed blade |
US10245064B2 (en) | 2016-07-12 | 2019-04-02 | Ethicon Llc | Ultrasonic surgical instrument with piezoelectric central lumen transducer |
US10893883B2 (en) | 2016-07-13 | 2021-01-19 | Ethicon Llc | Ultrasonic assembly for use with ultrasonic surgical instruments |
US10842522B2 (en) | 2016-07-15 | 2020-11-24 | Ethicon Llc | Ultrasonic surgical instruments having offset blades |
US10376305B2 (en) | 2016-08-05 | 2019-08-13 | Ethicon Llc | Methods and systems for advanced harmonic energy |
US10285723B2 (en) | 2016-08-09 | 2019-05-14 | Ethicon Llc | Ultrasonic surgical blade with improved heel portion |
USD847990S1 (en) | 2016-08-16 | 2019-05-07 | Ethicon Llc | Surgical instrument |
US10555750B2 (en) | 2016-08-25 | 2020-02-11 | Ethicon Llc | Ultrasonic surgical instrument with replaceable blade having identification feature |
US10828056B2 (en) | 2016-08-25 | 2020-11-10 | Ethicon Llc | Ultrasonic transducer to waveguide acoustic coupling, connections, and configurations |
US10952759B2 (en) | 2016-08-25 | 2021-03-23 | Ethicon Llc | Tissue loading of a surgical instrument |
US10751117B2 (en) | 2016-09-23 | 2020-08-25 | Ethicon Llc | Electrosurgical instrument with fluid diverter |
US10603064B2 (en) | 2016-11-28 | 2020-03-31 | Ethicon Llc | Ultrasonic transducer |
US11266430B2 (en) | 2016-11-29 | 2022-03-08 | Cilag Gmbh International | End effector control and calibration |
US10695055B2 (en) | 2016-12-21 | 2020-06-30 | Ethicon Llc | Firing assembly comprising a lockout |
US20180168633A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments and staple-forming anvils |
US20180168615A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument |
US10682138B2 (en) | 2016-12-21 | 2020-06-16 | Ethicon Llc | Bilaterally asymmetric staple forming pocket pairs |
US10568624B2 (en) | 2016-12-21 | 2020-02-25 | Ethicon Llc | Surgical instruments with jaws that are pivotable about a fixed axis and include separate and distinct closure and firing systems |
US20180168625A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments with smart staple cartridges |
US10918385B2 (en) | 2016-12-21 | 2021-02-16 | Ethicon Llc | Surgical system comprising a firing member rotatable into an articulation state to articulate an end effector of the surgical system |
US10888322B2 (en) | 2016-12-21 | 2021-01-12 | Ethicon Llc | Surgical instrument comprising a cutting member |
US11090048B2 (en) | 2016-12-21 | 2021-08-17 | Cilag Gmbh International | Method for resetting a fuse of a surgical instrument shaft |
US10973516B2 (en) | 2016-12-21 | 2021-04-13 | Ethicon Llc | Surgical end effectors and adaptable firing members therefor |
US10959727B2 (en) | 2016-12-21 | 2021-03-30 | Ethicon Llc | Articulatable surgical end effector with asymmetric shaft arrangement |
JP7010956B2 (en) | 2016-12-21 | 2022-01-26 | エシコン エルエルシー | How to staple tissue |
US10588631B2 (en) | 2016-12-21 | 2020-03-17 | Ethicon Llc | Surgical instruments with positive jaw opening features |
US11419606B2 (en) | 2016-12-21 | 2022-08-23 | Cilag Gmbh International | Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems |
CN110099619B (en) | 2016-12-21 | 2022-07-15 | 爱惜康有限责任公司 | Lockout device for surgical end effector and replaceable tool assembly |
US11134942B2 (en) | 2016-12-21 | 2021-10-05 | Cilag Gmbh International | Surgical stapling instruments and staple-forming anvils |
US10856868B2 (en) | 2016-12-21 | 2020-12-08 | Ethicon Llc | Firing member pin configurations |
MX2019007311A (en) | 2016-12-21 | 2019-11-18 | Ethicon Llc | Surgical stapling systems. |
US10426471B2 (en) | 2016-12-21 | 2019-10-01 | Ethicon Llc | Surgical instrument with multiple failure response modes |
US11033325B2 (en) | 2017-02-16 | 2021-06-15 | Cilag Gmbh International | Electrosurgical instrument with telescoping suction port and debris cleaner |
US10799284B2 (en) | 2017-03-15 | 2020-10-13 | Ethicon Llc | Electrosurgical instrument with textured jaws |
US11497546B2 (en) | 2017-03-31 | 2022-11-15 | Cilag Gmbh International | Area ratios of patterned coatings on RF electrodes to reduce sticking |
US10945778B2 (en) | 2017-05-22 | 2021-03-16 | Ethicon Llc | Combination ultrasonic and electrosurgical instrument having slip ring electrical contact assembly |
US11278340B2 (en) | 2017-05-22 | 2022-03-22 | Cilag Gmbh International | Combination ultrasonic and electrosurgical instrument with adjustable energy modalities and method for sealing tissue and inhibiting tissue resection |
US10571435B2 (en) | 2017-06-08 | 2020-02-25 | Covidien Lp | Systems and methods for digital control of ultrasonic devices |
US10888321B2 (en) | 2017-06-20 | 2021-01-12 | Ethicon Llc | Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument |
US10813639B2 (en) | 2017-06-20 | 2020-10-27 | Ethicon Llc | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions |
USD890784S1 (en) | 2017-06-20 | 2020-07-21 | Ethicon Llc | Display panel with changeable graphical user interface |
US10881396B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Surgical instrument with variable duration trigger arrangement |
US11517325B2 (en) | 2017-06-20 | 2022-12-06 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval |
US10307170B2 (en) | 2017-06-20 | 2019-06-04 | Ethicon Llc | Method for closed loop control of motor velocity of a surgical stapling and cutting instrument |
US11653914B2 (en) | 2017-06-20 | 2023-05-23 | Cilag Gmbh International | Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector |
US10980537B2 (en) | 2017-06-20 | 2021-04-20 | Ethicon Llc | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations |
US11071554B2 (en) | 2017-06-20 | 2021-07-27 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements |
US10624633B2 (en) | 2017-06-20 | 2020-04-21 | Ethicon Llc | Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument |
US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument |
USD879808S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with graphical user interface |
US10779820B2 (en) | 2017-06-20 | 2020-09-22 | Ethicon Llc | Systems and methods for controlling motor speed according to user input for a surgical instrument |
US11090046B2 (en) | 2017-06-20 | 2021-08-17 | Cilag Gmbh International | Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument |
US10646220B2 (en) | 2017-06-20 | 2020-05-12 | Ethicon Llc | Systems and methods for controlling displacement member velocity for a surgical instrument |
US11382638B2 (en) | 2017-06-20 | 2022-07-12 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance |
USD879809S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with changeable graphical user interface |
US11324503B2 (en) | 2017-06-27 | 2022-05-10 | Cilag Gmbh International | Surgical firing member arrangements |
US20180368844A1 (en) | 2017-06-27 | 2018-12-27 | Ethicon Llc | Staple forming pocket arrangements |
US10772629B2 (en) | 2017-06-27 | 2020-09-15 | Ethicon Llc | Surgical anvil arrangements |
US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
US10856869B2 (en) | 2017-06-27 | 2020-12-08 | Ethicon Llc | Surgical anvil arrangements |
US11266405B2 (en) | 2017-06-27 | 2022-03-08 | Cilag Gmbh International | Surgical anvil manufacturing methods |
US11246592B2 (en) | 2017-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical instrument comprising an articulation system lockable to a frame |
USD869655S1 (en) | 2017-06-28 | 2019-12-10 | Ethicon Llc | Surgical fastener cartridge |
EP3420947B1 (en) | 2017-06-28 | 2022-05-25 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
US10903685B2 (en) | 2017-06-28 | 2021-01-26 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies forming capacitive channels |
US10765427B2 (en) | 2017-06-28 | 2020-09-08 | Ethicon Llc | Method for articulating a surgical instrument |
US10716614B2 (en) | 2017-06-28 | 2020-07-21 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies with increased contact pressure |
US11484310B2 (en) | 2017-06-28 | 2022-11-01 | Cilag Gmbh International | Surgical instrument comprising a shaft including a closure tube profile |
USD906355S1 (en) | 2017-06-28 | 2020-12-29 | Ethicon Llc | Display screen or portion thereof with a graphical user interface for a surgical instrument |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
US11478242B2 (en) | 2017-06-28 | 2022-10-25 | Cilag Gmbh International | Jaw retainer arrangement for retaining a pivotable surgical instrument jaw in pivotable retaining engagement with a second surgical instrument jaw |
US10603117B2 (en) | 2017-06-28 | 2020-03-31 | Ethicon Llc | Articulation state detection mechanisms |
US11259805B2 (en) | 2017-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical instrument comprising firing member supports |
US11007022B2 (en) | 2017-06-29 | 2021-05-18 | Ethicon Llc | Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument |
US10898183B2 (en) | 2017-06-29 | 2021-01-26 | Ethicon Llc | Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
US10820920B2 (en) | 2017-07-05 | 2020-11-03 | Ethicon Llc | Reusable ultrasonic medical devices and methods of their use |
US10813662B2 (en) | 2017-07-10 | 2020-10-27 | Ethicon Llc | Acoustic drivetrain with external collar at nodal position |
US10709470B2 (en) | 2017-07-10 | 2020-07-14 | Ethicon Llc | Features to couple acoustic drivetrain components in ultrasonic surgical instrument |
US10561436B2 (en) | 2017-07-31 | 2020-02-18 | Ethicon Llc | Surgical instrument use indicator |
US11304695B2 (en) | 2017-08-03 | 2022-04-19 | Cilag Gmbh International | Surgical system shaft interconnection |
US11944300B2 (en) | 2017-08-03 | 2024-04-02 | Cilag Gmbh International | Method for operating a surgical system bailout |
US11471155B2 (en) | 2017-08-03 | 2022-10-18 | Cilag Gmbh International | Surgical system bailout |
US10743903B2 (en) | 2017-08-30 | 2020-08-18 | Ethicon Llc | Ultrasonic surgical instrument with pre-assembled acoustic assembly |
US11134975B2 (en) | 2017-08-31 | 2021-10-05 | Cilag Gmbh International | Apparatus and method to control operation of surgical instrument based on audible feedback |
USD907647S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
US10765429B2 (en) | 2017-09-29 | 2020-09-08 | Ethicon Llc | Systems and methods for providing alerts according to the operational state of a surgical instrument |
CN107582128A (en) * | 2017-09-29 | 2018-01-16 | 北京水木天蓬医疗技术有限公司 | A kind of ultrasonic osteotome bit |
US11490951B2 (en) | 2017-09-29 | 2022-11-08 | Cilag Gmbh International | Saline contact with electrodes |
USD917500S1 (en) | 2017-09-29 | 2021-04-27 | Ethicon Llc | Display screen or portion thereof with graphical user interface |
US11484358B2 (en) | 2017-09-29 | 2022-11-01 | Cilag Gmbh International | Flexible electrosurgical instrument |
US10796471B2 (en) | 2017-09-29 | 2020-10-06 | Ethicon Llc | Systems and methods of displaying a knife position for a surgical instrument |
US10743872B2 (en) | 2017-09-29 | 2020-08-18 | Ethicon Llc | System and methods for controlling a display of a surgical instrument |
US11033323B2 (en) | 2017-09-29 | 2021-06-15 | Cilag Gmbh International | Systems and methods for managing fluid and suction in electrosurgical systems |
US10729501B2 (en) | 2017-09-29 | 2020-08-04 | Ethicon Llc | Systems and methods for language selection of a surgical instrument |
US11399829B2 (en) | 2017-09-29 | 2022-08-02 | Cilag Gmbh International | Systems and methods of initiating a power shutdown mode for a surgical instrument |
USD907648S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
US11090075B2 (en) | 2017-10-30 | 2021-08-17 | Cilag Gmbh International | Articulation features for surgical end effector |
US11134944B2 (en) | 2017-10-30 | 2021-10-05 | Cilag Gmbh International | Surgical stapler knife motion controls |
US10779903B2 (en) | 2017-10-31 | 2020-09-22 | Ethicon Llc | Positive shaft rotation lock activated by jaw closure |
US10842490B2 (en) | 2017-10-31 | 2020-11-24 | Ethicon Llc | Cartridge body design with force reduction based on firing completion |
US10743875B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member |
US10966718B2 (en) | 2017-12-15 | 2021-04-06 | Ethicon Llc | Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments |
US11071543B2 (en) | 2017-12-15 | 2021-07-27 | Cilag Gmbh International | Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges |
US10828033B2 (en) | 2017-12-15 | 2020-11-10 | Ethicon Llc | Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto |
US11006955B2 (en) | 2017-12-15 | 2021-05-18 | Ethicon Llc | End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments |
US11033267B2 (en) | 2017-12-15 | 2021-06-15 | Ethicon Llc | Systems and methods of controlling a clamping member firing rate of a surgical instrument |
US10869666B2 (en) | 2017-12-15 | 2020-12-22 | Ethicon Llc | Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument |
US10779825B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments |
US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
US10743874B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Sealed adapters for use with electromechanical surgical instruments |
US10687813B2 (en) | 2017-12-15 | 2020-06-23 | Ethicon Llc | Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments |
US11197670B2 (en) | 2017-12-15 | 2021-12-14 | Cilag Gmbh International | Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed |
US10835330B2 (en) | 2017-12-19 | 2020-11-17 | Ethicon Llc | Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly |
USD910847S1 (en) | 2017-12-19 | 2021-02-16 | Ethicon Llc | Surgical instrument assembly |
US10729509B2 (en) | 2017-12-19 | 2020-08-04 | Ethicon Llc | Surgical instrument comprising closure and firing locking mechanism |
US10716565B2 (en) | 2017-12-19 | 2020-07-21 | Ethicon Llc | Surgical instruments with dual articulation drivers |
US11020112B2 (en) | 2017-12-19 | 2021-06-01 | Ethicon Llc | Surgical tools configured for interchangeable use with different controller interfaces |
US11045270B2 (en) | 2017-12-19 | 2021-06-29 | Cilag Gmbh International | Robotic attachment comprising exterior drive actuator |
US11179152B2 (en) | 2017-12-21 | 2021-11-23 | Cilag Gmbh International | Surgical instrument comprising a tissue grasping system |
US11076853B2 (en) | 2017-12-21 | 2021-08-03 | Cilag Gmbh International | Systems and methods of displaying a knife position during transection for a surgical instrument |
US11129680B2 (en) | 2017-12-21 | 2021-09-28 | Cilag Gmbh International | Surgical instrument comprising a projector |
US11311290B2 (en) | 2017-12-21 | 2022-04-26 | Cilag Gmbh International | Surgical instrument comprising an end effector dampener |
US11259832B2 (en) | 2018-01-29 | 2022-03-01 | Covidien Lp | Ultrasonic horn for an ultrasonic surgical instrument, ultrasonic surgical instrument including the same, and method of manufacturing an ultrasonic horn |
US11246621B2 (en) | 2018-01-29 | 2022-02-15 | Covidien Lp | Ultrasonic transducers and ultrasonic surgical instruments including the same |
US11246617B2 (en) | 2018-01-29 | 2022-02-15 | Covidien Lp | Compact ultrasonic transducer and ultrasonic surgical instrument including the same |
US11229449B2 (en) | 2018-02-05 | 2022-01-25 | Covidien Lp | Ultrasonic horn, ultrasonic transducer assembly, and ultrasonic surgical instrument including the same |
US10582944B2 (en) | 2018-02-23 | 2020-03-10 | Covidien Lp | Ultrasonic surgical instrument with torque assist feature |
US11039834B2 (en) | 2018-08-20 | 2021-06-22 | Cilag Gmbh International | Surgical stapler anvils with staple directing protrusions and tissue stability features |
US11291440B2 (en) | 2018-08-20 | 2022-04-05 | Cilag Gmbh International | Method for operating a powered articulatable surgical instrument |
US10912559B2 (en) | 2018-08-20 | 2021-02-09 | Ethicon Llc | Reinforced deformable anvil tip for surgical stapler anvil |
US10856870B2 (en) | 2018-08-20 | 2020-12-08 | Ethicon Llc | Switching arrangements for motor powered articulatable surgical instruments |
US11045192B2 (en) | 2018-08-20 | 2021-06-29 | Cilag Gmbh International | Fabricating techniques for surgical stapler anvils |
US11083458B2 (en) | 2018-08-20 | 2021-08-10 | Cilag Gmbh International | Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions |
US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
US11207065B2 (en) | 2018-08-20 | 2021-12-28 | Cilag Gmbh International | Method for fabricating surgical stapler anvils |
USD914878S1 (en) | 2018-08-20 | 2021-03-30 | Ethicon Llc | Surgical instrument anvil |
US10842492B2 (en) | 2018-08-20 | 2020-11-24 | Ethicon Llc | Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system |
US11253256B2 (en) | 2018-08-20 | 2022-02-22 | Cilag Gmbh International | Articulatable motor powered surgical instruments with dedicated articulation motor arrangements |
US10779821B2 (en) | 2018-08-20 | 2020-09-22 | Ethicon Llc | Surgical stapler anvils with tissue stop features configured to avoid tissue pinch |
US11504165B1 (en) | 2018-10-22 | 2022-11-22 | Advance Research System, Llc | Asymmetric clamp with ultrasonic tissue removal capability |
US11147553B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11172929B2 (en) | 2019-03-25 | 2021-11-16 | Cilag Gmbh International | Articulation drive arrangements for surgical systems |
US11147551B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11696761B2 (en) | 2019-03-25 | 2023-07-11 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11471157B2 (en) | 2019-04-30 | 2022-10-18 | Cilag Gmbh International | Articulation control mapping for a surgical instrument |
US11452528B2 (en) | 2019-04-30 | 2022-09-27 | Cilag Gmbh International | Articulation actuators for a surgical instrument |
US11253254B2 (en) | 2019-04-30 | 2022-02-22 | Cilag Gmbh International | Shaft rotation actuator on a surgical instrument |
US11202650B2 (en) | 2019-04-30 | 2021-12-21 | Cilag Gmbh International | Blade cooling gas/fluid storage |
US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin for a surgical instrument |
US11350960B2 (en) | 2019-04-30 | 2022-06-07 | Cilag Gmbh International | Dual sterilization and temperature based sterilization detection |
US11903581B2 (en) | 2019-04-30 | 2024-02-20 | Cilag Gmbh International | Methods for stapling tissue using a surgical instrument |
US11123095B2 (en) | 2019-04-30 | 2021-09-21 | Cilag Gmbh International | Blade grounding mechanisms and alternative pin designs |
US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for a surgical instrument |
US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
US11179177B2 (en) | 2019-04-30 | 2021-11-23 | Cilag Gmbh International | Ultrasonic blade and clamp arm matching design |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
US11224497B2 (en) | 2019-06-28 | 2022-01-18 | Cilag Gmbh International | Surgical systems with multiple RFID tags |
US11246678B2 (en) | 2019-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical stapling system having a frangible RFID tag |
US11051807B2 (en) | 2019-06-28 | 2021-07-06 | Cilag Gmbh International | Packaging assembly including a particulate trap |
US11298127B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Interational | Surgical stapling system having a lockout mechanism for an incompatible cartridge |
US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
US11291451B2 (en) | 2019-06-28 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with battery compatibility verification functionality |
US11298132B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Inlernational | Staple cartridge including a honeycomb extension |
US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
US11399837B2 (en) | 2019-06-28 | 2022-08-02 | Cilag Gmbh International | Mechanisms for motor control adjustments of a motorized surgical instrument |
US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11259803B2 (en) | 2019-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling system having an information encryption protocol |
US11350938B2 (en) | 2019-06-28 | 2022-06-07 | Cilag Gmbh International | Surgical instrument comprising an aligned rfid sensor |
US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
US11219455B2 (en) | 2019-06-28 | 2022-01-11 | Cilag Gmbh International | Surgical instrument including a lockout key |
US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
US11478268B2 (en) | 2019-08-16 | 2022-10-25 | Covidien Lp | Jaw members for surgical instruments and surgical instruments incorporating the same |
US11666357B2 (en) | 2019-09-16 | 2023-06-06 | Covidien Lp | Enclosure for electronics of a surgical instrument |
US11083539B2 (en) * | 2019-10-23 | 2021-08-10 | Ola Adel Saied Farrag | Endodontic instrument |
US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
US11234698B2 (en) | 2019-12-19 | 2022-02-01 | Cilag Gmbh International | Stapling system comprising a clamp lockout and a firing lockout |
US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
US11576672B2 (en) | 2019-12-19 | 2023-02-14 | Cilag Gmbh International | Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw |
US11911032B2 (en) | 2019-12-19 | 2024-02-27 | Cilag Gmbh International | Staple cartridge comprising a seating cam |
US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
US11931033B2 (en) | 2019-12-19 | 2024-03-19 | Cilag Gmbh International | Staple cartridge comprising a latch lockout |
US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
US11779329B2 (en) | 2019-12-30 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a flex circuit including a sensor system |
US20210196361A1 (en) | 2019-12-30 | 2021-07-01 | Ethicon Llc | Electrosurgical instrument with monopolar and bipolar energy capabilities |
US11950797B2 (en) | 2019-12-30 | 2024-04-09 | Cilag Gmbh International | Deflectable electrode with higher distal bias relative to proximal bias |
US11812957B2 (en) | 2019-12-30 | 2023-11-14 | Cilag Gmbh International | Surgical instrument comprising a signal interference resolution system |
US11937863B2 (en) | 2019-12-30 | 2024-03-26 | Cilag Gmbh International | Deflectable electrode with variable compression bias along the length of the deflectable electrode |
US11786291B2 (en) | 2019-12-30 | 2023-10-17 | Cilag Gmbh International | Deflectable support of RF energy electrode with respect to opposing ultrasonic blade |
US11452525B2 (en) | 2019-12-30 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising an adjustment system |
US11911063B2 (en) | 2019-12-30 | 2024-02-27 | Cilag Gmbh International | Techniques for detecting ultrasonic blade to electrode contact and reducing power to ultrasonic blade |
US11937866B2 (en) | 2019-12-30 | 2024-03-26 | Cilag Gmbh International | Method for an electrosurgical procedure |
US11786294B2 (en) | 2019-12-30 | 2023-10-17 | Cilag Gmbh International | Control program for modular combination energy device |
US11696776B2 (en) | 2019-12-30 | 2023-07-11 | Cilag Gmbh International | Articulatable surgical instrument |
US11944366B2 (en) | 2019-12-30 | 2024-04-02 | Cilag Gmbh International | Asymmetric segmented ultrasonic support pad for cooperative engagement with a movable RF electrode |
US11684412B2 (en) | 2019-12-30 | 2023-06-27 | Cilag Gmbh International | Surgical instrument with rotatable and articulatable surgical end effector |
US11660089B2 (en) | 2019-12-30 | 2023-05-30 | Cilag Gmbh International | Surgical instrument comprising a sensing system |
US11744636B2 (en) | 2019-12-30 | 2023-09-05 | Cilag Gmbh International | Electrosurgical systems with integrated and external power sources |
US11779387B2 (en) | 2019-12-30 | 2023-10-10 | Cilag Gmbh International | Clamp arm jaw to minimize tissue sticking and improve tissue control |
USD976401S1 (en) | 2020-06-02 | 2023-01-24 | Cilag Gmbh International | Staple cartridge |
USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
USD975278S1 (en) | 2020-06-02 | 2023-01-10 | Cilag Gmbh International | Staple cartridge |
USD967421S1 (en) | 2020-06-02 | 2022-10-18 | Cilag Gmbh International | Staple cartridge |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD966512S1 (en) | 2020-06-02 | 2022-10-11 | Cilag Gmbh International | Staple cartridge |
USD975851S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
US20220031320A1 (en) | 2020-07-28 | 2022-02-03 | Cilag Gmbh International | Surgical instruments with flexible firing member actuator constraint arrangements |
US20220117623A1 (en) | 2020-10-15 | 2022-04-21 | Covidien Lp | Ultrasonic surgical instrument |
US11844518B2 (en) | 2020-10-29 | 2023-12-19 | Cilag Gmbh International | Method for operating a surgical instrument |
US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
USD980425S1 (en) | 2020-10-29 | 2023-03-07 | Cilag Gmbh International | Surgical instrument assembly |
US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
US11617577B2 (en) | 2020-10-29 | 2023-04-04 | Cilag Gmbh International | Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable |
US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
USD1013170S1 (en) | 2020-10-29 | 2024-01-30 | Cilag Gmbh International | Surgical instrument assembly |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
US11627960B2 (en) | 2020-12-02 | 2023-04-18 | Cilag Gmbh International | Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
US11744581B2 (en) | 2020-12-02 | 2023-09-05 | Cilag Gmbh International | Powered surgical instruments with multi-phase tissue treatment |
US11737751B2 (en) | 2020-12-02 | 2023-08-29 | Cilag Gmbh International | Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
US11678882B2 (en) | 2020-12-02 | 2023-06-20 | Cilag Gmbh International | Surgical instruments with interactive features to remedy incidental sled movements |
USD974558S1 (en) | 2020-12-18 | 2023-01-03 | Stryker European Operations Limited | Ultrasonic knife |
US11950777B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Staple cartridge comprising an information access control system |
US11812964B2 (en) | 2021-02-26 | 2023-11-14 | Cilag Gmbh International | Staple cartridge comprising a power management circuit |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
US11950779B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Method of powering and communicating with a staple cartridge |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
US11759202B2 (en) | 2021-03-22 | 2023-09-19 | Cilag Gmbh International | Staple cartridge comprising an implantable layer |
US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
US11806011B2 (en) | 2021-03-22 | 2023-11-07 | Cilag Gmbh International | Stapling instrument comprising tissue compression systems |
US11723658B2 (en) | 2021-03-22 | 2023-08-15 | Cilag Gmbh International | Staple cartridge comprising a firing lockout |
US11826042B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Surgical instrument comprising a firing drive including a selectable leverage mechanism |
US11737749B2 (en) | 2021-03-22 | 2023-08-29 | Cilag Gmbh International | Surgical stapling instrument comprising a retraction system |
US11826012B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising a pulsed motor-driven firing rack |
US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
US11786239B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Surgical instrument articulation joint arrangements comprising multiple moving linkage features |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
US11903582B2 (en) | 2021-03-24 | 2024-02-20 | Cilag Gmbh International | Leveraging surfaces for cartridge installation |
US11832816B2 (en) | 2021-03-24 | 2023-12-05 | Cilag Gmbh International | Surgical stapling assembly comprising nonplanar staples and planar staples |
US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
US11944336B2 (en) | 2021-03-24 | 2024-04-02 | Cilag Gmbh International | Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
US11786243B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Firing members having flexible portions for adapting to a load during a surgical firing stroke |
US11826047B2 (en) | 2021-05-28 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising jaw mounts |
US11717312B2 (en) | 2021-10-01 | 2023-08-08 | Covidien Lp | Surgical system including blade visualization markings |
US11877745B2 (en) | 2021-10-18 | 2024-01-23 | Cilag Gmbh International | Surgical stapling assembly having longitudinally-repeating staple leg clusters |
US11937816B2 (en) | 2021-10-28 | 2024-03-26 | Cilag Gmbh International | Electrical lead arrangements for surgical instruments |
Family Cites Families (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE203229C (en) | ||||
NL106732C (en) | 1955-03-08 | |||
US3053124A (en) | 1959-11-16 | 1962-09-11 | Cavitron Ultrasonics Inc | Ultrasonic welding |
US3526219A (en) | 1967-07-21 | 1970-09-01 | Ultrasonic Systems | Method and apparatus for ultrasonically removing tissue from a biological organism |
US3861391A (en) | 1972-07-02 | 1975-01-21 | Blackstone Corp | Apparatus for disintegration of urinary calculi |
US3830240A (en) | 1972-07-02 | 1974-08-20 | Blackstone Corp | Method and apparatus for disintegration of urinary calculi |
US4016882A (en) | 1975-03-05 | 1977-04-12 | Cavitron Corporation | Neurosonic aspirator and method |
US3990452A (en) | 1975-06-13 | 1976-11-09 | Fibra-Sonics, Inc. | Medical machine for performing surgery and treating using ultrasonic energy |
US4169984A (en) | 1976-11-30 | 1979-10-02 | Contract Systems Associates, Inc. | Ultrasonic probe |
US4526571A (en) | 1982-10-15 | 1985-07-02 | Cooper Lasersonics, Inc. | Curved ultrasonic surgical aspirator |
DK165662C (en) | 1985-04-15 | 1993-05-24 | Sven Karl Lennart Goof | TOOLS, PARTS USED FOR CLEANING DENTAL CHANNELS, AND THEIR DRIVES |
US4634419A (en) | 1985-12-13 | 1987-01-06 | Cooper Lasersonics, Inc. | Angulated ultrasonic surgical handpieces and method for their production |
US5047043A (en) | 1986-03-11 | 1991-09-10 | Olympus Optical Co., Ltd. | Resecting device for living organism tissue utilizing ultrasonic vibrations |
US4911161A (en) | 1987-04-29 | 1990-03-27 | Noetix, Inc. | Capsulectomy cutting apparatus |
SE458821B (en) | 1987-09-04 | 1989-05-16 | Swedemed Ab | ULTRASOUND KNIFE |
US4920954A (en) | 1988-08-05 | 1990-05-01 | Sonic Needle Corporation | Ultrasonic device for applying cavitation forces |
US5019083A (en) | 1989-01-31 | 1991-05-28 | Advanced Osseous Technologies, Inc. | Implanting and removal of orthopedic prostheses |
US5318570A (en) | 1989-01-31 | 1994-06-07 | Advanced Osseous Technologies, Inc. | Ultrasonic tool |
US5413578A (en) | 1989-03-14 | 1995-05-09 | Zahedi; Amir | Device for removing a bone cement tube |
US5180363A (en) | 1989-04-27 | 1993-01-19 | Sumitomo Bakelite Company Company Limited | Operation device |
US5047008A (en) | 1989-10-27 | 1991-09-10 | Storz Instrument Company | Vitrectomy probe |
AU630294B2 (en) | 1990-05-11 | 1992-10-22 | Sumitomo Bakelite Company Limited | Surgical ultrasonic horn |
DE69024805T2 (en) | 1990-05-17 | 1996-05-23 | Sumitomo Bakelite Co | SURGICAL INSTRUMENT |
US5248296A (en) | 1990-12-24 | 1993-09-28 | Sonic Needle Corporation | Ultrasonic device having wire sheath |
US5222937A (en) | 1991-01-11 | 1993-06-29 | Olympus Optical Co., Ltd. | Ultrasonic treatment apparatus |
US5480379A (en) | 1991-05-22 | 1996-01-02 | La Rosa; Antonio | Ultrasonic dissector and detacher for atherosclerotic plaque and method of using same |
US5221282A (en) | 1991-05-29 | 1993-06-22 | Sonokinetics Group | Tapered tip ultrasonic aspirator |
US5397293A (en) | 1992-11-25 | 1995-03-14 | Misonix, Inc. | Ultrasonic device with sheath and transverse motion damping |
US5322055B1 (en) | 1993-01-27 | 1997-10-14 | Ultracision Inc | Clamp coagulator/cutting system for ultrasonic surgical instruments |
US5312329A (en) | 1993-04-07 | 1994-05-17 | Valleylab Inc. | Piezo ultrasonic and electrosurgical handpiece |
US5653724A (en) | 1993-08-18 | 1997-08-05 | Imonti; Maurice M. | Angled phacoemulsifier tip |
US5417654A (en) | 1994-02-02 | 1995-05-23 | Alcon Laboratories, Inc. | Elongated curved cavitation-generating tip for disintegrating tissue |
US5531597A (en) | 1994-06-30 | 1996-07-02 | Dentsply Research & Development Corp. | Transducer activated tool tip |
US5669922A (en) * | 1996-02-20 | 1997-09-23 | Hood; Larry | Ultrasonically driven blade with a radial hook that defines a circular recess |
CA2213948C (en) | 1996-09-19 | 2006-06-06 | United States Surgical Corporation | Ultrasonic dissector |
US5676649A (en) * | 1996-10-04 | 1997-10-14 | Alcon Laboratories, Inc. | Phacoemulsification cutting tip |
US6024750A (en) | 1997-08-14 | 2000-02-15 | United States Surgical | Ultrasonic curved blade |
-
1999
- 1999-06-25 CA CA002276316A patent/CA2276316C/en not_active Expired - Lifetime
- 1999-06-28 DE DE69934358T patent/DE69934358T2/en not_active Expired - Lifetime
- 1999-06-28 EP EP99305065A patent/EP0968684B1/en not_active Expired - Lifetime
- 1999-06-28 ES ES99305065T patent/ES2279605T3/en not_active Expired - Lifetime
- 1999-06-28 JP JP18227499A patent/JP3510157B2/en not_active Expired - Lifetime
- 1999-06-28 AU AU36845/99A patent/AU741478B2/en not_active Expired
-
2000
- 2000-04-06 US US09/543,879 patent/US6283981B1/en not_active Expired - Lifetime
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8469982B2 (en) | 1999-10-05 | 2013-06-25 | Ethicon Endo-Surgery, Inc. | Curved clamp arm for use with ultrasonic surgical instruments |
Also Published As
Publication number | Publication date |
---|---|
AU741478B2 (en) | 2001-11-29 |
EP0968684B1 (en) | 2006-12-13 |
US6283981B1 (en) | 2001-09-04 |
EP0968684A1 (en) | 2000-01-05 |
AU3684599A (en) | 2000-01-13 |
JP2000070279A (en) | 2000-03-07 |
ES2279605T3 (en) | 2007-08-16 |
DE69934358D1 (en) | 2007-01-25 |
JP3510157B2 (en) | 2004-03-22 |
DE69934358T2 (en) | 2007-09-27 |
CA2276316A1 (en) | 1999-12-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CA2276316C (en) | Method of balancing asymmetric ultrasonic surgical blades | |
EP0970660B1 (en) | Balanced ultrasonic blade including a plurality of balance asymetrics | |
EP0970659B1 (en) | Curved ultrasonic blade having a trapezoidal cross section | |
US6660017B2 (en) | Balanced ultrasonic blade including a singular balance asymmetry | |
CA2369452C (en) | Method and waveguides for changing the direction of longitudinal vibrations |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request | ||
MKEX | Expiry |
Effective date: 20190625 |