WO2004105578A3 - Articulating mechanism for remote manipulation of a surgical or diagnostic tool - Google Patents
Articulating mechanism for remote manipulation of a surgical or diagnostic tool Download PDFInfo
- Publication number
- WO2004105578A3 WO2004105578A3 PCT/US2004/015944 US2004015944W WO2004105578A3 WO 2004105578 A3 WO2004105578 A3 WO 2004105578A3 US 2004015944 W US2004015944 W US 2004015944W WO 2004105578 A3 WO2004105578 A3 WO 2004105578A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- segments
- articulating mechanism
- remote manipulation
- proximal
- surgical
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0138—Tip steering devices having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1492—Probes or electrodes therefor having a flexible, catheter-like structure, e.g. for heart ablation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
- A61M2025/015—Details of the distal fixation of the movable mechanical means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M2025/0161—Tip steering devices wherein the distal tips have two or more deflection regions
Abstract
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2004243056A AU2004243056B2 (en) | 2003-05-23 | 2004-05-21 | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
JP2006533272A JP4680917B2 (en) | 2003-05-23 | 2004-05-21 | Joint mechanism for remote control of surgical instruments and diagnostic instruments |
EP04752882.3A EP1631196B1 (en) | 2003-05-23 | 2004-05-21 | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
MXPA05012599A MXPA05012599A (en) | 2003-05-23 | 2004-05-21 | Articulating mechanism for remote manipulation of a surgical or diagnostic tool. |
CA2526381A CA2526381C (en) | 2003-05-23 | 2004-05-21 | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
BRPI0410599-0A BRPI0410599B1 (en) | 2003-05-23 | 2004-05-21 | Articulated mechanism for remote manipulation of a surgical or diagnostic instrument |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/444,769 | 2003-05-23 | ||
US10/444,769 US7090637B2 (en) | 2003-05-23 | 2003-05-23 | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
Publications (3)
Publication Number | Publication Date |
---|---|
WO2004105578A2 WO2004105578A2 (en) | 2004-12-09 |
WO2004105578A9 WO2004105578A9 (en) | 2005-04-07 |
WO2004105578A3 true WO2004105578A3 (en) | 2005-11-17 |
Family
ID=33450745
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2004/015944 WO2004105578A2 (en) | 2003-05-23 | 2004-05-21 | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
Country Status (9)
Country | Link |
---|---|
US (3) | US7090637B2 (en) |
EP (1) | EP1631196B1 (en) |
JP (1) | JP4680917B2 (en) |
CN (2) | CN101703424B (en) |
AU (2) | AU2004243056B2 (en) |
BR (1) | BRPI0410599B1 (en) |
CA (1) | CA2526381C (en) |
MX (1) | MXPA05012599A (en) |
WO (1) | WO2004105578A2 (en) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7678117B2 (en) | 2004-06-07 | 2010-03-16 | Novare Surgical Systems, Inc. | Articulating mechanism with flex-hinged links |
US7682307B2 (en) | 2003-05-23 | 2010-03-23 | Novare Surgical Systems, Inc. | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
US7785252B2 (en) | 2004-11-23 | 2010-08-31 | Novare Surgical Systems, Inc. | Articulating sheath for flexible instruments |
US7828808B2 (en) | 2004-06-07 | 2010-11-09 | Novare Surgical Systems, Inc. | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
US7862554B2 (en) | 2007-04-16 | 2011-01-04 | Intuitive Surgical Operations, Inc. | Articulating tool with improved tension member system |
US8100824B2 (en) | 2003-05-23 | 2012-01-24 | Intuitive Surgical Operations, Inc. | Tool with articulation lock |
US8182417B2 (en) | 2004-11-24 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Articulating mechanism components and system for easy assembly and disassembly |
US8409244B2 (en) | 2007-04-16 | 2013-04-02 | Intuitive Surgical Operations, Inc. | Tool with end effector force limiter |
US8562640B2 (en) | 2007-04-16 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Tool with multi-state ratcheted end effector |
US9033960B2 (en) | 2008-08-18 | 2015-05-19 | Intuitive Surgical Operations, Inc. | Instrument with multiple articulation locks |
US9498888B2 (en) | 2003-05-23 | 2016-11-22 | Intuitive Surgical Operations, Inc. | Articulating instrument |
US9561045B2 (en) | 2006-06-13 | 2017-02-07 | Intuitive Surgical Operations, Inc. | Tool with rotation lock |
Families Citing this family (904)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2001091854A1 (en) * | 2000-05-31 | 2001-12-06 | Impulse Dynamics Nv | Electropancreatography |
US9101765B2 (en) | 1999-03-05 | 2015-08-11 | Metacure Limited | Non-immediate effects of therapy |
US8666495B2 (en) | 1999-03-05 | 2014-03-04 | Metacure Limited | Gastrointestinal methods and apparatus for use in treating disorders and controlling blood sugar |
US20040215235A1 (en) | 1999-11-16 | 2004-10-28 | Barrx, Inc. | Methods and systems for determining physiologic characteristics for treatment of the esophagus |
US20060095032A1 (en) | 1999-11-16 | 2006-05-04 | Jerome Jackson | Methods and systems for determining physiologic characteristics for treatment of the esophagus |
US6600953B2 (en) * | 2000-12-11 | 2003-07-29 | Impulse Dynamics N.V. | Acute and chronic electrical signal therapy for obesity |
US10835307B2 (en) | 2001-06-12 | 2020-11-17 | Ethicon Llc | Modular battery powered handheld surgical instrument containing elongated multi-layered shaft |
US11134978B2 (en) | 2016-01-15 | 2021-10-05 | Cilag Gmbh International | Modular battery powered handheld surgical instrument with self-diagnosing control switches for reusable handle assembly |
US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
US20060178556A1 (en) | 2001-06-29 | 2006-08-10 | Intuitive Surgical, Inc. | Articulate and swapable endoscope for a surgical robot |
CN100389730C (en) | 2002-12-06 | 2008-05-28 | 直观外科手术公司 | Flexible wrist for surgical tool |
US7559940B2 (en) * | 2002-12-18 | 2009-07-14 | Smith & Nephew, Inc. | Surgical biting punch |
US7578786B2 (en) | 2003-04-01 | 2009-08-25 | Boston Scientific Scimed, Inc. | Video endoscope |
US7591783B2 (en) * | 2003-04-01 | 2009-09-22 | Boston Scientific Scimed, Inc. | Articulation joint for video endoscope |
US20050245789A1 (en) | 2003-04-01 | 2005-11-03 | Boston Scientific Scimed, Inc. | Fluid manifold for endoscope system |
US8118732B2 (en) | 2003-04-01 | 2012-02-21 | Boston Scientific Scimed, Inc. | Force feedback control system for video endoscope |
US20040199052A1 (en) | 2003-04-01 | 2004-10-07 | Scimed Life Systems, Inc. | Endoscopic imaging system |
US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism |
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US8792985B2 (en) | 2003-07-21 | 2014-07-29 | Metacure Limited | Gastrointestinal methods and apparatus for use in treating disorders and controlling blood sugar |
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US9011318B2 (en) | 2004-06-25 | 2015-04-21 | Carnegie Mellon University and University of Pittsburg—Of the Commonwealth System of Higher Education | Steerable, follow the leader device |
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US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
WO2006018851A2 (en) | 2004-08-18 | 2006-02-23 | Metacure Ltd. | Monitoring, analysis, and regulation of eating habits |
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US8083671B2 (en) | 2004-09-30 | 2011-12-27 | Boston Scientific Scimed, Inc. | Fluid delivery system for use with an endoscope |
US7479106B2 (en) | 2004-09-30 | 2009-01-20 | Boston Scientific Scimed, Inc. | Automated control of irrigation and aspiration in a single-use endoscope |
US7976559B2 (en) * | 2004-11-04 | 2011-07-12 | Dynamic Surgical Inventions, Llc | Articulated surgical probe and method for use |
US9700334B2 (en) * | 2004-11-23 | 2017-07-11 | Intuitive Surgical Operations, Inc. | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
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US7682307B2 (en) | 2003-05-23 | 2010-03-23 | Novare Surgical Systems, Inc. | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
US9498888B2 (en) | 2003-05-23 | 2016-11-22 | Intuitive Surgical Operations, Inc. | Articulating instrument |
US8100824B2 (en) | 2003-05-23 | 2012-01-24 | Intuitive Surgical Operations, Inc. | Tool with articulation lock |
US7828808B2 (en) | 2004-06-07 | 2010-11-09 | Novare Surgical Systems, Inc. | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
US7678117B2 (en) | 2004-06-07 | 2010-03-16 | Novare Surgical Systems, Inc. | Articulating mechanism with flex-hinged links |
US9155449B2 (en) | 2004-11-23 | 2015-10-13 | Intuitive Surgical Operations Inc. | Instrument systems and methods of use |
US7785252B2 (en) | 2004-11-23 | 2010-08-31 | Novare Surgical Systems, Inc. | Articulating sheath for flexible instruments |
US8277375B2 (en) | 2004-11-23 | 2012-10-02 | Intuitive Surgical Operations, Inc. | Flexible segment system |
US8182417B2 (en) | 2004-11-24 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Articulating mechanism components and system for easy assembly and disassembly |
US9561045B2 (en) | 2006-06-13 | 2017-02-07 | Intuitive Surgical Operations, Inc. | Tool with rotation lock |
US8562640B2 (en) | 2007-04-16 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Tool with multi-state ratcheted end effector |
US8409244B2 (en) | 2007-04-16 | 2013-04-02 | Intuitive Surgical Operations, Inc. | Tool with end effector force limiter |
US7862554B2 (en) | 2007-04-16 | 2011-01-04 | Intuitive Surgical Operations, Inc. | Articulating tool with improved tension member system |
US9033960B2 (en) | 2008-08-18 | 2015-05-19 | Intuitive Surgical Operations, Inc. | Instrument with multiple articulation locks |
Also Published As
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BRPI0410599A (en) | 2006-06-20 |
AU2009243488B2 (en) | 2010-06-10 |
CN100574709C (en) | 2009-12-30 |
JP4680917B2 (en) | 2011-05-11 |
BRPI0410599B1 (en) | 2015-05-26 |
US7090637B2 (en) | 2006-08-15 |
US7682307B2 (en) | 2010-03-23 |
US20050251112A1 (en) | 2005-11-10 |
JP2007502198A (en) | 2007-02-08 |
WO2004105578A2 (en) | 2004-12-09 |
CN101703424A (en) | 2010-05-12 |
AU2004243056B2 (en) | 2009-10-15 |
WO2004105578A9 (en) | 2005-04-07 |
CA2526381C (en) | 2011-09-06 |
CN1826083A (en) | 2006-08-30 |
EP1631196B1 (en) | 2014-09-17 |
MXPA05012599A (en) | 2006-05-25 |
AU2004243056A1 (en) | 2004-12-09 |
AU2009243488A1 (en) | 2009-12-24 |
US20060094931A1 (en) | 2006-05-04 |
CA2526381A1 (en) | 2004-12-09 |
EP1631196A4 (en) | 2013-03-06 |
US20040236316A1 (en) | 2004-11-25 |
CN101703424B (en) | 2012-08-08 |
US7615066B2 (en) | 2009-11-10 |
EP1631196A2 (en) | 2006-03-08 |
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