FR2943907A1 - Instrument chirurgical. - Google Patents
Instrument chirurgical. Download PDFInfo
- Publication number
- FR2943907A1 FR2943907A1 FR0952186A FR0952186A FR2943907A1 FR 2943907 A1 FR2943907 A1 FR 2943907A1 FR 0952186 A FR0952186 A FR 0952186A FR 0952186 A FR0952186 A FR 0952186A FR 2943907 A1 FR2943907 A1 FR 2943907A1
- Authority
- FR
- France
- Prior art keywords
- axis
- surgical instrument
- distal
- drive shaft
- distal end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000013519 translation Methods 0.000 claims description 6
- 238000003780 insertion Methods 0.000 description 7
- 230000037431 insertion Effects 0.000 description 7
- 239000002184 metal Substances 0.000 description 5
- 230000037230 mobility Effects 0.000 description 4
- 238000002357 laparoscopic surgery Methods 0.000 description 3
- ORQBXQOJMQIAOY-UHFFFAOYSA-N nobelium Chemical compound [No] ORQBXQOJMQIAOY-UHFFFAOYSA-N 0.000 description 3
- 238000002674 endoscopic surgery Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009365 direct transmission Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/0069—Aspects not otherwise provided for with universal joint, cardan joint
-
- 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
- A61B2017/2902—Details of shaft characterized by features of the actuating rod
-
- 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
- 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
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Ophthalmology & Optometry (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
Description
Claims (7)
- Revendications1. Instrument chirurgical (1) comportant : - un bras allongé (11) selon un axe longitudinal et ayant une extrémité distale (2) montée selon une liaison pivot (10) sur le bras allongé selon un axe sensiblement orthogonal à l'axe longitudinal; - un arbre d'entrainement (3) sensiblement coaxial avec le bras allongé comportant des moyens formant joint universel (4, 5, 7, 8) situés en regard de la liaison pivot; et, - un outil distal (9) solidaire de l'arbre d'entrainement et monté à rotation sur et dans le prolongement de l'extrémité distale du bras allongé, de façon à ce que l'outil distal présente deux degrés de liberté de rotation, distincts et indépendants l'un de l'autre, l'un sensiblement perpendiculaire à l'axe longitudinal et l'autre sensiblement colinéaire à un axe propre de l'outil distal, caractérisé en ce que les moyens formant joint universel comportent un joint à la Cardan.
- 2. Instrument selon la revendication 1, caractérisé en ce que l'arbre d'entrainement est en outre mobile à coulissement selon une translation selon l'axe longitudinal par rapport au bras allongé, les moyens formant joint universel comportant deux joints à la Cardan montés en série.
- 3. Instrument chirurgical selon l'une des revendications 1 à 2, caractérisé en 25 ce que la liaison pivot comporte une série d'éléments segmentés montés en série.
- 4. Instrument chirurgical selon la revendication 3, caractérisé en ce que deux éléments segmentés adjacents sont montés selon une liaison pivot 30 limitée l'un par rapport à l'autre.
- 5. Instrument chirurgical selon l'une des revendications 1 à 4, caractérisé en ce que le bras allongé est creux et entoure, au moins partiellement, l'arbre d'entrainement.
- 6. Un instrument chirurgical selon l'une des revendications 1 à 5, caractérisé en ce qu'il comporte en outre : une poignée ; et, un système de transmission, la poignée étant reliée à l'extrémité proximale du bras allongé, les mouvements selon les deux degrés de liberté étant reliés par le système de transmission à deux mouvements indépendants engendrés au niveau de la poignée.
- 7. Instrument chirurgical selon l'une des revendications 1 à 6, caractérisé en ce qu'il est agencé de sorte que l'amplitude de la rotation de l'outil selon son axe propre n'est pas structurellement limitée par le système transmission.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0952186A FR2943907B1 (fr) | 2009-04-03 | 2009-04-03 | Instrument chirurgical. |
EP10712448.9A EP2413818B8 (fr) | 2009-04-03 | 2010-04-02 | Instrument chirurgical |
PCT/EP2010/054471 WO2010112609A1 (fr) | 2009-04-03 | 2010-04-02 | Instrument chirurgical |
US13/260,909 US8961499B2 (en) | 2009-04-03 | 2010-04-02 | Surgical instrument |
JP2012502706A JP5567115B2 (ja) | 2009-04-03 | 2010-04-02 | 手術器具 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0952186A FR2943907B1 (fr) | 2009-04-03 | 2009-04-03 | Instrument chirurgical. |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2943907A1 true FR2943907A1 (fr) | 2010-10-08 |
FR2943907B1 FR2943907B1 (fr) | 2012-08-03 |
Family
ID=41279418
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR0952186A Active FR2943907B1 (fr) | 2009-04-03 | 2009-04-03 | Instrument chirurgical. |
Country Status (5)
Country | Link |
---|---|
US (1) | US8961499B2 (fr) |
EP (1) | EP2413818B8 (fr) |
JP (1) | JP5567115B2 (fr) |
FR (1) | FR2943907B1 (fr) |
WO (1) | WO2010112609A1 (fr) |
Families Citing this family (48)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2943907B1 (fr) | 2009-04-03 | 2012-08-03 | Univ Pierre Et Marie Curie Paris 6 | Instrument chirurgical. |
FR2943906B1 (fr) * | 2009-04-03 | 2013-03-22 | Univ Pierre Et Marie Curie Paris 6 | Instrument chirurgical. |
EP2528518B1 (fr) * | 2010-01-26 | 2017-12-13 | Artack Medical (2013) Ltd. | Instrument médical articulé |
EP2627278B1 (fr) | 2010-10-11 | 2015-03-25 | Ecole Polytechnique Fédérale de Lausanne (EPFL) | Manipulateur mécanique destiné à des instruments chirurgicaux |
JP5715304B2 (ja) | 2011-07-27 | 2015-05-07 | エコール ポリテクニーク フェデラル デ ローザンヌ (イーピーエフエル) | 遠隔操作のための機械的遠隔操作装置 |
WO2013026922A1 (fr) | 2011-08-25 | 2013-02-28 | Endocontrol | Bouton d'actionnement pour un instrument chirurgical |
KR101322030B1 (ko) * | 2011-09-05 | 2013-10-28 | 주식회사 모바수 | 구형 부품을 포함하는 관절부를 갖는 최소 침습 수술 기구 |
KR101917076B1 (ko) | 2012-02-21 | 2018-11-09 | 삼성전자주식회사 | 링크 유닛 및 이를 가지는 암 모듈 |
KR101405087B1 (ko) * | 2012-04-27 | 2014-06-10 | 한양대학교 에리카산학협력단 | 수술도구용 관절 |
US20150005784A2 (en) * | 2012-12-20 | 2015-01-01 | avateramedical GmBH | Device for Supporting and Positioning of a Surgical Instrument and/or an Endoscope for Use in Minimal-Invasive Surgery and a Surgical Robotic System |
US9867620B2 (en) | 2013-03-14 | 2018-01-16 | Covidien Lp | Articulation joint for apparatus for endoscopic procedures |
WO2015033607A1 (fr) * | 2013-09-03 | 2015-03-12 | 二九精密機械工業株式会社 | Instrument de traitement pour chirurgie endoscopique |
US9918863B2 (en) * | 2013-11-13 | 2018-03-20 | Covidien Lp | Steerable gastric calibration tube |
DE102014117393A1 (de) * | 2013-12-19 | 2015-06-25 | Karl Storz Gmbh & Co. Kg | Dreh- und abwinkelbares medizinisches Instrument |
EP3102139B1 (fr) | 2014-02-03 | 2018-06-13 | DistalMotion SA | Dispositif télécommandée mécanique comprenant un instrument distal interchangeable |
WO2015151093A1 (fr) | 2014-03-31 | 2015-10-08 | Human Extensions Ltd. | Dispositif médical orientable |
JP6296869B2 (ja) * | 2014-04-09 | 2018-03-20 | オリンパス株式会社 | 処置具および手術システム |
US10080552B2 (en) * | 2014-04-21 | 2018-09-25 | Covidien Lp | Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof |
EP3185808B1 (fr) | 2014-08-27 | 2022-02-23 | DistalMotion SA | Système chirurgical pour techniques de microchirurgie |
US10548680B2 (en) | 2014-12-19 | 2020-02-04 | Distalmotion Sa | Articulated handle for mechanical telemanipulator |
EP3232977B1 (fr) | 2014-12-19 | 2020-01-29 | DistalMotion SA | Système d'accueil pour télémanipulateur mécanique |
ES2968221T3 (es) | 2014-12-19 | 2024-05-08 | Distalmotion Sa | Instrumento quirúrgico con efector final articulado |
ES2975974T3 (es) | 2014-12-19 | 2024-07-18 | Distalmotion Sa | Instrumento quirúrgico reutilizable para procedimientos mínimamente invasivos |
WO2016097861A1 (fr) | 2014-12-19 | 2016-06-23 | Distalmotion Sa | Interface stérile pour instruments chirurgicaux articulés |
US10363055B2 (en) | 2015-04-09 | 2019-07-30 | Distalmotion Sa | Articulated hand-held instrument |
US10568709B2 (en) | 2015-04-09 | 2020-02-25 | Distalmotion Sa | Mechanical teleoperated device for remote manipulation |
US10226239B2 (en) * | 2015-04-10 | 2019-03-12 | Covidien Lp | Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof |
US10786272B2 (en) | 2015-08-28 | 2020-09-29 | Distalmotion Sa | Surgical instrument with increased actuation force |
US10660623B2 (en) | 2016-01-15 | 2020-05-26 | Covidien Lp | Centering mechanism for articulation joint |
US10905505B1 (en) | 2016-04-22 | 2021-02-02 | Memorial Sloan Kettering Cancer Center | Robotic surgical manipulation systems and methods |
US10299790B2 (en) | 2017-03-03 | 2019-05-28 | Covidien Lp | Adapter with centering mechanism for articulation joint |
US10660641B2 (en) * | 2017-03-16 | 2020-05-26 | Covidien Lp | Adapter with centering mechanism for articulation joint |
US11058503B2 (en) | 2017-05-11 | 2021-07-13 | Distalmotion Sa | Translational instrument interface for surgical robot and surgical robot systems comprising the same |
WO2019038863A1 (fr) * | 2017-08-23 | 2019-02-28 | オリンパス株式会社 | Outil de traitement |
WO2019155383A1 (fr) | 2018-02-07 | 2019-08-15 | Distalmotion Sa | Systèmes robotiques chirurgicaux comportant des télémanipulateurs robotisés et une laparoscopie intégrée |
US11639740B2 (en) | 2019-01-25 | 2023-05-02 | Encore Medical, L.P. | Universal joint assembly |
CN114554999B (zh) * | 2019-10-25 | 2024-11-01 | 直观外科手术操作公司 | 接头结构以及相关的装置和方法 |
US11844583B2 (en) | 2021-03-31 | 2023-12-19 | Moon Surgical Sas | Co-manipulation surgical system having an instrument centering mode for automatic scope movements |
US11812938B2 (en) | 2021-03-31 | 2023-11-14 | Moon Surgical Sas | Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments |
US11819302B2 (en) | 2021-03-31 | 2023-11-21 | Moon Surgical Sas | Co-manipulation surgical system having user guided stage control |
US12042241B2 (en) | 2021-03-31 | 2024-07-23 | Moon Surgical Sas | Co-manipulation surgical system having automated preset robot arm configurations |
EP4312857A1 (fr) | 2021-03-31 | 2024-02-07 | Moon Surgical SAS | Système chirurgical de co-manipulation destiné à être utilisé avec des instruments chirurgicaux pour effectuer une chirurgie laparoscopique |
US11832909B2 (en) | 2021-03-31 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having actuatable setup joints |
WO2023037273A1 (fr) | 2021-09-13 | 2023-03-16 | Distalmotion Sa | Instruments pour système robotique chirurgical et interfaces pour ceux-ci |
US11839442B1 (en) | 2023-01-09 | 2023-12-12 | Moon Surgical Sas | Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force |
US11986165B1 (en) | 2023-01-09 | 2024-05-21 | Moon Surgical Sas | Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force |
US11844585B1 (en) | 2023-02-10 | 2023-12-19 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
CN116747025A (zh) * | 2023-05-29 | 2023-09-15 | 上海微创医疗机器人(集团)股份有限公司 | 弯曲关节以及手术器械 |
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US5755731A (en) * | 1994-04-15 | 1998-05-26 | Smith & Nephew Dyonics, Inc. | Curved surgical instrument with segmented inner member |
US20040225323A1 (en) * | 2003-05-08 | 2004-11-11 | Olympus Corporation | Surgical instrument |
US20040260335A1 (en) * | 2003-04-01 | 2004-12-23 | Marcus Braun | Surgical instrument |
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FR2943906B1 (fr) * | 2009-04-03 | 2013-03-22 | Univ Pierre Et Marie Curie Paris 6 | Instrument chirurgical. |
FR2943907B1 (fr) | 2009-04-03 | 2012-08-03 | Univ Pierre Et Marie Curie Paris 6 | Instrument chirurgical. |
-
2009
- 2009-04-03 FR FR0952186A patent/FR2943907B1/fr active Active
-
2010
- 2010-04-02 US US13/260,909 patent/US8961499B2/en active Active
- 2010-04-02 WO PCT/EP2010/054471 patent/WO2010112609A1/fr active Application Filing
- 2010-04-02 JP JP2012502706A patent/JP5567115B2/ja active Active
- 2010-04-02 EP EP10712448.9A patent/EP2413818B8/fr active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5755731A (en) * | 1994-04-15 | 1998-05-26 | Smith & Nephew Dyonics, Inc. | Curved surgical instrument with segmented inner member |
US5549637A (en) * | 1994-11-10 | 1996-08-27 | Crainich; Lawrence | Articulated medical instrument |
US20040260335A1 (en) * | 2003-04-01 | 2004-12-23 | Marcus Braun | Surgical instrument |
US20040225323A1 (en) * | 2003-05-08 | 2004-11-11 | Olympus Corporation | Surgical instrument |
Also Published As
Publication number | Publication date |
---|---|
EP2413818B1 (fr) | 2017-11-08 |
JP2012522554A (ja) | 2012-09-27 |
EP2413818B8 (fr) | 2017-12-20 |
US8961499B2 (en) | 2015-02-24 |
WO2010112609A1 (fr) | 2010-10-07 |
US20120022554A1 (en) | 2012-01-26 |
JP5567115B2 (ja) | 2014-08-06 |
EP2413818A1 (fr) | 2012-02-08 |
FR2943907B1 (fr) | 2012-08-03 |
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