[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

WO2015096530A1 - 柔性驱动元件、末端执行器和外科手术器械 - Google Patents

柔性驱动元件、末端执行器和外科手术器械 Download PDF

Info

Publication number
WO2015096530A1
WO2015096530A1 PCT/CN2014/088135 CN2014088135W WO2015096530A1 WO 2015096530 A1 WO2015096530 A1 WO 2015096530A1 CN 2014088135 W CN2014088135 W CN 2014088135W WO 2015096530 A1 WO2015096530 A1 WO 2015096530A1
Authority
WO
WIPO (PCT)
Prior art keywords
flexible
tows
drive element
flexible drive
wire
Prior art date
Application number
PCT/CN2014/088135
Other languages
English (en)
French (fr)
Inventor
王永奉
张淦
李茂亮
李宇
陈飚
方云才
汪炬
Original Assignee
瑞奇外科器械(中国)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201320895968.6U external-priority patent/CN203736252U/zh
Priority claimed from CN201310756202.4A external-priority patent/CN104739469B/zh
Application filed by 瑞奇外科器械(中国)有限公司 filed Critical 瑞奇外科器械(中国)有限公司
Publication of WO2015096530A1 publication Critical patent/WO2015096530A1/zh
Priority to US15/190,369 priority Critical patent/US10368866B2/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—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
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for 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
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • 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
    • A61B17/0682—Surgical staplers, e.g. containing multiple staples or clamps for applying U-shaped staples or clamps, e.g. without a forming anvil
    • A61B17/0686—Surgical staplers, e.g. containing multiple staples or clamps for applying U-shaped staples or clamps, e.g. without a forming anvil having a forming anvil staying below the tissue during stapling
    • 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
    • A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
    • A61B2017/00424—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping ergonomic, e.g. fitting in fist
    • 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
    • A61B2017/07214—Stapler heads
    • 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
    • A61B2017/07214—Stapler heads
    • A61B2017/07271—Stapler heads characterised by its cartridge
    • 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
    • A61B2017/07214—Stapler heads
    • A61B2017/07278—Stapler heads characterised by its sled or its staple holder
    • 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
    • A61B2017/07214—Stapler heads
    • A61B2017/07285—Stapler heads characterised by its cutter
    • 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

Definitions

  • the present invention relates to the field of medical device technology, and in particular to a flexible drive element, an end effector and a surgical instrument.
  • a cutting stapler is a surgical instrument that is often used in surgery and has the function of cutting and suturing tissue.
  • the cutting stapler primarily includes a handle 100, an elongate body 200, and an end effector 300, wherein the handle 100 is for being held and operated by an operator to provide control and actuation, the distal side of the handle 100 (The side closer to the operator when operating is proximal, the side remote from the operator is distal) is connected to the end effector 300 by the elongate body 200, and the end effector 300 is executed against the tissue under the drive and control of the handle 100. Cutting and stitching.
  • the end effector can be divided into a linear type and a curved type according to the type of the structure, wherein the anvil arm 301 and the nail arm 302 of the curved end effector can be pivoted as shown in FIGS. 1a and 1b. 303 rotates and locks at the appropriate turning angle.
  • the curved end effector is generally provided with a flexible driving element that can be bent with the rotation of the nail arm and the nail arm. As shown in FIG. 1c, the body of the flexible driving element 212 is laminated with a plurality of sheets. The proximal end 270 of the flexible drive member 212 is coupled to a drive rod (not shown) that is provided with a blade 287 and a closure pin 286 and a closure projection for closing the end effector Edge (not shown).
  • the operator bends the end effector to place the tissue to be cut in a jaw formed by the anvil arm and the nail arm, and the drive handle causes the drive rod to axially push the flexible drive element 212 at the bent end effector
  • the closing pin 286 and the closing flange will drive the end
  • the stapler arm and the staple arm of the end effector are relatively closed to clamp the tissue, and then the flexible drive element 212 drives the pusher slider in the staple arm to sequentially push the pusher, which in turn pushes the staple out of the staple
  • the blade 287 cuts the tissue held in the clamp to complete the cutting and stitching of the tissue.
  • a disadvantage of the prior art is that in the assembly and use of the flexible driving element, solder joint desolding easily occurs between the sheet and the sheet, which causes a separation of the deflection between the sheet and the sheet, and the flexible driving element or Insufficient stiffness can not effectively transmit the driving force required by the device, or it can cause destructive permanent deformation (meaning that the elastic body deforms under the action of external force, the deformation can not be restored when the external force disappears), affecting the driving stroke, which will increase the surgeon
  • the difficulty of operating surgical instruments and the processing of such flexible drive elements are also complicated. This problem also exists in other similar surgical instruments that include flexible drive elements.
  • a flexible driving element provided by an embodiment of the invention includes a head portion, a tail portion, and a plate-shaped force bending portion between the head portion and the tail portion, wherein:
  • the plate-like force bending portion includes a plurality of tows extending along a length direction of the flexible driving member, and a flexible envelope covering the plurality of tows.
  • the plurality of tows have a certain rigidity and flexibility
  • the flexible envelope can relatively fix the plurality of tows, reduce the friction of the surface of the flexible driving component, and further improve the flexible driving.
  • the flexible driving element can effectively transmit the driving force required by the instrument, and is less prone to destructive permanent deformation when bending, firing and retracting, which greatly reduces the difficulty for the surgeon to operate the surgical instrument, and because the welding process is reduced, Processing technology It is also relatively simple.
  • the filament of each of the plurality of tows is a wire.
  • the wire is a nickel titanium alloy memory wire.
  • the plurality of tows are braided into a ribbon.
  • the plurality of tows are arranged in at least one layer, and in the same layer of the tows, two adjacent tows are closely arranged or spaced apart.
  • Both of the above embodiments can achieve the required rigidity and flexibility of the stressed portion, and the processing process is simple and the cost is low.
  • the tow is a linear, polygonal or curved tow, and/or the filaments of the tow are spirally wound.
  • Changing the form of the tow can change the flexibility of the stressed portion, and the appropriate shape can be selected according to the specific material characteristics of the wire, so that the stressed portion has better rigidity and flexibility.
  • At least one transmission cable is interposed in the plurality of tows, or at least one of the wires of the tow is provided with a transmission cable; the transmission cable comprises a cable or an optical cable.
  • the transmission cable can be used to transmit control signals or video signals, which is beneficial to enriching the control functions of the surgical instruments and improving the accuracy of the operation.
  • the flexible envelope is an injection molded flexible envelope or an extruded flexible envelope formed on the surface of the plurality of tows.
  • the flexible envelope has a simple processing process, high molding reliability, and is capable of reliably fixing a plurality of tows.
  • the flexible envelope is a flexible envelope made of transparent nylon material.
  • the flexible envelope is welded, riveted, or interference-fitted to the head and/or the tail. These connections provide a reliable connection between components.
  • the head has a pair of first hooks
  • the tail has a pair of second hooks
  • the plate-shaped forced bending portion has a first engagement with the pair of first hooks And a third hook and a fourth hook of the pair of the second hooks.
  • the flexible envelope is integral with the head and/or the tail. This solution can further simplify the processing and assembly process.
  • the end effector provided by the embodiment of the present invention includes the flexible driving element according to any of the foregoing technical solutions.
  • the flexible driving element in the end effector can effectively transmit the driving force required by the instrument, is not prone to destructive permanent deformation, and the driving stroke is relatively accurate, which greatly reduces the difficulty for the surgeon to operate the surgical instrument.
  • the surgical instrument provided by the embodiment of the invention includes the end effector of the foregoing technical solution, and the flexible driving component of the surgical instrument can effectively transmit the driving force required by the device, and is less prone to destructive permanent deformation, so that the device has better Operational accuracy and reliability of use.
  • Figure 1a is a schematic view showing the overall structure of the cutting stapler
  • Figure 1b is a schematic view of the end effector bending
  • Figure 1c is a schematic view showing the structure of a conventional flexible driving element
  • FIG. 2a is a schematic structural view of a flexible driving component according to an embodiment of the present invention.
  • Figure 2b is a schematic view showing the assembly details of the embodiment shown in Figure 2a;
  • Figure 2c is a schematic view showing the structure of a metal wire bundle
  • 2d is a partial structural schematic view of a plate-shaped forced bending portion provided with a tightly arranged metal wire bundle
  • 2e is a partial structural schematic view of a plate-shaped forced bending portion provided with a wire bundle interval
  • FIG. 3 is a schematic structural view of a flexible driving component according to another embodiment of the present invention.
  • FIG. 4a is a schematic structural view of an end effector according to an embodiment of the present invention.
  • 4b is a schematic diagram showing the internal structure of an end effector according to an embodiment of the present invention.
  • the plate-like force bending portion includes a plurality of tows extending along the length direction of the flexible driving member, and a flexible envelope covering the plurality of tows.
  • the plurality of tows provide a certain rigidity and flexibility to the force bending portion, and the flexible envelope can relatively fix the plurality of tows, and can reduce the friction of the surface of the flexible driving member, and can further improve the rigidity of the flexible driving member.
  • the flexible driving element can effectively transmit the driving force required by the instrument, and is less prone to destructive permanent deformation when bending, firing and retracting, which greatly reduces the difficulty for the surgeon to operate the surgical instrument, and because the welding process is reduced,
  • the processing technology is also relatively simple.
  • the flexible driving element of the embodiment of the invention comprises a head portion 1, a tail portion 2 and a plate-like force bending portion 3 between the head portion 1 and the tail portion 2, wherein: a plate-like force
  • the bend 3 includes a plurality of tows 4 extending along the length of the flexible drive element, and a flexible envelope 5 encasing the plurality of tows 4.
  • the head 1 refers to the distal end portion of the flexible drive element and the tail 2 refers to the proximal end portion of the flexible drive element.
  • the head 1 can be provided with a cutting edge and a closed structure for closing the end effector (such as an I-beam or a t-beam, etc.), and the tail 2 can be engaged with the drive rod.
  • each of the tows 4 includes a plurality of wires 40 that are helically wound to form a single tow.
  • the wire 40 should have better elasticity and toughness, for example, a wire such as a steel wire or a spring wire, or a non-metal wire.
  • the cross-sectional shape of the wire 40 is not limited, and may be, for example, a circle, an ellipse or a polygon (for example, a triangle, a square) or the like.
  • the wire is selected as a nickel-titanium alloy memory wire, and the nickel-titanium alloy wire has a certain shape memory function and superelasticity, and can be quickly recovered after the unloading force. To its initial state. Due to the special properties of the nickel-titanium alloy memory wire, it cannot be welded to other metals. Therefore, it is possible to directly inject a transparent nylon material onto the metal structure. To ensure the stability of the connection, the metal structure (head 1 and tail above) 2) It can provide reserved holes, dovetail grooves, inverted cones, trapezoids and other connection fixing structures for injection molding.
  • the flexible envelope 5 is an injection molded flexible envelope or an extruded flexible envelope formed on the surface of the plurality of tows 4.
  • the flexible envelope 5 is directly formed on the surface of the plurality of tows 4 by an injection molding process or an extrusion process, the processing process is simple, the molding reliability is high, and the flexible envelope 5 is plastically connected with the plurality of tows 4, and the plurality of tows can be connected 4 reliable and fixed.
  • the flexible envelope 5 can also be assembled with a plurality of tows 4 after being formed by an injection molding process or an extrusion process.
  • the flexible envelope 5 is a flexible envelope made of a transparent nylon material.
  • the transparent nylon material is directly injection molded onto the metal structure, so that when the wire is made of a nickel-titanium alloy wire, the metal structure and the nickel-titanium alloy memory wire are connected by a flexible envelope made of a nylon material.
  • the plurality of tows 4 may be braided into a ribbon or may be arranged in one or more layers. When the plurality of tows 4 are arranged in one or more layers, the adjacent two tows 4 may be arranged in close rows (as shown in Figure 2d) or spaced apart (as shown in Figure 2e) and secured by a flexible envelope 5.
  • the plate-shaped force-biased portion 3 can be brought to the required rigidity and flexibility, and the processing process of the plate-shaped force-biased portion 3 is simple and the cost is low.
  • the plurality of tows 4 make the plate-like force bending portion 3 have a certain rigidity and flexibility
  • the flexible envelope 5 can relatively fix the plurality of tows 4 and can reduce the friction of the surface of the flexible driving member.
  • the force can also further improve the stiffness of the flexible drive element.
  • the flexible driving element can effectively transmit the driving force required by the instrument, and is less prone to destructive permanent deformation when bending, firing and retracting, which greatly reduces the difficulty for the surgeon to operate the surgical instrument, and because the welding process is reduced,
  • the processing technology is also relatively simple.
  • the tow 4 may be a linear, polygonal or curved tow.
  • Figure 2b shows a linear tow 4 .
  • Changing the form of the tow 4 can change the flexibility of the plate-like stressed portion 3 (the linear tow is more flexible than the broken or curved tow),
  • the appropriate shape is selected in accordance with the specific material characteristics of the wire 40, so that the plate-like force bending portion 3 has better rigidity and flexibility.
  • the flexible drive element further includes a transmission cable 6 (including a cable core and a cable sleeve) interposed in the wire 40 of the tow 4, and the transmission cable 6 may be a cable or an optical cable.
  • the transmission cable 6 can also be directly interposed in a plurality of tows 4, for example, the transmission cable 6 is arranged side by side with a plurality of tows 4 (as shown in Figure 2d) or together with a plurality of tows 4 as a ribbon.
  • Cables can be used to transmit electrical signals, and optical cables can be used to transmit optical signals.
  • the control signal or the video signal can be transmitted by using the transmission cable 6, which is beneficial to enriching the control function of the surgical instrument and improving the accuracy of the operation. For example, by transmitting a video signal using the transmission cable 6, it is possible to remotely monitor the execution behavior of the end effector.
  • the transmission cable 6 is interposed in the wire 40 of the tow 4, the installation position is not limited, and may be located, for example, at the core of the tow 4, coaxially with the tow 4, or with the wire 40 of the tow 4. Wrap it around.
  • the flexible envelope 5 can be welded, riveted, or interference-fitted to the head 1 and/or the tail 2 . These connections provide a reliable connection between components.
  • the head 1 has a pair of first hooks 7, and the tail portion 2 has a pair of second hooks 8, and the plate-shaped forced bending portion 3 has an interference fit with the pair of first hooks 7.
  • the first hook 7, the second hook 8, the third hook 9 and the third hook 10 can be formed by a stamping process.
  • the flexible envelope 5 can also be integrated with the head 1 or the tail 2, or the flexible envelope 5, the head 1 and the tail 2 can be integrated into one body, and the processing process is simpler by the injection molding process or the extrusion process, and Can reduce the assembly process.
  • the flexible envelope 5 and the tail portion 2 are of unitary construction.
  • an embodiment of the present invention also provides an end effector comprising the flexible drive element 212 of any of the preceding embodiments.
  • the bending link 210 By driving the bending link 210, the anvil arm 301 and the magazine arm 302 of the end effector can be rotated about the pivot axis 303, thereby bending the end effector.
  • the drive rod is axially urged by the drive handle to urge the flexible drive element 212 forward in the curved end effector, Closure of the end effector, cutting and suturing of the tissue can be performed.
  • the flexible driving element 212 of the end effector can effectively transmit the driving force required by the instrument, is less prone to destructive permanent deformation, and the driving stroke is more accurate, which greatly reduces the difficulty for the surgeon to operate the surgical instrument.
  • the end effector is not limited to an end effector having a cutting and stitching function, and the flexible drive element provided by the embodiment of the present invention can be employed as long as the end effector is bent and requires flexible drive element drive.
  • a curved end effector or the like having only a cutting function or only a suturing function.
  • the surgical instrument provided by the embodiment of the invention includes the end effector of the foregoing technical solution, and the flexible driving component of the surgical instrument can effectively transmit the driving force required by the device, and is less prone to destructive permanent deformation, so that the device has better Operational accuracy and reliability of use.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (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

提供了一种柔性驱动元件、末端执行器和外科手术器械。柔性驱动元件包括头部（1）、尾部（2）以及位于头部（1）和尾部（2）之间的板状受力弯曲部（3）。板状受力弯曲部（3）包括沿柔性驱动元件的长度方向延伸的多条金属丝束（4），以及包覆多条金属丝束（4）的柔性封套（5）。多条金属丝束（4）使得受力弯曲部（3）具有一定的刚度和柔度，柔性封套（5）可以将多条金属丝束（4）相对固定，减少柔性驱动元件表面的摩擦力，改善柔性驱动元件的刚度。

Description

柔性驱动元件、末端执行器和外科手术器械
本申请要求在2013年12月27日提交中国专利局、申请号为201310756202.4、发明名称为“柔性驱动元件、末端执行器和外科手术器械”的中国专利申请的优先权，并要求在2013年12月27日提交中国专利局、申请号为201320895968.6、实用新型名称为“柔性驱动元件、末端执行器和外科手术器械”的中国专利申请的优先权，这两个专利申请的全部内容通过引用结合在本申请中。
技术领域
本发明涉及医疗器械技术领域，特别是涉及一种柔性驱动元件、末端执行器和外科手术器械。
背景技术
切割缝合器是外科手术中经常使用到的一种外科手术器械，具有切割和缝合组织的功能。如图1a所示，切割缝合器主要包括：手柄100、细长体200和末端执行器300，其中，手柄100用于被操作者握持和操作，以提供控制和驱动，手柄100的远侧(操作时靠近操作者的一侧为近侧，远离操作者的一侧为远侧)通过细长体200与末端执行器300连接，末端执行器300在手柄100的驱动和控制下对组织执行切割和缝合。末端执行器按照其结构类型可分为直线式和弯转式两种，其中，如图1a和图1b所示，弯转式末端执行器的钉砧臂301和钉匣臂302可绕枢转轴303转动并锁定在合适的弯转角度。
弯转式末端执行器中一般都配置有可随钉砧臂和钉匣臂的转动而弯转的柔性驱动元件，如图1c所示，该柔性驱动元件212的本体采用多片板材叠焊而成，柔性驱动元件212的近侧端270与驱动杆(图中未示出)连接，柔性驱动元件212的远侧端284设置有刀刃287和用于闭合末端执行器的闭合销286和闭合凸缘(图中未示出)。使用时，操作者弯转末端执行器，将待切割的组织置于钉砧臂和钉匣臂形成的夹钳中，驱动手柄使驱动杆轴向推动柔性驱动元件212在弯转的末端执行器中前进，闭合销286和闭合凸缘将驱动末 端执行器的钉砧臂和钉匣臂相对闭合而将组织夹紧，继而柔性驱动元件212驱动钉匣臂中的推钉滑块依次推动推钉器，推钉器进而将缝钉推出钉匣而完成击发，刀刃287则对夹持在夹钳中的组织进行切割，从而完成组织的切割与缝合。
现有技术存在的缺陷在于，柔性驱动元件在装配使用中，片材与片材之间容易出现焊点脱焊，这会引起片材与片材之间的挠曲分离，柔性驱动元件或者由于刚度不够无法有效传递器械所需的驱动力，或者会产生破坏性永久变形(指弹性体在外力作用下产生变形，当外力消失后变形不可恢复)，影响到驱动行程，这些都会增加外科手术医生操作外科手术器械的难度，并且这种柔性驱动元件的加工工艺也较为复杂。这种问题在包含柔性驱动元件的其它类似外科手术器械中同样存在。
发明内容
本发明的目的是提供一种柔性驱动元件、末端执行器和外科手术器械，该柔性驱动元件具有较佳的刚度和柔度，能够有效传递器械所需的驱动力，不易发生破坏性永久变形，可大大降低外科手术医生操作外科手术器械的难度，并且加工工艺也较为简便。
本发明实施例所提供的柔性驱动元件，包括头部、尾部以及位于所述头部和所述尾部之间的板状受力弯曲部，其中：
所述板状受力弯曲部包括沿所述柔性驱动元件的长度方向延伸的多条丝束，以及包覆所述多条丝束的柔性封套。
在本发明技术方案中，多条丝束使得受力弯曲部具有一定的刚度和柔度，柔性封套可以将多条丝束相对固定，减少柔性驱动元件表面的摩擦力，也可以进一步改善柔性驱动元件的刚度。柔性驱动元件能够有效传递器械所需的驱动力，在弯转、击发和回退时，不易发生破坏性永久变形，可大大降低外科手术医生操作外科手术器械的难度，并且由于减少了焊接工序，加工工艺 也较为简便。
优选的，所述多条丝束中的每条所述丝束的丝为金属丝。
优选的，所述金属丝为镍钛合金记忆金属丝。
可选的，所述多条丝束编结为丝带。
可选的，所述多条丝束排列为至少一层，同层所述丝束中，相邻两条所述丝束密排设置或间隔设置。
以上两个实施例均可以使受力弯曲部达到需要的刚度和柔度，并且加工工艺简便，成本较低。
当多条丝束排列为至少一层时，可选的，所述丝束为直线状、折线状或曲线状的丝束，和/或，所述丝束的丝螺旋捻绕。改变丝束的形式可以改变受力弯曲部的柔度，可以根据丝的具体材质特性选择合适的形状，使受力弯曲部具有较佳的刚度和柔度。
优选的，所述多条丝束中夹设有至少一条传输线缆，或者，至少一条所述丝束的丝中夹设有传输线缆；所述传输线缆包括电缆或光缆。传输线缆可以用来传输控制信号或视频信号，有利于丰富外科手术器械的控制功能，提高操作的精确性。
可选的，所述柔性封套为成型于所述多条丝束表面的注塑成型柔性封套或挤出成型柔性封套。柔性封套的加工工艺简便，成型可靠性较高，并且能够将多条丝束可靠固定。
可选的，所述柔性封套为透明尼龙材料制作的柔性封套。
可选的，所述柔性封套与所述头部和/或所述尾部焊接连接、铆接连接、或者过盈卡合连接。这些连接方式均可以实现部件之间的可靠连接。
优选的，所述头部具有一对第一卡勾，所述尾部具有一对第二卡勾，所述板状受力弯曲部具有与所述一对第一卡勾过盈卡合的一对第三卡勾以及与所述一对第二卡勾过盈卡合一对的第四卡勾。
可选的，所述柔性封套与所述头部和/或所述尾部为一体结构。该方案可进一步简化加工、装配工艺。
本发明实施例所提供的末端执行器包括前述任一技术方案所述的柔性驱动元件。该末端执行器中柔性驱动元件能够有效传递器械所需的驱动力，不易发生破坏性永久变形，驱动行程较为精确，大大降低了外科手术医生操作外科手术器械的难度。
本发明实施例所提供的外科手术器械，包括前述技术方案的末端执行器，该外科手术器械的柔性驱动元件能够有效传递器械所需的驱动力，不易发生破坏性永久变形，使得器械具有较佳的操作精度和使用可靠性。
附图说明
图1a为切割缝合器整体结构示意图；
图1b为末端执行器弯转示意图；
图1c为现有的一种柔性驱动元件结构示意图；
图2a为本发明一实施例柔性驱动元件的结构示意图；
图2b为图2a所示实施例的装配细节示意图；
图2c为金属丝束结构示意图；
图2d为金属丝束密排设置的板状受力弯曲部局部结构示意图；
图2e为金属丝束间隔设置的板状受力弯曲部局部结构示意图；
图3为本发明另一实施例柔性驱动元件的结构示意图；
图4a为本发明实施例的末端执行器结构示意图；
图4b为本发明实施例末端执行器的内部结构示意图。
附图标记：
100-手柄；200-细长体；300-末端执行器；301-钉砧臂；302-钉匣臂；
303-枢转轴；212-柔性驱动元件；270-近侧端；284-远侧端；287-刀刃；
286-闭合销；210-弯转连杆；1-头部；2-尾部；3-板状受力弯曲部；4-丝束；
40-丝；5-柔性封套；6-传输线缆；7-第一卡勾；8-第二卡勾；9-第三卡勾；
10-第四卡勾。
具体实施方式
为了有效传递器械所需的驱动力，减少柔性驱动元件的破坏性永久变形，进而降低外科手术医生操作外科手术器械的难度，本发明实施例提供了一种柔性驱动元件、末端执行器和外科手术器械。在本发明技术方案中，板状受力弯曲部包括沿柔性驱动元件的长度方向延伸的多条丝束，以及包覆多条丝束的柔性封套。多条丝束使得受力弯曲部具有一定的刚度和柔度，柔性封套可以将多条丝束相对固定，并且能够减少柔性驱动元件表面的摩擦力，也可以进一步改善柔性驱动元件的刚度。柔性驱动元件能够有效传递器械所需的驱动力，在弯转、击发和回退时，不易发生破坏性永久变形，可大大降低外科手术医生操作外科手术器械的难度，并且由于减少了焊接工序，加工工艺也较为简便。为使本发明的目的、技术方案和优点更加清楚，以下举实施例对本发明作进一步详细说明。
如图2a和图2b所示，本发明实施例的柔性驱动元件，包括头部1、尾部2以及位于头部1和尾部2之间的板状受力弯曲部3，其中：板状受力弯曲部3包括沿柔性驱动元件的长度方向延伸的多条丝束4，以及包覆多条丝束4的柔性封套5。
在本发明各实施例中，头部1指柔性驱动元件的远侧端部分，尾部2则指柔性驱动元件的近侧端部分。头部1可设置刀刃和用于闭合末端执行器的闭合结构(例如工字梁或者王字梁等)，尾部2可与驱动杆啮合。如图2c所示，每条丝束4包括多条丝40，多条丝40螺旋捻绕形成一条丝束。丝40应具有较佳的弹性和韧性，例如可选用钢丝或者弹簧丝等金属丝，也可采用非金属丝。丝40的截面形状不限，例如可以为圆形、椭圆形或多边形(例如三角形、方形)等等。较佳的，所述金属丝选为镍钛合金记忆金属丝，镍钛合金记忆金属丝具有一定的形状记忆功能以及超弹性，在卸载力后，可以快速的恢复 到其初始的状态。由于镍钛合金记忆金属丝的特殊性能，不能与其他金属焊接连接，因此，可以考虑采用透明尼龙材料直接注塑到金属结构上，为了保证连接的稳定性，金属结构(上述的头部1和尾部2)可为注塑提供预留孔、燕尾槽、倒锥、梯形及其他连接固定结构。
优选的，所述柔性封套5为成型于所述多条丝束4表面的注塑成型柔性封套或挤出成型柔性封套。柔性封套5通过注塑工艺或挤出工艺直接成型于多条丝束4表面，加工工艺简便，成型可靠性较高，并且，柔性封套5与多条丝束4塑接，能够将多条丝束4可靠固定。在本发明的其它实施例中，柔性封套5也可以通过注塑工艺或挤出工艺成型后再与多条丝束4装配在一起。较佳的，所述柔性封套5为透明尼龙材料制作的柔性封套。采用透明的尼龙材料直接注塑到金属结构上，从而可以实现在金属丝选用镍钛合金金属丝时，通过尼龙材料制作的柔性封套将金属结构与镍钛合金记忆金属丝连接起来。
多条丝束4可以编结为丝带，也可以排列为一层或多层。当多条丝束4排列为一层或多层时，相邻两条丝束4可以密排设置(如图2d所示)或间隔设置(如图2e所示)并通过柔性封套5固定。通过调整丝束4的编结形式或者排列形式，可以使板状受力弯曲部3达到需要的刚度和柔度，板状受力弯曲部3的加工工艺简便，成本较低。
在本发明技术方案中，多条丝束4使得板状受力弯曲部3具有一定的刚度和柔度，柔性封套5可以将多条丝束4相对固定，并能够减少柔性驱动元件表面的摩擦力，也可以进一步改善柔性驱动元件的刚度。柔性驱动元件能够有效传递器械所需的驱动力，在弯转、击发和回退时，不易发生破坏性永久变形，可大大降低外科手术医生操作外科手术器械的难度，并且由于减少了焊接工序，加工工艺也较为简便。
当多条丝束4排列为至少一层时，丝束4可以为直线状、折线状或曲线状的丝束。图2b所示为直线状的丝束4。改变丝束4的形式可以改变板状受力弯曲部3的柔度(直线状的丝束比折线状或曲线状的丝束柔度更大)，可以 根据丝40的具体材质特性选择合适的形状，使板状受力弯曲部3具有较佳的刚度和柔度。
优选的，多条丝束中夹设有至少一条传输线缆，或者，至少一条丝束的丝中夹设有传输线缆。请参照图2e所示，柔性驱动元件还包括夹设于丝束4的丝40中的传输线缆6(结构上包括缆芯和缆套)，传输线缆6可以为电缆或光缆。传输线缆6也可以直接夹设于多条丝束4中，例如，传输线缆6与多条丝束4并排排列(如图2d所示)或者与多条丝束4一起编结为丝带。
电缆可以用来传递电信号，光缆可以用来传递光信号。可以利用传输线缆6传输控制信号或视频信号，有利于丰富外科手术器械的控制功能，提高操作的精确性。例如，利用传输线缆6传输视频信号，可以在远程监控末端执行器的执行动作情况。当传输线缆6夹设于丝束4的丝40中时，设置位置不限，例如可以位于丝束4的芯部，与丝束4同轴设置，也可以与丝束4的丝40捻绕在一起。
所述柔性封套5可以与所述头部1和/或所述尾部2焊接连接、铆接连接、或者过盈卡合连接。这些连接方式均可以实现部件之间的可靠连接。如图2b所示，头部1具有一对第一卡勾7，尾部2具有一对第二卡勾8，板状受力弯曲部3具有与一对第一卡勾7过盈卡合的一对第三卡勾9以及与一对第二卡勾8过盈卡合的一对第四卡勾10。第一卡勾7、第二卡勾8、第三卡勾9和第三卡勾10可以通过冲压工艺形成。
此外，柔性封套5也可以与头部1或尾部2为一体结构，或者柔性封套5、头部1、尾部2三者为一体结构，通过注塑工艺或者挤出工艺成型，加工工艺更加简便，并且能够减少装配工序。图3所示实施例中，柔性封套5与尾部2为一体结构。
如图4a和图4b所示，本发明实施例还提供了一种末端执行器，包括前述任一实施例的柔性驱动元件212。通过驱动弯转连杆210可使末端执行器的钉砧臂301和钉匣臂302绕枢转轴303转动，从而使末端执行器弯转。通过驱动手柄使驱动杆轴向推动柔性驱动元件212在弯转的末端执行器中前进， 可进行末端执行器的闭合、对组织的切割与缝合。该末端执行器中柔性驱动元件212能够有效传递器械所需的驱动力，不易发生破坏性永久变形，驱动行程较为精确，大大降低了外科手术医生操作外科手术器械的难度。
值得一提的是，末端执行器不限于具有切割和缝合功能的末端执行器，只要末端执行器为弯转式并且需要柔性驱动元件驱动，均可采用本发明实施例所提供的柔性驱动元件。例如，仅具有切割功能或者仅具有缝合功能的弯转式末端执行器等。
本发明实施例所提供的外科手术器械，包括前述技术方案的末端执行器，该外科手术器械的柔性驱动元件能够有效传递器械所需的驱动力，不易发生破坏性永久变形，使得器械具有较佳的操作精度和使用可靠性。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (14)

  1. 一种柔性驱动元件，其特征在于，包括头部(1)、尾部(2)以及位于所述头部(1)和所述尾部(2)之间的板状受力弯曲部(3)，其中：
    所述板状受力弯曲部(3)包括沿所述柔性驱动元件的长度方向延伸的多条丝束(4)，以及包覆所述多条丝束(4)的柔性封套(5)。
  2. 如权利要求1所述的柔性驱动元件，其特征在于，所述多条丝束(4)中的每条所述丝束(4)的丝(40)为金属丝。
  3. 如权利要求2所述的柔性驱动元件，其特征在于，所述金属丝为镍钛合金记忆金属丝。
  4. 如权利要求1所述的柔性驱动元件，其特征在于，所述多条丝束(4)编结为丝带。
  5. 如权利要求1所述的柔性驱动元件，其特征在于，所述多条丝束(4)排列为至少一层，同层所述丝束(4)中，相邻两条所述丝束(4)密排设置或间隔设置。
  6. 如权利要求1所述的柔性驱动元件，其特征在于，所述丝束(4)为直线状、折线状或曲线状的丝束，和/或，所述丝束(4)的丝(40)螺旋捻绕。
  7. 如权利要求1所述的柔性驱动元件，其特征在于，所述多条丝束(4)中夹设有至少一条传输线缆(6)，或者，至少一条所述丝束(4)的丝(40)中夹设有传输线缆(6)；所述传输线缆(6)包括电缆或光缆。
  8. 如权利要求1～7任一项所述的柔性驱动元件，其特征在于，所述柔性封套(5)为成型于所述多条丝束表面的注塑成型柔性封套或挤出成型柔性封套。
  9. 如权利要求8所述的柔性驱动元件，其特征在于，所述柔性封套(5)为透明尼龙材料制作的柔性封套。
  10. 如权利要求8所述的柔性驱动元件，其特征在于，所述柔性封套(5)与所述头部(1)和/或所述尾部(2)焊接连接、铆接连接、或者过盈卡合连接。
  11. 如权利要求10所述的柔性驱动元件，其特征在于，所述头部(1)具有一对第一卡勾(7)，所述尾部(2)具有一对第二卡勾(8)，所述板状受力弯曲部(3)具有与所述一对第一卡勾(7)过盈卡合的一对第三卡勾(9)以及与所述一对第二卡勾(8)过盈卡合一对的第四卡勾(10)。
  12. 如权利要求10所述的柔性驱动元件，其特征在于，所述柔性封套(5)与所述头部(1)和/或所述尾部(2)为一体结构。
  13. 一种末端执行器，其特征在于，包括如权利要求1～12中任一项所述的柔性驱动元件(212)。
  14. 一种外科手术器械，其特征在于，包括如权利要求13所述的末端执行器。
PCT/CN2014/088135 2013-12-27 2014-10-08 柔性驱动元件、末端执行器和外科手术器械 WO2015096530A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US15/190,369 US10368866B2 (en) 2013-12-27 2016-06-23 Flexible drive member, end-effector, and surgical instrument using the same

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201320895968.6 2013-12-27
CN201320895968.6U CN203736252U (zh) 2013-12-27 2013-12-27 柔性驱动元件、末端执行器和外科手术器械
CN201310756202.4 2013-12-27
CN201310756202.4A CN104739469B (zh) 2013-12-27 2013-12-27 柔性驱动元件、末端执行器和外科手术器械

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/190,369 Continuation US10368866B2 (en) 2013-12-27 2016-06-23 Flexible drive member, end-effector, and surgical instrument using the same

Publications (1)

Publication Number Publication Date
WO2015096530A1 true WO2015096530A1 (zh) 2015-07-02

Family

ID=53477492

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2014/088135 WO2015096530A1 (zh) 2013-12-27 2014-10-08 柔性驱动元件、末端执行器和外科手术器械

Country Status (2)

Country Link
US (1) US10368866B2 (zh)
WO (1) WO2015096530A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018049198A1 (en) 2016-09-09 2018-03-15 Intuitive Surgical Operations, Inc. Stapler beam architecture

Families Citing this family (176)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US11998198B2 (en) 2004-07-28 2024-06-04 Cilag Gmbh International Surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US11890012B2 (en) 2004-07-28 2024-02-06 Cilag Gmbh International Staple cartridge comprising cartridge body and attached support
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
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
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US20110295295A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument having recording capabilities
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
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
US11980366B2 (en) 2006-10-03 2024-05-14 Cilag Gmbh International Surgical instrument
US8632535B2 (en) 2007-01-10 2014-01-21 Ethicon Endo-Surgery, Inc. Interlock and surgical instrument including same
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
US7434717B2 (en) 2007-01-11 2008-10-14 Ethicon Endo-Surgery, Inc. Apparatus for closing a curved anvil of a surgical stapling device
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US11672531B2 (en) 2007-06-04 2023-06-13 Cilag Gmbh International Rotary drive systems for surgical instruments
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
US11986183B2 (en) 2008-02-14 2024-05-21 Cilag Gmbh International Surgical cutting and fastening instrument comprising a plurality of sensors to measure an electrical parameter
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
RU2493788C2 (ru) 2008-02-14 2013-09-27 Этикон Эндо-Серджери, Инк. Хирургический режущий и крепежный инструмент, имеющий радиочастотные электроды
US20130153641A1 (en) 2008-02-15 2013-06-20 Ethicon Endo-Surgery, Inc. Releasable layer of material and surgical end effector having the same
US9005230B2 (en) 2008-09-23 2015-04-14 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US8608045B2 (en) 2008-10-10 2013-12-17 Ethicon Endo-Sugery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
US11925354B2 (en) 2010-09-30 2024-03-12 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US9386988B2 (en) 2010-09-30 2016-07-12 Ethicon End-Surgery, LLC Retainer assembly including a tissue thickness compensator
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US9788834B2 (en) 2010-09-30 2017-10-17 Ethicon Llc Layer comprising deployable attachment members
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
US9168038B2 (en) 2010-09-30 2015-10-27 Ethicon Endo-Surgery, Inc. Staple cartridge comprising a tissue thickness compensator
JP6026509B2 (ja) 2011-04-29 2016-11-16 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． ステープルカートリッジ自体の圧縮可能部分内に配置されたステープルを含むステープルカートリッジ
CN104321024B (zh) 2012-03-28 2017-05-24 伊西康内外科公司 包括多个层的组织厚度补偿件
MX350846B (es) 2012-03-28 2017-09-22 Ethicon Endo Surgery Inc Compensador de grosor de tejido que comprende cápsulas que definen un ambiente de baja presión.
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
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
MX368026B (es) 2013-03-01 2019-09-12 Ethicon Endo Surgery Inc Instrumento quirúrgico articulable con vías conductoras para la comunicación de la señal.
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
BR112015026109B1 (pt) 2013-04-16 2022-02-22 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
US9924942B2 (en) 2013-08-23 2018-03-27 Ethicon Llc Motor-powered articulatable surgical instruments
US9690362B2 (en) 2014-03-26 2017-06-27 Ethicon Llc Surgical instrument control circuit having a safety processor
US9801627B2 (en) 2014-09-26 2017-10-31 Ethicon Llc Fastener cartridge for creating a flexible staple line
US20150297225A1 (en) 2014-04-16 2015-10-22 Ethicon Endo-Surgery, Inc. Fastener cartridges including extensions having different configurations
BR112016023807B1 (pt) 2014-04-16 2022-07-12 Ethicon Endo-Surgery, Llc Conjunto de cartucho de prendedores para uso com um instrumento cirúrgico
JP6636452B2 (ja) 2014-04-16 2020-01-29 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 異なる構成を有する延在部を含む締結具カートリッジ
JP6612256B2 (ja) 2014-04-16 2019-11-27 エシコン エルエルシー 不均一な締結具を備える締結具カートリッジ
BR112017004361B1 (pt) 2014-09-05 2023-04-11 Ethicon Llc Sistema eletrônico para um instrumento cirúrgico
US10135242B2 (en) 2014-09-05 2018-11-20 Ethicon Llc Smart cartridge wake up operation and data retention
US10105142B2 (en) 2014-09-18 2018-10-23 Ethicon Llc Surgical stapler with plurality of cutting elements
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
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
MX2017008108A (es) 2014-12-18 2018-03-06 Ethicon Llc Instrumento quirurgico con un yunque que puede moverse de manera selectiva sobre un eje discreto no movil con relacion a un cartucho de grapas.
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
US9943309B2 (en) 2014-12-18 2018-04-17 Ethicon Llc Surgical instruments with articulatable end effectors and movable firing beam support arrangements
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US10441279B2 (en) 2015-03-06 2019-10-15 Ethicon Llc Multiple level thresholds to modify operation of powered surgical instruments
JP2020121162A (ja) 2015-03-06 2020-08-13 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価
US10433844B2 (en) 2015-03-31 2019-10-08 Ethicon Llc Surgical instrument with selectively disengageable threaded drive systems
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10433846B2 (en) 2015-09-30 2019-10-08 Ethicon Llc Compressible adjunct with crossing spacer fibers
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
US10448948B2 (en) 2016-02-12 2019-10-22 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
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
JP7010956B2 (ja) 2016-12-21 2022-01-26 エシコン エルエルシー 組織をステープル留めする方法
US20180168625A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling instruments with smart staple cartridges
US11090048B2 (en) 2016-12-21 2021-08-17 Cilag Gmbh International Method for resetting a fuse of a surgical instrument shaft
US10588631B2 (en) 2016-12-21 2020-03-17 Ethicon Llc Surgical instruments with positive jaw opening features
US10639035B2 (en) 2016-12-21 2020-05-05 Ethicon Llc Surgical stapling instruments and replaceable tool assemblies thereof
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
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
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
US10993716B2 (en) 2017-06-27 2021-05-04 Ethicon Llc Surgical anvil arrangements
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
US11678880B2 (en) 2017-06-28 2023-06-20 Cilag Gmbh International Surgical instrument comprising a shaft including a housing arrangement
US11564686B2 (en) 2017-06-28 2023-01-31 Cilag Gmbh International Surgical shaft assemblies with flexible interfaces
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control for robotic surgical instrument
US11974742B2 (en) 2017-08-03 2024-05-07 Cilag Gmbh International Surgical system comprising an articulation bailout
US11944300B2 (en) 2017-08-03 2024-04-02 Cilag Gmbh International Method for operating a surgical system bailout
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
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
US11179152B2 (en) 2017-12-21 2021-11-23 Cilag Gmbh International Surgical instrument comprising a tissue grasping system
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
US11103245B2 (en) * 2018-12-31 2021-08-31 Cilag Gmbh International Knife for surgical stapler and associated method of manufacture with MIM and hip
US11696761B2 (en) 2019-03-25 2023-07-11 Cilag Gmbh International Firing drive arrangements for surgical systems
CN110037755B (zh) * 2019-04-04 2024-07-09 上海世恒医学科技有限公司 多自由度柔性经鼻颅底手术器械
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11229437B2 (en) 2019-06-28 2022-01-25 Cilag Gmbh International Method for authenticating the compatibility of a staple cartridge with a surgical instrument
US11638587B2 (en) 2019-06-28 2023-05-02 Cilag Gmbh International RFID identification systems for surgical instruments
US12004740B2 (en) 2019-06-28 2024-06-11 Cilag Gmbh International Surgical stapling system having an information decryption protocol
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US12035913B2 (en) 2019-12-19 2024-07-16 Cilag Gmbh International Staple cartridge comprising a deployable knife
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
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US20220031350A1 (en) 2020-07-28 2022-02-03 Cilag Gmbh International Surgical instruments with double pivot articulation joint arrangements
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
US12053175B2 (en) 2020-10-29 2024-08-06 Cilag Gmbh International Surgical instrument comprising a stowed closure actuator stop
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
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
US11944296B2 (en) 2020-12-02 2024-04-02 Cilag Gmbh International Powered surgical instruments with external connectors
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
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
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US11950777B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Staple cartridge comprising an information access control system
US11950779B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US12108951B2 (en) 2021-02-26 2024-10-08 Cilag Gmbh International Staple cartridge comprising a sensing array and a temperature control system
US11980362B2 (en) 2021-02-26 2024-05-14 Cilag Gmbh International Surgical instrument system comprising a power transfer coil
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11806011B2 (en) 2021-03-22 2023-11-07 Cilag Gmbh International Stapling instrument comprising tissue compression systems
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
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
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11896218B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Method of using a powered stapling device
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US11786239B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Surgical instrument articulation joint arrangements comprising multiple moving linkage features
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
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
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
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
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US12102323B2 (en) 2021-03-24 2024-10-01 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising a floatable component
US20220378426A1 (en) 2021-05-28 2022-12-01 Cilag Gmbh International Stapling instrument comprising a mounted shaft orientation sensor
US11980363B2 (en) 2021-10-18 2024-05-14 Cilag Gmbh International Row-to-row staple array variations
US12089841B2 (en) 2021-10-28 2024-09-17 Cilag CmbH International Staple cartridge identification systems
US11937816B2 (en) 2021-10-28 2024-03-26 Cilag Gmbh International Electrical lead arrangements for surgical instruments

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101156793A (zh) * 2006-10-06 2008-04-09 Tyco医疗健康集团 具有塑料表面的外科器械
CN101224126A (zh) * 2007-01-11 2008-07-23 伊西康内外科公司 用于外科缝合装置的改进的弧形端部执行器
US20080308605A1 (en) * 2006-10-06 2008-12-18 Tyco Healthcare Group Lp Surgical instrument having a plastic surface
US7543730B1 (en) * 2008-06-24 2009-06-09 Tyco Healthcare Group Lp Segmented drive member for surgical instruments
CN102448388A (zh) * 2009-05-29 2012-05-09 阿斯卡拉波股份有限公司 外科手术器械
CN203736252U (zh) * 2013-12-27 2014-07-30 瑞奇外科器械(中国)有限公司 柔性驱动元件、末端执行器和外科手术器械

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4576167A (en) * 1981-09-03 1986-03-18 United States Surgical Corporation Surgical stapler apparatus with curved shaft
US5326013A (en) * 1991-10-18 1994-07-05 United States Surgical Corporation Self contained gas powered surgical apparatus
US6250532B1 (en) * 1991-10-18 2001-06-26 United States Surgical Corporation Surgical stapling apparatus
US5271543A (en) * 1992-02-07 1993-12-21 Ethicon, Inc. Surgical anastomosis stapling instrument with flexible support shaft and anvil adjusting mechanism
US5485952A (en) * 1992-09-23 1996-01-23 United States Surgical Corporation Apparatus for applying surgical fasteners
US5868760A (en) * 1994-12-07 1999-02-09 Mcguckin, Jr.; James F. Method and apparatus for endolumenally resectioning tissue
US5849011A (en) * 1995-06-19 1998-12-15 Vidamed, Inc. Medical device with trigger actuation assembly
US6171316B1 (en) * 1997-10-10 2001-01-09 Origin Medsystems, Inc. Endoscopic surgical instrument for rotational manipulation
WO2002053808A1 (en) * 2001-01-03 2002-07-11 Wen Lu Stable conjugated polymer electrochromic devices incorporating ionic liquids
US6755338B2 (en) * 2001-08-29 2004-06-29 Cerebral Vascular Applications, Inc. Medical instrument
US6786382B1 (en) * 2003-07-09 2004-09-07 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an articulation joint for a firing bar track
JP4642770B2 (ja) * 2003-10-17 2011-03-02 タイコ ヘルスケア グループ リミテッド パートナーシップ 独立先端部回転を備えた外科用ステープル留めデバイス
US7886952B2 (en) * 2004-02-17 2011-02-15 Tyco Healthcare Group Lp Surgical stapling apparatus with locking mechanism
US7506790B2 (en) * 2004-07-28 2009-03-24 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation mechanism
US7410086B2 (en) * 2004-07-28 2008-08-12 Ethicon Endo-Surgery, Inc. Electroactive polymer-based actuation mechanism for circular stapler
US7481348B2 (en) * 2006-10-06 2009-01-27 Tyco Healthcare Group Lp Surgical instrument with articulating tool assembly
US7431188B1 (en) * 2007-03-15 2008-10-07 Tyco Healthcare Group Lp Surgical stapling apparatus with powered articulation
US8827134B2 (en) * 2009-06-19 2014-09-09 Covidien Lp Flexible surgical stapler with motor in the head
US8469254B2 (en) * 2010-01-22 2013-06-25 Covidien Lp Surgical instrument having a drive assembly
US8979890B2 (en) * 2010-10-01 2015-03-17 Ethicon Endo-Surgery, Inc. Surgical instrument with jaw member

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101156793A (zh) * 2006-10-06 2008-04-09 Tyco医疗健康集团 具有塑料表面的外科器械
US20080308605A1 (en) * 2006-10-06 2008-12-18 Tyco Healthcare Group Lp Surgical instrument having a plastic surface
CN101224126A (zh) * 2007-01-11 2008-07-23 伊西康内外科公司 用于外科缝合装置的改进的弧形端部执行器
US7543730B1 (en) * 2008-06-24 2009-06-09 Tyco Healthcare Group Lp Segmented drive member for surgical instruments
CN102448388A (zh) * 2009-05-29 2012-05-09 阿斯卡拉波股份有限公司 外科手术器械
CN203736252U (zh) * 2013-12-27 2014-07-30 瑞奇外科器械(中国)有限公司 柔性驱动元件、末端执行器和外科手术器械

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018049198A1 (en) 2016-09-09 2018-03-15 Intuitive Surgical Operations, Inc. Stapler beam architecture
EP3509505A4 (en) * 2016-09-09 2020-08-26 Intuitive Surgical Operations Inc. STAPLER SLIDER ELEMENT ARCHITECTURE
US11166773B2 (en) 2016-09-09 2021-11-09 Intuitive Surgical Operations, Inc. Stapler beam architecture
US12102401B2 (en) 2016-09-09 2024-10-01 Intuitive Surgical Operations, Inc. Stapler beam architecture

Also Published As

Publication number Publication date
US20160296231A1 (en) 2016-10-13
US10368866B2 (en) 2019-08-06

Similar Documents

Publication Publication Date Title
WO2015096530A1 (zh) 柔性驱动元件、末端执行器和外科手术器械
EP3420975B1 (en) Clip cartridge
US10646228B2 (en) Endoscopic clip device and clip
JP5566452B2 (ja) 内視鏡シャフト
JP4498788B2 (ja) 顎部アセンブリ、エンドエフェクタアセンブリ、内視鏡的外科用器具、および内視鏡的アセンブリ
US20070288044A1 (en) Manipulator
CN106999001B (zh) 具有可选择性弯折的轴杆和选择性弯折该轴杆并且当轴杆弯折时处于张紧中的缆线的手术工具
JP2008036003A (ja) 内視鏡用処置具
KR20140104951A (ko) 관절식 태커용 구동 기구
JP6180694B2 (ja) 縫合装置
JP6716453B2 (ja) 内視鏡用処置具
CN203736252U (zh) 柔性驱动元件、末端执行器和外科手术器械
WO2012090859A1 (ja) 内視鏡用処置具
JPH10113330A (ja) 内視鏡
JP4046981B2 (ja) 内視鏡用クリップ装置
KR101643188B1 (ko) 수술기구용 굴곡장치
JP2000152911A (ja) 内視鏡用操作ワイヤ
JP4037072B2 (ja) 内視鏡用クリップ装置
WO2019131713A1 (ja) 内視鏡用処置具
JP2002360591A (ja) 内視鏡用クリップ装置
US11524398B2 (en) Gear drive mechanisms for surgical instruments
CN214017641U (zh) 一种手术用杆体及手术工具
CN104739467A (zh) 柔性驱动元件、末端执行器和外科手术器械
US11844492B2 (en) Methods for coupling device components and related devices having such components
JP7583388B2 (ja) 把持器、持針器、挟持アタッチメント

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14873558

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 14873558

Country of ref document: EP

Kind code of ref document: A1