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    • 2. 发明申请
    • Surgical instrument with bending articulation controlled articulation pivot joint
    • 具有弯曲关节运动的关节运动枢纽关节的手术器械
    • US20070152014A1
    • 2007-07-05
    • US11323536
    • 2005-12-30
    • Christoph GillumChad BoudreauxKenneth HogueGeoffrey HueilDouglas Siebenaler
    • Christoph GillumChad BoudreauxKenneth HogueGeoffrey HueilDouglas Siebenaler
    • A61B17/10
    • A61B17/07207A61B2017/2927A61B2017/320052Y10T74/20335
    • A surgical instrument particularly suited to endoscopic and laparoscopic insertion through a cannula of a trocar into an insufflated body cavity or lumen includes a bending member in an elongate shaft that acts to rotate an end effector about an articulation pivot joint. A proximally directed camming surface (e.g., gear segment, cam recess) aft of a pivotal attachment of the end effector to a proximal frame ground of the elongate shaft interacts with a bending member whose proximal end is ground to the proximal frame ground. Differential fluidic actuators or mechanical cam bars deflect a distal end (e.g., rack, cam point) of the bending member to effect articulation. Thereby, the end effector may act upon tissue that would otherwise be obscured, such as behind an organ. The articulated end effector also advantageously allows an endoscope to be positioned behind the end effector without being blocked by the instrument shaft.
    • 特别适于通过套管针的内窥镜和腹腔镜插入穿入体腔或腔内的手术器械包括在细长轴中的弯曲构件,该弯曲构件用于围绕关节运动枢转关节旋转端部执行器。 端部执行器的枢转附件后部的近侧定向的凸轮表面(例如,齿轮段,凸轮凹部)与细长轴的近侧框架接地相互作用,该弯曲构件的近端被研磨到近侧框架地面。 差分流体致动器或机械凸轮杆偏转弯曲构件的远端(例如,齿条,凸轮点)以实现铰接。 因此,末端执行器可以作用在否则将被遮蔽的组织上,例如在器官后面。 铰接端部执行器还有利地允许内窥镜被定位在末端执行器的后面而不被仪器轴阻挡。
    • 4. 发明申请
    • Surgical instrument having an articulating end effector
    • 具有关节端部执行器的手术器械
    • US20070158385A1
    • 2007-07-12
    • US11329020
    • 2006-01-10
    • Geoffrey HueilJoseph HueilKenneth HogueChristoph GillumDouglas Siebenaler
    • Geoffrey HueilJoseph HueilKenneth HogueChristoph GillumDouglas Siebenaler
    • A61B17/10
    • A61B17/07207A61B2017/003A61B2017/2912A61B2017/2919A61B2017/2927A61B2017/320052
    • An articulating surgical instrument is shown, which comprises a shaft and an end effector. The shaft has a longitudinal axis, and the end effector is operationally coupled, preferably mechanically coupled, to the shaft at an articulation pivot. The instrument also comprises a first band, and in some embodiments, a second band, each operationally connected to the end effector and extending through at least a portion of the shaft. An articulation control applies a force in a direction substantially transverse to the longitudinal axis, wherein the force, when applied in one direction, is translated through the first band to the end effector to effect rotation of the end effector relative to the shaft about the articulation pivot in a first rotational direction, and when the force is applied in the opposite direction, is translated through the second band to the end effector to effect rotation of the end effector relative to the shaft about the articulation pivot in a second rotational direction.
    • 示出了一种关节式外科器械,其包括轴和末端执行器。 轴具有纵向轴线,并且末端执行器在铰接枢轴处可操作地联接,优选地机械联接到轴。 仪器还包括第一带,并且在一些实施例中,是第二带,每个带可操作地连接到端部执行器并延伸穿过轴的至少一部分。 关节运动控制在基本上横向于纵向轴线的方向上施加力,其中当沿一个方向施加时,该力通过第一带平移到末端执行器,以实现端部执行器相对于围绕关节的轴的旋转 在第一旋转方向上枢转,并且当沿相反方向施加力时,通过第二带平移到端部执行器,以使得端部执行器相对于轴在第二旋转方向上围绕关节运动枢轴旋转。