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1. 发明申请

WO2019155294A1 SURGICAL CLIP APPLIER EMPLOYING ARCUATE SURGICAL CLIPS 审中-公开
公开(公告)号：WO2019155294A1
公开(公告)日：2019-08-15
申请号：PCT/IB2019/050348
申请日：2019-01-16
申请人： ETHICON LLC
发明人： WORTHINGTON, Sarah , GERESY, Stephen D. , HARRIS, Demetrius , YOUNG, Joshua
IPC分类号： A61B17/10 , A61B17/128 , A61B34/30
CPC分类号： A61B17/1285 , A61B17/10 , A61B17/122 , A61B34/25 , A61B34/37 , A61B34/70 , A61B34/71 , A61B2017/00477 , A61B2017/2945 , A61B2034/302 , A61B2034/305
摘要： End effectors with increased clip loading capacity include those configured to dispense arcuate surgical clips. Such end effectors may comprise: a housing; and first and second arcuate jaw members protruding distally from the housing. Each arcuate jaw member has a curved profile and is shaped to receive an arcuate surgical clip having a complementary curved profile therebetween. Surgical tools may comprise the end effectors operably coupled to the distal end of an elongate shaft.

2. 发明申请

WO2019140291A1 SURGICAL SENSOR ANCHOR SYSTEM 审中-公开
公开(公告)号：WO2019140291A1
公开(公告)日：2019-07-18
申请号：PCT/US2019/013338
申请日：2019-01-11
申请人： BONO, Peter, L.
发明人： BONO, Peter, L. , LARK, James, D. , SCALES, John, S.
IPC分类号： A61B34/30 , A61B90/00 , A61B5/00 , A61B17/88 , A61B17/86 , A61B17/68
CPC分类号： A61B34/20 , A61B17/68 , A61B17/8605 , A61B17/864 , A61B17/8685 , A61B17/8875 , A61B34/30 , A61B34/35 , A61B34/76 , A61B90/361 , A61B90/39 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/305 , A61B2090/3958 , A61B2090/3983 , A61B2090/3991 , A61B2090/3995 , A61B2562/0204 , A61B2562/0219 , A61B2562/0223
摘要： Surgical systems for use in surgical procedures utilizing robotic devices. The surgical system having one or more components for housing a sensor (14) or one or more tools for anchor or sensor delivery. The surgical system may include a surgical sensor anchor (12) and/or a surgical sensor anchor delivery tool. A method of performing a robotically assisted surgical procedure, comprising using a surgical sensor anchor (12) during a surgical procedure which utilizes a robot to track movement of at least one portion of a body structure undergoing a surgical procedure or to track movement of a body structure near a surgical site.

3. 发明申请

WO2019133061A1 SURGICAL HUB CONTROL ARRANGEMENTS 审中-公开
公开(公告)号：WO2019133061A1
公开(公告)日：2019-07-04
申请号：PCT/US2018/044202
申请日：2018-07-27
申请人： ETHICON LLC
发明人： SHELTON, Frederick E., IV , HARRIS, Jason L. , YATES, David C.
IPC分类号： G16H40/60 , A61B34/37 , A61B34/00 , H04W4/33 , H04W4/80 , H04W52/00
CPC分类号： A61B34/35 , A61B1/045 , A61B17/07207 , A61B18/1442 , A61B34/25 , A61B34/37 , A61B34/76 , A61B34/77 , A61B90/06 , A61B90/361 , A61B90/37 , A61B90/90 , A61B90/96 , A61B90/98 , A61B2017/00022 , A61B2017/00039 , A61B2017/00061 , A61B2017/00084 , A61B2017/00119 , A61B2017/00199 , A61B2017/00221 , A61B2017/00225 , A61B2017/00398 , A61B2017/00464 , A61B2017/00477 , A61B2018/00607 , A61B2018/00613 , A61B2018/00994 , A61B2034/252 , A61B2034/254 , A61B2034/302 , A61B2034/304 , A61B2034/305 , A61B2090/061 , A61B2090/064 , A61B2090/066 , A61B2090/0803 , A61B2090/365 , A61B2218/002 , A61B2218/008 , A61N1/327 , G16H40/60 , H04W4/38 , H04W84/20
摘要： Various surgical hubs are disclosed. A surgical hub is for use with a surgical system in a surgical procedure performed in an operating room. The surgical hub comprises: non-contact sensors and a control circuit. The control circuit is configured to: determine bounds of the operating room based on measurements performed by the non-contact sensors; and establish a control arrangement with a detected surgical hub located within the bounds of the operating room.

4. 发明申请

WO2019083798A1 IMPROVED CABLE DRIVEN MOTION SYSTEMS FOR ROBOTIC SURGICAL TOOLS 审中-公开
公开(公告)号：WO2019083798A1
公开(公告)日：2019-05-02
申请号：PCT/US2018/056398
申请日：2018-10-18
申请人： ETHICON LLC
发明人： ADAMS, Eric , EVANS, John
IPC分类号： A61B34/37 , A61B34/00 , A61B17/29 , A61B34/30
CPC分类号： A61B34/71 , A61B17/00234 , A61B17/29 , A61B34/30 , A61B34/37 , A61B2017/00477 , A61B2034/302 , A61B2034/305 , A61B2034/715 , B25J9/1045 , F16H1/16 , F16H19/08 , F16H2019/085
摘要： A surgical tool includes a drive housing having an input shaft arranged therein for rotation, an elongate shaft that extends from the drive housing, and an end effector operatively coupled to a distal end of the elongate shaft. A cable band is coupled to the input shaft and operatively couples the input shaft to a drive cable that extends to the end effector. Rotation of the input drive correspondingly moves the cable band and thereby controls longitudinal movement of the drive cable to articulate the end effector.

5. 发明申请

WO2019069181A1 ELECTRICAL ISOLATION OF ELECTROSURGICAL INSTRUMENTS 审中-公开
公开(公告)号：WO2019069181A1
公开(公告)日：2019-04-11
申请号：PCT/IB2018/057468
申请日：2018-09-26
申请人： ETHICON LLC
发明人： ZABOTKIN, Konstantin , WORRELL, Barry C. , MURRELL, Niko , HIBNER, John A.
IPC分类号： A61B18/14 , A61B34/00 , A61B18/00 , A61B34/30
CPC分类号： A61B18/1445 , A61B18/1206 , A61B18/16 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00473 , A61B2018/00077 , A61B2018/00083 , A61B2018/00208 , A61B2018/00589 , A61B2018/00595 , A61B2018/00601 , A61B2018/1253 , A61B2018/126 , A61B2018/1422 , A61B2018/146 , A61B2034/305
摘要： A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and an end effector arranged at a distal end of the elongate shaft and having a jaw and a jaw holder that secures the jaw. A wrist couples the end effector to the elongate shaft and includes a distal clevis having an axle that rotatably mounts the jaw holder to the distal clevis. An electrical conductor extends from the drive housing and supplies electrical energy to the jaw via a supply conductor. At least one of the jaw holder and the axle is made of a non- conductive material that insulates the distal clevis from the electrical energy provided to the jaw.

6. 发明申请

WO2018174227A1 把持機構审中-公开
公开(公告)号：WO2018174227A1
公开(公告)日：2018-09-27
申请号：PCT/JP2018/011613
申请日：2018-03-23
申请人：株式会社メディカロイド
发明人：伊藤哲嗣
IPC分类号： A61B90/50 , A61B34/35
CPC分类号： A61B34/71 , A61B34/30 , A61B90/50 , A61B2034/301 , A61B2034/305 , A61B2034/306 , B25J9/102 , B25J9/104 , B25J9/1612 , B25J17/02
摘要：発明の目的は、医療用処置具の位置および向きを調整することのできる小型の把持機構を提供することである。把持機構（３０１）は、医療用処置具を把持する把持機構（３０１）であって、前記医療用処置具の一部を取り付け可能なベース部（１２１）と、前記ベース部（１２１）の高さを変更可能な上下運動機構（１２３）と、前記上下運動機構（１２３）に連動して、前記ベース部（１２１）の角度を変更可能な角度変更機構（１２２）とを備える。

7. 发明申请

WO2018005015A1 METHODS, SYSTEMS, AND DEVICES FOR INITIALIZING A SURGICAL TOOL 审中-公开
标题翻译：用于初始化手术工具的方法，系统和设备
公开(公告)号：WO2018005015A1
公开(公告)日：2018-01-04
申请号：PCT/US2017/035912
申请日：2017-06-05
申请人： ETHICON ENDO-SURGERY, LLC
发明人： HIBNER, John A.
IPC分类号： A61B34/00 , B25J9/00 , B25J9/10 , A61B34/30 , A61B17/29
CPC分类号： A61B34/30 , A61B17/068 , A61B17/10 , A61B17/29 , A61B17/3201 , A61B18/1445 , A61B34/20 , A61B34/71 , A61B2017/2908 , A61B2017/2927 , A61B2034/2059 , A61B2034/305 , A61B2034/306 , A61B2034/715 , A61B2217/005 , A61B2217/007
摘要： Various exemplary methods, systems, and devices for initializing a surgical tool are provided. In general, a surgical tool can include an end effector, an elongate shaft, and a wrist that couples the end effector to a distal end of the shaft. The wrist can be configured to facilitate movement of the end effector relative to the shaft. The surgical tool can include multiple flexible members configured to move, either individually or as a group including any plural number of the flexible members, to cause the movement of the end effector relative to the shaft by pivoting at the wrist. The movement of the end effector can include movement between an unarticulated position and an articulated position. The surgical tool can also include one or more homing members configured to be selectively actuated to force the end effector into the unarticulated position.
摘要翻译：提供了用于初始化手术工具的各种示例性方法，系统和设备。通常，手术工具可以包括端部执行器，细长轴和将端部执行器联接到轴的远端的腕部。手腕可被构造成便于末端执行器相对于轴的运动。手术工具可以包括多个柔性构件，该多个柔性构件构造成单独地或者作为包括任何多个柔性构件的组移动，以通过在手腕处枢转而引起末端执行器相对于轴的移动。末端执行器的运动可以包括在非关节位置和关节位置之间的运动。手术工具还可以包括一个或多个导向构件，导向构件被构造成被选择性地致动以迫使末端执行器进入非关节运动位置。

8. 发明申请

WO2017098271A1 INDEPENDENT TENSIONING AND ALIGNING MECHANISMS FOR A SURGICAL INSTRUMENT 审中-公开
标题翻译：手术器械的独立张力和校准机制
公开(公告)号：WO2017098271A1
公开(公告)日：2017-06-15
申请号：PCT/GB2016/053898
申请日：2016-12-09
申请人： CAMBRIDGE MEDICAL ROBOTICS LTD
发明人： CHAPLIN, Ben Robert , MARSHALL, Keith , PHOOLCHUND, Nikki Priyam Su-Ling , CUTHBERTSON, Rebecca Anne
IPC分类号： A61B34/00 , A61B34/30
CPC分类号： A61B34/30 , A61B17/00234 , A61B34/71 , A61B34/72 , A61B90/06 , A61B2017/00207 , A61B2017/00477 , A61B2034/305 , A61B2034/306 , A61B2034/715 , A61B2090/066 , Y10S901/36
摘要： A robotic surgical instrument comprising: a shaft;an articulation at a distal end of the shaft for articulating an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising: an instrument interface element for driving the pair of driving elements, the instrument interface element displaceable over a displacement range, the pair of driving elements fast with the instrument interface element such that a displacement of the instrument interface element is transferred to the pair of driving elements; a tensioning mechanism for tensioning the pair of driving elements; and an alignment mechanism for setting the displacement position of the instrument interface element to a predetermined alignment position when the end effector has a predetermined configuration, the alignment mechanism being independent of the tensioning mechanism.
摘要翻译： 1.一种机器人手术器械，包括：轴;在所述轴的远端处的铰接件，用于铰接端部执行器，所述铰接件可由一对驱动元件驱动; 以及在所述轴的近端处的器械接口，所述器械接口包括：用于驱动所述一对驱动元件的器械接口元件，所述器械接口元件在位移范围上可移位，所述一对驱动元件与所述器械接口元件使得所述器械接口元件的位移被传递到所述一对驱动元件; 用于张紧所述一对驱动元件的张紧机构; 以及对准机构，其用于当所述末端执行器具有预定构造时将所述器械接口元件的位移位置设定到预定对准位置，所述对准机构独立于所述张紧机构。

9. 发明申请

WO2017064306A1 A SURGICAL TOOL 审中-公开
标题翻译：手术工具
公开(公告)号：WO2017064306A1
公开(公告)日：2017-04-20
申请号：PCT/EP2016/074812
申请日：2016-10-14
申请人： MEDICAL MICROINSTRUMENTS S.R.L.
发明人： SIMI, Massimiliano , PRISCO, Giuseppe Maria
IPC分类号： A61B34/30 , A61B34/37 , A61B34/00 , A61B17/29 , B25J9/10
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B2034/305 , B25J9/104
摘要： Medical instrument (60, 160, 260, 360) comprising at least one first, second and third joint member (71, 72, 73), at least two pairs of tendons (90, 190, 191, 192) connected with the same joint member and adapted to move said third member (73) with respect to said second member (72), pulling it; and wherein each of said joint member (71, 72, 73) comprises a main structural body comprising in a single piece one or more convex contact surfaces (40, 80, 86, 140, 180), all said convex contact surfaces (40, 80, 86, 140, 180) defining with their prolongations thereof at least partially a single convex volume for each joint member; and wherein the main portion of each tendon is in contact with said jointed device (70, 170, 270) only on said convex contact surfaces; and wherein at least two tendons of said at least two pairs of tendons (90, 190, 191, 192) are in contact with a same convex contact surface.
摘要翻译：医疗器械（60,160,260,360）包括至少一个第一，第二和第三接头构件（71,72,73），至少两对肌腱（90,190,191），192）与相同的连接部件连接并适于相对于所述第二部件（72）移动所述第三部件（73），将其拉动; 并且其中，所述接合构件（71,72,73）中的每一个包括主体结构体，所述主体结构体以单件形式包括一个或多个凸形接触表面（40,80,86,140,180），所有所述凸形接触表面（40， 80，86,140,180）以其延长线至少部分地限定用于每个接头构件的单个凸形体积; 并且其中每个肌腱的主要部分仅在所述凸形接触表面上与所述接合装置（70,170,270）接触; 并且其中所述至少两对肌腱（90,190,191,192）中的至少两个肌腱与相同的凸形接触表面接触。

10. 发明申请

WO2017064305A1 METHOD OF MANUFACTURING FOR A MEDICAL INSTRUMENT 审中-公开
标题翻译：医疗仪器的制造方法
公开(公告)号：WO2017064305A1
公开(公告)日：2017-04-20
申请号：PCT/EP2016/074811
申请日：2016-10-14
申请人： MEDICAL MICROINSTRUMENTS S.R.L.
发明人： SIMI, Massimiliano , PRISCO, Giuseppe Maria
IPC分类号： B23H11/00 , A61B34/00 , B23H7/02
CPC分类号： B23H11/003 , A61B34/71 , A61B2017/00526 , A61B2034/305 , B23H7/02
摘要： A method of manufacturing a jointed device (70, 170, 270) of a medical instrument (60, 160, 260, 360) comprising the following steps: (A) providing a machining fixture (112) on a wire electrical discharge machine having an electrical discharge wire (115), said machining fixture (112) comprising a plurality of member holes (116) each adapted to accommodate at least one workpiece (117), said workpiece (117) being adapted to form at least one portion of said jointed device (70, 170, 270) of said medical instrument (60, 160, 260, 360); (B) providing at least two workpieces (117), comprising a first workpiece and a second workpiece, accommodated within at least two member holes (116) of said plurality of member holes (116); (C) associating said machining fixture (112) to the wire electrical discharge machine so that said electrical discharge wire (115) can cut at most one of said at least two workpieces (117) at time; (D) cutting said at least two workpieces (117) by said electrical discharge wire (115); (E)rotating the machining fixture (112) around a fixture rotation axis (R-R) of a predetermined fixture rotation angle, said predetermined fixture rotation angle being chosen to provide that said electrical discharge wire (115) can cut at most one of said at least two workpieces (117) at time; (F) cutting said workpieces (117) by said electrical discharge wire.
摘要翻译：一种制造医疗器械（60,160,260,360）的接合装置（70,170,270）的方法，包括以下步骤：（A）提供机械夹具（112），所述机械夹具（112）在具有放电线（115）的电火花线切割机上，所述机加工夹具（112）包括多个构件孔（116），每个构件孔适于容纳至少一个工件（117），所述工件（117）适于形成所述医疗器械（60,160,260,360）的所述接合装置（70,170,270）的至少一部分; （B）提供容纳在所述多个构件孔（116）中的至少两个构件孔（116）内的至少两个工件（117），所述工件包括第一工件和第二工件; （C）将所述加工夹具（112）与所述电火花线切割机器相关联，使得所述放电线（115）能够同时切割所述至少两个工件（117）中的至少一个; （D）通过所述放电线（115）切割所述至少两个工件（117）; （E）使机加工夹具（112）围绕具有预定夹具旋转角度的夹具旋转轴线（RR）旋转，所述预定夹具旋转角度被选择为使得所述放电线材（115）能够切割所述至少一个至少两个工件（117）; （F）通过所述放电线切割所述工件（117）。

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