CN101069650A - 机械手 - Google Patents
机械手 Download PDFInfo
- Publication number
- CN101069650A CN101069650A CNA2007101074479A CN200710107447A CN101069650A CN 101069650 A CN101069650 A CN 101069650A CN A2007101074479 A CNA2007101074479 A CN A2007101074479A CN 200710107447 A CN200710107447 A CN 200710107447A CN 101069650 A CN101069650 A CN 101069650A
- Authority
- CN
- China
- Prior art keywords
- end effector
- connecting rod
- rod portion
- linkage component
- joint shaft
- 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.)
- Pending
Links
- 239000012636 effector Substances 0.000 claims abstract description 175
- 230000015572 biosynthetic process Effects 0.000 claims description 9
- 239000002184 metal Substances 0.000 description 19
- 230000000694 effects Effects 0.000 description 16
- 230000002787 reinforcement Effects 0.000 description 10
- 208000034888 Needle issue Diseases 0.000 description 4
- 230000013011 mating Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- 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
- 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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2933—Transmission of forces to jaw members camming or guiding means
- A61B2017/2934—Transmission of forces to jaw members camming or guiding means arcuate shaped guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2933—Transmission of forces to jaw members camming or guiding means
- A61B2017/2936—Pins in guiding slots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2939—Details of linkages or pivot points
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ophthalmology & Optometry (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
本发明提供一种机械手，在机械手作业部，至少在最大限度地关闭第一末端执行器部(48a)和第二末端执行器部(48b)的情况下，使下述三种情况中的一种成立，即：第三关节轴(O3)与第一关节轴(O1)之间的距离大于第一关节轴(O1)与第二末端执行器部(48b)的前端部之间的距离，或第三关节轴(O3)和第一关节轴(O1)之间的距离大于第三关节轴(O3)与第二关节轴(O2)之间的距离，或从第三关节轴(O3)向第一关节轴(O1)的方向与从第三关节轴(O3)向第二关节轴(O2)的方向形成的角度不为π。
Description
技术领域
本发明涉及对操作部进行操作进而使作业部进行作业的机械手。
背景技术
以往，使用通过连接部连结前端作业部和手边操作部的一体型的医疗用机械手，在这种医疗用机械手中，在观察内窥镜的情况下对操作部进行保持操作，将作业部插入体腔内，使作业部进行作业进而对生物组织进行各种处置。
在日本特开2003-61969号公报所记载的机械手中，将夹持生物组织的一对夹钳设置在作业部上。该一对夹钳以夹钳轴为中心进行开关动作，同时，以俯仰轴、翻滚轴为中心一体地进行转动动作。在此，金属线通过连接部卷绕在操作部内的马达输出轴与作业部的滑轮上，作业部的动作所需的力矩依次从马达经由金属线传递到滑轮再从滑轮传递到齿轮。
日本特开2002-102248号公报所公开的机械手具有与特开2003-61969号公报公开的机械手相同的结构，而且，用于增大夹钳的夹持力的增力机构设置在作业部上。
在日本特开2003-61969号公报所记载的机械手中，很难增加夹钳的夹持力。例如，单纯地增加从马达输出的输出力矩进而使夹持力增大的情况下，必须增加金属线的伸缩特性或拉伸强度以及力矩传递机构的强度。这样难以实现连接部的小孔径化。另外，由于需要将用于实现各轴系动作的各种部件装载在小型的作业部上，因此，对于作业部来说，在空间上加大减速比是比较困难的。
在日本特开2002-102248号公报记载的机械手中，通过增力机构来增加夹钳的夹持力，但在夹持动作中，伴随有两个夹钳的偏位动作。因此，有必要在对夹钳的上下方向的偏位动作进行预测的基础上进行操作。这样，操作机械手的操作者(例如外科医生)希望得到能够减轻预测偏位动作负担的、具有更舒适的操作感的机械手。
发明内容
本发明的目的是提供一种增加夹持力、夹持动作时的偏位动作小的机械手。
本发明的一个实施方式中的机械手，其特征在于，具有：第一末端执行器部件，从其一端侧向另一端侧延伸，具有一端侧的第一末端执行器部、另一端侧的第一连杆部以及设置在第一末端执行器部和第一连杆部之间的第一连结部；第二末端执行器部件，从其一端侧向另一端侧延伸，具有一端侧的第二末端执行器部、另一端侧的第二连杆部以及设置在第二末端执行器部和第二连杆部之间的第二连结部；从其一端侧向另一端侧延伸的连杆部件；第一连接部，其是将上述第二连结部连接在上述第一连结部上，以使上述第二末端执行器部件的长度方向与穿过上述第一连结部并与上述第一末端执行器部件的长度方向大致垂直的第一关节轴大致垂直，使上述第二末端执行器部件能以上述第一关节轴为中心相对上述第一末端执行器部件转动；第二连接部，其是将上述连杆部件的另一端部连接在上述第一连杆部的另一端部上，以使上述连杆部件的长度方向与穿过上述第一连杆部的另一端部与上述第一连杆部的长度方向大致垂直的第二关节轴大致垂直，使上述连杆部件能以上述第二关节轴为中心相对上述第一连杆部转动；第三连接部，其是将上述连杆部件的一端部连接在上述第二连杆部的另一端部上，以使上述第二连杆部的长度方向与穿过上述连杆部件的一端部与上述连杆部件的长度方向大致垂直的第三关节轴大致垂直，使上述连杆部件能以上述第三关节轴为中心相对上述第二连杆部转动，且使上述连杆部件的一端部可相对上述第二连杆部在上述第二连杆部的长度方向上移动。
根据本发明，增加了夹持力，缩小了夹持动作时的偏位动作。
结合附图，本发明的上述及其他目的、特征及优点会从下述描述中更清晰地体现，其中，通过说明性事例示出了本发明的优选实施例。
附图说明
图1是本发明的第一实施方式的机械手的概略结构立体图。
图2是本发明的第一实施方式的机械手的驱动装置的示意图。
图3是本发明的第一实施方式的机械手的作业部的立体图。
图4是本发明的第一实施方式的机械手的作业部的分解立体图。
图5A是本发明的第一实施方式的机械手的作业部的俯视图。
图5B是本发明的第一实施方式的机械手的作业部的侧视图。
图6A是本发明的第一实施方式的机械手的作业部在最大限度关闭第一和第二末端执行器部的状态下的侧视图。
图6B是本发明的第一实施方式的机械手的作业部在第一和第二末端执行器部位于开关动作的中间位置的状态下的侧视图。
图6C是本发明的第一实施方式的机械手的作业部在最大限度打开第一和第二末端执行器部的状态下的侧视图。
图7A是用于表示本发明的第一实施方式的机械手的作业部的增力机构在最大限度打开第一和第二末端执行器部的状态下的说明图。
图7B是用于表示本发明的第一实施方式的机械手的作业部的增力机构在最大限度关闭第一和第二末端执行器部的状态下的说明图。
图8是本发明的第二实施方式的机械手的作业部的立体图。
图9A是用于表示本发明的第二实施方式的机械手的作业部在最大限度关闭第一和第二末端执行器部的状态下的侧视图。
图9B是用于表示本发明的第二实施方式的机械手的作业部在第一和第二末端执行器部位于开关动作的中间位置的状态下的侧视图。
图9C是用于表示本发明的第二实施方式的机械手的作业部在最大限度打开第一和第二末端执行器部的状态下的侧视图。
图10是本发明的第三实施方式的机械手的驱动装置的示意图。
图11是本发明的第三实施方式的机械手的作业部的立体图。
图12是本发明的第三实施方式的机械手的作业部的分解立体图。
图13A是用于表示本发明的第三实施方式的机械手的作业部在最大限度关闭第一和第二末端执行器部的状态下的侧视图。
图13B是用于表示本发明的第三实施方式的机械手的作业部在第一和第二末端执行器部位于开关动作的中间位置的状态下的侧视图。
图13C是用于表示本发明的第三实施方式的机械手的作业部在最大限度打开第一和第二末端执行器部的状态下的侧视图。
具体实施方式
以下参照附图就本发明实施方式中涉及的机械手进行说明。
另外，在本发明的实施方式的说明中，假定机械手的作业部侧为前端侧，前端和基端等的方向指以该假定为前提的相对的方向。另外，理论上是指不考虑不妨碍机械手使用程度的零件的尺寸误差或滑动部分的松动、变形等干扰因素的理想状态，实际使用时的机械手会受到这些干扰因素的影响(例如偏位动作或摩擦阻力等)。
第一实施方式
以下参照图1至图7B就本发明的第一实施方式进行说明。
参照图1进行说明。本实施方式的机械手16是进行夹持动作的夹钳，从前端侧依次具有对生物组织进行处置或夹持的作业部18、细长的连结轴20以及操作者进行保持操作的、用于使作业部18进行作业的操作部22。
参照图2进行说明。在本实施方式的机械手16的作业部18上，第一以及第二末端执行器部件24a、24b以与作业部18的主轴20a大致垂直的首摇轴为中心进行转动动作(参照图中箭头Y)。第一金属线30a穿过连结轴20的内部卷绕在操作部22内的第一马达输出轴28a与作业部1 8的滑轮32上，用于围绕首摇轴进行转动动作的力矩从第一马达输出轴28a经由第一金属线30a、滑轮32传递到第一以及第二末端执行器部件24a、24b侧。
另外，第一以及第二末端执行器部件24a、24b以与上述主轴20a以及首摇轴大致垂直的俯仰轴为中心进行转动动作(参照图中箭头P)。第二金属线30b穿过连结轴20的内部卷绕在第二马达输出轴28b和第一齿轮34a上，用于围绕俯仰轴进行转动动作的力矩从第二马达输出轴28b经由第二金属线30b、滑轮32以及第一、第三和第五齿轮34a、34c、34e传递到第一以及第二末端执行器部件24a、24b侧。
而且，第二末端执行器部件24b以与俯仰轴大致平行的夹钳轴为中心进行开关动作(参照图中箭头G)。第三金属线30c穿过连结轴20的内部卷绕在第三马达输出轴28c和第二齿轮34b上，围绕夹钳轴进行开关动作用的力矩从第三马达输出轴28c经由第三金属线30c、第二、第四和第六齿轮34b、34d、34f以及连杆部件36传递到第一以及第二末端执行器部件24a、24b侧。
参照图3至图7B、就本实施方式的机械手16的作业部18进行详细说明。
首先，参照图3至图5B进行说明。在连结轴20的前端部，向前端方向突出的一对舌片部38相对于连结轴20的中心轴相对设置。第一转动轴部件40a的两端部分别与分别设置在该一对舌片部38上的配合孔配合。该第一转动轴部件40a与上述中心轴大致垂直地设置，第一转动轴部件40a的中心轴成为首摇轴Oy。
主轴部件42基端部的滑轮32以可自由转动的方式外插在第一转动轴部件40a上。第一金属线30a卷绕在该滑轮32上，滑轮32通过第一金属线30a围绕第一转动轴部件40a的轴方向转动，由此，主轴部件42以第一转动轴部件40a为中心进行转动。
另外，大致呈圆筒形的第一及第二齿轮34a、34b以夹持滑轮32且可自由转动的方式外插在第一转动轴部件40a上。第一和第二齿轮34a、34b分别具有设置于内侧的一端侧的轴部和设置在外侧的、多个齿并排设置在外周面的整个圆周的另一端侧的齿部。并且，第二和第三金属线30b、30c分别卷绕在第一和第二齿轮34a、34b的轴部，第一和第二齿轮34a、34b通过各金属线30b、30c围绕第一转动轴部件40a的轴方向转动。此外，各金属线30a、30b、30c卷绕在滑轮到轴部上一圈半，其中一部分固定在滑轮到轴部上。
环形的第三齿轮34c以可围绕主轴部件42的轴方向自由转动的方式外插在主轴部件42中间部的圆柱部上，环形的第四齿轮34d以可围绕主轴部件42的轴方向自由转动的方式外插在第三齿轮34c上。在第三和第四齿轮34c、34d的前基端面上分别形成有多个齿并排设置在整个端面的齿部。第一齿轮34a的齿部与第三齿轮34c的基端面的齿部啮合，第三齿轮34c通过第一齿轮34a进行转动。另一方面，第二齿轮34b的齿部与第四齿轮34d的基端面的齿部啮合，第四齿轮34d通过第二齿轮34b进行转动。而且，罩44的基端部的圆筒部外插在第四齿轮34d上。第四齿轮34d可相对罩44的圆筒部围绕主轴部件42的轴方向自由转动。另外，罩44的基端面经由第二转动轴部件40b以第一转动轴部件40a为中心可自由滚动地抵接在连结轴20的一对舌片部38的前端面上。
并且，滑轮32通过第一金属线30a进行转动，由此，第三齿轮34c、第四齿轮34d以及罩44与主轴部件42一体地以第一转动轴部件40a即首摇轴Oy为中心进行转动动作。
相互相对的一对边片部46从罩44的圆筒部的前端面伸出。在一对边片部46之间，主轴部件42的前端部与一对边片部46并排设置，插通主轴部件42的前端部的通孔的第二转动轴部件40b的两端部与分别穿透一对边片部46的卡合孔相配合。该第二转动轴部件40b与上述主轴20a以及首摇轴Oy大致垂直地设置，第二转动轴部件40b的中心轴为俯仰轴Op。
在罩44部件的一对边片部46之间，在主轴部件42的一侧，大致圆筒形的第五齿轮34e以可自由转动的方式外插在第二转动轴部件40b上。该第五齿轮34e具有设置于内侧的一端侧的轴部与设置在外侧的、多个齿并排设置在外周面的整个圆周的另一端侧的齿部。第三齿轮34c的前端面的齿部与第五齿轮34e的齿部啮合，第五齿轮34e通过第三齿轮34c进行转动。第五齿轮34e的轴部的与轴方向垂直的剖面是非对称的，第五齿轮34e的轴部以不能转动的方式插入配合在第一末端执行器部件24a的基端部的配合孔内。并且，第一齿轮34a通过第二金属线30b进行转动动作，由此，第一、第三以及第五齿轮34a、34c、34e被依次转动驱动，第一末端执行器部件24a与下述的第二末端执行器部件24b一起以第二转动轴部40b即俯仰轴Op为中心进行转动动作。
第一以及第二末端执行器部件24a、24b从前端部依次具有第一以及第二末端执行器部48a、48b、第一以及第二连结部50a、50b、第一以及第二连杆部52a、52b。第二末端执行器部件24b的第二连结部50b通过第三转动轴部件40c和固定螺母51a枢轴连接在第一末端执行器部件24a的第一连结部50a上，形成第一连接部54a。第三转动轴部件40c与俯仰轴Op大致平行地设置，第三转动轴部件40c的中心轴为夹钳轴Og。另外，第三转动轴部件40c与第一以及第二末端执行器部件24a、24b的长度方向大致垂直，以下也将作为第三转动轴部件40c的中心轴的夹钳轴Og称为第一关节轴O1。
第二末端执行器部件24b以第一关节轴O1为中心可相对第一末端执行器部件24a自由转动。此外，在第一末端执行器部48a和第二末端执行器部48b之间可安装夹子，可通过关闭第一末端执行器部48a和第二末端执行器部48b夹紧(夹持)夹子。在此，第二末端执行器部48b夹持由第一关节轴O1方向和第一末端执行器部件24a的长度方向形成的夹持基准面与第一末端执行器部48a相对地设置，该第二末端执行器部48b在夹持基准面的一侧可进行转动。另一方面，第二连杆部52b相对第一连杆部52a向第一关节轴O1方向偏位设置，可穿过夹持基准面进行转动。
在罩44的一对边片部46之间，在主轴部件42的另一侧，与第五齿轮34e的结构相同的第六齿轮34f以可自由转动的方式外插在第二转动轴部件40b上。第四齿轮34d的前端面的齿部与第六齿轮34f的齿部啮合，第六齿轮34f通过第四齿轮34d进行转动。第六齿轮34f的轴部以不能转动的方式插入配合在连杆部件36的基端部的配合孔内。即，连杆部件36的基端部经由第六齿轮34f、第二转动轴部件40b、第四齿轮34d枢轴连接在第一末端执行器部件24a的基端部上，形成第二连接部54b。第二转动轴部件40b与第一连杆部52a以及连杆部件36的长度方向大致垂直，以下，也将作为第二转动轴部件40b的中心轴的俯仰轴Op称为第二关节轴O2。
滑动销56与第一和第二关节轴O1、O2大致平行地以可围绕自身的中心轴的轴方向自由转动的方式插通在连杆部件36的前端部的通孔内。另一方面，在第二末端执行器部件24b的第二连杆部52b的基端部，在第二关节轴O2的方向上并排设置的一对夹板部58a在第二连杆部52b的长度方向上延伸设置。在该一对夹板部58a上，分别沿第二连杆部52b的长度方向延伸设置长圆孔部60。并且，连杆部件36的前端侧设置在第二连杆部52b的一对夹板部58a之间，插通连杆部件36的滑动销56部以可在第二连杆部52b的长度方向上自由滑动的方式插入到长圆孔部60中。即，连杆部件36的前端部以可在第二连杆部52b的长度方向上滑动的方式枢轴连接在第二连杆部52b的基端部上，形成第三连接部54c。滑动销56的中心轴与连杆部件36以及第二连杆部52b的长度方向大致垂直，以下，将滑动销56的中心轴称为第三关节轴O3。另外，连杆部件36的前端侧可与第二连杆部52b一起穿过夹持基准面进行转动。
参照图6A至图6C，第二末端执行器部48b在夹持基准面的一例相对第一末端执行器部48a进行开关，但是，使连杆部件36的前端部向夹持基准面的一侧转动，在连杆部件36的前端部的滑动销56与长圆孔部60的基端部抵接的情况下，或者第二末端执行器部48b与第一末端执行器部48a抵接的情况下，第二末端执行器部48b相对第一末端执行器部48a被最大限度地关闭(参照图6A)。另一方面，使连杆部件36的前端部从夹持基准面的一侧向另一例穿过夹持基准面进行转动，在连杆部件36的前端部的滑动销56与长圆孔部60的基端部抵接的情况下，第二末端执行器部48b相对第一末端执行器部48a被最大限度地打开(参照图6C)。即，通过滑动销56和长圆孔部60或者滑动销56和长圆孔部60以及第一末端执行器部48a和第二末端执行器部48b，形成限制第一末端执行器部48a和第二末端执行器部48b的最大打开角度、最大关闭角度的机械限制器。
而且，参照图7A以及图7B就第一末端执行器部48a和第二末端执行器部48b的夹持力的增力机构进行说明。
在此，定义如下，
LA：连杆部件36长度方向的长度(第二关节轴O2和第三关节轴O3之间的距离)
LB：第一关节轴O1和第三关节轴O3之间的距离(最大限度地打开第一末端执行器部48a和第二末端执行器部48b的情况下，对应第二连杆部52b长度方向上的长度)
LC：第二末端执行器部48b的长度方向的长度(第一关节轴O1和第二末端执行器部件24b的前端部之间的距离)
LD：第一连杆部52a长度方向的长度(第一关节轴O1和第二关节轴O2之间的距离)
θb：第一连杆部52a与连杆部件36形成的角度(从第二关节轴O2向第一关节轴O1的方向与从第二关节轴O2向第三关节轴O3的方向形成的角度)
θd：连杆部件36与第二连杆部52b形成的角度(从第三关节轴O3向第一关节轴O1的方向与从第三关节轴O3向第二关节轴O2的方向形成的角度)
θf：第一连杆部52a与第二连杆部52b形成的角度(从第一关节轴O1向第二关节轴O2的方向与从第一关节轴O1向第三关节轴O3的方向形成的角度)
TA：附加在连杆部件36的基端部的、围绕第二关节轴O2的力矩(在图中以箭头方向为正)
TB：附加在第二末端执行器部48b的基端部的、围绕第一关节轴O1的力矩(在图中以箭头方向为正)
FA：产生在连杆部件36的前端部的、与连杆部件36的长度方向垂直的力(在图中以箭头方向为正)
FB：产生在第二连杆部52b的基端部的、与第二连杆部52b的长度方向垂直的力(在图中以箭头方向为正)
FC：产生在第二末端执行器部48b的前端部的、与第二末端执行器部48b的长度方向垂直的力(在图中以箭头方向为正)
在力矩与力之间以下的关系式成立。
TA＝LAFA …(1)
TB＝LBFB＝LCFC …(2)
并且，在几何学上以下的关系式成立。
FA＝FBsin(θd-π/2) …(3)
从公式(1)至公式(3)可以导出以下关系式。
FC＝FA(LB/LC){1/sin(θd-π/2)} …(4)
TB＝TA(LB/LA){1/sin(θd-π/2)} …(5)
通过连杆部件36的长度方向的长度LA、第一连杆部52a的长度方向的长度LD以及第一连杆部52a与连杆部件36形成的角度θb，从以下的关系式可以求出第一关节轴O1和第三关节轴O3之间的距离LB、连杆部件36和第二连杆部52b形成的角度θd。
LB 2＝LA 2+LD 2-2LALDcosθb …(6)
LD 2＝LB 2+LA 2-2LALBcosθd …(7)
另外，关于第一连杆部52a和第二连杆部52b形成的角度θf，从
LA 2＝LB 2+LD 2-2LBLDcosθf …(8)可以求出。
参照公式(4)，可以知道，在第一关节轴O1和第三关节轴O3之间的距离LB大于第二末端执行器部48b的长度方向的长度LC的情况下，产生增力效果。参照公式(6)，在第一连杆部52a与连杆部件36形成的角度θb为最大的情况下，即，最大限度地关闭第一末端执行器部48a和第二末端执行器部48b的情况下，第一关节轴O1和第三关节轴O3之间的距离LB最大。因此，至少在最大限度地关闭第一末端执行器部48a和第二末端执行器部48b的情况下，第一关节轴O1与第三关节轴O3之间的距离LB如果不大于第二末端执行器部48b的长度方向的长度LC，则具有增力效果，在本实施方式中这种关系成立。
参照公式(5)，可以知道，在第一关节轴O1和第三关节轴O3之间的距离LB大于连杆部件36的长度方向的长度LA的情况下，产生增力效果。如上所述，参照公式(6)，由于在最大限度地关闭第一末端执行器部48a和第二末端执行器部48b的情况下，第一关节轴O1和第三关节轴O3之间的距离LB最大，因此，至少在最大限度地关闭第一末端执行器部48a和第二末端执行器部48b的情况下，当第一关节轴O1和第三关节轴O3之间的距离LB大于连杆部件36的长度方向的长度LA时，具有增力效果，在本实施方式中这种关系成立。
而且，参照公式(4)以及公式(5)，可知道，在连杆部件36和第二连杆部52b形成的角度θd不是π的情况下会产生增力效果。由于在最大限度地关闭第一末端执行器部48a和第二末端执行器部48b的情况下优选具有增力效果，因此，在最大限度地关闭第一末端执行器部48a和第二末端执行器部48b的情况下，优选连杆部件36和第二连杆部52b形成的角度θd不是π。尤其是，可知道，在连杆部件36和第二连杆部52b形成的角度θd为π/2左右的情况下，增力效果非常大。因此，在本实施方式中，在最大限度地关闭第一末端执行器部48a和第二末端执行器部48b的情况下，连杆部件36和第二连杆部52b形成的角度θd优选尽量接近π/2。
在此，θd不仅是在π/2附近的角度，即使θd在π/3(60°)～2π/3(120°)之间，则作用于第二连杆部52b前端的力FB在理论上为在连杆部件36的前端产生的力FA的两倍以上。这样，由于增力效果(连杆机构的效果)明显，因此，在本实施方式中，使θd为π/3(60°)～2π/3(120°)。
而且，不仅是在最大限度关闭的情况，在最大限度打开的情况下，同样条件下的情况下，可得到由同样的连杆角度产生的增力效果(连杆机构的效果)。例如，在进行剥离生物组织的操作的情况下，进行打开的动作需要力(称为剥离力)。另外，图6C所示的状态是即使在最大限度打开的状态下，θd为π/3(60°)～2π/3(120°)，剥离力也增大的结构。
另外，第一末端执行器部件24a和第二末端执行器部件24b以第一连接部54a为中心形成交叉的结构也没有问题。这种情况下，第一末端执行器部件24a和第二末端执行器部件24b的开关方向与连杆部件36的转动方向是相反的。
另外，第二连杆部52b以及连杆部件36也可不必穿过由第一连杆部52a的长度方向和第一关节轴O1的方向形成的平面进行转动。
以下就本实施方式的机械手16的作用进行说明。
使用本实施方式的机械手16，在通过夹持来阻断固定动脉及其侧枝等的两端的管状组织时，将夹子安装在第一末端执行器部48a和第二末端执行器部48b之间。然后，对操作部22进行保持操作，将作业部18插入体腔内，使其向管状组织附近移动。然后，通过围绕首摇轴的转动动作以及围绕俯仰轴的转动动作等使第一以及第二末端执行器部件24a、24b形成为进行夹持动作的最佳姿势。
然后，使第一末端执行器部48a和第二末端执行器部48b围绕着夹钳轴进行开关动作，夹紧夹子阻断管状组织。此时，在有必要防止不慎使第一以及第二末端执行器部件24a、24b进行动作的情况下，对围绕首摇轴以及围绕俯仰轴进行转动动作的马达进行控制以使其不进行动作。另外，在开关动作中，理论上第一末端执行器部件24a不进行偏位动作。另外，连杆部件36以及第二连杆部52b从夹持基准面的一侧向另一侧转动，第二末端执行器部48b可相对第一末端执行器部48a足够大地打开。另一方面，通过连杆部件36的前端部的滑动销56与长圆孔部60的基端部相抵接，使第二末端执行器部48b相对第一末端执行器部48a不会过分地打开，可防止夹子脱落。
并且，在最大限度地关闭第一末端执行器部48a和第二末端执行器部48b的情况下，第一关节轴O1与第三关节轴O3之间的距离LB大于第二末端执行器部48b的长度方向的长度LC，第一关节轴O1与第三关节轴O3之间的距离LB大于连杆部件36的长度方向的长度LA，且连杆部件36和第二连杆部52b形成的角度θd为π/2左右的角度。因此，可充分发挥增力效果，凭借充分的夹持力夹紧夹子。
因此，本实施方式的机械手16具有以下的效果。本实施方式的机械手16通过第一末端执行器部件24a、第二末端执行器部件24b以及连杆部件36形成增力机构，增大第一末端执行器部48a和第二末端执行器部48b的夹持力。另外，在进行第一末端执行器部48a和第二末端执行器部48b的开关动作时，理论上不产生第一末端执行器部件24a的偏位动作，可容易地通过作业部18对处理对象组织进行定位、夹持，可得到舒适的操作感。
另外，在最大限度地关闭第一末端执行器部48a和第二末端执行器部48b的情况下，从第三关节轴O3向第一关节轴O1的方向和从第三关节轴O3向第二关节轴O2的方向形成的角度为π/3(60°)～2π/3(120°)，充分增加了夹持力。
而且，第二连杆部52b以及连杆部件36相对第二连杆部52b偏位设置，以使第二连杆部52b以及连杆部件36能够通过夹持基准面进行移动。因此，可使第二末端执行器部48b相对第一末端执行器部48a充分大地打开。
而且，在第二连杆部52b的基端部中，连杆部件36的前端部在第二连杆部52b的长度方向上移动，同时，第二连杆部52b与连杆部件36相互转动，由此，第二末端执行器部48b相对第一末端执行器部48a围绕夹钳轴进行开关动作，但是，通过限制连杆部件36的前端部相对第二连杆部52b的移动范围，或者通过使第二末端执行器部48b与第一末端执行器部48a抵接，来限制第二末端执行器部48b相对第一末端执行器部48a的最大开度角度和最小开度角度。即，在驱动装置上附加机械限制器的功能，可使作业部的结构简单化、小型化。另外，在本实施方式的机械限制器中，滑动销56与长圆孔部60的基端部抵接，以使第二连杆部52b和连杆部件36的转动受到限制。即，第二连杆部52b与滑动销56在从作为第二连杆部52b的转动中心的第一关节轴O1的位置充分离开的位置上相抵接。因此，与在接近第一关节轴O1的位置进行抵接的情况相比较，机械限制器所负荷的力相对规定的力矩变小，机械限制器所需要的强度降低。另外，本实施方式的机械手16通过限制第二末端执行器部48b相对第一末端执行器部48a的最大开度角度，可防止夹子的脱落，可顺利地进行夹持动作。
而且，在本实施方式中，在进行第一末端执行器部48a和第二末端执行器部48b的开关动作中，第一以及第二末端执行器部件24a、24b不进行围绕首摇轴的转动动作及围绕俯仰轴的转动动作。即，在进行夹持时，防止第一以及第二末端执行器部件24a、24b的无准备的动作，可进行可靠的夹持。
第二实施方式
图8至图9C表示本发明的第二实施方式。在与第一实施方式具有相同功能的结构上使用相同的参照符号，省略说明。
本实施方式的机械手16是剪刀，将一对刀刃作为第一和第二末端执行器部48a、48b使用。
在制造剪刀时，为了确保切割性能，刀刃的搭接调整是很重要的。在本实施方式中，在组装第一末端执行器部件24a、第二末端执行器部件24b以及第三转动轴部件40c时进行刀刃的搭接调整。即，用于驱动第一以及第二末端执行器部件24a、24b的滑轮、齿轮等不介于刀刃的搭接调整中，可容易地进行刀刃的搭接调整。并且，由于在搭接调整后，对具有第一末端执行器部件24a、第二末端执行器部件24b以及第三转动轴部件40c的单元进行最后组装，因此，与一面进行搭接调整一面进行组装的情况相比较，可提高组装效率。
另外，通过第三连接部54c的机械限制器限制第二末端执行器部48b相对第一末端执行器部48a的最大关闭角度。在没有该限制的情况下操作剪刀时，需要细心地注意不要过分地关闭剪刀的一对刀刃，但在本实施方式中，就没有这样的必要，可得到更舒适的操作感。
图10至图13C表示本发明的第三实施方式。在与第一实施方式具有相同功能的结构上使用相同的参照符号，并省略说明。本实施方式的机械手16是夹住弯曲针进行缝合的针头驱动器。
如图10所示，本实施方式的第一以及第二末端执行器部件24a、24b以围绕与作业部18的主轴20a大致一致的翻滚轴进行转动动作(参照图中箭头R)来代替围绕俯仰轴进行转动动作。围绕翻滚轴的转动动作用的力矩从第一马达输出轴28b经由第二金属线30b以及第一和第三齿轮34a、34c传递到第一以及第二末端执行器部件24a、24b。
参照图11至图13C，本实施方式的作业部18具有与第一实施方式相同的第一转动轴部件40a、主轴部件42的滑轮32以及第一和第二齿轮34a、34b。主轴部件42的前端部形成为第二转动轴部件40b，第三齿轮34c的基端侧的圆筒部以可围绕第二转动轴部件40b的轴方向自由转动的方式外插在该第二转动轴部件40b上。另外，通过旋合在第二转动轴部件40b的前端部的第一固定螺母51b限制第三齿轮34c相对第二转动轴部件40b的轴方向的移动。
在第三齿轮34c的圆筒部的基端面上形成有多个齿并排设置在整个基端面的齿部。第一齿轮34a的齿部与该第三齿轮34c的齿部啮合，第三齿轮34c通过第一齿轮34a进行转动。在第三齿轮34c的圆筒部的前端面上，一对在与第一以及第二转动轴部件40a、40b大致垂直的方向上并排设置的突出部62向前端侧突出。另一方面，在第一末端执行器部件24a的第一连杆部52a上，相互面对面的一对夹板部58a在第一连杆部52a的长度方向上延伸。在一对夹板部58b的基端侧，嵌合槽分别在夹板部58b的长度方向上延伸设置，一对突出部62的前端侧分别插入配合在该一对嵌合槽内。
并且，第一齿轮34a被第二金属线30b转动驱动，由此，第三齿轮34c进行转动，第一末端执行器部件24a与第二末端执行器部件24b一起围绕第二转动轴部件40b即翻滚轴进行转动动作。
大致环形的第四齿轮34d以可围绕第二转动轴部件40b的轴方向自由转动的方式外插在第三齿轮34c的圆筒部上，该第三齿轮34c的圆筒部外插在主轴部件42的第二转动轴部件40b上。在该第四齿轮34d的前基端面上形成有多个齿并排设置在整个端面上的齿部。第二齿轮34b的前端面的齿部与第四齿轮34d的基端面的齿部啮合，第四齿轮34d通过第二齿轮34b进行转动。另一方面，在第三齿轮34c的一对突出部62和第一末端执行器部件24a的一对夹板部58b上分别贯通形成有方向与第一以及第二转动轴部件40a、40b大致垂直的通孔，结合销64以可围绕自身的轴方向自由转动的方式插通各通孔。大致圆板形的第六齿轮34f大致同轴地连结在该结合销64的一端部，在该第六齿轮34f上形成有多个齿并排设置在整个外周部的齿部。第四齿轮34d的前端面的齿部与第六齿轮34f的齿部啮合，第六齿轮34f通过第四齿轮34d进行转动。另外，第二固定螺母51c旋合在结合销64的另一端部，通过第六齿轮34f和第二固定螺母51c对相对于一对突出部62以及一对夹板部58b的、结合销64自身在轴方向上的移动进行限制。
在第一末端执行器部件24a的第一连杆部52a中，第二末端执行器部件24b的第二连杆部52b以及连杆部件36设置在一对夹板部58b之间。在一对夹板部58b之间，结合销64的、与轴方向垂直的剖面是非对称的，结合销64以不能围绕自身的轴方向转动的方式插通配合在连杆部件36的基端部的配合孔内。并且，第二齿轮34b被第三金属线30c转动驱动，由此，使第四和第六齿轮34d、34f以及结合销64转动，连杆部件36以结合销64为中心进行转动。关于由第一和第二末端执行器部件24a、24b以及连杆部件36进行的围绕夹钳轴的开关动作的结构，除了第二连杆部52b以及连杆部件36在第一连杆部52a的一对夹板部5 8b之间进行的转动动作以外，与第一实施方式相同，因此省略具体说明(参照图13A至图13C)。另外，在第一以及第二末端执行器部48a、48b的夹持面上形成防滑面(例如滚花加工)，以使其可可靠地夹持弯曲针。
而且，第四和第六齿轮34d、34f由罩44覆盖，罩44和第一末端执行器部件24a的基端部通过固定销66固定。另外，将罩44的形状设定成不妨碍第一以及第二末端执行器部件24a、24b围绕首摇轴的转动动作、不防碍围绕夹钳轴的开关动作，且可与第一以及第二末端执行器部件24a、24b一起围绕翻滚轴进行转动动作的形状。
以下就本实施方式的机械手16的作用进行说明。在利用本实施方式的机械手16进行缝合时，将缝合线卷绕在连结轴20的前端部或第一以及第二末端执行器部件24a、24b上，同时，通过第一以及第二末端执行器部48a、48b夹持住连接有缝合线的一端部的弯曲针。并且，将第一以及第二末端执行器部件24a、24b定位在处理对象组织附近，通过围绕首摇轴的转动动作等形成适于缝合的最佳姿势。然后，使第一以及第二末端执行器部件24a、24b围绕翻滚轴进行转动动作，将弯曲针向处理对象组织扎入然后拔出地进行缝合。根据需要，通过第一以及第二末端执行器部48a、48b夹持缝合线的一端侧后，拔掉卷绕在连结轴20的前端部或第一以及第二末端执行器部件24a、24b上的缝合线，进而形成结扣进行捆扎。
因此，本实施方式的机械手16具有以下效果。在本实施方式中，第二末端执行器部件24b的第二连杆部52b以及连杆部件36在第一末端执行器部件24a的第一连杆部52a的一对夹板部58b之间转动。即，第二连杆部52b以及连杆部件36可穿过夹持基准面进行转动。因此，与第一实施方式相同，可将第一以及第二末端执行器部件24a、24b打开很大。
另外，由于第二连杆部52b以及连杆部件36是在一对夹板部58b之间转动的，因此，作业部18的前端侧形成凹凸比较少的形状。因此，为了形成结扣，在拔掉卷绕在连结部的前端部或第一以及第二末端执行器部件24a、24b上的缝合线时，缝合线卡在或勒入作业部18的情况比较少，可更加顺利地进行捆扎。
在上述的实施方式中，虽就操作部和作业部一体化的一体型机械手进行了说明，但本发明的作业部也可适用于远距离操作在前端部具有作业部的多关节臂的多关节臂型机械手。例如，在多关节臂型机械手中，末端执行器部件进行偏位动作的情况下，在设定末端执行器部件的目标位置时，需要将偏位动作编入运算中，但通过使用本发明的作业部，不再有这个必要。
Claims (9)
1.一种机械手，其特征在于，具有：
第一末端执行器部件(24a)，从其一端侧向另一端侧延伸，具有一端侧的第一末端执行器部(48a)、另一端侧的第一连杆部(52a)以及设置在第一末端执行器部(48a)和第一连杆部(52a)之间的第一连结部(50a)；
第二末端执行器部件(24b)，从其一端侧向另一端侧延伸，具有一端侧的第二末端执行器部(48b)、另一端侧的第二连杆部(52b)以及设置在第二末端执行器部(48b)和第二连杆部(52b)之间的第二连结部(50b)；
从其一端侧向另一端侧延伸的连杆部件(36)；
第一连接部(54a)，其是将所述第二连结部(50b)连接在所述第一连结部(50a)上，以使所述第二末端执行器部件(24b)的长度方向与第一关节轴(O1)大致垂直，使所述第二末端执行器部件(24b)能以所述第一关节轴(O1)为中心相对所述第一末端执行器部件(24a)转动，该第一关节轴(O1)穿过所述第一连结部(50a)并与所述第一末端执行器部件(24a)的长度方向大致垂直；
第二连接部(54b)，其是将所述连杆部件(36)的另一端部连接在所述第一连杆部(52a)的另一端部上，以使所述连杆部件(36)的长度方向与第二关节轴(O2)大致垂直，使所述连杆部件(36)能以所述第二关节轴(O2)为中心相对所述第一连杆部(52a)转动，该第二关节轴(O2)穿过所述第一连杆部(52a)的另一端部并与所述第一连杆部(52a)的长度方向大致垂直；
第三连接部(54c)，其是将所述连杆部件(36)的一端部连接在所述第二连杆部(52b)的另一端部上，以使所述第二连杆部(52b)的长度方向与第三关节轴(O3)大致垂直，使所述连杆部件(36)能以所述第三关节轴(O3)为中心相对所述第二连杆部(52b)转动，且使所述连杆部件(36)的一端部可相对所述第二连杆部(52b)在所述第二连杆部(52b)的长度方向上移动，该第三关节轴(O3)穿过所述连杆部件(36)的一端部并与所述连杆部件(36)的长度方向大致垂直。
2.如权利要求1所述的机械手，其特征在于，在最大限度地关闭或最大限度地打开所述第一末端执行器部(48a)和所述第二末端执行器部(48b)的情况下，从所述第三关节轴(O3)向所述第一关节轴(O1)的方向与从所述第三关节轴(O3)向所述第二关节轴(O2)的方向形成的角度为π/3～2π/3。
3.如权利要求1所述的机械手，其特征在于，所述第二连杆部(52b)以及连杆部件(36)穿过由所述第一连杆部(52a)的长度方向和所述第一关节轴(O1)的方向形成的平面进行转动。
4.如权利要求3所述的机械手，其特征在于，所述第二连杆部(52b)以及所述连杆部件(36)相对所述第一连杆部(52a)向所述第一以及第二关节轴(O2)方向偏位设置。
5.如权利要求3所述的机械手，其特征在于，所述第一连杆部(52a)具有在所述第一连杆部(52a)的长度方向延伸、且在所述第一关节轴(O1)的方向上并排设置的一对夹板部，
所述第二连杆部(52b)以及所述连杆部件(36)在所述一对夹板部之间转动。
6.如权利要求1所述的机械手，其特征在于，所述第三连接部(54c)具有限制所述连杆部件(36)的一端部相对所述第二连杆部(52b)的移动范围的机械限制器。
7.如权利要求6所述的机械手，其特征在于，所述第三连接部(54c)，在所述第二连杆部(52b)的另一端部，具有在所述第二连杆部(52b)的长度方向上延伸设置的长孔部和设置在所述连杆部件(36)的一端部上的、在所述长孔部滑动的滑动销部。
8.如权利要求1所述的机械手，其特征在于，所述第一以及第二末端执行器部(48a、48b)是形成剪刀的一对刀刃。
9.如权利要求1所述的机械手，其特征在于，存在至少满足以下条件之一的状态，
|1/sin(θd-π/2)|＜LB/LA
LA＜LB
|1/sin(θd-π/2)|＜LB/LA
LC＜LB
在此，
LA：是第二关节轴(O2)和第三关节轴(O3)之间的距离
LB：是第一关节轴(O1)和第三关节轴(O3)之间的距离
LC：是第一关节轴(O1)和第二末端执行器部件(24b)的前端部之间的距离，
θd是从第三关节轴(O3)向第一关节轴(O1)的方向与从第三关节轴(O3)向第二关节轴(O2)的方向形成的角度。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006133973A JP4829005B2 (ja) | 2006-05-12 | 2006-05-12 | マニピュレータ |
| JP133973/2006 | 2006-05-12 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101069650A true CN101069650A (zh) | 2007-11-14 |
Family
ID=38326168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007101074479A Pending CN101069650A (zh) | 2006-05-12 | 2007-05-11 | 机械手 |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US8002784B2 (zh) |
| EP (1) | EP1854418B1 (zh) |
| JP (1) | JP4829005B2 (zh) |
| CN (1) | CN101069650A (zh) |
| AT (1) | ATE429862T1 (zh) |
| DE (1) | DE602007000989D1 (zh) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109475361A (zh) * | 2016-10-20 | 2019-03-15 | 奥林巴斯株式会社 | 摆动机构及把持器具 |
| CN112914683A (zh) * | 2021-03-10 | 2021-06-08 | 山东威高手术机器人有限公司 | 钳页独立运动的多自由度手术器械及末端执行器 |
Families Citing this family (528)
| 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 |
| US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
| US8215531B2 (en) | 2004-07-28 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having a medical substance dispenser |
| US11998198B2 (en) | 2004-07-28 | 2024-06-04 | Cilag Gmbh International | Surgical stapling instrument incorporating a two-piece E-beam firing mechanism |
| US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
| US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
| US8317070B2 (en) | 2005-08-31 | 2012-11-27 | Ethicon Endo-Surgery, Inc. | Surgical stapling devices that produce formed staples having different lengths |
| US9237891B2 (en) | 2005-08-31 | 2016-01-19 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical stapling devices that produce formed staples having different lengths |
| US8800838B2 (en) | 2005-08-31 | 2014-08-12 | Ethicon Endo-Surgery, Inc. | Robotically-controlled cable-based surgical end effectors |
| US7934630B2 (en) | 2005-08-31 | 2011-05-03 | 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 |
| US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
| US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
| US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
| US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
| US20110024477A1 (en) | 2009-02-06 | 2011-02-03 | Hall Steven G | Driven Surgical Stapler Improvements |
| US11224427B2 (en) | 2006-01-31 | 2022-01-18 | Cilag Gmbh International | Surgical stapling system including a console and retraction assembly |
| US8763879B2 (en) | 2006-01-31 | 2014-07-01 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of surgical instrument |
| US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
| US8820603B2 (en) | 2006-01-31 | 2014-09-02 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
| US11278279B2 (en) | 2006-01-31 | 2022-03-22 | Cilag Gmbh International | Surgical instrument assembly |
| US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
| US8161977B2 (en) | 2006-01-31 | 2012-04-24 | 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 |
| US7753904B2 (en) | 2006-01-31 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Endoscopic surgical instrument with a handle that can articulate with respect to the shaft |
| US20110006101A1 (en) | 2009-02-06 | 2011-01-13 | EthiconEndo-Surgery, Inc. | Motor driven surgical fastener device with cutting member lockout arrangements |
| US9861359B2 (en) | 2006-01-31 | 2018-01-09 | Ethicon Llc | Powered surgical instruments with firing system lockout arrangements |
| US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
| US8236010B2 (en) | 2006-03-23 | 2012-08-07 | Ethicon Endo-Surgery, Inc. | Surgical fastener and cutter with mimicking end effector |
| US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
| US8322455B2 (en) | 2006-06-27 | 2012-12-04 | Ethicon Endo-Surgery, Inc. | Manually driven surgical cutting and fastening instrument |
| US7506791B2 (en) | 2006-09-29 | 2009-03-24 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with mechanical mechanism for limiting maximum tissue compression |
| 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 |
| US10130359B2 (en) | 2006-09-29 | 2018-11-20 | Ethicon Llc | Method for forming a staple |
| US11980366B2 (en) | 2006-10-03 | 2024-05-14 | Cilag Gmbh International | Surgical instrument |
| US8652120B2 (en) | 2007-01-10 | 2014-02-18 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and sensor transponders |
| US8459520B2 (en) | 2007-01-10 | 2013-06-11 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and remote sensor |
| US11291441B2 (en) | 2007-01-10 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with wireless communication between control unit and remote sensor |
| 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 |
| US8632535B2 (en) | 2007-01-10 | 2014-01-21 | Ethicon Endo-Surgery, Inc. | Interlock and surgical instrument including same |
| US11039836B2 (en) | 2007-01-11 | 2021-06-22 | Cilag Gmbh International | Staple cartridge for use with a surgical stapling instrument |
| US8827133B2 (en) | 2007-01-11 | 2014-09-09 | Ethicon Endo-Surgery, Inc. | Surgical stapling device having supports for a flexible drive mechanism |
| US20090005809A1 (en) | 2007-03-15 | 2009-01-01 | Hess Christopher J | Surgical staple having a slidable crown |
| US8893946B2 (en) * | 2007-03-28 | 2014-11-25 | Ethicon Endo-Surgery, Inc. | Laparoscopic tissue thickness and clamp load measuring devices |
| US7549564B2 (en) * | 2007-06-22 | 2009-06-23 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with an articulating end effector |
| US7798386B2 (en) * | 2007-05-30 | 2010-09-21 | Ethicon Endo-Surgery, Inc. | Surgical instrument articulation joint cover |
| US7810693B2 (en) | 2007-05-30 | 2010-10-12 | Ethicon Endo-Surgery, Inc. | Surgical stapling and cutting instrument with articulatable end effector |
| US7832408B2 (en) | 2007-06-04 | 2010-11-16 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a directional switching mechanism |
| US8534528B2 (en) | 2007-06-04 | 2013-09-17 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a multiple rate directional switching mechanism |
| US11857181B2 (en) | 2007-06-04 | 2024-01-02 | Cilag Gmbh International | Robotically-controlled shaft based rotary drive systems for surgical instruments |
| US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
| US7905380B2 (en) | 2007-06-04 | 2011-03-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a multiple rate directional switching mechanism |
| US7658311B2 (en) | 2007-06-22 | 2010-02-09 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with a geared return mechanism |
| US7753245B2 (en) | 2007-06-22 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments |
| US8308040B2 (en) | 2007-06-22 | 2012-11-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with an articulatable end effector |
| 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 |
| WO2009039510A1 (en) * | 2007-09-21 | 2009-03-26 | Power Medical Interventions, Inc. | Surgical device |
| US8561870B2 (en) | 2008-02-13 | 2013-10-22 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument |
| US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
| US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
| US8758391B2 (en) | 2008-02-14 | 2014-06-24 | Ethicon Endo-Surgery, Inc. | Interchangeable tools for surgical instruments |
| US8622274B2 (en) | 2008-02-14 | 2014-01-07 | Ethicon Endo-Surgery, Inc. | Motorized cutting and fastening instrument having control circuit for optimizing battery usage |
| 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 |
| BRPI0901282A2 (pt) | 2008-02-14 | 2009-11-17 | Ethicon Endo Surgery Inc | instrumento cirúrgico de corte e fixação dotado de eletrodos de rf |
| US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
| US7793812B2 (en) | 2008-02-14 | 2010-09-14 | Ethicon Endo-Surgery, Inc. | Disposable motor-driven loading unit for use with a surgical cutting and stapling apparatus |
| US8657174B2 (en) | 2008-02-14 | 2014-02-25 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument having handle based power source |
| US8459525B2 (en) | 2008-02-14 | 2013-06-11 | Ethicon Endo-Sugery, Inc. | Motorized surgical cutting and fastening instrument having a magnetic drive train torque limiting device |
| US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
| US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
| US8584919B2 (en) | 2008-02-14 | 2013-11-19 | Ethicon Endo-Sugery, Inc. | Surgical stapling apparatus with load-sensitive firing mechanism |
| US8752749B2 (en) | 2008-02-14 | 2014-06-17 | Ethicon Endo-Surgery, Inc. | Robotically-controlled disposable motor-driven loading unit |
| US7861906B2 (en) | 2008-02-14 | 2011-01-04 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with articulatable components |
| US11272927B2 (en) | 2008-02-15 | 2022-03-15 | Cilag Gmbh International | Layer arrangements for surgical staple cartridges |
| US9615826B2 (en) | 2010-09-30 | 2017-04-11 | Ethicon Endo-Surgery, Llc | Multiple thickness implantable layers for surgical stapling devices |
| KR101016102B1 (ko) * | 2008-05-30 | 2011-02-17 | 정창욱 | 최소 침습 수술 도구 |
| KR101056204B1 (ko) * | 2008-06-27 | 2011-08-11 | 정창욱 | 최소 침습 수술 도구 |
| KR101056232B1 (ko) * | 2008-09-12 | 2011-08-11 | 정창욱 | 최소 침습 수술 도구 및 그 사용 방법 |
| PL3476312T3 (pl) | 2008-09-19 | 2024-03-11 | Ethicon Llc | Stapler chirurgiczny z urządzeniem do dopasowania wysokości zszywek |
| US7832612B2 (en) | 2008-09-19 | 2010-11-16 | Ethicon Endo-Surgery, Inc. | Lockout arrangement for a surgical stapler |
| US8210411B2 (en) | 2008-09-23 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument |
| US9386983B2 (en) | 2008-09-23 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Robotically-controlled motorized surgical instrument |
| US9005230B2 (en) | 2008-09-23 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
| US9050083B2 (en) | 2008-09-23 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
| US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
| US8608045B2 (en) | 2008-10-10 | 2013-12-17 | Ethicon Endo-Sugery, Inc. | Powered surgical cutting and stapling apparatus with manually retractable firing system |
| US8517239B2 (en) | 2009-02-05 | 2013-08-27 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument comprising a magnetic element driver |
| US8414577B2 (en) | 2009-02-05 | 2013-04-09 | Ethicon Endo-Surgery, Inc. | Surgical instruments and components for use in sterile environments |
| US8397971B2 (en) | 2009-02-05 | 2013-03-19 | Ethicon Endo-Surgery, Inc. | Sterilizable surgical instrument |
| BRPI1008667A2 (pt) | 2009-02-06 | 2016-03-08 | Ethicom Endo Surgery Inc | aperfeiçoamento do grampeador cirúrgico acionado |
| US8444036B2 (en) | 2009-02-06 | 2013-05-21 | Ethicon Endo-Surgery, Inc. | Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector |
| US8220688B2 (en) | 2009-12-24 | 2012-07-17 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument with electric actuator directional control assembly |
| US8851354B2 (en) | 2009-12-24 | 2014-10-07 | Ethicon Endo-Surgery, Inc. | Surgical cutting instrument that analyzes tissue thickness |
| US8267300B2 (en) | 2009-12-30 | 2012-09-18 | Ethicon Endo-Surgery, Inc. | Dampening device for endoscopic surgical stapler |
| US8074859B2 (en) | 2010-03-31 | 2011-12-13 | Tyco Healthcare Group Lp | Surgical instrument |
| US8783543B2 (en) | 2010-07-30 | 2014-07-22 | Ethicon Endo-Surgery, Inc. | Tissue acquisition arrangements and methods for surgical stapling devices |
| US20120078244A1 (en) | 2010-09-24 | 2012-03-29 | Worrell Barry C | Control features for articulating surgical device |
| US9241714B2 (en) | 2011-04-29 | 2016-01-26 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator and method for making the same |
| US9301752B2 (en) | 2010-09-30 | 2016-04-05 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising a plurality of capsules |
| US9220501B2 (en) | 2010-09-30 | 2015-12-29 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensators |
| US9314246B2 (en) | 2010-09-30 | 2016-04-19 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent |
| US9700317B2 (en) | 2010-09-30 | 2017-07-11 | Ethicon Endo-Surgery, Llc | Fastener cartridge comprising a releasable tissue thickness compensator |
| US9364233B2 (en) | 2010-09-30 | 2016-06-14 | Ethicon Endo-Surgery, Llc | Tissue thickness compensators for circular surgical staplers |
| US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
| US9307989B2 (en) | 2012-03-28 | 2016-04-12 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorportating a hydrophobic agent |
| US11925354B2 (en) | 2010-09-30 | 2024-03-12 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
| US9320523B2 (en) | 2012-03-28 | 2016-04-26 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising tissue ingrowth features |
| US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
| US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
| US8893949B2 (en) | 2010-09-30 | 2014-11-25 | Ethicon Endo-Surgery, Inc. | Surgical stapler with floating anvil |
| US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
| US9332974B2 (en) | 2010-09-30 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Layered tissue thickness compensator |
| US9204880B2 (en) | 2012-03-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising capsules defining a low pressure environment |
| US9517063B2 (en) | 2012-03-28 | 2016-12-13 | Ethicon Endo-Surgery, Llc | Movable member for use with a tissue thickness compensator |
| US20120080498A1 (en) | 2010-09-30 | 2012-04-05 | Ethicon Endo-Surgery, Inc. | Curved end effector for a stapling instrument |
| RU2013119928A (ru) | 2010-09-30 | 2014-11-10 | Этикон Эндо-Серджери, Инк. | Сшивающая система, содержащая удерживающую матрицу и выравнивающую матрицу |
| US9016542B2 (en) | 2010-09-30 | 2015-04-28 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising compressible distortion resistant components |
| US9277919B2 (en) | 2010-09-30 | 2016-03-08 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising fibers to produce a resilient load |
| US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
| WO2012074564A1 (en) | 2010-12-02 | 2012-06-07 | Freehand Endoscopic Devices, Inc. | Surgical tool |
| JP5669590B2 (ja) | 2011-01-20 | 2015-02-12 | オリンパス株式会社 | マスタスレーブマニピュレータ及び医療用マスタスレーブマニピュレータ |
| DE102011011497A1 (de) * | 2011-02-17 | 2012-08-23 | Kuka Roboter Gmbh | Chirurgisches Instrument |
| JP2012187311A (ja) | 2011-03-11 | 2012-10-04 | Olympus Corp | 医療用処置具およびマニピュレータ |
| AU2012250197B2 (en) | 2011-04-29 | 2017-08-10 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising staples positioned within a compressible portion thereof |
| US11207064B2 (en) | 2011-05-27 | 2021-12-28 | Cilag Gmbh International | Automated end effector component reloading system for use with a robotic system |
| US9050084B2 (en) | 2011-09-23 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Staple cartridge including collapsible deck arrangement |
| JP5856817B2 (ja) | 2011-11-16 | 2016-02-10 | オリンパス株式会社 | 医療用処置具およびこれを備えるマニピュレータ |
| EP2781195B1 (en) | 2011-11-16 | 2016-10-26 | Olympus Corporation | Medical instrument |
| US9044230B2 (en) | 2012-02-13 | 2015-06-02 | Ethicon Endo-Surgery, Inc. | Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status |
| BR112014024098B1 (pt) | 2012-03-28 | 2021-05-25 | Ethicon Endo-Surgery, Inc. | cartucho de grampos |
| US9198662B2 (en) | 2012-03-28 | 2015-12-01 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator having improved visibility |
| BR112014024102B1 (pt) | 2012-03-28 | 2022-03-03 | Ethicon Endo-Surgery, Inc | Conjunto de cartucho de prendedores para um instrumento cirúrgico, e conjunto de atuador de extremidade para um instrumento cirúrgico |
| MX353040B (es) | 2012-03-28 | 2017-12-18 | Ethicon Endo Surgery Inc | Unidad retenedora que incluye un compensador de grosor de tejido. |
| US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
| US9119657B2 (en) | 2012-06-28 | 2015-09-01 | Ethicon Endo-Surgery, Inc. | Rotary actuatable closure arrangement for surgical end effector |
| JP6290201B2 (ja) | 2012-06-28 | 2018-03-07 | 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． | 空クリップカートリッジ用のロックアウト |
| US9649111B2 (en) | 2012-06-28 | 2017-05-16 | Ethicon Endo-Surgery, Llc | Replaceable clip cartridge for a clip applier |
| BR112014032776B1 (pt) | 2012-06-28 | 2021-09-08 | Ethicon Endo-Surgery, Inc | Sistema de instrumento cirúrgico e kit cirúrgico para uso com um sistema de instrumento cirúrgico |
| US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
| US11278284B2 (en) | 2012-06-28 | 2022-03-22 | Cilag Gmbh International | Rotary drive arrangements for surgical instruments |
| US20140005718A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Multi-functional powered surgical device with external dissection features |
| US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
| US9561038B2 (en) | 2012-06-28 | 2017-02-07 | Ethicon Endo-Surgery, Llc | Interchangeable clip applier |
| US9125662B2 (en) | 2012-06-28 | 2015-09-08 | Ethicon Endo-Surgery, Inc. | Multi-axis articulating and rotating surgical tools |
| US9072536B2 (en) | 2012-06-28 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Differential locking arrangements for rotary powered surgical instruments |
| US9364230B2 (en) | 2012-06-28 | 2016-06-14 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments with rotary joint assemblies |
| US9028494B2 (en) | 2012-06-28 | 2015-05-12 | Ethicon Endo-Surgery, Inc. | Interchangeable end effector coupling arrangement |
| US8747238B2 (en) | 2012-06-28 | 2014-06-10 | Ethicon Endo-Surgery, Inc. | Rotary drive shaft assemblies for surgical instruments with articulatable end effectors |
| US9101385B2 (en) | 2012-06-28 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Electrode connections for rotary driven surgical tools |
| US20140005702A1 (en) * | 2012-06-29 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instruments with distally positioned transducers |
| DE102012212510B4 (de) * | 2012-07-17 | 2014-02-13 | Richard Wolf Gmbh | Endoskopisches Instrument |
| US9386984B2 (en) | 2013-02-08 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Staple cartridge comprising a releasable cover |
| US20140243887A1 (en) * | 2013-02-26 | 2014-08-28 | Snu R&Db Foundation | Surgical Operation by Wire Type Surgical Operation Apparatus |
| US10092292B2 (en) | 2013-02-28 | 2018-10-09 | Ethicon Llc | Staple forming features for surgical stapling instrument |
| JP6345707B2 (ja) | 2013-03-01 | 2018-06-20 | 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． | ソフトストップを備えた外科用器具 |
| US9358003B2 (en) | 2013-03-01 | 2016-06-07 | Ethicon Endo-Surgery, Llc | Electromechanical surgical device with signal relay arrangement |
| MX368026B (es) | 2013-03-01 | 2019-09-12 | Ethicon Endo Surgery Inc | Instrumento quirúrgico articulable con vías conductoras para la comunicación de la señal. |
| US9345481B2 (en) | 2013-03-13 | 2016-05-24 | Ethicon Endo-Surgery, Llc | Staple cartridge tissue thickness sensor system |
| US9629629B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgey, LLC | Control systems for surgical instruments |
| US20140263541A1 (en) | 2013-03-14 | 2014-09-18 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising an articulation lock |
| US9795384B2 (en) | 2013-03-27 | 2017-10-24 | Ethicon Llc | Fastener cartridge comprising a tissue thickness compensator and a gap setting element |
| US9572577B2 (en) | 2013-03-27 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Fastener cartridge comprising a tissue thickness compensator including openings therein |
| US9332984B2 (en) | 2013-03-27 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Fastener cartridge assemblies |
| US10149680B2 (en) | 2013-04-16 | 2018-12-11 | Ethicon Llc | Surgical instrument comprising a gap setting system |
| BR112015026109B1 (pt) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | Instrumento cirúrgico |
| EP2801984B1 (de) * | 2013-05-08 | 2018-11-14 | Schleuniger Holding AG | Greifer, Verdrillkopf und Verdrillvorrichtung |
| US9574644B2 (en) | 2013-05-30 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Power module for use with a surgical instrument |
| US20160113732A1 (en) * | 2013-06-10 | 2016-04-28 | Agile Endosurgery, Inc. | Surgical tool |
| JP6416260B2 (ja) | 2013-08-23 | 2018-10-31 | エシコン エルエルシー | 動力付き外科用器具のための発射部材後退装置 |
| US9775609B2 (en) | 2013-08-23 | 2017-10-03 | Ethicon Llc | Tamper proof circuit for surgical instrument battery pack |
| DE102014117393A1 (de) * | 2013-12-19 | 2015-06-25 | Karl Storz Gmbh & Co. Kg | Dreh- und abwinkelbares medizinisches Instrument |
| US9724092B2 (en) | 2013-12-23 | 2017-08-08 | Ethicon Llc | Modular surgical instruments |
| US20150173756A1 (en) | 2013-12-23 | 2015-06-25 | Ethicon Endo-Surgery, Inc. | Surgical cutting and stapling methods |
| US9763662B2 (en) | 2013-12-23 | 2017-09-19 | Ethicon Llc | Fastener cartridge comprising a firing member configured to directly engage and eject fasteners from the fastener cartridge |
| US9839428B2 (en) | 2013-12-23 | 2017-12-12 | Ethicon Llc | Surgical cutting and stapling instruments with independent jaw control features |
| US9962161B2 (en) | 2014-02-12 | 2018-05-08 | Ethicon Llc | Deliverable surgical instrument |
| US20140166726A1 (en) | 2014-02-24 | 2014-06-19 | Ethicon Endo-Surgery, Inc. | Staple cartridge including a barbed staple |
| JP6462004B2 (ja) | 2014-02-24 | 2019-01-30 | エシコン エルエルシー | 発射部材ロックアウトを備える締結システム |
| BR112016021943B1 (pt) | 2014-03-26 | 2022-06-14 | Ethicon Endo-Surgery, Llc | Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico |
| US20150272571A1 (en) | 2014-03-26 | 2015-10-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument utilizing sensor adaptation |
| US9690362B2 (en) | 2014-03-26 | 2017-06-27 | Ethicon Llc | Surgical instrument control circuit having a safety processor |
| US10004497B2 (en) | 2014-03-26 | 2018-06-26 | Ethicon Llc | Interface systems for use with surgical instruments |
| US9913642B2 (en) | 2014-03-26 | 2018-03-13 | Ethicon Llc | Surgical instrument comprising a sensor system |
| US9549750B2 (en) * | 2014-03-31 | 2017-01-24 | Ethicon Endo-Surgery, Llc | Surgical devices with articulating end effectors and methods of using surgical devices with articulating end effectors |
| CN106456159B (zh) | 2014-04-16 | 2019-03-08 | 伊西康内外科有限责任公司 | 紧固件仓组件和钉保持器盖布置结构 |
| 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 |
| CN106456158B (zh) | 2014-04-16 | 2019-02-05 | 伊西康内外科有限责任公司 | 包括非一致紧固件的紧固件仓 |
| US10327764B2 (en) | 2014-09-26 | 2019-06-25 | Ethicon Llc | Method 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 |
| US10470768B2 (en) | 2014-04-16 | 2019-11-12 | Ethicon Llc | Fastener cartridge including a layer attached thereto |
| US10045781B2 (en) | 2014-06-13 | 2018-08-14 | Ethicon Llc | Closure lockout systems for surgical instruments |
| US9795380B2 (en) * | 2014-09-02 | 2017-10-24 | Ethicon Llc | Devices and methods for facilitating closing and clamping of an end effector of a surgical device |
| US10016199B2 (en) | 2014-09-05 | 2018-07-10 | Ethicon Llc | Polarity of hall magnet to identify cartridge type |
| BR112017004361B1 (pt) | 2014-09-05 | 2023-04-11 | Ethicon Llc | Sistema eletrônico para um instrumento cirúrgico |
| US11311294B2 (en) | 2014-09-05 | 2022-04-26 | Cilag Gmbh International | Powered medical device including measurement of closure state of jaws |
| US10105142B2 (en) | 2014-09-18 | 2018-10-23 | Ethicon Llc | Surgical stapler with plurality of cutting elements |
| JP6648119B2 (ja) | 2014-09-26 | 2020-02-14 | エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ | 外科ステープル留めバットレス及び付属物材料 |
| US11523821B2 (en) | 2014-09-26 | 2022-12-13 | Cilag Gmbh International | Method for creating a flexible staple line |
| US10076325B2 (en) | 2014-10-13 | 2018-09-18 | Ethicon Llc | Surgical stapling apparatus comprising a tissue stop |
| 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 |
| US11141153B2 (en) | 2014-10-29 | 2021-10-12 | Cilag Gmbh International | Staple cartridges comprising driver arrangements |
| US9844376B2 (en) | 2014-11-06 | 2017-12-19 | Ethicon Llc | Staple cartridge comprising a releasable adjunct material |
| US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument system |
| US10117649B2 (en) | 2014-12-18 | 2018-11-06 | Ethicon Llc | Surgical instrument assembly comprising a lockable articulation system |
| US9844375B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Drive arrangements for articulatable surgical instruments |
| US9844374B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member |
| US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
| US9968355B2 (en) | 2014-12-18 | 2018-05-15 | Ethicon Llc | Surgical instruments with articulatable end effectors and improved firing beam support arrangements |
| US10188385B2 (en) | 2014-12-18 | 2019-01-29 | Ethicon Llc | Surgical instrument system comprising lockable systems |
| 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. |
| US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
| JP6033516B1 (ja) * | 2015-02-26 | 2016-11-30 | オリンパス株式会社 | 医療用処置具 |
| US10226250B2 (en) | 2015-02-27 | 2019-03-12 | Ethicon Llc | Modular stapling assembly |
| US10180463B2 (en) | 2015-02-27 | 2019-01-15 | Ethicon Llc | Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band |
| US11154301B2 (en) | 2015-02-27 | 2021-10-26 | Cilag Gmbh International | Modular stapling assembly |
| US10045779B2 (en) | 2015-02-27 | 2018-08-14 | Ethicon Llc | Surgical instrument system comprising an inspection station |
| US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of powered surgical instruments |
| US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
| US9808246B2 (en) | 2015-03-06 | 2017-11-07 | Ethicon Endo-Surgery, Llc | Method of operating a powered surgical instrument |
| US9924961B2 (en) | 2015-03-06 | 2018-03-27 | Ethicon Endo-Surgery, Llc | Interactive feedback system for powered surgical instruments |
| US9895148B2 (en) | 2015-03-06 | 2018-02-20 | Ethicon Endo-Surgery, Llc | Monitoring speed control and precision incrementing of motor for powered surgical instruments |
| US10045776B2 (en) | 2015-03-06 | 2018-08-14 | Ethicon Llc | Control techniques and sub-processor contained within modular shaft with select control processing from handle |
| US10548504B2 (en) | 2015-03-06 | 2020-02-04 | Ethicon Llc | Overlaid multi sensor radio frequency (RF) electrode system to measure tissue compression |
| US10245033B2 (en) | 2015-03-06 | 2019-04-02 | Ethicon Llc | Surgical instrument comprising a lockable battery housing |
| US10617412B2 (en) | 2015-03-06 | 2020-04-14 | Ethicon Llc | System for detecting the mis-insertion of a staple cartridge into a surgical stapler |
| US10687806B2 (en) | 2015-03-06 | 2020-06-23 | Ethicon Llc | Adaptive tissue compression techniques to adjust closure rates for multiple tissue types |
| US9901342B2 (en) | 2015-03-06 | 2018-02-27 | Ethicon Endo-Surgery, Llc | Signal and power communication system positioned on a rotatable shaft |
| 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 |
| US10213201B2 (en) | 2015-03-31 | 2019-02-26 | Ethicon Llc | Stapling end effector configured to compensate for an uneven gap between a first jaw and a second jaw |
| WO2016194067A1 (ja) | 2015-05-29 | 2016-12-08 | オリンパス株式会社 | 把持機構および把持具 |
| US10154841B2 (en) | 2015-06-18 | 2018-12-18 | Ethicon Llc | Surgical stapling instruments with lockout arrangements for preventing firing system actuation when a cartridge is spent or missing |
| US10617418B2 (en) | 2015-08-17 | 2020-04-14 | Ethicon Llc | Implantable layers for a surgical instrument |
| MX2022009705A (es) | 2015-08-26 | 2022-11-07 | Ethicon Llc | Metodo para formar una grapa contra un yunque de un instrumento de engrapado quirurgico. |
| JP6828018B2 (ja) | 2015-08-26 | 2021-02-10 | エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ | ステープルの特性変更を可能にし、カートリッジへの充填を容易にする外科用ステープルストリップ |
| US10213203B2 (en) | 2015-08-26 | 2019-02-26 | Ethicon Llc | Staple cartridge assembly without a bottom cover |
| MX2022006192A (es) | 2015-09-02 | 2022-06-16 | Ethicon Llc | Configuraciones de grapas quirurgicas con superficies de leva situadas entre porciones que soportan grapas quirurgicas. |
| US10314587B2 (en) | 2015-09-02 | 2019-06-11 | Ethicon Llc | Surgical staple cartridge with improved staple driver configurations |
| US10363036B2 (en) | 2015-09-23 | 2019-07-30 | Ethicon Llc | Surgical stapler having force-based motor control |
| US10076326B2 (en) | 2015-09-23 | 2018-09-18 | Ethicon Llc | Surgical stapler having current mirror-based motor control |
| US10238386B2 (en) | 2015-09-23 | 2019-03-26 | Ethicon Llc | Surgical stapler having motor control based on an electrical parameter related to a motor current |
| US10327769B2 (en) | 2015-09-23 | 2019-06-25 | Ethicon Llc | Surgical stapler having motor control based on a drive system component |
| US10105139B2 (en) | 2015-09-23 | 2018-10-23 | Ethicon Llc | Surgical stapler having downstream current-based motor control |
| US10085751B2 (en) | 2015-09-23 | 2018-10-02 | Ethicon Llc | Surgical stapler having temperature-based motor control |
| US10299878B2 (en) | 2015-09-25 | 2019-05-28 | Ethicon Llc | Implantable adjunct systems for determining adjunct skew |
| US10736633B2 (en) | 2015-09-30 | 2020-08-11 | Ethicon Llc | Compressible adjunct with looping members |
| US10980539B2 (en) | 2015-09-30 | 2021-04-20 | Ethicon Llc | Implantable adjunct comprising bonded layers |
| US10561420B2 (en) | 2015-09-30 | 2020-02-18 | Ethicon Llc | Tubular absorbable constructs |
| US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
| KR102597849B1 (ko) * | 2015-11-11 | 2023-11-03 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 재구성 가능한 엔드 이펙터 구조 |
| CN105388792B (zh) * | 2015-12-04 | 2017-11-10 | 上海交通大学 | 用于机器人抓手的夹持性能调控系统及其方法 |
| GB201521809D0 (en) * | 2015-12-10 | 2016-01-27 | Cambridge Medical Robotics Ltd | Symmetrically arranged surgical instrument articulation |
| US10265068B2 (en) | 2015-12-30 | 2019-04-23 | Ethicon Llc | Surgical instruments with separable motors and motor control circuits |
| US10368865B2 (en) | 2015-12-30 | 2019-08-06 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
| US10292704B2 (en) | 2015-12-30 | 2019-05-21 | Ethicon Llc | Mechanisms for compensating for battery pack failure in powered surgical instruments |
| CN108882932B (zh) | 2016-02-09 | 2021-07-23 | 伊西康有限责任公司 | 具有非对称关节运动构造的外科器械 |
| US10413291B2 (en) | 2016-02-09 | 2019-09-17 | Ethicon Llc | Surgical instrument articulation mechanism with slotted secondary constraint |
| US11213293B2 (en) | 2016-02-09 | 2022-01-04 | Cilag Gmbh International | Articulatable surgical instruments with single articulation link arrangements |
| US10258331B2 (en) | 2016-02-12 | 2019-04-16 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
| US10448948B2 (en) | 2016-02-12 | 2019-10-22 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
| US11224426B2 (en) | 2016-02-12 | 2022-01-18 | Cilag Gmbh International | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
| US10376263B2 (en) | 2016-04-01 | 2019-08-13 | Ethicon Llc | Anvil modification members for surgical staplers |
| US10617413B2 (en) | 2016-04-01 | 2020-04-14 | Ethicon Llc | Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts |
| US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
| US10426467B2 (en) | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
| US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
| US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
| US11179150B2 (en) | 2016-04-15 | 2021-11-23 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
| US10335145B2 (en) | 2016-04-15 | 2019-07-02 | Ethicon Llc | Modular surgical instrument with configurable operating mode |
| US10405859B2 (en) | 2016-04-15 | 2019-09-10 | Ethicon Llc | Surgical instrument with adjustable stop/start control during a firing motion |
| US10456137B2 (en) | 2016-04-15 | 2019-10-29 | Ethicon Llc | Staple formation detection mechanisms |
| US10492783B2 (en) | 2016-04-15 | 2019-12-03 | Ethicon, Llc | Surgical instrument with improved stop/start control during a firing motion |
| US10363037B2 (en) | 2016-04-18 | 2019-07-30 | Ethicon Llc | Surgical instrument system comprising a magnetic lockout |
| US11317917B2 (en) | 2016-04-18 | 2022-05-03 | Cilag Gmbh International | Surgical stapling system comprising a lockable firing assembly |
| US20170296173A1 (en) | 2016-04-18 | 2017-10-19 | Ethicon Endo-Surgery, Llc | Method for operating a surgical instrument |
| WO2017195246A1 (ja) | 2016-05-09 | 2017-11-16 | オリンパス株式会社 | 把持機構および把持具 |
| JPWO2017208320A1 (ja) * | 2016-05-31 | 2019-03-22 | オリンパス株式会社 | 把持機構および把持具 |
| DE112016006761T5 (de) | 2016-06-08 | 2019-01-03 | Olympus Corporation | Greifmechanismus und Greifwerkzeug |
| USD850617S1 (en) | 2016-06-24 | 2019-06-04 | Ethicon Llc | Surgical fastener cartridge |
| USD826405S1 (en) | 2016-06-24 | 2018-08-21 | Ethicon Llc | Surgical fastener |
| USD847989S1 (en) | 2016-06-24 | 2019-05-07 | Ethicon Llc | Surgical fastener cartridge |
| US10675024B2 (en) | 2016-06-24 | 2020-06-09 | Ethicon Llc | Staple cartridge comprising overdriven staples |
| JP6957532B2 (ja) | 2016-06-24 | 2021-11-02 | エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ | ワイヤステープル及び打ち抜き加工ステープルを含むステープルカートリッジ |
| GB2554915B (en) * | 2016-10-14 | 2022-03-02 | Cmr Surgical Ltd | Driving arrangement for articulating a surgical instrument |
| WO2018096689A1 (ja) | 2016-11-28 | 2018-05-31 | オリンパス株式会社 | 医療用処置具 |
| US11090048B2 (en) | 2016-12-21 | 2021-08-17 | Cilag Gmbh International | Method for resetting a fuse of a surgical instrument shaft |
| US20180168633A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments and staple-forming anvils |
| US10758230B2 (en) | 2016-12-21 | 2020-09-01 | Ethicon Llc | Surgical instrument with primary and safety processors |
| US10945727B2 (en) | 2016-12-21 | 2021-03-16 | Ethicon Llc | Staple cartridge with deformable driver retention features |
| US10687810B2 (en) | 2016-12-21 | 2020-06-23 | Ethicon Llc | Stepped staple cartridge with tissue retention and gap setting features |
| US10426471B2 (en) | 2016-12-21 | 2019-10-01 | Ethicon Llc | Surgical instrument with multiple failure response modes |
| US11419606B2 (en) | 2016-12-21 | 2022-08-23 | Cilag Gmbh International | Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems |
| US10639035B2 (en) | 2016-12-21 | 2020-05-05 | Ethicon Llc | Surgical stapling instruments and replaceable tool assemblies thereof |
| US10993715B2 (en) | 2016-12-21 | 2021-05-04 | Ethicon Llc | Staple cartridge comprising staples with different clamping breadths |
| US20180168648A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Durability features for end effectors and firing assemblies of surgical stapling instruments |
| US10682138B2 (en) | 2016-12-21 | 2020-06-16 | Ethicon Llc | Bilaterally asymmetric staple forming pocket pairs |
| MX2019007295A (es) | 2016-12-21 | 2019-10-15 | Ethicon Llc | Sistema de instrumento quirúrgico que comprende un bloqueo del efector de extremo y un bloqueo de la unidad de disparo. |
| US11134942B2 (en) | 2016-12-21 | 2021-10-05 | Cilag Gmbh International | Surgical stapling instruments and staple-forming anvils |
| US10667809B2 (en) | 2016-12-21 | 2020-06-02 | Ethicon Llc | Staple cartridge and staple cartridge channel comprising windows defined therein |
| US10588631B2 (en) | 2016-12-21 | 2020-03-17 | Ethicon Llc | Surgical instruments with positive jaw opening features |
| US10835245B2 (en) | 2016-12-21 | 2020-11-17 | Ethicon Llc | Method for attaching a shaft assembly to a surgical instrument and, alternatively, to a surgical robot |
| US11684367B2 (en) | 2016-12-21 | 2023-06-27 | Cilag Gmbh International | Stepped assembly having and end-of-life indicator |
| US10448950B2 (en) | 2016-12-21 | 2019-10-22 | Ethicon Llc | Surgical staplers with independently actuatable closing and firing systems |
| US10758229B2 (en) | 2016-12-21 | 2020-09-01 | Ethicon Llc | Surgical instrument comprising improved jaw control |
| US10779823B2 (en) | 2016-12-21 | 2020-09-22 | Ethicon Llc | Firing member pin angle |
| US20180168615A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Method of deforming staples from two different types of staple cartridges with the same surgical stapling 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 |
| JP6983893B2 (ja) | 2016-12-21 | 2021-12-17 | エシコン エルエルシーEthicon LLC | 外科用エンドエフェクタ及び交換式ツールアセンブリのためのロックアウト構成 |
| BR112019011947A2 (pt) | 2016-12-21 | 2019-10-29 | Ethicon Llc | sistemas de grampeamento cirúrgico |
| US10524789B2 (en) | 2016-12-21 | 2020-01-07 | Ethicon Llc | Laterally actuatable articulation lock arrangements for locking an end effector of a surgical instrument in an articulated configuration |
| USD879809S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with changeable graphical user interface |
| US10881396B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Surgical instrument with variable duration trigger arrangement |
| US11090046B2 (en) | 2017-06-20 | 2021-08-17 | Cilag Gmbh International | Systems and methods for controlling displacement member motion 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 |
| US10327767B2 (en) | 2017-06-20 | 2019-06-25 | Ethicon Llc | Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation |
| 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 |
| US10624633B2 (en) | 2017-06-20 | 2020-04-21 | Ethicon Llc | Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument |
| US10646220B2 (en) | 2017-06-20 | 2020-05-12 | Ethicon Llc | Systems and methods for controlling displacement member velocity for a surgical instrument |
| USD879808S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with graphical user interface |
| US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument |
| US10980537B2 (en) | 2017-06-20 | 2021-04-20 | Ethicon Llc | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations |
| 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 |
| US10390841B2 (en) | 2017-06-20 | 2019-08-27 | Ethicon Llc | Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation |
| USD890784S1 (en) | 2017-06-20 | 2020-07-21 | Ethicon Llc | Display panel with changeable graphical user interface |
| US10368864B2 (en) | 2017-06-20 | 2019-08-06 | Ethicon Llc | Systems and methods for controlling displaying motor velocity for a surgical instrument |
| US10888321B2 (en) | 2017-06-20 | 2021-01-12 | Ethicon Llc | Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument |
| US10813639B2 (en) | 2017-06-20 | 2020-10-27 | Ethicon Llc | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions |
| US11382638B2 (en) | 2017-06-20 | 2022-07-12 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance |
| US11517325B2 (en) | 2017-06-20 | 2022-12-06 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval |
| US11071554B2 (en) | 2017-06-20 | 2021-07-27 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements |
| US10772629B2 (en) | 2017-06-27 | 2020-09-15 | Ethicon Llc | Surgical anvil arrangements |
| US20180368844A1 (en) | 2017-06-27 | 2018-12-27 | Ethicon Llc | Staple forming pocket arrangements |
| US11324503B2 (en) | 2017-06-27 | 2022-05-10 | Cilag Gmbh International | Surgical firing member arrangements |
| US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
| US11266405B2 (en) | 2017-06-27 | 2022-03-08 | Cilag Gmbh International | Surgical anvil manufacturing methods |
| US10856869B2 (en) | 2017-06-27 | 2020-12-08 | Ethicon Llc | Surgical anvil arrangements |
| US10765427B2 (en) | 2017-06-28 | 2020-09-08 | Ethicon Llc | Method for articulating a surgical instrument |
| USD906355S1 (en) | 2017-06-28 | 2020-12-29 | Ethicon Llc | Display screen or portion thereof with a graphical user interface for a surgical instrument |
| US10903685B2 (en) | 2017-06-28 | 2021-01-26 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies forming capacitive channels |
| USD869655S1 (en) | 2017-06-28 | 2019-12-10 | Ethicon Llc | Surgical fastener cartridge |
| USD851762S1 (en) | 2017-06-28 | 2019-06-18 | Ethicon Llc | Anvil |
| EP4070740A1 (en) | 2017-06-28 | 2022-10-12 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
| USD854151S1 (en) | 2017-06-28 | 2019-07-16 | Ethicon Llc | Surgical instrument shaft |
| US10716614B2 (en) | 2017-06-28 | 2020-07-21 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies with increased contact pressure |
| US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
| US10695057B2 (en) | 2017-06-28 | 2020-06-30 | Ethicon Llc | Surgical instrument lockout arrangement |
| US11389161B2 (en) | 2017-06-28 | 2022-07-19 | Cilag Gmbh International | Surgical instrument comprising selectively actuatable rotatable couplers |
| US11259805B2 (en) | 2017-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical instrument comprising firing member supports |
| US11246592B2 (en) | 2017-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical instrument comprising an articulation system lockable to a frame |
| US10211586B2 (en) | 2017-06-28 | 2019-02-19 | Ethicon Llc | Surgical shaft assemblies with watertight housings |
| US10898183B2 (en) | 2017-06-29 | 2021-01-26 | Ethicon Llc | Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing |
| US10258418B2 (en) | 2017-06-29 | 2019-04-16 | Ethicon Llc | System for controlling articulation forces |
| US11007022B2 (en) | 2017-06-29 | 2021-05-18 | Ethicon Llc | Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument |
| US10398434B2 (en) | 2017-06-29 | 2019-09-03 | Ethicon Llc | Closed loop velocity control of closure member for robotic surgical instrument |
| US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
| US11944300B2 (en) | 2017-08-03 | 2024-04-02 | Cilag Gmbh International | Method for operating a surgical system bailout |
| US11471155B2 (en) | 2017-08-03 | 2022-10-18 | Cilag Gmbh International | Surgical system bailout |
| US11974742B2 (en) | 2017-08-03 | 2024-05-07 | Cilag Gmbh International | Surgical system comprising an articulation bailout |
| US11304695B2 (en) | 2017-08-03 | 2022-04-19 | Cilag Gmbh International | Surgical system shaft interconnection |
| US10796471B2 (en) | 2017-09-29 | 2020-10-06 | Ethicon Llc | Systems and methods of displaying a knife position for a surgical instrument |
| USD907647S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
| US11399829B2 (en) | 2017-09-29 | 2022-08-02 | Cilag Gmbh International | Systems and methods of initiating a power shutdown mode for a surgical instrument |
| US10729501B2 (en) | 2017-09-29 | 2020-08-04 | Ethicon Llc | Systems and methods for language selection of a surgical instrument |
| USD917500S1 (en) | 2017-09-29 | 2021-04-27 | Ethicon Llc | Display screen or portion thereof with graphical user interface |
| US10765429B2 (en) | 2017-09-29 | 2020-09-08 | Ethicon Llc | Systems and methods for providing alerts according to the operational state of a surgical instrument |
| USD907648S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
| US10743872B2 (en) | 2017-09-29 | 2020-08-18 | Ethicon Llc | System and methods for controlling a display of a surgical instrument |
| US11090075B2 (en) | 2017-10-30 | 2021-08-17 | Cilag Gmbh International | Articulation features for surgical end effector |
| 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 |
| US10779903B2 (en) | 2017-10-31 | 2020-09-22 | Ethicon Llc | Positive shaft rotation lock activated by jaw closure |
| US10687813B2 (en) | 2017-12-15 | 2020-06-23 | Ethicon Llc | Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments |
| US10966718B2 (en) | 2017-12-15 | 2021-04-06 | Ethicon Llc | Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments |
| US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
| US10828033B2 (en) | 2017-12-15 | 2020-11-10 | Ethicon Llc | Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto |
| US11071543B2 (en) | 2017-12-15 | 2021-07-27 | Cilag Gmbh International | Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges |
| US10743875B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member |
| US11197670B2 (en) | 2017-12-15 | 2021-12-14 | Cilag Gmbh International | Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed |
| US10869666B2 (en) | 2017-12-15 | 2020-12-22 | Ethicon Llc | Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument |
| US10743874B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Sealed adapters for use with electromechanical surgical instruments |
| US11033267B2 (en) | 2017-12-15 | 2021-06-15 | Ethicon Llc | Systems and methods of controlling a clamping member firing rate of a surgical instrument |
| US10779825B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments |
| US11006955B2 (en) | 2017-12-15 | 2021-05-18 | Ethicon Llc | End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments |
| US10716565B2 (en) | 2017-12-19 | 2020-07-21 | Ethicon Llc | Surgical instruments with dual articulation drivers |
| US11045270B2 (en) | 2017-12-19 | 2021-06-29 | Cilag Gmbh International | Robotic attachment comprising exterior drive actuator |
| USD910847S1 (en) | 2017-12-19 | 2021-02-16 | Ethicon Llc | Surgical instrument assembly |
| US11020112B2 (en) | 2017-12-19 | 2021-06-01 | Ethicon Llc | Surgical tools configured for interchangeable use with different controller interfaces |
| 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 |
| US10729509B2 (en) | 2017-12-19 | 2020-08-04 | Ethicon Llc | Surgical instrument comprising closure and firing locking mechanism |
| US11076853B2 (en) | 2017-12-21 | 2021-08-03 | Cilag Gmbh International | Systems and methods of displaying a knife position during transection for a surgical instrument |
| US11311290B2 (en) | 2017-12-21 | 2022-04-26 | Cilag Gmbh International | Surgical instrument comprising an end effector dampener |
| US10682134B2 (en) | 2017-12-21 | 2020-06-16 | Ethicon Llc | Continuous use self-propelled stapling instrument |
| US11129680B2 (en) | 2017-12-21 | 2021-09-28 | Cilag Gmbh International | Surgical instrument comprising a projector |
| US11083458B2 (en) | 2018-08-20 | 2021-08-10 | Cilag Gmbh International | Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions |
| US11207065B2 (en) | 2018-08-20 | 2021-12-28 | Cilag Gmbh International | Method for fabricating surgical stapler anvils |
| US10842492B2 (en) | 2018-08-20 | 2020-11-24 | Ethicon Llc | Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system |
| US10912559B2 (en) | 2018-08-20 | 2021-02-09 | Ethicon Llc | Reinforced deformable anvil tip for surgical stapler anvil |
| US11045192B2 (en) | 2018-08-20 | 2021-06-29 | Cilag Gmbh International | Fabricating techniques for surgical stapler anvils |
| US11253256B2 (en) | 2018-08-20 | 2022-02-22 | Cilag Gmbh International | Articulatable motor powered surgical instruments with dedicated articulation motor arrangements |
| US11039834B2 (en) | 2018-08-20 | 2021-06-22 | Cilag Gmbh International | Surgical stapler anvils with staple directing protrusions and tissue stability features |
| US10856870B2 (en) | 2018-08-20 | 2020-12-08 | Ethicon Llc | Switching arrangements for motor powered articulatable surgical instruments |
| US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
| USD914878S1 (en) | 2018-08-20 | 2021-03-30 | Ethicon Llc | Surgical instrument anvil |
| US10779821B2 (en) | 2018-08-20 | 2020-09-22 | Ethicon Llc | Surgical stapler anvils with tissue stop features configured to avoid tissue pinch |
| US11291440B2 (en) | 2018-08-20 | 2022-04-05 | Cilag Gmbh International | Method for operating a powered articulatable surgical instrument |
| US11659909B2 (en) * | 2018-08-29 | 2023-05-30 | Dongguan Bidisco Electric Co., Ltd. | Multifunctional hair straightening and curling device |
| US11147551B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
| US11696761B2 (en) | 2019-03-25 | 2023-07-11 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
| US11147553B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
| US11172929B2 (en) | 2019-03-25 | 2021-11-16 | Cilag Gmbh International | Articulation drive arrangements for surgical systems |
| US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin for a surgical instrument |
| US11471157B2 (en) | 2019-04-30 | 2022-10-18 | Cilag Gmbh International | Articulation control mapping for a surgical instrument |
| US11452528B2 (en) | 2019-04-30 | 2022-09-27 | Cilag Gmbh International | Articulation actuators for a surgical instrument |
| US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for a surgical instrument |
| US11903581B2 (en) | 2019-04-30 | 2024-02-20 | Cilag Gmbh International | Methods for stapling tissue using a surgical instrument |
| US11253254B2 (en) | 2019-04-30 | 2022-02-22 | Cilag Gmbh International | Shaft rotation actuator on a surgical instrument |
| US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
| US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
| US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
| US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
| US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
| US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
| US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
| US11241235B2 (en) | 2019-06-28 | 2022-02-08 | Cilag Gmbh International | Method of using multiple RFID chips with a surgical assembly |
| US11298127B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Interational | Surgical stapling system having a lockout mechanism for an incompatible cartridge |
| US11291451B2 (en) | 2019-06-28 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with battery compatibility verification functionality |
| US11219455B2 (en) | 2019-06-28 | 2022-01-11 | Cilag Gmbh International | Surgical instrument including a lockout key |
| US11051807B2 (en) | 2019-06-28 | 2021-07-06 | Cilag Gmbh International | Packaging assembly including a particulate trap |
| US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
| US11246678B2 (en) | 2019-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical stapling system having a frangible RFID tag |
| US12004740B2 (en) | 2019-06-28 | 2024-06-11 | Cilag Gmbh International | Surgical stapling system having an information decryption protocol |
| US11298132B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Inlernational | Staple cartridge including a honeycomb extension |
| US11259803B2 (en) | 2019-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling system having an information encryption protocol |
| US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
| US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
| US11399837B2 (en) | 2019-06-28 | 2022-08-02 | Cilag Gmbh International | Mechanisms for motor control adjustments of a motorized surgical instrument |
| US11224497B2 (en) | 2019-06-28 | 2022-01-18 | Cilag Gmbh International | Surgical systems with multiple RFID tags |
| US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
| US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
| US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
| US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
| US11931033B2 (en) | 2019-12-19 | 2024-03-19 | Cilag Gmbh International | Staple cartridge comprising a latch lockout |
| 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 |
| US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
| US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
| US11911032B2 (en) | 2019-12-19 | 2024-02-27 | Cilag Gmbh International | Staple cartridge comprising a seating cam |
| US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
| US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
| US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
| US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
| US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
| US11234698B2 (en) | 2019-12-19 | 2022-02-01 | Cilag Gmbh International | Stapling system comprising a clamp lockout and a firing lockout |
| US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
| US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
| US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
| US12035913B2 (en) | 2019-12-19 | 2024-07-16 | Cilag Gmbh International | Staple cartridge comprising a deployable knife |
| USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
| USD975851S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
| USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
| USD967421S1 (en) | 2020-06-02 | 2022-10-18 | Cilag Gmbh International | Staple cartridge |
| USD966512S1 (en) | 2020-06-02 | 2022-10-11 | Cilag Gmbh International | Staple cartridge |
| USD975278S1 (en) | 2020-06-02 | 2023-01-10 | Cilag Gmbh International | Staple cartridge |
| USD976401S1 (en) | 2020-06-02 | 2023-01-24 | Cilag Gmbh International | Staple cartridge |
| US11660090B2 (en) | 2020-07-28 | 2023-05-30 | Cllag GmbH International | Surgical instruments with segmented flexible drive arrangements |
| US11813219B2 (en) * | 2020-09-02 | 2023-11-14 | Ford Global Technologies, Llc | Powered exoskeleton wrist component |
| US11844518B2 (en) | 2020-10-29 | 2023-12-19 | Cilag Gmbh International | Method for operating a surgical instrument |
| US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
| US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
| USD980425S1 (en) | 2020-10-29 | 2023-03-07 | Cilag Gmbh International | Surgical instrument assembly |
| US12053175B2 (en) | 2020-10-29 | 2024-08-06 | Cilag Gmbh International | Surgical instrument comprising a stowed closure actuator stop |
| 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 |
| US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
| US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
| US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
| US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
| USD1013170S1 (en) | 2020-10-29 | 2024-01-30 | Cilag Gmbh International | Surgical instrument assembly |
| US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
| US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
| US11678882B2 (en) | 2020-12-02 | 2023-06-20 | Cilag Gmbh International | Surgical instruments with interactive features to remedy incidental sled movements |
| US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
| US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
| US11744581B2 (en) | 2020-12-02 | 2023-09-05 | Cilag Gmbh International | Powered surgical instruments with multi-phase tissue treatment |
| 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 |
| US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
| US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
| US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
| US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
| US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
| US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
| US11812964B2 (en) | 2021-02-26 | 2023-11-14 | Cilag Gmbh International | Staple cartridge comprising a power management circuit |
| US11950779B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Method of powering and communicating with a staple cartridge |
| 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 |
| US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
| US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
| US11950777B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Staple cartridge comprising an information access control system |
| US11980362B2 (en) | 2021-02-26 | 2024-05-14 | Cilag Gmbh International | Surgical instrument system comprising a power transfer coil |
| US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
| US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
| 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 |
| US11826012B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising a pulsed motor-driven firing rack |
| 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 |
| US12102323B2 (en) | 2021-03-24 | 2024-10-01 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising a floatable component |
| 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 |
| US11786239B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Surgical instrument articulation joint arrangements comprising multiple moving linkage features |
| US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
| 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 |
| US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
| US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
| US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
| US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
| US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
| US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
| US11903582B2 (en) | 2021-03-24 | 2024-02-20 | Cilag Gmbh International | Leveraging surfaces for cartridge installation |
| US11826047B2 (en) | 2021-05-28 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising jaw mounts |
| US11877745B2 (en) | 2021-10-18 | 2024-01-23 | Cilag Gmbh International | Surgical stapling assembly having longitudinally-repeating staple leg clusters |
| US11980363B2 (en) | 2021-10-18 | 2024-05-14 | Cilag Gmbh International | Row-to-row staple array variations |
| US11957337B2 (en) | 2021-10-18 | 2024-04-16 | Cilag Gmbh International | Surgical stapling assembly with offset ramped drive surfaces |
| 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 |
Family Cites Families (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US576179A (en) * | 1897-02-02 | John wood | ||
| US1733547A (en) * | 1926-08-23 | 1929-10-29 | Hartford Empire Co | Apparatus for handling glassware |
| US1874944A (en) * | 1931-04-02 | 1932-08-30 | Fabian Louis | Battery tool |
| US3212651A (en) * | 1962-06-12 | 1965-10-19 | American Mach & Foundry | Manipulator |
| US4367998A (en) * | 1979-09-13 | 1983-01-11 | United Kingdom Atomic Energy Authority | Manipulators |
| US4473249A (en) * | 1982-05-05 | 1984-09-25 | Valentine Al L | Extensible manipulator unit |
| US5033785A (en) * | 1990-04-20 | 1991-07-23 | Woolley Jr William J | Clamp mechanism |
| IL101493A (en) * | 1991-04-04 | 1995-10-31 | Symbiosis Corp | Surgery tools for endoscopy |
| US5392789A (en) * | 1991-04-04 | 1995-02-28 | Symbiosis Corporation | Endoscopic scissors having scissor elements loosely engaged with a clevis |
| FR2694180B1 (fr) * | 1992-07-31 | 1994-10-21 | Alain Martin | Pince coelioscopique à angulation. |
| JP3708356B2 (ja) * | 1998-11-20 | 2005-10-19 | 株式会社モリタ製作所 | 組織採取切除器及びこれに使用する切除用鉗子 |
| JP3564021B2 (ja) * | 1999-11-22 | 2004-09-08 | オリンパス株式会社 | 外科用手術装置 |
| JP4014792B2 (ja) * | 2000-09-29 | 2007-11-28 | 株式会社東芝 | マニピュレータ |
| JP3631450B2 (ja) * | 2001-08-22 | 2005-03-23 | 株式会社東芝 | マニピュレータ |
| US20040176751A1 (en) * | 2002-08-14 | 2004-09-09 | Endovia Medical, Inc. | Robotic medical instrument system |
| JP4350420B2 (ja) * | 2003-05-29 | 2009-10-21 | オリンパス株式会社 | 内視鏡用鉗子 |
| DE20318591U1 (de) * | 2003-12-02 | 2004-03-04 | Richard Wolf Gmbh | Medizinische Zange |
| JP4460890B2 (ja) * | 2003-12-15 | 2010-05-12 | 衛 光石 | 多自由度マニピュレータ |
| ITMI20042003A1 (it) * | 2004-10-21 | 2005-01-21 | Univer Spa | "dispositivo di presa per pezzi da lavorare per sistemi robotizzati di manipolazione" |
-
2006
- 2006-05-12 JP JP2006133973A patent/JP4829005B2/ja active Active
-
2007
- 2007-05-02 US US11/743,222 patent/US8002784B2/en active Active
- 2007-05-08 EP EP07107715A patent/EP1854418B1/en active Active
- 2007-05-08 AT AT07107715T patent/ATE429862T1/de not_active IP Right Cessation
- 2007-05-08 DE DE602007000989T patent/DE602007000989D1/de active Active
- 2007-05-11 CN CNA2007101074479A patent/CN101069650A/zh active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109475361A (zh) * | 2016-10-20 | 2019-03-15 | 奥林巴斯株式会社 | 摆动机构及把持器具 |
| CN109475361B (zh) * | 2016-10-20 | 2021-08-27 | 奥林巴斯株式会社 | 摆动机构及把持器具 |
| CN112914683A (zh) * | 2021-03-10 | 2021-06-08 | 山东威高手术机器人有限公司 | 钳页独立运动的多自由度手术器械及末端执行器 |
| CN112914683B (zh) * | 2021-03-10 | 2022-09-27 | 山东威高手术机器人有限公司 | 钳页独立运动的多自由度手术器械及末端执行器 |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2007301692A (ja) | 2007-11-22 |
| DE602007000989D1 (de) | 2009-06-10 |
| US8002784B2 (en) | 2011-08-23 |
| JP4829005B2 (ja) | 2011-11-30 |
| EP1854418A1 (en) | 2007-11-14 |
| ATE429862T1 (de) | 2009-05-15 |
| EP1854418B1 (en) | 2009-04-29 |
| US20070288044A1 (en) | 2007-12-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101069650A (zh) | 机械手 | |
| US11241247B2 (en) | Snakelike surgical instrument | |
| CN100594007C (zh) | 作业机构及操纵装置 | |
| EP1395180B1 (en) | Suture placement apparatus | |
| US5601575A (en) | Needle driving device | |
| US20060111735A1 (en) | Closing assemblies for clamping device | |
| CN102488554A (zh) | 一种基于模块关节的微创外科手术机器人用微器械末端 | |
| CN108742848A (zh) | 一种微创手术机器人装置 | |
| CN113679458A (zh) | 一种前置式调整入针角度的柔性针穿刺装置 | |
| CN109009262A (zh) | 用于蛇形手术器械的手术辅助固定装置及蛇形手术器械 | |
| CN105902286B (zh) | 一种订书机式内镜缝合器 | |
| WO2024149250A1 (zh) | 手术器械及手术机器人 | |
| CN108294795A (zh) | 一种便携式腔镜用持针缝合装置 | |
| CN209186747U (zh) | 耳夹定位装置和具有其的口腔x射线摄影设备 | |
| CN115414125A (zh) | 一种万向关节组、万向关节组驱动机构及手术机器人 | |
| CN219613970U (zh) | 一种基于蜗轮蜗杆的柔性微创手术器械 | |
| CN218279716U (zh) | 脊柱内镜下硬脊膜缝合器 | |
| CN112914683B (zh) | 钳页独立运动的多自由度手术器械及末端执行器 | |
| CN213940822U (zh) | 一种微创手术手动制动单元 | |
| CN213030743U (zh) | 一种医疗用盂唇缝合装置 | |
| CN211433105U (zh) | 腹腔镜吻合器 | |
| CN116250895B (zh) | 一种基于钢丝耦合的多自由度腹腔手术钳及手术机器人 | |
| CN209751218U (zh) | 一种微创手术机械手及机器人 | |
| US10265063B1 (en) | Deep cavity suture device | |
| CN117017428B (zh) | 手术用夹钳 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20071114 |