[미국특허]
In vivo accessories for minimally invasive robotic surgery
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A61B-017/00
A61B-019/00
출원번호
US-0116504
(2002-04-03)
발명자
/ 주소
Julian,Christopher A.
Wallace,Daniel T.
Moll,Frederic H.
Hoornaert,Dean F.
Rosa,David J.
Freund,John G.
Hill,John W.
출원인 / 주소
Intuitive Surgical
대리인 / 주소
Townsend &
인용정보
피인용 횟수 :
161인용 특허 :
18
초록▼
Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical cli
Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.
대표청구항▼
What is claimed is: 1. A robotic surgical system for effecting a predetermined treatment of a target tissue at an internal surgical site within a patient body, the system comprising: a surgical accessory adapted for effecting the treatment; an accessory introducer having a proximal end and a dista
What is claimed is: 1. A robotic surgical system for effecting a predetermined treatment of a target tissue at an internal surgical site within a patient body, the system comprising: a surgical accessory adapted for effecting the treatment; an accessory introducer having a proximal end and a distal end, the distal end of the introducer insertable via an opening of the patient body into the patient body, wherein the accessory introducer includes a container having a door and a mechanism coupled with the door for remotely moving the door between an open position and a closed position from outside the internal surgical site, and the surgical accessory is provided in the container through the opening to the internal surgical site; and a robotic arm supporting a surgical tool, the surgical tool having an end effector suitable for insertion through a second opening of the patient body, the end effector coupleable with the surgical accessory within the internal surgical site so that the robot arm can manipulate the surgical accessory to direct the treatment to the target tissue. 2. The robotic surgical system of claim 1, wherein the surgical accessory comprises a member selected from the group consisting of a scalpel, a blade, a dissection finger, an electrode, a clip, a tube, and a hook. 3. The robotic surgical system of claim 1 wherein the accessory introducer includes a block having a material which deforms to releasably secure the surgical accessory therein. 4. The robotic surgical system of claim 1 wherein the surgical accessory comprises a tool tip configured to be releasably coupled to the end effector of the surgical tool to form a tool tip form the end effector. 5. A robotic surgical system for effecting a predetermined treatment of a target tissue at an internal surgical site within a patient body, the system comprising: a surgical accessory adapted for effecting the treatment, wherein the surgical accessory is a clip; an accessory introducer having a proximal end and a distal end, the distal end of the introducer insertable via an opening of the patient body into the patient body, the surgical accessory being coupled with the distal end of the introducer and passable through the opening to the internal surgical site; and a robotic arm supporting a surgical tool, the surgical tool having an end effector suitable for insertion through a second opening of the patient body, the end effector coupleable with the surgical accessory within the internal surgical site so that the robot arm can manipulate the surgical accessory to direct the treatment to the target tissue, wherein the surgical tool is a clip applier. 6. A robotic surgical system for effecting a predetermined treatment of a target tissue at an internal surgical site within a patient body, the system comprising: a surgical accessory adapted for effecting the treatment; an accessory introducer having a proximal end and a distal end, the distal end of the introducer insertable via an opening of the patient body into the patient body, the surgical accessory being coupled with the distal end of the introducer and passable through the opening to the internal surgical site; a robotic arm supporting a surgical tool, the surgical tool having an end effector suitable for insertion through a second opening of the patient body, the end effector coupleable with the surgical accessory within the internal surgical site so that the robot arm can manipulate the surgical accessory to direct the treatment to the target tissue; and means for resiliently biasing the surgical accessory toward the opening. 7. A robotic surgical system for effecting a predetermined treatment of a target tissue at an internal surgical site within a patient body, the system comprising: a surgical accessory adapted for effecting the treatment; an accessory introducer having a proximal end and a distal end, the distal end of the introducer insertable via an opening of the patient body into the patient body, the surgical accessory being coupled with the distal end of the introducer and passable through the opening to the internal surgical site; and a robotic arm supporting a surgical tool, the surgical tool having an end effector suitable fir insertion through a second opening of the patient body, the end effector coupleable with the surgical accessory within the internal surgical site so that the robot arm can manipulate the surgical accessory to direct the treatment to the target tissue; wherein the accessory introducer includes a container having a door openable by the surgical tool, the container containing one or more surgical accessories. 8. A robotic surgical system for effecting a predetermined treatment of a target tissue at an internal surgical site within a patient body, the system comprising: a surgical accessory adapted for effecting the treatment; an accessory introducer having a proximal end and a distal end, the distal end of the introducer insertable via an opening of the patient body into the patient body, the surgical accessory being coupled with the distal end of the introducer and passable through the opening to the internal surgical site; and a robotic arm supporting a surgical tool, the surgical tool having an end effector suitable for insertion through a second opening of the patient body, the end effector coupleable with the surgical accessory within the internal surgical site so that the robot arm can manipulate the surgical accessory to direct the treatment to the target tissue; wherein the end effector comprises a pair of working members and the accessory comprises a pair of fingers moveably supported on a collar which is configured to be releaseably coupled with the surgical tool in a coupled position, the pair of fingers mating with the pair of working members to be movable by the pair of working members in the coupled position. 9. A robotic surgical system comprising: a plurality of surgical accessories; an accessory introducer for concurrently providing the plurality of surgical accessories to a surgical site within a patient; and a surgical tool robotically controlled to couple a selected one of the plurality of surgical accessories to a working end of the surgical tool in order to perform a surgical procedure at the surgical site. 10. The robotic surgical system according to claim 9, wherein individual of the plurality of surgical accessories include a tool tip configured to be releasably coupled to the working end of the surgical tool. 11. The robotic surgical system according to claim 9, wherein the plurality of surgical accessories include a scalpel. 12. The robotic surgical system according to claim 9, wherein the plurality of surgical accessories include a blade. 13. The robotic surgical system according to claim 9, wherein the plurality of surgical accessories include a dissection finger. 14. The robotic surgical system according to claim 9, wherein the plurality of surgical accessories include an electrode. 15. The robotic surgical system according to claim 9, wherein the plurality of surgical accessories include a clip. 16. The robotic surgical system according to claim 9, wherein the plurality of surgical accessories include a tube. 17. The robotic surgical system according to claim 9, wherein the plurality of surgical accessories include a hook. 18. The robotic surgical system according to claim 9, wherein the plurality of surgical accessories include a gauze pad. 19. The robotic surgical system according to claim 9, wherein the plurality of surgical accessories include a needle. 20. The robotic surgical system according to claim 9, wherein the accessory introducer includes a block having a material which deforms to releasably secure the plurality of surgical accessories therein. 21. The robotic surgical system according to claim 9, wherein the accessory introducer includes a container having a door and a mechanism coupled with the door for remotely moving the door between an open position and a dosed position from outside the internal surgical site. 22. The robotic surgical system according to claim 9, wherein the accessory introducer includes a cartridge loaded with the plurality of surgical accessories. 23. The robotic surgical system according to claim 9, wherein the accessory introducer includes an inflatable holder that holds the plurality of surgical accessories, wherein the inflatable holder is in a deflated state while inserting the inflatable holder into the patient and in an inflated state after being positioned at the surgical site so as to make available the plurality of surgical accessories for selective coupling with the surgical tool. 24. The robotic surgical system according to claim 9, wherein the accessory introducer includes a tool with the plurality of surgical accessories mounted in a piggyback fashion on a shaft of the tool. 25. The robotic surgical system according to claim 24, wherein the tool is a second surgical tool robotically controlled to assist in performing the surgical procedure at the surgical site.
Julian Christopher A. ; Wallace Daniel T. ; Moll Frederic H. ; Hoornaert Dean F. ; Rosa David J. ; Freund John G. ; Hill John W., Accessories for minimally invasive robotic surgery and methods.
Madhani Akhil J. ; Salisbury J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Wang Yulun ; Uecker Darrin R. ; Jordan Charles S. ; Wright James W. ; Laby Keith Phillip ; Wilson Jeff D., Method and apparatus for performing minimally invasive cardiac procedures.
Wang Yulun ; Uecker Darrin R. ; Laby Keith Phillip ; Wilson Jeff ; Jordan Steve ; Wright James, Method and apparatus for performing minimally invasive cardiac procedures.
Wang Yulun ; Uecker Darrin R. ; Laby Keith Phillip ; Wilson Jeff ; Jordan Steve ; Wright James, Method and apparatus for performing minimally invasive cardiac procedures.
Funda Janez (Valhalla NY) LaRose David A. (Croton on Hudson NY) Taylor Russell H. (Ossining NY), System and method for augmentation of endoscopic surgery.
Madhani Akhil J. ; Salisbury J. Kenneth, Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitiv.
Belson, Amir; Ohline, Robert Matthew, Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities.
Trull, Michael; Genova, Perry A.; Williams, III, Robert C.; Leung, Jeffrey C.; Megaro, Matthew A.; Batchelor, Stanton; Corson, Andrew, Apparatus for forming barbs on a suture.
Jaworek, Gary S.; Koch, Jr., Robert L.; Auld, Michael D.; Kimsey, John S.; Baber, Daniel L.; Leimbach, Richard L.; Ulrich, Daniel J., Articulatable surgical instruments with conductive pathways for signal communication.
Avelar, Rui; Goraltchouk, Alexei; Herrmann, Robert A.; Luscombe, Brian H.; D'Agostino, William L., Bidirectional self-retaining sutures with laser-marked and/or non-laser marked indicia and methods.
Shelton, IV, Frederick E.; Morgan, Jerome R.; Yates, David C.; Baxter, III, Chester O.; Beckman, Andrew T., Charging system that enables emergency resolutions for charging a battery.
Julian, Christopher A.; Belson, Amir; Brown, Aaron W.; Harasym, Mark; Kreidler, Marc S.; Ohline, Robert M.; Reiner, Scott J.; Romo, Enrique; Swinehart, Charles E.; Whitin, Katherine, Connector device for a controllable instrument.
Julian, Christopher A.; Belson, Amir; Brown, Aaron W.; Harasym, Mark; Kreidler, Marc S.; Ohline, Robert M.; Reiner, Scott J.; Romo, Enrique; Swinehart, Charles E.; Whitin, Katherine, Connector device for a controllable instrument.
Hess, Christopher J.; Shelton, IV, Frederick E.; Mumaw, Daniel J.; Gates, Craig T.; Withers, Douglas E., Devices and methods for cleaning a surgical device.
Leimbach, Richard L.; Shelton, IV, Frederick E.; Morgan, Jerome R.; Schellin, Emily A., End effector detection and firing rate modulation systems for surgical instruments.
Shelton, IV, Frederick E.; Schmid, Katherine J.; Scheib, Charles J.; Aronhalt, Taylor W.; Swayze, Jeffrey S.; Contiliano, Joseph H.; Yang, Chunlin; Henderson, Cortney E.; Aldridge, Jeffrey L., End effector including an implantable arrangement.
Julian, Christopher A.; Wallace, Daniel T.; Moll, Frederick H.; Hoornaert, Dean F.; Rosa, David J.; Freund, John G.; Hill, John W., In vivo accessories for minimally invasive robotic surgery.
Julian, Christopher A.; Wallace, Daniel T.; Moll, Frederick H.; Hoornaert, Dean F.; Rosa, David J.; Freund, John G.; Hill, John W., In vivo accessories for minimally invasive robotic surgery.
Julian, Christopher A.; Wallace, Daniel T.; Moll, Frederick H.; Hoornaert, Dean F.; Rosa, David J.; Freund, John G.; Hill, John W., In vivo accessories for minimally invasive robotic surgery.
Julian, Christopher A.; Wallace, Daniel T.; Moll, Frederic H.; Rosa, David J.; Freund, John G.; Hill, John W., In vivo accessories for minimally invasive surgery.
Shelton, IV, Frederick E.; Overmyer, Mark D.; Yates, David C.; Harris, Jason L., Mechanisms for compensating for drivetrain failure in powered surgical instruments.
Goraltchouk, Alexei; Herrmann, Robert A.; Drubetsky, Lev; Gross, Jeffrey Mendel; D'Agostino, William L.; Gonzalez Resendiz, Carlos, Method and apparatus for elevating retainers on self-retaining sutures.
Genova, Perry; Williams, III, Robert C.; Jewett, Warren, Method for variable-angle cutting of a suture to create tissue retainers of a desired shape and size.
Nelson, Carl A; Midday, Jeff; Oleynikov, Dimitry; Goyzueta, Alan, Methods and systems for handling or delivering materials for natural orifice surgery.
Farritor, Shane; Frederick, Thomas; Lackas, Kearney; Bartels, Joe; Greenburg, Jacob, Methods, systems, and devices relating to force control surgical systems.
Farritor, Shane M.; Oleynikov, Dmitry; Platt, Stephen R.; Rentschler, Mark; Dumpert, Jason; Hadzialic, Adnan; Wood, Nathan A., Robotic devices with agent delivery components and related methods.
Farritor, Shane M.; Oleynikov, Dmitry; Platt, Stephen R.; Rentschler, Mark; Dumpert, Jason; Hadzialic, Adnan; Wood, Nathan A., Robotic devices with arms and related methods.
Goraltchouk, Alexei; Drubetsky, Lev; Cummings, Gerald F.; Herrmann, Robert A.; Naimagon, Alexander, Self-retainers with supporting structures on a suture.
Goraltchouk, Alexei; Naimagon, Alexander; Cummings, Gerald F.; Drubetsky, Lev; Herrmann, Robert A., Self-retaining suture with variable dimension filament and method.
Goraltchouk, Alexei; Drubetsky, Lev; Cummings, Gerald F.; Herrmann, Robert A.; Naimagon, Alexander, Self-retaining sutures with retainers formed from molten material.
Swayze, Jeffrey S.; Hueil, Joseph C.; Morgan, Jerome R.; Shelton, IV, Frederick E., Stapling assembly configured to produce different formed staple heights.
Belson, Amir; Frey, Paul DeWitt; McElhaney, Christine Wei Hsien; Milroy, James Craig; Ohline, Robert Matthew; Tartaglia, Joseph M., Steerable segmented endoscope and method of insertion.
Beckman, Andrew T.; Nalagatla, Anil K.; Hibner, John A.; Shelton, IV, Frederick E., Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band.
Beckman, Andrew T.; Nalagatla, Anil K.; Koch, Jr., Robert L.; Hibner, John A.; Shelton, IV, Frederick E., Surgical apparatus configured to track an end-of-life parameter.
Shelton, IV, Frederick E.; Swayze, Jeffrey S.; Baxter, III, Chester O., Surgical fastening apparatus with a rotary end effector drive shaft for selective engagement with a motorized drive system.
Overmyer, Mark D.; Auld, Michael D.; Adams, Shane R.; Shelton, IV, Frederick E.; Harris, Jason L., Surgical instrument comprising a lockable battery housing.
Kerr, Wendy A.; Lytle, IV, Thomas W.; Overmyer, Mark D.; Swensgard, Brett E.; Sackett, Kevin D.; Leimbach, Richard L.; Houser, Kevin L.; Morgan, Jerome R.; Shelton, IV, Frederick E., Surgical instrument system comprising lockable systems.
Shelton, IV, Frederick E.; Baxter, III, Chester O., Surgical instrument with an anvil that is selectively movable about a discrete non-movable axis relative to a staple cartridge.
Hunter, Morgan R.; Schultz, Darwin L.; Worthington, Sarah A.; Shelton, IV, Frederick E.; Weaner, Lauren S.; Vendely, Michael J., Surgical instrument with articulating and axially translatable end effector.
Hunter, Morgan R.; Schultz, Darwin L.; Dunki-Jacobs, Adam R.; Baxter, III, Chester O.; Swayze, Jeffrey S., Surgical instruments with tensioning arrangements for cable driven articulation systems.
Overmyer, Mark D.; Yates, David C.; Shelton, IV, Frederick E.; Adams, Shane R.; Leimbach, Richard L., Surgical stapler having motor control based on an electrical parameter related to a motor current.
Shelton, IV, Frederick E.; Setser, Michael E.; Weisenburgh, II, William B., Surgical stapling instrument with lockout features to prevent advancement of a firing assembly unless an unfired surgical staple cartridge is operably mounted in an end effector portion of the instrument.
Ruff, Gregory L., Suture with a pointed end and an anchor end and with equally spaced yieldable tissue grasping barbs located at successive axial locations.
Genova, Perry; Williams, III, Robert C.; Jewett, Warren, System for variable-angle cutting of a suture to create tissue retainers of a desired shape and size.
Ohline, Robert M.; Tartaglia, Joseph M.; Belson, Amir; Roth, Alex T.; Keller, Wade A.; Anderson, Scott C.; Julian, Christopher A., Tendon-driven endoscope and methods of use.
Shelton, IV, Frederick E.; Harris, Jason L.; Swensgard, Brett E.; Leimbach, Richard L.; Adams, Shane R.; Overmyer, Mark D., Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.