[특허]Tool with articulation lock

[미국특허] Tool with articulation lock 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	A61B-001/00
출원번호	US-0787543 (2007-04-16)
등록번호	US-8100824 (2012-01-24)
발명자 / 주소	Hegeman, David Elias Danitz, David J. Hinman, Cameron D. Alvord, Lincoln J.
출원인 / 주소	Intuitive Surgical Operations, Inc.
인용정보	피인용 횟수 : 51 인용 특허 : 109

초록 ▼

The invention provides surgical or diagnostic tools and associated methods that offer user control for operating remotely within regions of the body. These tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. An articulation lock allows the fixing and releasing of both neutral and articulated configurations of the tool and of consequent placement of the end effector. The tool may also include other features. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator. A rotation lock provides for enablement and disablement of rotatability of the end effector.

대표청구항 ▼

1. A tool comprising: a distal portion and a proximal portion;an articulation mechanism for manipulating angular orientation of the distal portion, the articulation mechanism comprising multiple pairs of links, each pair comprising a proximal link on the proximal portion of the tool and a distal link on the distal portion of the tool, the mechanism adapted to provide movement of the proximal link causes corresponding relative movement of the distal link; andan articulation lock having an engaged position and a disengaged position, wherein in the engaged position the articulation lock impedes movement of the proximal link and corresponding relative movement of the distal link in at least one pair of links;wherein:the articulation lock, engaged with the proximal link, includes a malleable element configured to provide a malleable movement and lock the proximal link and the distal link in an articulated configuration. 2. The tool of claim 1 wherein the tool is a surgical or diagnostic tool. 3. The tool of claim 1 wherein the articulation lock, engaged with the proximal link, is configured to seize the movement of the proximal link and the corresponding relative movement of the distal link. 4. The tool of claim 1 wherein the articulation lock, engaged with the proximal link, is configured to impede the corresponding relative movement of the distal link. 5. The tool of claim 1 wherein the articulation lock comprises a link friction adjusting mechanism, the mechanism configured such that when the lock is engaged friction is increased, the friction impeding movement of the links. 6. The tool of claim 5, wherein the friction partially impedes movement such that link movement is malleable. 7. The tool of claim 5, wherein the friction substantially blocks movement of the links. 8. The tool of claim 5 wherein the friction substantially blocks movement of the links from an articulated configuration. 9. The tool of claim 1 wherein the articulation mechanism comprises tension load bearing members connecting the links and the articulation lock comprises a tension load bearing member tension adjusting mechanism. 10. The tool of claim 9 wherein the tension load bearing members comprise cables. 11. The tool of claim 9 wherein increasing tension on the members increases friction on link surfaces that impedes link movement. 12. The tool of claim 1 wherein the articulation lock comprises a rigid element which, when the lock is engaged, is disposed such that it extends from a point proximal to the proximal link to a point distal to the proximal link. 13. The tool of claim 1 wherein the articulation lock comprises a malleable element, which when the lock is engaged, is disposed such that it extends from a point proximal to the proximal link to a point distal to the proximal link. 14. The tool of claim 13 wherein the lock when engaged locks the links in an articulated configuration. 15. The tool of claim 1, the distal portion further comprising an end effector. 16. The tool of claim 15, the end effector being a surgical or diagnostic end effector. 17. The tool of claim 1 further comprising an end effector actuator disposed at the proximal portion. 18. The tool of claim 1 further comprising a handle at a proximal end of the tool, the handle comprising an end effector actuator. 19. The tool of claim 1 wherein said proximal link is coupled to said distal link for generating reciprocal movement. 20. The tool of claim 1 wherein said proximal link is coupled to said distal link for generating mirrored movement. 21. The tool of claim 1: the distal portion further comprising an end effector;the proximal portion further comprising an end effector actuator;the tool further comprising a shaft disposed between the end effector and the end effector actuator; andmovement of the distal link causes angular movement of the end effector with respect to the shaft. 22. The tool of claim 21 wherein movement of the proximal link causes corresponding relative movement of the distal link and angular movement of the end effector with respect to the shaft. 23. The tool of claim 22 wherein the articulation mechanism comprises tension load bearing members connecting the links and the articulation lock comprises a member tension adjusting mechanism. 24. The tool of claim 23 wherein the tension load bearing members comprise cables. 25. The tool of claim 23 wherein the member tension adjusting mechanism comprises a threaded member. 26. The tool of claim 23, wherein the member tension adjusting mechanism is disposed between the proximal and distal links. 27. The tool of claim 23, wherein the member tension adjusting mechanism is disposed proximal to the most proximal link in the proximal portion. 28. The tool of claim 23 wherein the member tension adjusting mechanism comprises a locking lever, the lever configured to increase tension on the cables by lengthening the shaft. 29. The tool of claim 23 wherein the member tension adjusting mechanism varies the distance between the proximal and distal links. 30. The tool of claim 29 wherein varying the distance between proximal and distal links varies friction that resists movement between the links. 31. The tool of claim 23 wherein the articulation lock when engaged locks the links in an articulated configuration. 32. The tool of claim 22 wherein the articulation lock comprises a locking rod disposed in a channel formed in the proximal links. 33. The tool of claim 32 wherein the locking rod is rigid. 34. The tool of claim 32 wherein the locking rod is malleable. 35. The tool of claim 34 wherein the locking rod when engaged locks the links in an articulated configuration. 36. The tool of claim 22 wherein the articulation lock comprises a locking sleeve fitted over the multiple proximal links. 37. The tool of claim 36 wherein the locking sleeve is malleable. 38. The tool of claim 22 wherein the articulation lock comprises a rigid element which, when the lock is engaged, is disposed such that it extends from a point proximal to the most proximal proximal link to a point distal to the most distal proximal link. 39. The tool of claim 38 wherein the rigid element is disposed adjacent to the proximal links when in the engaged position. 40. The tool of claim 38 wherein the rigid element comprises a sleeve at least partially surrounding the proximal links when in the engaged position. 41. The tool of claim 38 wherein the sleeve is slidably mounted on the tool. 42. The tool of claim 38 wherein the sleeve is disposed distal to proximal links when in the disengaged position.

이 특허에 인용된 특허 (109) 인용/피인용 타임라인 분석

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Leimbach, Richard L.; Beckman, Andrew T.; Schultz, Darwin L.; Adams, Shane R., Surgical instrument comprising a rotatable shaft.
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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.
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Yates, David C.; Shelton, IV, Frederick E.; Giordano, James R., Surgical instrument system for evaluating tissue impedance.
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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.
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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.
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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.
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Adams, Shane R.; Yates, David C.; Shelton, IV, Frederick E.; Harris, Jason L., Surgical shaft assemblies with watertight housings.
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Harris, Jason L.; Morgan, Jerome R.; Zeiner, Mark S.; Shelton, IV, Frederick E., Surgical staple and driver arrangements for staple cartridges.
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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.
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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.
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Shelton, IV, Frederick E.; Morgan, Jerome R., Surgical stapling instruments with rotatable staple deployment arrangements.
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Shelton, IV, Frederick E.; Harris, Jason L.; Yates, David C., System for controlling articulation forces.
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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.
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Hegeman, David Elias; Danitz, David J.; Hinman, Cameron D.; Alvord, Lincoln J., Tool with articulation lock.
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Hegeman, David Elias; Danitz, David J.; Hinman, Cameron D.; Alvord, Lincoln J., Tool with articulation lock.
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Monroe, David A.; Timm, Richard W.; Faller, Craig N.; Pirozzi, Kristen L.; Gee, Jacob S.; Messerly, Jeffrey D.; Schulte, John B.; Dickerson, Benjamin D.; Asher, Ryan M.; Shapiro, Cara L., Ultrasonic surgical instrument with rigidizing articulation drive members.
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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
구성항목	기본정보 상세정보 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

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이 특허에 인용된 특허 (109) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (51) 인용/피인용 타임라인 분석

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