[특허]Decoupling instrument shaft roll and end effector actuation in a surgical instrument

[미국특허] Decoupling instrument shaft roll and end effector actuation in a surgical instrument 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	A61B-017/28 A61B-017/29 A61B-019/00 A61B-017/00
출원번호	US-0297168 (2011-11-15)
등록번호	US-8992565 (2015-03-31)
발명자 / 주소	Brisson, Gabriel F. Burbank, William
출원인 / 주소	Intuitive Surgical Operations, Inc.
인용정보	피인용 횟수 : 209 인용 특허 : 12

초록 ▼

Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.

대표청구항 ▼

1. A surgical assembly comprising: a base;an instrument shaft rotationally mounted to the base and extending between a distal end and a proximal end;an end effector supported at the distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion;a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism; anda differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion, the differential being configured to combine the first and second input motions to generate an output motion that rotates the drive shaft, the first input motion being rotationally coupleable to an actuation source and the second input motion being coupled to rotation of the instrument shaft relative to the base. 2. The surgical assembly of claim 1, wherein the end effector includes a jaw articulated by the actuation mechanism. 3. The surgical assembly of claim 1, wherein the differential is configured such that rotation of the instrument shaft relative to the base results in substantially zero rotation of the drive shaft relative to the instrument shaft when the first input motion is zero. 4. The surgical assembly of claim 1, wherein the differential includes: a first cable drivingly coupling rotation of the drive shaft relative to the base to rotation of the instrument shaft relative to the base; anda second cable drivingly coupled to the actuation source, the second cable being coupled to first and second pulley blocks having first and second pulleys, respectively, the first cable being engaged by the first and second pulleys. 5. The surgical assembly of claim 1, wherein the differential includes: a first cable drivingly coupling rotation of the drive shaft relative to the base to the actuation source; anda second cable drivingly coupled to rotation of the instrument shaft relative to the base, the second cable being coupled to first and second pulley blocks having first and second pulleys, respectively, the first cable being engaged by the first and second pulleys. 6. The surgical assembly of claim 1, wherein the differential comprises a planetary gear box including a sun gear, planet gears coupled to a carrier, and a ring gear. 7. The surgical assembly of claim 6, wherein the first input motion rotates the carrier, the second input motion rotates the sun gear, and rotation of the ring gear is transferred to the drive shaft. 8. The surgical assembly of 7, wherein the first input motion is transferred to the carrier through an input shaft, and wherein the sun gear rotates around the input shaft. 9. The surgical assembly of claim 8, wherein the input shaft is oriented transverse to the instrument shaft. 10. The surgical assembly of claim 7, further comprising a torsion spring coupled between the base and the carrier to return the drive shaft to a predetermined rotational position relative to the instrument shaft upon a disconnection between the actuation source and the carrier.

이 특허에 인용된 특허 (12) 인용/피인용 타임라인 분석

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Schmid, Katherine J.; Morgan, Jerome R.; Korvick, Donna L.; Shelton, IV, Frederick E., Stapling system comprising an adjunct and a flowable adhesive.
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Shelton, IV, Frederick E.; Baxter, III, Chester O.; Aronhalt, Taylor W.; Young, Joseph E., Stapling system including an actuation system.
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Shelton, IV, Frederick E., Stapling systems.
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Leimbach, Richard L.; Adams, Shane R.; Overmyer, Mark D.; Swensgard, Brett E.; Lytle, IV, Thomas W.; Shelton, IV, Frederick E.; Houser, Kevin L., Sterilization verification circuit.
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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.
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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.
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Shelton, IV, Frederick E., Surgical cutting and fastening instrument.
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Morgan, Jerome R.; Shelton, IV, Frederick E., Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status.
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Shelton, IV, Frederick E.; Baxter, III, Chester O.; Yates, David C., Surgical end effectors having angled tissue-contacting surfaces.
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Baxter, III, Chester O.; Swayze, Jeffrey S.; Dunki-Jacobs, Adam R., Surgical end effectors with dual cam actuated jaw closing features.
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Huitema, Thomas W.; Scheib, Charles J.; Henderson, Cortney E.; Shelton, IV, Frederick E.; Harris, Jason L., Surgical end effectors with firing element monitoring arrangements.
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Huitema, Thomas W.; Schellin, Emily A.; Hueil, Geoffrey C.; Shelton, IV, Frederick E., Surgical fastener cartridges with driver stabilizing arrangements.
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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.
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Shelton, IV, Frederick E.; Morgan, Jerome R.; Harris, Jason L.; Swayze, Jeffrey S.; Baxter, III, Chester O., Surgical instrument assembly comprising a flexible articulation system.
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Baxter, III, Chester O.; Dunki-Jacobs, Adam R.; Swayze, Jeffrey S.; Baber, Daniel L.; Shelton, IV, Frederick E., Surgical instrument assembly comprising a lockable articulation system.
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Parihar, Shailendra K.; Hibner, John A., Surgical instrument comprising a closing drive and a firing drive operated from the same rotatable output.
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Yates, David C.; Huitema, Thomas W.; Shelton, IV, Frederick E., Surgical instrument comprising a control system.
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Parihar, Shailendra K.; Kimsey, John S.; Koch, Jr., Robert L.; Nalagatla, Anil K.; Nguyen, Anthony T., Surgical instrument comprising a gap setting system.
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Overmyer, Mark D.; Auld, Michael D.; Adams, Shane R.; Shelton, IV, Frederick E.; Harris, Jason L., Surgical instrument comprising a lockable battery housing.
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Morgan, Jerome R.; Shelton, IV, Frederick E., Surgical instrument comprising a plurality of articulation joints.
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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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Leimbach, Richard L.; Adams, Shane R.; Overmyer, Mark D.; Shelton, IV, Frederick E., Surgical instrument comprising a sensor system.
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Shelton, IV, Frederick E.; Swayze, Jeffrey S., Surgical instrument comprising drive systems.
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Lytle, IV, Thomas W.; Overmyer, Mark D.; Adams, Shane R.; Leimbach, Richard L.; Shelton, IV, Frederick E.; Swensgard, Brett E.; Houser, Kevin L., Surgical instrument comprising interactive systems.
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Leimbach, Richard L.; Adams, Shane R.; Overmyer, Mark D.; Swensgard, Brett E.; Lytle, IV, Thomas W.; Shelton, IV, Frederick E.; Houser, Kevin L., Surgical instrument control circuit having a safety processor.
상세보기
Shelton, IV, Frederick E.; Swayze, Jeffrey S., Surgical instrument drive systems.
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Shelton, IV, Frederick E.; Morgan, Jerome R.; Leimbach, Richard L.; Ouwerkerk, John N., Surgical instrument having force feedback capabilities.
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Morgan, Jerome R.; Shelton, IV, Frederick E., Surgical instrument system comprising a firing system including a rotatable shaft and first and second actuation ramps.
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Savage, Jeffrey L.; Uth, Joshua R.; Beckman, Andrew T.; Baxter, III, Chester O., Surgical instrument system comprising an inspection station.
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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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Morgan, Jerome R.; Shelton, IV, Frederick E., Surgical instrument system configured to detect resistive forces experienced by a tissue cutting implement.
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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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Lytle, IV, Thomas W.; Shelton, IV, Frederick E.; Morgan, Jerome R., Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member.
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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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Shelton, IV, Frederick E.; Ouwerkerk, John N.; Morgan, Jerome R.; Swayze, Jeffrey S., Surgical instrument with automatically-returned firing member.
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Shelton, IV, Frederick E.; Baxter, III, Chester O.; Harris, Jason L.; Swayze, Jeffrey S., Surgical instruments with articulatable end effectors and improved firing beam support arrangements.
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Shelton, IV, Frederick E.; Morgan, Jerome R.; Harris, Jason L.; Swayze, Jeffrey S.; Baxter, III, Chester O., Surgical instruments with articulatable end effectors and movable firing beam support arrangements.
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Shelton, IV, Frederick E.; Morgan, Jerome R.; Baxter, III, Chester O., Surgical instruments with improved closure arrangements.
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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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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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Murray, Michael A.; Morgan, Jerome R.; Hess, Christopher J.; Weisenburgh, II, William B.; Zwolinski, Andrew M., Surgical staple cartridge.
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Yates, David C.; Shelton, IV, Frederick E., Surgical stapler having current mirror-based motor control.
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Yates, David C.; Shelton, IV, Frederick E., Surgical stapler having downstream current-based motor control.
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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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Overmyer, Mark D.; Yates, David C.; Shelton, IV, Frederick E.; Adams, Shane R.; Harris, Jason L., Surgical stapler having temperature-based motor control.
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Schmid, Katherine J.; Baxter, III, Chester O.; Aronhalt, Taylor W.; Young, Joseph E.; Shelton, IV, Frederick E., Surgical stapler with stationary staple drivers.
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Baxter, III, Chester O.; Shelton, IV, Frederick E.; Ballard, Kenneth D., Surgical staples comprising features for improved fastening of tissue.
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Huang, Zhifan F.; Morgan, Jerome R.; Shelton, IV, Frederick E., Surgical stapling apparatus comprising a tissue stop.
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Hall, Steven G.; Tanguay, Randall J.; Messerly, Jeffrey D.; Robertson, Galen C.; Zwolinski, Andrew M.; Shelton, IV, Frederick E.; Hueil, Geoffrey C.; Ortiz, Mark S.; Hoffman, Douglas B.; Weizman, Patrick A.; Bruewer, Dean B.; Blair, Gregory B., Surgical stapling apparatus including firing force regulation.
상세보기
Hall, Steven G.; Tanguay, Randall J.; Messerly, Jeffrey D.; Robertson, Galen C.; Zwolinski, Andrew M.; Shelton, IV, Frederick E.; Hueil, Geoffrey C.; Ortiz, Mark S.; Hoffman, Douglas B.; Weizman, Patrick A.; Bruewer, Dean B.; Blair, Gregory B., Surgical stapling apparatus including firing force regulation.
상세보기
Hall, Steven G.; Tanguay, Randall J.; Messerly, Jeffrey D.; Robertson, Galen C.; Zwolinski, Andrew M.; Shelton, IV, Frederick E., Surgical stapling apparatuses with lockable end effector positioning systems.
상세보기
Hall, Steven G.; Tanguay, Randall J.; Messerly, Jeffrey D.; Robertson, Galen C.; Zwolinski, Andrew M.; Shelton, IV, Frederick E.; Hueil, Geoffrey C.; Ortiz, Mark S.; Hoffman, Douglas B.; Weizman, Patrick A.; Bruewer, Dean B.; Blair, Gregory B., Surgical stapling assembly comprising a selector arrangement.
상세보기
Shelton, IV, Frederick E.; Morgan, Jerome R., Surgical stapling device.
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Shelton, IV, Frederick E.; Morgan, Jerome R., Surgical stapling device having supports for a flexible drive mechanism.
상세보기
Shelton, IV, Frederick E.; Morgan, Jerome R.; Balek, Stephen J., Surgical stapling device with a curved end effector.
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Shelton, IV, Frederick E.; Morgan, Jerome R.; Balek, Stephen J., Surgical stapling device with a curved end effector.
상세보기
Shelton, IV, Frederick E.; Morgan, Jerome R.; Balek, Stephen J., Surgical stapling device with a curved end effector.
상세보기
Shelton, IV, Frederick E.; Morgan, Jerome R.; Balek, Stephen J., Surgical stapling device with a curved end effector.
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Shelton, IV, Frederick E.; Morgan, Jerome R., Surgical stapling device with a curved staple cartridge.
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Shelton, IV, Frederick E.; Morgan, Jerome R., Surgical stapling devices having laterally movable anvils.
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Shelton, IV, Frederick E.; Setser, Michael E.; Weisenburgh, II, William B., Surgical stapling instrument configured to apply a compressive pressure to tissue.
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Shelton, IV, Frederick E.; Setser, Michael E.; Weisenburgh, II, William B., Surgical stapling instrument having a clearanced opening.
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Shelton, IV, Frederick E.; Hueil, Joseph C.; Morgan, Jerome R.; Fugikawa, Leslie M., Surgical stapling instrument having a medical substance dispenser.
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Hess, Christopher J.; Weisenburgh, II, William B.; Shelton, IV, Frederick E.; Morgan, Jerome R., Surgical stapling instrument having a releasable buttress material.
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Shelton, IV, Frederick E.; Balek, Stephen J.; Timperman, Eugene L., Surgical stapling instrument having a restraining member.
상세보기
Leimbach, Richard L.; Adams, Shane R.; Overmyer, Mark D.; Swensgard, Brett E.; Lytle, IV, Thomas W.; Shelton, IV, Frederick E.; Houser, Kevin L., Surgical stapling instrument system.
상세보기
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.; Morgan, Jerome R., Surgical stapling instruments with rotatable staple deployment arrangements.
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Shelton, IV, Frederick E.; Morgan, Jerome R., Surgical system.
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Shelton, IV, Frederick E.; Setser, Michael E.; Doll, Kevin R.; Morgan, Jerome R., Surgical system.
상세보기
Boudreaux, Chad P.; Shelton, IV, Frederick E.; Baxter, III, Chester O., Surgical system comprising first and second drive systems.
상세보기
Shelton, IV, Frederick E.; Morgan, Jerome R., Surgical system with selectively articulatable end effector.
상세보기
Shelton, IV, Frederick E.; Harris, Jason L.; Yates, David C., System for controlling articulation forces.
상세보기
Leimbach, Richard L.; Adams, Shane R.; Overmyer, Mark D.; Swensgard, Brett E.; Lytle, IV, Thomas W.; Shelton, IV, Frederick E.; Houser, Kevin L., Systems and methods for controlling a segmented circuit.
상세보기
Shelton, IV, Frederick E.; Swensgard, Brett E.; Leimbach, Richard L.; Adams, Shane R.; Overmyer, Mark D.; Houser, Kevin L., Systems and methods for controlling a segmented circuit.
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Shelton, IV, Frederick E.; Schellin, Emily A., Tamper proof circuit for surgical instrument battery pack.
상세보기
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.
상세보기
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.
상세보기
Aldridge, Jeffrey L.; Yang, Chunlin; Scheib, Charles J.; Mandakolathur Vasudevan, Venkataramanan; Aronhalt, Taylor W.; Contiliano, Joseph H.; Cropper, Michael S.; Timperman, Eugene L.; Henderson, Cortney E.; Schmid, Katherine J.; Shelton, IV, Frederick E., Tissue thickness compensator comprising resilient members.
상세보기
Widenhouse, Tamara; Shelton, IV, Frederick E.; Knight, Gary W.; Baxter, III, Chester O.; Modi, Kreena R.; Schmid, Katherine J., Tissue thickness compensator configured to redistribute compressive forces.
상세보기
Shelton, IV, Frederick E.; Baxter, III, Chester O., Tissue thickness compensator for a surgical stapler.
상세보기
Shelton, IV, Frederick E.; Baxter, III, Chester O., Tissue thickness compensator for surgical staplers.
상세보기
Baxter, III, Chester O.; Shelton, IV, Frederick E.; Schmid, Katherine J.; Aronhalt, Taylor W.; Johnson, Gregory W.; Stammen, John L.; Knight, Gary W.; Widenhouse, Christopher W.; Weisenburgh, II, William B.; Mutchler, Stephanie A.; Bedard, Timothy S., Tissue thickness compensators.
상세보기
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., Tissue thickness compensators comprising therapeutic agents.
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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

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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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[미국특허] Decoupling instrument shaft roll and end effector actuation in a surgical instrument 원문보기

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[미국특허] Decoupling instrument shaft roll and end effector actuation in a surgical instrument 원문보기

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이 특허에 인용된 특허 (12) 인용/피인용 타임라인 분석

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