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Kafe 바로가기국가/구분 | United States(US) Patent 등록 |
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국제특허분류(IPC7판) |
|
출원번호 | US-0350459 (2012-01-13) |
등록번호 | US-9119654 (2015-09-01) |
발명자 / 주소 |
|
출원인 / 주소 |
|
인용정보 | 피인용 횟수 : 5 인용 특허 : 413 |
Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficientl
Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.
1. A tissue stabilizer comprising: a shaft having a longitudinal axis extending along a length of the shaft;first and second stabilizing bodies, wherein the first and second stabilizing bodies respectively have first and second tissue engaging surfaces, wherein the first and second tissue engaging s
1. A tissue stabilizer comprising: a shaft having a longitudinal axis extending along a length of the shaft;first and second stabilizing bodies, wherein the first and second stabilizing bodies respectively have first and second tissue engaging surfaces, wherein the first and second tissue engaging surfaces are adapted to concurrently engage and inhibit movement of a target tissue in a same direction, surfaces, wherein the first and second stabilizing bodies respectively have first and second tissue non-engaging surfaces that are respectively on opposite sides of the first and second stabilizing bodies relative to the first and second tissue engaging surfaces, and wherein the first and second tissue engaging surfaces have higher friction surfaces than the first and second tissue non-engaging surfaces;a wrist assembly coupling the first and second stabilizing bodies to the shaft, the wrist assembly configured with a first pivot defining a first axis about which the first and second stabilizing bodies are pivotable together and a second pivot defining a second axis about which the first and second stabilizing bodies are pivotable individually, wherein the first and second axes are constrained by construction of the wrist assembly to be substantially orthogonal; andfirst and second grips operatively coupled through the shaft respectively to the first and second stabilizing bodies for individually pivoting the first and second stabilizing bodies about the second axis. 2. The tissue stabilizer of claim 1, wherein the wrist assembly comprises: a proximal clevis coupled to a distal end of the shaft, the proximal clevis having the first pivot; anda distal clevis coupled to the proximal clevis at the first pivot so as to be pivotable about the first pivot, the distal clevis having the second pivot;wherein the first and second stabilizing bodies are coupled to the distal clevis so as to be pivotable about the second pivot. 3. The tissue stabilizer of claim 2, wherein the proximal clevis is constructed to allow the distal clevis to pivot about the first axis so that angle between the second axis and the longitudinal axis of the shaft is less than ninety degrees. 4. The tissue stabilizer of claim 1, wherein at least one of the first and second stabilizing bodies has one or more vacuum ports. 5. The tissue stabilizer of claim 1, wherein no line that passes through and is normal to the first tissue engaging surface passes through the second tissue engaging surface when the first and second tissue engaging surfaces are engaging and inhibiting movement of the target tissue. 6. The tissue stabilizer of claim 1, wherein the first and second tissue engaging surfaces comprises one of a more textured, more knurled, and more roughened surface than the first and second tissue non-engaging surfaces. 7. The tissue stabilizer of claim 1, wherein the first and second tissue engaging surfaces comprises one of a higher friction material, higher friction coating, and higher friction adhesive than the first and second tissue non-engaging surfaces. 8. The tissue stabilizer of claim 1, wherein the first stabilizing body has a first cleat formed on the first tissue non-engaging surface. 9. A tissue stabilizer comprising: a shaft having a longitudinal axis extending along a length of the shaft;first and second stabilizing bodies, wherein the first and second stabilizing bodies respectively have first and second tissue engaging surfaces, wherein the first and second tissue engaging surfaces are adapted to concurrently engage and inhibit movement of a target tissue without the target tissue being held between, or separated by, the first and second tissue engaging surfaces, wherein the first and second stabilizing bodies respectively have first and second tissue non-engaging surfaces that are respectively on opposite sides of the first and second stabilizing bodies relative to the first and second tissue engaging surfaces, and wherein the first and second tissue engaging surfaces have higher friction surfaces than the first and second tissue non-engaging surfaces;a wrist assembly coupling the first and second stabilizing bodies to the shaft, the wrist assembly configured with a first pivot defining a first axis about which the first and second stabilizing bodies are pivotable together and a second pivot defining a second axis about which the first and second stabilizing bodies are pivotable individually, wherein the first and second axes are constrained by construction of the wrist assembly to be substantially orthogonal; andfirst and second grips operatively coupled through the shaft respectively to the first and second stabilizing bodies for individually pivoting the first and second stabilizing bodies about the second axis. 10. The tissue stabilizer of claim 9, wherein the first tissue engaging surface defines a first line that passes through and is normal to the first tissue engaging surface when the first tissue engaging surface is engaging and inhibiting movement of the target tissue, wherein the second tissue engaging surface defines a second line that passes through and is normal to the second tissue engaging surface when the second tissue engaging surface is engaging and inhibiting movement of the target tissue, and wherein the first and second tissue engaging surfaces are disposed relatively to each other so that the first and second lines are substantially parallel when the first and second tissue engaging surfaces are engaging and inhibiting movement of the target tissue.
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