US20070032701A1 - Insertable device and system for minimal access procedure - Google Patents
Insertable device and system for minimal access procedure Download PDFInfo
- Publication number
- US20070032701A1 US20070032701A1 US11/475,737 US47573706A US2007032701A1 US 20070032701 A1 US20070032701 A1 US 20070032701A1 US 47573706 A US47573706 A US 47573706A US 2007032701 A1 US2007032701 A1 US 2007032701A1
- Authority
- US
- United States
- Prior art keywords
- housing
- camera
- functional element
- insertable
- freedom
- 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.)
- Abandoned
Links
Images
Classifications
-
- 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
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00174—Optical arrangements characterised by the viewing angles
- A61B1/00183—Optical arrangements characterised by the viewing angles for variable viewing angles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3137—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for examination of the interior of blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for 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
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/72—Micromanipulators
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6879—Means for maintaining contact with the body
- A61B5/6882—Anchoring means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00193—Optical arrangements adapted for stereoscopic vision
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00734—Aspects not otherwise provided for battery operated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B2017/320069—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic for ablating tissue
-
- 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
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
Definitions
- the present invention relates to systems and devices for use in connection with minimal or limited access procedures, such as minimally invasive surgical procedures.
- Minimally invasive surgical procedures e.g., laparascopic procedures
- the reduced recovery times have correspondingly resulted in an increase, from a surgeon's perspective, in the complexity of the surgical procedures.
- the limited access adds to the complexity of the surgical procedures since surgeons must remotely manipulate sufficiently small instruments though the incisions and must also view the surgical site through the small incisions.
- Imaging systems that provide a view of the surgical site for a minimal access surgical procedure typically include an endoscope, e.g., a tubular instrument containing optical lenses and light guides that feed images to an external video camera and a monitor, such as the endoscope discussed in U.S. Pat. No. 4,651,201.
- Endoscopes have drawbacks. For instance, since the surgeon is generally using both hands to manipulate other instruments used in the procedure, e.g., forceps, scissors, coagulators/cauterizer probes, etc., an assistant is required to hold and orient the endoscope to adjust the view during the procedure.
- Robotics have recently been introduced to automate the task of orienting the endoscope during minimally invasive surgical procedures, such as the Automated Endoscopic System for Optimal Positioning (“AESOP”).
- AESOP uses a robot arm that is directed by spoken commands to orient the endoscope. While the AESOP takes the burden off the assistant and provides a much more stable view of the field, the equipment necessary for the AESOP is complex and occupies a large part of the operating room floor.
- Active or hyper endoscope systems have been proposed that generally consist of a multi-link robotic arm with a camera mounted thereon, such as the active endoscope discussed in Japanese Patent 2000175865, which is hereby incorporated herein by reference, which provide additional freedom with respect to orienting the endoscope camera.
- these systems require a dedicated incision for the endoscope to access the surgical site and typically require relatively high voltage to operate the actuators necessary to manipulate the hyper endoscope which from a safety perspective may be problematic when used in surgical procedures.
- Pill cameras have also been adapted for imaging sections of the small intestine that are out of the reach of a colonoscope, such as the pill camera described in U.S. Pat. No. 5,604,531 and U.S. Pat. No. 6,428,469.
- pill cameras do not generally include means for orienting the camera; rather, pill cameras merely rely on peristalsis to orient the camera.
- the present invention generally provides a single or multi-functional element insertable device that can be inserted and temporarily placed or implanted into a structure having a lumen or hollow space. Once inserted into the lumen of the structure, the device is removably attached or secured to the interior of the structure, such as to the interior of a subject's abdominal wall, near a site of interest so that the functional element or elements may be oriented thereto, preferably to look down at the area of interest.
- the insertable and implantable aspect of the present invention obviates the limited motion about an insertion point drawback associated with endoscopes, as well as other instruments, by allowing the surgeon to move the device to different locations on the abdominal wall.
- the insertable aspect allows a surgeon to insert a plurality of devices into the structure's lumen through a single incision thereby increasing access to the site with minimal incisions.
- the present invention may be described by way of example in relation to minimal invasive surgical procedures, it is understood that the invention is equally applicable to provide images, as well as various other functionality, of numerous structures with a lumen, and is therefore not limited thereto.
- Imaging is used herein to generally denote pertaining to producing an image of a site, such as producing a video image of a surgical site.
- the present invention further provides an insertable device that has one or more functional elements configured to have or exhibit various degrees of freedom of movement with respect to orienting the functional elements.
- the functional element or element is a camera element
- the device provides a wider field of view of the surgical site than that provided by standard endoscopic cameras.
- the insertable device so configured provides access to a site of interest from multiple and different orientations or perspectives within the lumen, as the procedure dictates, further obviating limited mobility about the point of insertion drawback associated with endoscopes.
- the imaging device provides multiple selectable views of the site and may be used in connection with a stereoscopic imaging system to provide a stereo view of the surgical site to recreate the sense of depth that is lost with a traditional video monitor.
- a device insertable into a structure having a lumen includes a first housing, at least one functional element connected to the first housing, the functional element for use during a minimal access procedure, and a securing element for removably securing the insertable device to or against a wall of a structure having a lumen.
- the at least one functional element is movably connected to the first housing
- the device includes at least one actuating element connected to the first housing and the functional element.
- the actuating element is generally capable of moving the functional element in relation to the first housing in at least one degree of freedom.
- the securing element may be a needle protruding from the imaging device essentially inline with the elongated axis of the device, a magnet, a clamp, an adhesive, etc.
- the insertable device is adapted or otherwise configured for use in connection with minimal access surgical procedures.
- the securing element includes a needle protruding from the insertable device essentially inline with the elongated axis of the device.
- the insertable device is capable therewith of being removably secured against a subject's abdominal wall by inserting the needle into tissue of the abdominal wall.
- the functional elements may vary according to the desired functionality, which includes camera elements, a light elements, a laser elements, etc.
- the functional element includes a camera element, such as a CMOS imaging sensor or a CCD image sensor.
- the functional element is a camera element that includes a lens and a CCD image sensor mounted in a lens housing having threads therein to accept the lens and to accommodate focal adjustments.
- At least one functional element is movably connected to the first housing and the device includes at least one actuating element connected to the first housing and the functional element.
- the actuating element is capable of moving the camera element in relation to the first housing in at least one degree of freedom selected from a group consisting of: a first degree of rotational freedom essentially orthogonal to the elongated axis; a second degree of rotational freedom essentially inline with the elongated axis; and a third degree of translation freedom essentially inline with the elongated axis.
- the at least one functional element is a plurality of camera elements movably connected to the first housing and the device includes a plurality of actuating element connected to the first housing and the camera elements.
- the actuating elements are capable of moving each of the camera elements in relation to the first housing in at least one degree of freedom selected from the group noted above.
- the at least one functional element is movably connected to the first housing and the device includes at least one actuating element connected to the first housing and the functional element.
- the actuating element is capable of moving the camera element in relation to the first housing in a first degree of rotational freedom essentially orthogonal to the elongated axis allowing the functional element to be retracted into and extracted from the first housing.
- the actuating elements may be a motor producing rotational movement that interfaces with the functional element to translate or redirect the rotational movement produced by the motor in a direction essentially orthogonal to the elongated axis, such as with a bevel screw, a worm gear, or an assembly linking the element to a nut on a lead screw.
- the insertable device includes a second housing rotatably attached to the first housing and at least one actuating element connected to the first and second housings.
- the actuating element is capable of moving the functional element in relation to the first housing in a second degree of rotational freedom essentially inline to the elongated axis by rotating the first housing in relation to the second housing.
- the at least one functional element is movably connected to the first housing and the device includes at least one actuating element connected to the first housing and the functional element.
- the actuating element is capable of moving the functional element in relation to the first housing in a third degree of longitudinal freedom essentially inline to the elongated axis allowing the functional element to translate along the third degree of freedom.
- Movement in a third degree of longitudinal freedom may be accomplished with a functional element that is mounted to a shuttle capable of moving along the elongated axis.
- the actuating element may be a motor producing rotational movement connected to a lead screw that interfaces with a threaded portion of the shuttle to translate the rotational movement of the motor into longitudinal movement in the shuttle along the elongated axis.
- Such movement may also be accomplished for a plurality of functional elements with a corresponding number of motors producing rotational movement, and a corresponding number of shuttles each functional element is mounted to a shuttle capable of moving along the elongated axis.
- each shuttle includes a threaded portion and a hole, and each motor connected to a lead screw interfaces with the threaded portion of one of the shuttles to translate the rotational movement of the motor into longitudinal movement in the shuttle along the elongated axis and each lead screw passes through the hole of another shuttle to provide a guide for the other shuttle.
- Each shuttle may include mounted thereto at least one actuating element capable of moving the functional elements in relation to the first housing in a first degree of rotational freedom essentially orthogonal to the elongated axis allowing the functional elements to be retracted into and extracted from the first housing.
- the plurality of actuating elements are capable of moving each of the functional elements independently of each other. The translational movement may also be accomplished with a linear rail/actuator system.
- the insertable device includes a second housing rotatably attached to the first housing and at least one actuating element connected to the first and second housings.
- the actuating element is capable of rotating the first housing in relation to the second housing and each housing has an access opening therein capable of aligning with each other so that the first housing may be rotated to cover the functional elements and rotated to align the access openings to expose the functional element.
- the actuating element is capable of moving the camera element in relation to the first housing in at least one degree of freedom selected from a group consisting of: a first degree of rotational freedom essentially orthogonal to the elongated axis, a second degree of rotational freedom essentially inline with the elongated axis, and a third degree of longitudinal freedom essentially inline with the elongated axis.
- an insertable device having an elongated axis includes a first housing, a second housing rotatably connected to the first housing, a plurality of camera elements each comprising an image sensor movably connected to the first housing, at least one actuating element connected to the first housing and the second housing, the actuating element capable of rotating the first housing in relation to the second housing, at least one actuating element connected to each of the camera elements, the actuating element capable of moving the camera element in relation to the first housing in a first degree of rotational freedom essentially orthogonal to the elongated axis, and a securing element associated with the second housing for removably securing the imaging device to or against a wall of a structure with a lumen.
- a minimal access system in another aspect of the invention, includes a driving device communicatively connected to at least one device insertable into a structure having a lumen, the device including at least one functional element associated therewith for use during a minimal access procedure and at least one securing element for securing the insertable device against a wall of the structure having a lumen.
- the insertable device includes at least one actuating element capable of moving the functional element in at least one degree of freedom and the driving device provides a drive signal to remotely control the movement of the functional element.
- the driving device may be adapted to provide hybrid control of the insertable device such that the driving device may autonomously control functional element movement in at least one degree of freedom.
- the functional element may be a camera element and the driving device may autonomously control the camera element movement to maintain a user identified object in view while the user controls camera element movement in at least one degree of freedom to obtain an image of the site of interest from different perspectives.
- the at least one functional element may be a plurality of camera elements and the driving device may autonomously control the movement of the camera elements to produce a stereoscopic image of the site of interest or to create stereo images of a site of interest in real-time based on automatic vergence algorithms.
- an insertable device in another aspect of the invention, includes a first housing, at least one functional element movably connected to the first housing allowing the functional element to be retracted into and extracted from the first housing, and at least one actuating element connected to the first housing and the functional element.
- the actuating element is generally capable of moving the functional element in relation to the first housing in a first degree of rotational freedom essentially orthogonal to an elongated axis of the device for retracting and extracting the functional element from the first housing.
- an insertable device in another aspect of the invention, includes a first housing, a second housing rotatably connected to the first housing, at least one camera element that includes an image sensor movably connected to the first housing, and at least one actuating element connected to the first housing and the camera element.
- the actuating element is generally capable of moving the camera element in relation to the first housing in at least one degree of freedom, such as a first degree of rotational freedom essentially orthogonal to an elongated axis of the device, a second degree of rotational freedom essentially inline with the elongated axis, and a third degree of longitudinal freedom essentially inline with the elongated axis.
- a minimal access system in another aspect of the invention, includes a driving device communicatively connected to at least one device insertable into a structure having a lumen.
- the insertable device includes a first housing, at least one functional element for use during a minimal access procedure movably connected to the first housing allowing the functional element to move in at least one degree of freedom, and at least one actuating element connected to the first housing and the functional element.
- the actuating element is generally capable of moving the functional element in relation to the first housing in the at least one degree of freedom.
- the driving device includes at least one controller that provides a driving signal to control movement of the functional element in the at least one degree of freedom.
- a minimal access system in another aspect of the invention, includes a driving device communicatively connected to at least one device insertable into a structure having a lumen.
- the insertable device includes a first housing, at least one camera element moveably connected to the first housing allowing the camera element to move in at least one degree of freedom, and at least one actuating element connected to the first housing and the camera element.
- the actuating element is generally capable of moving the camera element in relation to the first housing in the at least one degree of freedom.
- the driving device includes at least one controller that provides a driving signal to control movement of the camera element in the at least one degree of freedom, and an image tracking module that tracks movement of at least one object in a field of view of the camera element. In this instance, the controller controls movement of the camera element based on a signal from the image tracking module to maintain the object in the field of view of the camera element.
- FIG. 1 is a perspective view of an insertable device for minimal access procedures according to one embodiment of the present invention functional elements in a retracted position;
- FIG. 2 is a perspective view of an insertable device for minimal access procedures according to one embodiment of the present invention with functional elements in an extracted position;
- FIG. 3 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing a functional element in an extracted position and showing the range of motion of the functional element in a direction orthogonal to the elongated axis of the device;
- FIG. 4 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing functional elements each rotatably mounted onto a shuttle and a shuttle interfacing with a motor and lead screw assembly;
- FIG. 5 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing shuttles each interfacing with a motor and lead screw assembly;
- FIG. 6 is a perspective view of a shuttle with a functional element rotatably mounted thereon and the functional element interfacing with a motor with a worm gear assembly;
- FIG. 7 is a diagram of a minimal access system according to one embodiment of the present invention.
- FIG. 8 is a side view of an insertable device for minimal access procedures according to one embodiment of the present invention with functional elements in a retracted position;
- FIG. 9 is a side view of an insertable device for minimal access procedures according to one embodiment of the present invention with functional elements in an extracted position;
- FIG. 10 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing an electrical circuit for communicating with the functional element and/or the shuttle;
- FIG. 11 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing an electrical system with a plurality of circuits for communicating with the functional element and/or the shuttle;
- FIG. 12 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing an electrical system with a plurality of circuits for communicating with the functional element and/or the shuttle;
- FIG. 13 is an image of a protein crystal and a grasping loop in a beginning sequence of a video image used to track the movement of the grasping loop in the video image;
- FIG. 14 is an image of a protein crystal and grasping loop in a subsequent sequence of a video image used to track the movement of the grasping loop in the video image.
- a single or multi-functional element, insertable device that can be inserted and temporarily placed or implanted into a structure having a lumen or hollow space.
- the structure having a lumen may be the anatomical structure of a subject, such as the subject's heart, lungs, esophagus, stomach, intestines, thoracic cavity, abdominal cavity, blood vessels, etc., and non-anatomical structure, such as tanks, pipes, confined spaces, rooms, etc.
- the present invention is adapted to be inserted and temporarily implanted into a subject's abdominal cavity to provide therewith images of a surgical site for use in connection with minimally invasive surgical procedures, such as laparascopic procedures.
- the subject may be any animal, including amphibians, birds, fish, mammals, and marsupials.
- the insertable device 100 of the present invention generally includes a first housing 102 and a securing element 104 for removably securing, e.g., attaching or holding, the device onto or against the wall of a structure having a lumen, at least one functional element 106 movably attached to the housing, and at least one actuating element 108 connected to the first housing for moving or causing the functional element to move in relation to the housing.
- a functional element is generally an instrument or device that provides a desired functionality with regard to the minimal access procedure.
- the functional element 106 may be a data acquisition device, such as a camera element, a sensor, an ultrasound probe, etc., or an effector, such as a light element, a laser element, a grasper, a dissecting instrument, a needle, a scalpel, a grasper, dithermy/cautery instruments, a suturing instrument, a stapling instrument, etc.
- An effector is generally a device or a combination of devices that bring about a result.
- the device 100 may further include a second housing 112 movably connected to the first housing 102 , which is explained in more detail below.
- the insertable device is adapted or otherwise configured for surgical applications.
- the securing element 104 may be a needle 110 protruding from the insertable device 100 , e.g., the first or second elongated housings 102 , 112 , in an orientation essentially parallel to or inline with the elongated axis 120 , similar to the pocket clip of a pen, such that the needle 110 may be inserted into the inner fatty tissue beneath the muscle layer of the abdominal wall to secure the device 100 to the abdominal wall.
- the needle 110 has a rectangular cross section and is limited to dimensions of about 1 mm by about 3 mm.
- the securing element 104 may alternatively be a magnet or a material attracted to a magnet, which may be used to removably secure the insertable device to the abdominal wall with corresponding magnets placed outside the body to hold the device against the abdominal wall, a clamp, an adhesive substance, a tab or hole that facilitates, e.g., suturing or stapling the device 100 to the abdominal wall, etc.
- the type and configuration of the securing element 104 may vary depending further on the particular application for which the device is adapted.
- the type of camera system adapted for the insertable device 100 may vary as well, however, to facilitate use of the device for minimal access procedures, e.g., minimal access imaging, the camera system selected for the device 100 must accommodate the compact dimensions of the device 100 as dictated by the dimensions of the opening though which access into the structure with a lumen is provided.
- the device 100 is adapted for use in connection with minimally invasive surgical procedures, for instance, the dimensions of the device 100 will generally be dictated by the size of the port or trocar that provides access to the site, e.g., a port about 20 mm in diameter.
- a compact size with respect to the camera portion of the device 100 may be achieved, for example, with CMOS or CCD sensor chip based cameras that consist of relatively compact elements that may be located remote from each other.
- the camera is a chip based camera with remote camera elements, such as a remote CCD image or CMOS image sensor assemblies, which allow the image sensing portion of the camera that is introduced into the surgical site to be movable in relation to the rest of camera circuitry.
- the camera includes a 8 mm round CCD color image sensor mounted essentially perpendicular to a 17 mm long driver board, and the driver board is electrically connected to a camera control unit (“CCU”) remote from the insertable device 100 .
- CCU camera control unit
- actuating elements 108 or actuators for moving the functional element in relation to the housing may be used to achieve the desired degree of freedom with regard to the movement of the functional element 106 , such as piezoelectric actuators, pneumatic actuators, solenoids, shape memory alloy actuators, linear motors, motors producing rotational movement, motors producing rotational movement adapted to provide linear movement, etc.
- the type of actuating element 108 and the number of actuating elements 108 will vary depending on the design constraints of the insertable device 100 , e.g., the dimensions as dictated by the size of the access port or opening, the degrees of freedom the functional element or elements 106 are intended to move, the number of functional element, etc.
- At least one of the actuating elements 108 comprises a brushless DC motor producing sufficient torque to produce the desired movement in the functional element 106 .
- the DC motor may further be connected to a lead screw which when rotated can translate a shuttle or carriage 135 in both directions along the axis of the lead screw to produce linear motion and with a bevel screw or worm gear assembly to redirect the rotational movement produced by the motor.
- the motor runs on 6 volts, is about 27 mm long, and has a diameter of about 5 mm.
- the device 100 is designed to provide various degrees of freedom with regard to the movement of the one or more functional elements 106 .
- the degrees of freedom will generally be described herein in relation to the elongated axis 120 of the device 100 .
- the various degrees of freedom may also be described in relation to the image plane, where, for instance, panning may be viewed as a rotation, generally about a vertical axis through the image plane, tilting about a horizontal axis through the image plane, and rolling would be about the optical axis.
- a first degree of rotational freedom 130 essentially orthogonal to the elongated axis 120 of the device 100 which allows the element or elements 106 to be retracted into and extracted from the housing 102 and also allows the element or elements 106 , e.g., the camera or cameras, to pan along the first degree of freedom 130 , as shown between FIG. 8 and FIG. 9 .
- a second degree of rotational freedom 140 essentially parallel or inline with the elongated axis 120 allows the element or elements 106 to tilt along the second degree of freedom 140 .
- a third degree of longitudinal freedom 150 essentially parallel or inline with the elongated axis 120 allows the element or elements 106 to translate along the third degree of freedom 150 .
- the multiple elements 106 may be independently or simultaneously rotated and/or moved in the first and third degrees of freedom 130 , 150 , and in tandem in a second degree of freedom 140 .
- This particular feature is suited, for instance, where the multiple elements 106 are camera elements for use in stereoscopic imaging.
- the multiple functional elements 106 may be independent from each other and thus may be independently or stimulatingly rotated and/or moved in a first, second, and third degrees of freedom, 130 , 140 , 150 .
- the various degrees of freedom provide access to or views of the site of interest from multiple and different orientations/viewpoints. Additionally, the various degrees of freedom of movement in addition to independent control may, in a stereoscopic imaging system, provide flexibility with regard to controlling the vergence angle of the stereo pair of camera elements and establishing a baseline for stereo imaging, and, in an autonomous tracking system, maintaining moving objects in the field of view.
- the insertable device 100 includes five actuating elements 108 , e.g., motors, which control the movement of two functional elements 106 that may be moved in the first, second, and third degrees of freedom 130 , 140 , 150 .
- the functional elements 106 are camera elements and the zoom and certain rotations may be accomplished in software with imaging processing capability.
- an elongated tubular and/or cylindrical insertable device 100 may be configured to allow for insertion through an access port having a diameter of up to about 20 mm. Accordingly, in one embodiment, the insertable device 100 is configured to have a diameter of about 20 mm or less.
- the actuating elements 108 must generally be configured so that the actuating elements 108 fit within the dimensions of the device 100 . If motors producing rotational movement, for instance, are used to provide the motive force for the functional elements 106 , at least with respect to a device 100 having a diameter of about 20 mm or less, the motor will likely need to be aligned lengthwise essentially inline or parallel to the elongated axis 120 since motors typically exceed the 20 mm or less dimensional constraints of the device 100 .
- motors may beneficially be used to provide rotational movement along the second degree of freedom 140 , may be combined with a lead screw and shuttle arrangement to provide longitudinal movement along the third degree of freedom 150 , and may be combined with a worm gear or bevel screw arrangement to provide rotational movement along the first degree of freedom 130 .
- the device 100 includes a second elongated housing 112 that is rotatably connected to the first elongated housing 102 , with or without bearings, such that the first and second housings 102 , 112 may be rotated in relation to each other in at least one degree of freedom.
- the device 100 may be removably secured to the wall of the structure having a lumen, e.g., the abdominal wall, with the securing element that is an aspect of the second housing 112 .
- tilting along the second degree of freedom 140 may be achieved by rotating the first housing 102 , which includes the functional element or elements 106 therein, in relation to the second housing 112 .
- the first and second housings 102 , 112 may be rotated with respect to each other with a motor that produces rotational movement appropriately connected to each of the housings 102 , 112 .
- the second housing 112 may occupy various portions of the length of the device 100 .
- the second housing 112 may be long enough in relation to the elongated axis 120 to provide a sufficient bearing surface to withstand bending forces applied to the device 100 without occupying the full length of the device 100 .
- the greatest amount of rotational freedom in the direction of the second degree of freedom 140 may be achieved in this instance if the second housing 112 does not interfere with the movement of the functional elements 106 while the elements 106 are in an extracted position.
- the second housing 112 may occupy a greater portion of the length of the device 100 to provide a protective cover for the functional elements 106 .
- the second housing 112 will include an access opening 114 capable of aligning with an access opening 118 of the first housing 102 so that second housing 112 will cover functional elements 106 retracted within the first housing 102 for insertion into the structure and, once inserted or removably secured to the structure, the first housing 102 may be rotated, e.g., 180 degrees, to reveal the functional elements 106 though the access openings 114 .
- the access opening 118 of the first housing 102 may further allow the functional element or elements 106 to retract into and extract from the first housing 102 .
- the access openings 114 , 118 of the first and second housings 102 , 112 are sized to allow the maximum amount of rotational movement along the second degree of freedom 140 , e.g., the access opening 114 of the second housing 112 is dimensionally equal to or greater circumferentially than the access opening 118 of the first housing 102 , as shown in FIG. 3 .
- the first and second housing are capable of being rotated at least 270 degrees with respect to each other when the functional elements 106 are in a retracted position and/or at least 180 degrees with the functional elements 106 extracted.
- the longitudinal movement in the direction of the third degree of freedom 150 is produced by mounting at least one functional element 106 onto a shuttle 135 that is capable of moving along the elongated axis 120 within the lumen of the first housing 102 .
- Each shuttle 135 further includes an actuating element 108 associated therewith for producing the longitudinal movement within the first housing 102 .
- the shuttle 135 is moved along the elongated axis 120 within the first housing 102 by a motor 190 connected to a lead screw 180 that interfaces with a threaded portion 122 of the shuttle 135 .
- the shuttle 135 moves within the first housing 102 as the lead screw 180 is screwed and unscrewed in relation to the shuttle 135 .
- a track or guide may be provided within the first housing 102 and a corresponding key in the shuttle 135 to restrict undesirable rotation of the shuttle 135 .
- a second shuttle 135 with a threaded portion 122 having threads in a reverse direction than that the first shuttle 135 may interface with the lead screw 180 with corresponding reverse threads to move the shuttles 135 within the first housing 102 in directions to and from each other.
- independent longitudinal movement for each of the shuttles 135 is achieved with a motor 190 and lead screw 180 combination for each of the shuttles 135 .
- each shuttle 135 may be restricted with a guide and key arrangement as noted above, or, alternatively, with each other's lead screw.
- each shuttle 135 includes a threaded portion 122 that interfaces with one lead screw 180 connected to a respective motor 190 associated with the shuttle and one hole 124 larger than the threads of the lead screw 180 connected to the motor 190 associated with the other shuttle 135 which allows the shuttles to use each other's lead screw 180 as a guide.
- Rotational movement in the direction of the first degree of freedom 130 is achieved with an actuation element 108 that engages the functional element 106 to retract and extract the functional elements into and out of the device 100 .
- the actuation element 108 is a motor 190 that interfaces with functional element 106 with a worm gear assembly to redirect the rotation produced by the motor 190 in a direction essentially orthogonal or essentially perpendicular to the axis of the motor 190 or the elongated axis 120 , as shown in FIG. 6 .
- the functional elements 106 are mounted to the shuttles 135 so that maximum freedom in the direction of the third degree of freedom 150 is achieved, e.g., in a manner such that the functional elements appear to face each other.
- the distance between the functional elements 106 or shuttles is up to 10 mm.
- At least one of the functional elements 106 is a camera element and the shuttle 135 includes a camera element rotatably attached thereto which includes an image sensor, such as a CCD or CMOS image sensor, mounted in a lens housing that has threads therein to accept a lens with matching threads which accommodates focal adjustments.
- an image sensor such as a CCD or CMOS image sensor
- a CCD sensor and lens are mounted on a pedestal, which is rotatably connected to the shuttle 135 so that the pedestal may tilt about an axis that is orthogonal to the shuttle motor.
- the driver board mounted on the shuttle 135 may be connected to the CCD image sensor with or without a flexible ribbon cable.
- the various components of the device 100 may be manufactured from a variety and/or a combination of biocompatible and non-biocompatible materials, such as polyester, Gortex, polytetrafluoroethyline (PTFE), polyethelene, polypropylene, polyurethane, silicon, steel, stainless steel, titanium, Nitinol, or other shape memory alloys, copper, silver, gold, platinum, Kevlar fiber, carbon fiber, etc.
- non-biocompatible materials may come into contact with anatomic structure, the components made from the non-biocompatible materials may be covered or coated with a biocompatible material.
- the housings 102 , 112 of the device 100 are manufactured from stainless steel.
- the housings may be stainless steel tubes of various diameters.
- the second housing 112 has a diameter of about 5 mm (0.197′′) to about 25 mm (0.984′′), and is about 127 mm (5′′) to about 228 mm (9′′) long. In one embodiment the second housing has a diameter or of 9/16′′ and is about 7.8′′ long. In another embodiment, the device has a wall thickness of 0.028′′. The device may further have spherical end caps to ease insertion into the structure. An about 50 mm (2′′) to about 152 mm (6′′) long section of the second housing 112 may be cut away to produce an access opening 114 which allows the functional elements 106 to tilt when extracted. In on embodiment, the access opening is about 2.6′′ long.
- the first housing 102 has a 0.028′′ thickness. In another embodiment, the first housing has a smaller diameter than the second housing which is also between about 5 mm to 25 mm and a length of about 127 mm to about 228 mm. In one embodiment, the first housing has a 1 ⁇ 2′′ diameter and is 6′′ long. A portion of the first housing 102 is cut away to produce an access opening 118 to allow the cameras to be retracted therein and extracted therefrom.
- the first housing 102 preferably includes sufficient space to house cable to provide sufficient slack to accommodate the movement of the functional elements 106 as described herein.
- the device 100 may be adapted to provide additional functionality.
- the functional element 106 may be an effector type instrument, such as a light for illuminating the site of interest, a laser for cauterizing, coagulating, or ablation, a scissors, ultrasonic dissector or other types of dissecting instrument, a needle, a grasper, a scalpel, diathermy/cautery instruments, a suturing instrument, a stapling instrument, or any other type of surgical instrument.
- the instrument may be fixed in relation to the device or may be moveabe in relation to the device in one of the various degrees of freedom, as noted above.
- the device may include multiple functional elements 106 , such as at least two of a light, laser, and a camera element, or any one of the other functional elements noted above.
- the light or fiber optic light guides may also be fixed to any one of the housings or incorporated into the camera element.
- the multiple instruments may be controlled consistently with each other. For example, a light may be controlled in the various degrees of freedom to illuminate the site consistent with the movement of the camera element.
- the insertable device 100 includes a plurality of shuttles 135 , one shuttle 135 including a camera element and at least one shuttle 135 which includes a functional element, such as a light, a laser, etc., thereon.
- the present invention may be temporarily placed into a luminal structure for minimal access procedures to obviate some or all of the drawbacks of probe-like instruments, such as endoscopes, graspers, dissectors, etc., that pivot at the access opening of the luminal structure.
- Probe-like instruments are generally slender instruments intended to be inserted into the luminal structure for use in minimal access procedures.
- the present invention may also be used in connection or combined with such instruments to provide additional functionality thereto.
- a grasper or an ultrasound dissector may be equipped with one or more functional elements, such as a camera element, moveably connected thereto, to similarly retract into and out of from the probe.
- the body or a tubular section of the probe-like instrument forms the first housing from which the camera element may be retracted, for insertion into the luminal structure and extracted therefrom to provide an image of the site of interest.
- Any probe-like instrument may similarly be equipped with one or more functional elements, such as a circular stapler, to perform e.g., anastomosis.
- One of or more of the functional elements discussed above may be combined with any type of slender instrument to provide instruments with multiple functions thereby limiting the number of access openings to access the site of interest.
- the device 100 includes at least one electrical circuit that electrically and/or communicatively couples the functional element 106 , the shuttle 135 , an actuating device 108 , 190 , or a combination thereof, with a driving device 220 .
- the electrical circuit generally includes at least one wire 202 disposed within the first housing 102 and at least one contact 204 associated with the shuttle 135 .
- the wire 202 generally receives and/or communicates power, energy, sensor, video, or drive signals, as discussed above, from the cable 210 that interfaces with the driving device 220 .
- the wire 202 may also receive or communicate with a local communication unit located on the device 100 (not shown), which communicates wirelessly with a corresponding communication unit 214 associated with the driving device 220 , and with a local power supply also located on the device 100 , to generally provide wireless control of the insertable device 100 .
- the wire 202 is generally disposed along at least a portion of the length of the first housing 102 essentially parallel or inline with the elongated axis of the device 100 so that the contact 204 associated with the shuttle 135 remains in contact the wire 202 as the shuttle 135 translates within the first housing 102 .
- a wire 202 is generally any electrically conductive structure that may be so disposed, such as a wire having a circular, square, or a rectangular cross section, such as in the form of a conductive film, etc.
- the wire 202 may be adhered to the first housing 102 or integrated therein.
- the contact 204 generally connects an actuating device 108 , 190 or a functional element 106 associated with the shuttle 135 with the wire 202 , e.g., using wire 208 , while the shuttle 135 translates along within the first housing 102 , preferably for the full range of motion of the shuttle 135 .
- Various types of contacts may be used in this respect.
- the contact 204 may, for example, include a bearing, such as a ball bearing, disposed in a recess 206 , which bearing contacts wire 202 and wire 208 thereby establishing continuity between the cable 210 and the actuating device 108 , 190 or functional element 104 .
- the contact 204 may be biased toward the wire 202 to maintain continuous contact with the wire 202 as the shuttle 135 translates within the first housing 102 . Bias may be maintained with a spring that forces the bearing toward the wire 202 .
- the spring is preferably electrically conductive to maintain the desired continuity in the circuit.
- the device 100 may include a plurality of electrical circuits.
- an electrical circuit may be used to conduct a drive signal to the actuating device 108 , 190 .
- An electrical circuit may also be used, depending on the type of functional element, to conduct energy or communicate image or other data to or from the functional element 106 .
- an electrical circuit or channel may communicate image data from a camera element or an ultrasound probe.
- the electrical circuit may conduct energy for an ultrasonic dissector or any other type of effector and receive data therefrom.
- the functional elements may interfere with each other, such as a camera element and an ultrasound probe, the functional elements preferably operate at different frequencies or include some other means for limiting interference.
- the device 100 may also include a sensor, such as an oxygen sensor or oximeters, a stress/strain sensor, a temperature sensor, a pressure sensor, haptic feedback devices, etc., disposed on the functional element 106 or elsewhere on the device 100 , to obtain relevant data from the site of interest.
- the device 100 may include a circuit or channel to communicate sensor data from the sensor to the driving device 220 .
- Haptic feedback devices generally provide the user with feedback regarding feel, usually by generating resistive forces in input device.
- the driving device includes imaging, sensor, and effector elements or subsystems, the device integrates control of all of these systems.
- the electrical circuits may be disposed longitudinally at various locations in the first housing 102 as dictated by the size of the device 100 . That is, for relatively large devices 100 , all of the electrical circuits may be disposed in a localized area or areas of the first housing 100 without limitation. In contrast, for smaller devices 100 the electrical circuits may be spaced sufficiently apart around the perimeter of the first housing 102 to accommodate as many circuits as desired.
- the contacts 204 may also be longitudinally spaced on the shuttle 135 as shown in FIG. 11 and FIG. 12 to allow the wires 202 to be spaced closer together to accommodate more wires 202 , and thus more circuits or channels, than may otherwise be available with all of the contacts 204 on the same plane.
- the actuating elements 108 , 190 or the functional elements 106 may also share electrical circuits or portions thereof.
- the actuating elements disposed on the shuttles 135 as well as those producing translational movement may share a common ground.
- one of the wires 202 will serve as a ground bus for a plurality of actuating elements 108 , 190 .
- a plurality of wires 202 may also serve as a communication bus for the functional elements 106 .
- a plurality of camera elements, oxygen sensors, stress/strain sensors, pressure sensors, temperature sensors, etc., or a combination thereof, may communicate data with a common set of wires 202 .
- the data communicated from these data acquisition devices may also include a data string, such as a header, or some other means that associates the data with the particular type of capturing device.
- image data may be preceded with a data string that identifies the data that follows as image data.
- the data string or header may also associate the image data that follows with a particular camera element.
- a minimal access system includes at least one insertable device 100 or a plurality of insertable devices communicatively coupled to a driving device 220 .
- the driving device 220 is generally a device, which provides the driving signal or signals to produce the desired functionality with the insertable device 100 , such as movement in the relevant degrees of freedom of motion, imaging, provide power or energy for cauterizing, coagulation, ablation, for actuating graspers, scissors, etc.
- the driving device 220 as well as the other components discussed herein may be implemented in hardware, software, or a combination thereof. Although the driving device 220 may be discussed by way of example in relation to certain modules or components, it is understood that the functionality of the driving device 220 may be accomplished with a variety of hardware and software components and is thus not limited thereto.
- the driving device 220 includes at least one controller 200 to drive at least one motor associated with the device 100 and to reproduce the images of the site of interest.
- the controller 200 may consist of a plurality of controllers, such as a motor controller for each of the actuating devices incorporated into the device 100 , a camera controller for each of the camera elements, and specific controllers for each of the other types of functional elements.
- the motor controllers generally provide the drive signal to control the operation of the actuating elements and the camera controllers provide the signal to control the functions of the camera based on signals from, e.g., an input device, a voice recognition module 224 , an image tracking module 226 , etc.
- the driving device 220 may also include a power supply that provides the power for the actuating elements electrically connected to the driving device 220 and the functional elements communicatively connected to the driving device 220 , as well as the components of the driving device 220 .
- the controller or controllers may operate the elements of the device 100 based at least initially on a signal from an input device, such as a joystick and/or from a component that provides a signal for automatically controlling the elements of the device 100 .
- the system includes a plurality of insertable devices 100 with each of the devices 100 providing a different functionality, such as one of imaging, light, coagulation, and ablation.
- the driving device 220 may also include an image processor/display adaptor 222 , which receives image data or other types of acquired data from at least one insertable device 100 and converts image data received from the camera elements or sensors into a signal suitable for displaying the image on a monitor, such as a CRT display, an LCD display, stereoscopic goggles, etc.
- the image processor generally receives image data from the camera elements and produces a video image of the site of interest for continuous video display. With other types of data acquisition elements, the system may convert the signal received from these elements into a numerical or graphical representation of the signal for display. For instance, the system may convert a signal from a pressure sensor into a numerical value.
- the image processor may also process the image data for other purposes, such as to extract data from the image data.
- the extracted data may represent an object or a portion of the object in the field of view, which may be used to track the object as discussed below.
- the system provides hybrid control, which allows the user to control movement with regard to some of the degrees of freedom of the device 100 while the system autonomously controls movement with regard to the remaining degrees of freedom.
- the system may be adapted to autonomously control camera movement in the first and second degrees of freedom 130 , 140 in order to keep a user-identified object in view, while the user controls camera movement along the third degree of freedom to provide images from different orientations/perspectives.
- the autonomous system maintains the user identified object, such as an organ, in view while the user orients at least one camera element. This may be accomplished with a constraint-based sensor planning system that can associate viewpoints of modeled objects.
- the planning system generally incorporates constraints on viewpoint visibility, depth-of-field, and image resolution to plan correct viewing parameters and positions. This aspect is particularly beneficial when multiple camera insertable devices are in use to provide surgeons with a choice of potential viewpoints and to provide stereoscopic imaging.
- the system may also independently track user-identified objects to maintain such objects in view when the objects move in the site of interest or more particularly in the image field.
- the system may track the movement of organs or instruments in a subject's abdominal cavity and control the camera element to maintain the organ or instrument in view during a minimal access procedure or a portion thereof.
- This may be accomplished with a tracking module 226 , which receives a first set of image data of the site of interest and instruction regarding an object or objects to be tracked, which object or objects are represented in the first set of image data.
- a set of image data generally includes data sufficient to identify an object in the field of view.
- the set of image data may include sufficient data to produce an image or frame of a video or a subset of such data.
- the user defined targeting instructions may be received with a pointing device that allows the user to select an object or point on a graphic display of the site of interest.
- the pointing device may be a mouse, a joystick, a stylus, a touch screen display, etc.
- the tracking module 226 receives a subsequent set of image data and tracks movement therein of the user-identified object based on differences between the first set of image data and the subsequent set of data. Accordingly, movement may be tracked in real-time based on a comparison of contiguous and/or sequential image data sets or frames obtained at different times.
- the image data sets may be stored in a data store 230 associated with the tracking module for tracking or for reproduction at a later time.
- the tracking module 226 may operate on many different imaging cues, such as gray-level regions, geometric features, motion, fiducial markers, etc.
- image processing is used to identify a target based on its RGB color components.
- any movement of the target may be tracked by following the target's RGB color components.
- the tracking algorithms discussed herein have been applied to track protein crystals and a grasping loop in real time as shown in FIGS. 13-14 .
- FIG. 13 shows the beginning sequence
- FIG. 14 shows the tracking convergence as the grasping loop is placed under the crystal to pick it up.
- the tracking module may track one or more features, instruments, or organs and provide information to the controller 200 in order to maintain the targeted object in view. This may be accomplished in a variety of ways.
- the camera element may be moved in a first, second, or third degree of freedom, or a combination thereof, to pan and tilt the camera as needed to keep the target centered in the image or at any other point in the image.
- Computer control algorithms may be used to pan and tilt the camera elements. For example, a vertical or horizontal error measured in image pixels from the image center may be used to control tilt and pan, respectively, where the velocity is proportional to the rate of the vertical/horizontal pixel errors.
- the control signals may generally be updated periodically, such as 30 times per second, for real-time control.
- the tracking module 226 may also provide a signal to the controller 200 to automatically and independently verge a plurality of camera elements on tracked objects to allow stereoscopic imaging of the object in 3D.
- a plurality of objects may also be tracked independently and a plurality of camera element may each be controlled separately to provide a range of viewpoints to a surgeon while maintaining each of the tracked objects in the field of view. This is particularly useful with minimal access procedures that involve multiple organs/instruments.
- the present invention may generally serve as a basis for other data acquisition platforms or effector platforms.
- the functional elements may include sensors, such as stress/strain, ultrasound, haptic, RF, etc., that provide feedback for use in tracking and actuating the effector type of functional elements. Additional data input with the addition of various sensors on the effectors may further guide decision making by the surgeon with input from the computer.
- sensors that may be used include ultrasound probes, oximeters, or haptic feedback devices to measure the pressure required to affect a task (conceptually, the equivalent of tactile sensation).
- the system may further be adapted to perform open loop position control of the one or two functional elements in the relevant degrees of freedom, interface the open loop control to the surgeon through either voice activation or an input device, such as a joystick, an alphanumeric keypad, etc., produce a video image of the site, track moving structures within the body, and/or create stereo images in real-time based on automatic vergence algorithms.
- Stereo images may be displayed on head-mounted stereoscopic goggles for immersive 3D stereo imaging.
- the driving device 220 generally provides control remote from the insertable device 100 , e.g., the driving device 220 is located exterior to the body whereas the insertable device 100 may be implanted to provide the relevant functionality with respect to minimal access procedures.
- the driving device 220 may interface with the device 100 with cables, such as a cable 2 m long and 1-12 mm in diameter.
- the cable generally includes a plurality of wires that carry power, energy, video, and/or the drive signal to control the elements of the device 100 .
- the video and/or the drive signal may be wirelessly transmitted to the device to reduce the number of wires necessary to operate the device 100 .
- the driving device 220 includes a communication module 214 that allows devices 100 with corresponding communication modules to communicate with each other. Power may also be provided with a battery within the driving device 100 to eliminate cabling altogether. For extended use the battery may be charged or maintained with wireless energy transducers.
Abstract
The present invention provides a system and single or multi-functional element device that can be inserted and temporarily placed or implanted into a structure having a lumen or hollow space, such as a subject's abdominal cavity to provide therewith access to the site of interest in connection with minimally invasive surgical procedures. The insertable device may be configured such that the functional elements have various degrees of freedom of movement with respect to orienting the functional elements or elements to provide access to the site from multiple and different orientations/perspectives as the procedure dictates, e.g., to provide multiple selectable views of the site, and may provide a stereoscopic view of the site of interest.
Description
- The present application is a continuation-in-part of U.S. patent application Ser. No. 10/620,298 filed Jul. 15, 2003.
- The present invention relates to systems and devices for use in connection with minimal or limited access procedures, such as minimally invasive surgical procedures.
- Minimally invasive surgical procedures, e.g., laparascopic procedures, have dramatically reduced patient recovery times. However, the reduced recovery times have correspondingly resulted in an increase, from a surgeon's perspective, in the complexity of the surgical procedures. This is in part due to the characteristic relatively small incisions, e.g., approximately 10 mm in diameter, through which a surgeon accesses a surgical site to perform the minimally invasive surgery. The limited access adds to the complexity of the surgical procedures since surgeons must remotely manipulate sufficiently small instruments though the incisions and must also view the surgical site through the small incisions.
- Imaging systems that provide a view of the surgical site for a minimal access surgical procedure typically include an endoscope, e.g., a tubular instrument containing optical lenses and light guides that feed images to an external video camera and a monitor, such as the endoscope discussed in U.S. Pat. No. 4,651,201. Endoscopes, however, have drawbacks. For instance, since the surgeon is generally using both hands to manipulate other instruments used in the procedure, e.g., forceps, scissors, coagulators/cauterizer probes, etc., an assistant is required to hold and orient the endoscope to adjust the view during the procedure. Robotics have recently been introduced to automate the task of orienting the endoscope during minimally invasive surgical procedures, such as the Automated Endoscopic System for Optimal Positioning (“AESOP”). The AESOP uses a robot arm that is directed by spoken commands to orient the endoscope. While the AESOP takes the burden off the assistant and provides a much more stable view of the field, the equipment necessary for the AESOP is complex and occupies a large part of the operating room floor.
- A smaller and simpler robotic endoscope manipulator that can be placed directly over the insertion point was developed at the Institut National de Recherche en Informatique et en Automatiqueinria (“INRIA”). However, the INRIA system as well as other robotic systems fail to address the limited available range of motion about the fulcrum at the abdominal wall through which the endoscope as well as other instruments pass to gain access to the surgical site. The limited range of motion translates into limits with regard to the degree of freedom that the instruments may be oriented toward the surgical site.
- Active or hyper endoscope systems have been proposed that generally consist of a multi-link robotic arm with a camera mounted thereon, such as the active endoscope discussed in Japanese Patent 2000175865, which is hereby incorporated herein by reference, which provide additional freedom with respect to orienting the endoscope camera. However, these systems require a dedicated incision for the endoscope to access the surgical site and typically require relatively high voltage to operate the actuators necessary to manipulate the hyper endoscope which from a safety perspective may be problematic when used in surgical procedures. Pill cameras have also been adapted for imaging sections of the small intestine that are out of the reach of a colonoscope, such as the pill camera described in U.S. Pat. No. 5,604,531 and U.S. Pat. No. 6,428,469. However, pill cameras do not generally include means for orienting the camera; rather, pill cameras merely rely on peristalsis to orient the camera.
- There is therefore a need for systems and devices for minimal access procedures that do not require an assistant to hold and orient an instrument and that provide additional or greater freedom than is provided with an endoscope or other instrument with regard to orienting the instrument toward the site of interest. There is also a need for systems and devices for minimal access procedures that provide additional or greater freedom with regard to orienting the instrument toward a site of interest than is provided with an active or hyper endoscope that do not require a dedicated access incision into the site for the instrument.
- The present invention generally provides a single or multi-functional element insertable device that can be inserted and temporarily placed or implanted into a structure having a lumen or hollow space. Once inserted into the lumen of the structure, the device is removably attached or secured to the interior of the structure, such as to the interior of a subject's abdominal wall, near a site of interest so that the functional element or elements may be oriented thereto, preferably to look down at the area of interest. The insertable and implantable aspect of the present invention obviates the limited motion about an insertion point drawback associated with endoscopes, as well as other instruments, by allowing the surgeon to move the device to different locations on the abdominal wall. Moreover, the insertable aspect allows a surgeon to insert a plurality of devices into the structure's lumen through a single incision thereby increasing access to the site with minimal incisions. Although the present invention may be described by way of example in relation to minimal invasive surgical procedures, it is understood that the invention is equally applicable to provide images, as well as various other functionality, of numerous structures with a lumen, and is therefore not limited thereto. Imaging is used herein to generally denote pertaining to producing an image of a site, such as producing a video image of a surgical site.
- The present invention further provides an insertable device that has one or more functional elements configured to have or exhibit various degrees of freedom of movement with respect to orienting the functional elements. Where the functional element or element is a camera element, the device provides a wider field of view of the surgical site than that provided by standard endoscopic cameras. Additionally, the insertable device so configured provides access to a site of interest from multiple and different orientations or perspectives within the lumen, as the procedure dictates, further obviating limited mobility about the point of insertion drawback associated with endoscopes. In a multi-camera element embodiment of the invention, the imaging device provides multiple selectable views of the site and may be used in connection with a stereoscopic imaging system to provide a stereo view of the surgical site to recreate the sense of depth that is lost with a traditional video monitor.
- Accordingly, in one aspect of the present invention, a device insertable into a structure having a lumen is provided that includes a first housing, at least one functional element connected to the first housing, the functional element for use during a minimal access procedure, and a securing element for removably securing the insertable device to or against a wall of a structure having a lumen. In one embodiment, the at least one functional element is movably connected to the first housing, and the device includes at least one actuating element connected to the first housing and the functional element. The actuating element is generally capable of moving the functional element in relation to the first housing in at least one degree of freedom. The securing element may be a needle protruding from the imaging device essentially inline with the elongated axis of the device, a magnet, a clamp, an adhesive, etc. In one embodiment, the insertable device is adapted or otherwise configured for use in connection with minimal access surgical procedures. In this instance, the securing element includes a needle protruding from the insertable device essentially inline with the elongated axis of the device. The insertable device is capable therewith of being removably secured against a subject's abdominal wall by inserting the needle into tissue of the abdominal wall.
- The functional elements may vary according to the desired functionality, which includes camera elements, a light elements, a laser elements, etc. In one embodiment, the functional element includes a camera element, such as a CMOS imaging sensor or a CCD image sensor. In another embodiment, the functional element is a camera element that includes a lens and a CCD image sensor mounted in a lens housing having threads therein to accept the lens and to accommodate focal adjustments.
- In one embodiment, at least one functional element is movably connected to the first housing and the device includes at least one actuating element connected to the first housing and the functional element. In this instance, the actuating element is capable of moving the camera element in relation to the first housing in at least one degree of freedom selected from a group consisting of: a first degree of rotational freedom essentially orthogonal to the elongated axis; a second degree of rotational freedom essentially inline with the elongated axis; and a third degree of translation freedom essentially inline with the elongated axis.
- In another embodiment, the at least one functional element is a plurality of camera elements movably connected to the first housing and the device includes a plurality of actuating element connected to the first housing and the camera elements. In this instance, the actuating elements are capable of moving each of the camera elements in relation to the first housing in at least one degree of freedom selected from the group noted above.
- In another embodiment, the at least one functional element is movably connected to the first housing and the device includes at least one actuating element connected to the first housing and the functional element. In this instance, the actuating element is capable of moving the camera element in relation to the first housing in a first degree of rotational freedom essentially orthogonal to the elongated axis allowing the functional element to be retracted into and extracted from the first housing. The actuating elements may be a motor producing rotational movement that interfaces with the functional element to translate or redirect the rotational movement produced by the motor in a direction essentially orthogonal to the elongated axis, such as with a bevel screw, a worm gear, or an assembly linking the element to a nut on a lead screw.
- In another embodiment, the insertable device includes a second housing rotatably attached to the first housing and at least one actuating element connected to the first and second housings. In this instance, the actuating element is capable of moving the functional element in relation to the first housing in a second degree of rotational freedom essentially inline to the elongated axis by rotating the first housing in relation to the second housing.
- In another embodiment, the at least one functional element is movably connected to the first housing and the device includes at least one actuating element connected to the first housing and the functional element. In this instance, the actuating element is capable of moving the functional element in relation to the first housing in a third degree of longitudinal freedom essentially inline to the elongated axis allowing the functional element to translate along the third degree of freedom.
- Movement in a third degree of longitudinal freedom may be accomplished with a functional element that is mounted to a shuttle capable of moving along the elongated axis. The actuating element may be a motor producing rotational movement connected to a lead screw that interfaces with a threaded portion of the shuttle to translate the rotational movement of the motor into longitudinal movement in the shuttle along the elongated axis. Such movement may also be accomplished for a plurality of functional elements with a corresponding number of motors producing rotational movement, and a corresponding number of shuttles each functional element is mounted to a shuttle capable of moving along the elongated axis. In this instance, each shuttle includes a threaded portion and a hole, and each motor connected to a lead screw interfaces with the threaded portion of one of the shuttles to translate the rotational movement of the motor into longitudinal movement in the shuttle along the elongated axis and each lead screw passes through the hole of another shuttle to provide a guide for the other shuttle. Each shuttle may include mounted thereto at least one actuating element capable of moving the functional elements in relation to the first housing in a first degree of rotational freedom essentially orthogonal to the elongated axis allowing the functional elements to be retracted into and extracted from the first housing. In one embodiment, the plurality of actuating elements are capable of moving each of the functional elements independently of each other. The translational movement may also be accomplished with a linear rail/actuator system.
- In another embodiment, the insertable device includes a second housing rotatably attached to the first housing and at least one actuating element connected to the first and second housings. In this instance, the actuating element is capable of rotating the first housing in relation to the second housing and each housing has an access opening therein capable of aligning with each other so that the first housing may be rotated to cover the functional elements and rotated to align the access openings to expose the functional element.
- In another aspect of the present invention, an insertable device having an elongated axis associated therewith is provided that includes a first housing, a second housing rotatably connected to the first housing, at least one camera element comprising an image sensor movably connected to the first housing, at least one actuating element connected to the first housing and the camera element, and a securing element associated with the second housing for removably securing the imaging device to or against a wall of a structure having a lumen. The actuating element is capable of moving the camera element in relation to the first housing in at least one degree of freedom selected from a group consisting of: a first degree of rotational freedom essentially orthogonal to the elongated axis, a second degree of rotational freedom essentially inline with the elongated axis, and a third degree of longitudinal freedom essentially inline with the elongated axis.
- In another aspect of the invention, an insertable device having an elongated axis is provided that includes a first housing, a second housing rotatably connected to the first housing, a plurality of camera elements each comprising an image sensor movably connected to the first housing, at least one actuating element connected to the first housing and the second housing, the actuating element capable of rotating the first housing in relation to the second housing, at least one actuating element connected to each of the camera elements, the actuating element capable of moving the camera element in relation to the first housing in a first degree of rotational freedom essentially orthogonal to the elongated axis, and a securing element associated with the second housing for removably securing the imaging device to or against a wall of a structure with a lumen.
- In another aspect of the invention, a minimal access system is provided that includes a driving device communicatively connected to at least one device insertable into a structure having a lumen, the device including at least one functional element associated therewith for use during a minimal access procedure and at least one securing element for securing the insertable device against a wall of the structure having a lumen. In one embodiment, the insertable device includes at least one actuating element capable of moving the functional element in at least one degree of freedom and the driving device provides a drive signal to remotely control the movement of the functional element.
- The driving device may be adapted to provide hybrid control of the insertable device such that the driving device may autonomously control functional element movement in at least one degree of freedom. For instance, the functional element may be a camera element and the driving device may autonomously control the camera element movement to maintain a user identified object in view while the user controls camera element movement in at least one degree of freedom to obtain an image of the site of interest from different perspectives. Additionally, the at least one functional element may be a plurality of camera elements and the driving device may autonomously control the movement of the camera elements to produce a stereoscopic image of the site of interest or to create stereo images of a site of interest in real-time based on automatic vergence algorithms.
- In another aspect of the invention, an insertable device is provided that includes a first housing, at least one functional element movably connected to the first housing allowing the functional element to be retracted into and extracted from the first housing, and at least one actuating element connected to the first housing and the functional element. The actuating element is generally capable of moving the functional element in relation to the first housing in a first degree of rotational freedom essentially orthogonal to an elongated axis of the device for retracting and extracting the functional element from the first housing.
- In another aspect of the invention, an insertable device is provided that includes a first housing, a second housing rotatably connected to the first housing, at least one camera element that includes an image sensor movably connected to the first housing, and at least one actuating element connected to the first housing and the camera element. The actuating element is generally capable of moving the camera element in relation to the first housing in at least one degree of freedom, such as a first degree of rotational freedom essentially orthogonal to an elongated axis of the device, a second degree of rotational freedom essentially inline with the elongated axis, and a third degree of longitudinal freedom essentially inline with the elongated axis.
- In another aspect of the invention, a minimal access system is provided that includes a driving device communicatively connected to at least one device insertable into a structure having a lumen. The insertable device includes a first housing, at least one functional element for use during a minimal access procedure movably connected to the first housing allowing the functional element to move in at least one degree of freedom, and at least one actuating element connected to the first housing and the functional element. The actuating element is generally capable of moving the functional element in relation to the first housing in the at least one degree of freedom. The driving device includes at least one controller that provides a driving signal to control movement of the functional element in the at least one degree of freedom.
- In another aspect of the invention, a minimal access system is provided that includes a driving device communicatively connected to at least one device insertable into a structure having a lumen. The insertable device includes a first housing, at least one camera element moveably connected to the first housing allowing the camera element to move in at least one degree of freedom, and at least one actuating element connected to the first housing and the camera element. The actuating element is generally capable of moving the camera element in relation to the first housing in the at least one degree of freedom. The driving device includes at least one controller that provides a driving signal to control movement of the camera element in the at least one degree of freedom, and an image tracking module that tracks movement of at least one object in a field of view of the camera element. In this instance, the controller controls movement of the camera element based on a signal from the image tracking module to maintain the object in the field of view of the camera element.
- Additional aspects of the present invention will be apparent in view of the description that follows.
-
FIG. 1 is a perspective view of an insertable device for minimal access procedures according to one embodiment of the present invention functional elements in a retracted position; -
FIG. 2 is a perspective view of an insertable device for minimal access procedures according to one embodiment of the present invention with functional elements in an extracted position; -
FIG. 3 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing a functional element in an extracted position and showing the range of motion of the functional element in a direction orthogonal to the elongated axis of the device; -
FIG. 4 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing functional elements each rotatably mounted onto a shuttle and a shuttle interfacing with a motor and lead screw assembly; -
FIG. 5 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing shuttles each interfacing with a motor and lead screw assembly; -
FIG. 6 is a perspective view of a shuttle with a functional element rotatably mounted thereon and the functional element interfacing with a motor with a worm gear assembly; -
FIG. 7 is a diagram of a minimal access system according to one embodiment of the present invention; -
FIG. 8 is a side view of an insertable device for minimal access procedures according to one embodiment of the present invention with functional elements in a retracted position; and -
FIG. 9 is a side view of an insertable device for minimal access procedures according to one embodiment of the present invention with functional elements in an extracted position; -
FIG. 10 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing an electrical circuit for communicating with the functional element and/or the shuttle; -
FIG. 11 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing an electrical system with a plurality of circuits for communicating with the functional element and/or the shuttle; -
FIG. 12 is a sectional view of an insertable device for minimal access procedures according to one embodiment of the present invention showing an electrical system with a plurality of circuits for communicating with the functional element and/or the shuttle; -
FIG. 13 is an image of a protein crystal and a grasping loop in a beginning sequence of a video image used to track the movement of the grasping loop in the video image; and -
FIG. 14 is an image of a protein crystal and grasping loop in a subsequent sequence of a video image used to track the movement of the grasping loop in the video image. - In one aspect of the present invention, a single or multi-functional element, insertable device is provided that can be inserted and temporarily placed or implanted into a structure having a lumen or hollow space. The structure having a lumen may be the anatomical structure of a subject, such as the subject's heart, lungs, esophagus, stomach, intestines, thoracic cavity, abdominal cavity, blood vessels, etc., and non-anatomical structure, such as tanks, pipes, confined spaces, rooms, etc. In one embodiment, the present invention is adapted to be inserted and temporarily implanted into a subject's abdominal cavity to provide therewith images of a surgical site for use in connection with minimally invasive surgical procedures, such as laparascopic procedures. The subject may be any animal, including amphibians, birds, fish, mammals, and marsupials.
- Referring to
FIGS. 1 and 2 , theinsertable device 100 of the present invention generally includes afirst housing 102 and a securingelement 104 for removably securing, e.g., attaching or holding, the device onto or against the wall of a structure having a lumen, at least onefunctional element 106 movably attached to the housing, and at least one actuating element 108 connected to the first housing for moving or causing the functional element to move in relation to the housing. A functional element is generally an instrument or device that provides a desired functionality with regard to the minimal access procedure. For instance, thefunctional element 106 may be a data acquisition device, such as a camera element, a sensor, an ultrasound probe, etc., or an effector, such as a light element, a laser element, a grasper, a dissecting instrument, a needle, a scalpel, a grasper, dithermy/cautery instruments, a suturing instrument, a stapling instrument, etc. An effector is generally a device or a combination of devices that bring about a result. Thedevice 100 may further include asecond housing 112 movably connected to thefirst housing 102, which is explained in more detail below. - In one embodiment, the insertable device is adapted or otherwise configured for surgical applications. In this instance, the securing
element 104 may be aneedle 110 protruding from theinsertable device 100, e.g., the first or secondelongated housings elongated axis 120, similar to the pocket clip of a pen, such that theneedle 110 may be inserted into the inner fatty tissue beneath the muscle layer of the abdominal wall to secure thedevice 100 to the abdominal wall. It is understood that dimensions of the needle may vary, however, the dimensions may be limited in order to limit the size of the penetration or incision created by the needle as it is inserted into the tissue and correspondingly to allow the penetration or incision to heal relatively quickly after the operation. In one embodiment, theneedle 110 has a rectangular cross section and is limited to dimensions of about 1 mm by about 3 mm. The securingelement 104 may alternatively be a magnet or a material attracted to a magnet, which may be used to removably secure the insertable device to the abdominal wall with corresponding magnets placed outside the body to hold the device against the abdominal wall, a clamp, an adhesive substance, a tab or hole that facilitates, e.g., suturing or stapling thedevice 100 to the abdominal wall, etc. The type and configuration of the securingelement 104 may vary depending further on the particular application for which the device is adapted. - Where the
functional element 106 is a camera element, the type of camera system adapted for theinsertable device 100 may vary as well, however, to facilitate use of the device for minimal access procedures, e.g., minimal access imaging, the camera system selected for thedevice 100 must accommodate the compact dimensions of thedevice 100 as dictated by the dimensions of the opening though which access into the structure with a lumen is provided. Where thedevice 100 is adapted for use in connection with minimally invasive surgical procedures, for instance, the dimensions of thedevice 100 will generally be dictated by the size of the port or trocar that provides access to the site, e.g., a port about 20 mm in diameter. A compact size with respect to the camera portion of thedevice 100 may be achieved, for example, with CMOS or CCD sensor chip based cameras that consist of relatively compact elements that may be located remote from each other. In one embodiment, the camera is a chip based camera with remote camera elements, such as a remote CCD image or CMOS image sensor assemblies, which allow the image sensing portion of the camera that is introduced into the surgical site to be movable in relation to the rest of camera circuitry. In another embodiment, the camera includes a 8 mm round CCD color image sensor mounted essentially perpendicular to a 17 mm long driver board, and the driver board is electrically connected to a camera control unit (“CCU”) remote from theinsertable device 100. - Various types and numbers of actuating elements 108 or actuators for moving the functional element in relation to the housing may be used to achieve the desired degree of freedom with regard to the movement of the
functional element 106, such as piezoelectric actuators, pneumatic actuators, solenoids, shape memory alloy actuators, linear motors, motors producing rotational movement, motors producing rotational movement adapted to provide linear movement, etc. The type of actuating element 108 and the number of actuating elements 108 will vary depending on the design constraints of theinsertable device 100, e.g., the dimensions as dictated by the size of the access port or opening, the degrees of freedom the functional element orelements 106 are intended to move, the number of functional element, etc. In one embodiment, at least one of the actuating elements 108 comprises a brushless DC motor producing sufficient torque to produce the desired movement in thefunctional element 106. The DC motor may further be connected to a lead screw which when rotated can translate a shuttle orcarriage 135 in both directions along the axis of the lead screw to produce linear motion and with a bevel screw or worm gear assembly to redirect the rotational movement produced by the motor. In one embodiment, the motor runs on 6 volts, is about 27 mm long, and has a diameter of about 5 mm. - In at least one embodiment, the
device 100 is designed to provide various degrees of freedom with regard to the movement of the one or morefunctional elements 106. The degrees of freedom will generally be described herein in relation to theelongated axis 120 of thedevice 100. The various degrees of freedom may also be described in relation to the image plane, where, for instance, panning may be viewed as a rotation, generally about a vertical axis through the image plane, tilting about a horizontal axis through the image plane, and rolling would be about the optical axis. For instance, a first degree ofrotational freedom 130 essentially orthogonal to theelongated axis 120 of thedevice 100 which allows the element orelements 106 to be retracted into and extracted from thehousing 102 and also allows the element orelements 106, e.g., the camera or cameras, to pan along the first degree offreedom 130, as shown betweenFIG. 8 andFIG. 9 . A second degree ofrotational freedom 140 essentially parallel or inline with theelongated axis 120 allows the element orelements 106 to tilt along the second degree offreedom 140. A third degree oflongitudinal freedom 150 essentially parallel or inline with theelongated axis 120 allows the element orelements 106 to translate along the third degree offreedom 150. In the case of a multiple functional element device, themultiple elements 106 may be independently or simultaneously rotated and/or moved in the first and third degrees offreedom freedom 140. This particular feature is suited, for instance, where themultiple elements 106 are camera elements for use in stereoscopic imaging. In other instances, the multiplefunctional elements 106 may be independent from each other and thus may be independently or stimulatingly rotated and/or moved in a first, second, and third degrees of freedom, 130, 140, 150. - The various degrees of freedom provide access to or views of the site of interest from multiple and different orientations/viewpoints. Additionally, the various degrees of freedom of movement in addition to independent control may, in a stereoscopic imaging system, provide flexibility with regard to controlling the vergence angle of the stereo pair of camera elements and establishing a baseline for stereo imaging, and, in an autonomous tracking system, maintaining moving objects in the field of view. In one embodiment, the
insertable device 100 includes five actuating elements 108, e.g., motors, which control the movement of twofunctional elements 106 that may be moved in the first, second, and third degrees offreedom functional elements 106 are camera elements and the zoom and certain rotations may be accomplished in software with imaging processing capability. - Since the
insertable device 100 is intended to provide functionality with respect to minimal or limited access procedures, it may be desirable to limit at least one of the overall dimensions of thedevice 100 to facilitate insertion into the structure with the lumen through a relatively small access opening. For example, for minimally invasive surgical procedures, an elongated tubular and/or cylindricalinsertable device 100 may be configured to allow for insertion through an access port having a diameter of up to about 20 mm. Accordingly, in one embodiment, theinsertable device 100 is configured to have a diameter of about 20 mm or less. - To achieve the various degrees of freedom the actuating elements 108 must generally be configured so that the actuating elements 108 fit within the dimensions of the
device 100. If motors producing rotational movement, for instance, are used to provide the motive force for thefunctional elements 106, at least with respect to adevice 100 having a diameter of about 20 mm or less, the motor will likely need to be aligned lengthwise essentially inline or parallel to theelongated axis 120 since motors typically exceed the 20 mm or less dimensional constraints of thedevice 100. Accordingly, motors may beneficially be used to provide rotational movement along the second degree offreedom 140, may be combined with a lead screw and shuttle arrangement to provide longitudinal movement along the third degree offreedom 150, and may be combined with a worm gear or bevel screw arrangement to provide rotational movement along the first degree offreedom 130. - In one embodiment the
device 100 includes a secondelongated housing 112 that is rotatably connected to the firstelongated housing 102, with or without bearings, such that the first andsecond housings device 100 may be removably secured to the wall of the structure having a lumen, e.g., the abdominal wall, with the securing element that is an aspect of thesecond housing 112. In this instance, tilting along the second degree offreedom 140 may be achieved by rotating thefirst housing 102, which includes the functional element orelements 106 therein, in relation to thesecond housing 112. The first andsecond housings housings - It is understood that the
second housing 112 may occupy various portions of the length of thedevice 100. For instance, thesecond housing 112 may be long enough in relation to theelongated axis 120 to provide a sufficient bearing surface to withstand bending forces applied to thedevice 100 without occupying the full length of thedevice 100. The greatest amount of rotational freedom in the direction of the second degree offreedom 140 may be achieved in this instance if thesecond housing 112 does not interfere with the movement of thefunctional elements 106 while theelements 106 are in an extracted position. Thesecond housing 112 may occupy a greater portion of the length of thedevice 100 to provide a protective cover for thefunctional elements 106. In this instance, thesecond housing 112 will include an access opening 114 capable of aligning with an access opening 118 of thefirst housing 102 so thatsecond housing 112 will coverfunctional elements 106 retracted within thefirst housing 102 for insertion into the structure and, once inserted or removably secured to the structure, thefirst housing 102 may be rotated, e.g., 180 degrees, to reveal thefunctional elements 106 though theaccess openings 114. The access opening 118 of thefirst housing 102 may further allow the functional element orelements 106 to retract into and extract from thefirst housing 102. In one embodiment, theaccess openings second housings freedom 140, e.g., the access opening 114 of thesecond housing 112 is dimensionally equal to or greater circumferentially than the access opening 118 of thefirst housing 102, as shown inFIG. 3 . In one embodiment, the first and second housing are capable of being rotated at least 270 degrees with respect to each other when thefunctional elements 106 are in a retracted position and/or at least 180 degrees with thefunctional elements 106 extracted. - In one embodiment, the longitudinal movement in the direction of the third degree of
freedom 150 is produced by mounting at least onefunctional element 106 onto ashuttle 135 that is capable of moving along theelongated axis 120 within the lumen of thefirst housing 102. Eachshuttle 135 further includes an actuating element 108 associated therewith for producing the longitudinal movement within thefirst housing 102. Referring toFIGS. 4 and 5 , in one embodiment, theshuttle 135 is moved along theelongated axis 120 within thefirst housing 102 by a motor 190 connected to alead screw 180 that interfaces with a threadedportion 122 of theshuttle 135. Accordingly, theshuttle 135 moves within thefirst housing 102 as thelead screw 180 is screwed and unscrewed in relation to theshuttle 135. A track or guide may be provided within thefirst housing 102 and a corresponding key in theshuttle 135 to restrict undesirable rotation of theshuttle 135. Asecond shuttle 135 with a threadedportion 122 having threads in a reverse direction than that thefirst shuttle 135 may interface with thelead screw 180 with corresponding reverse threads to move theshuttles 135 within thefirst housing 102 in directions to and from each other. In one embodiment, independent longitudinal movement for each of theshuttles 135 is achieved with a motor 190 andlead screw 180 combination for each of theshuttles 135. Rotational movement for eachshuttle 135 may be restricted with a guide and key arrangement as noted above, or, alternatively, with each other's lead screw. In this instance, eachshuttle 135 includes a threadedportion 122 that interfaces with onelead screw 180 connected to a respective motor 190 associated with the shuttle and onehole 124 larger than the threads of thelead screw 180 connected to the motor 190 associated with theother shuttle 135 which allows the shuttles to use each other'slead screw 180 as a guide. - Rotational movement in the direction of the first degree of
freedom 130 is achieved with an actuation element 108 that engages thefunctional element 106 to retract and extract the functional elements into and out of thedevice 100. In one embodiment, the actuation element 108 is a motor 190 that interfaces withfunctional element 106 with a worm gear assembly to redirect the rotation produced by the motor 190 in a direction essentially orthogonal or essentially perpendicular to the axis of the motor 190 or theelongated axis 120, as shown inFIG. 6 . In one embodiment, thefunctional elements 106 are mounted to theshuttles 135 so that maximum freedom in the direction of the third degree offreedom 150 is achieved, e.g., in a manner such that the functional elements appear to face each other. In one embodiment, the distance between thefunctional elements 106 or shuttles is up to 10 mm. - In one embodiment, at least one of the
functional elements 106 is a camera element and theshuttle 135 includes a camera element rotatably attached thereto which includes an image sensor, such as a CCD or CMOS image sensor, mounted in a lens housing that has threads therein to accept a lens with matching threads which accommodates focal adjustments. In one embodiment, a CCD sensor and lens are mounted on a pedestal, which is rotatably connected to theshuttle 135 so that the pedestal may tilt about an axis that is orthogonal to the shuttle motor. The driver board mounted on theshuttle 135 may be connected to the CCD image sensor with or without a flexible ribbon cable. - It is understood that the various components of the
device 100 may be manufactured from a variety and/or a combination of biocompatible and non-biocompatible materials, such as polyester, Gortex, polytetrafluoroethyline (PTFE), polyethelene, polypropylene, polyurethane, silicon, steel, stainless steel, titanium, Nitinol, or other shape memory alloys, copper, silver, gold, platinum, Kevlar fiber, carbon fiber, etc. Where non-biocompatible materials may come into contact with anatomic structure, the components made from the non-biocompatible materials may be covered or coated with a biocompatible material. In one embodiment, thehousings device 100 are manufactured from stainless steel. The housings may be stainless steel tubes of various diameters. In one embodiment, thesecond housing 112 has a diameter of about 5 mm (0.197″) to about 25 mm (0.984″), and is about 127 mm (5″) to about 228 mm (9″) long. In one embodiment the second housing has a diameter or of 9/16″ and is about 7.8″ long. In another embodiment, the device has a wall thickness of 0.028″. The device may further have spherical end caps to ease insertion into the structure. An about 50 mm (2″) to about 152 mm (6″) long section of thesecond housing 112 may be cut away to produce an access opening 114 which allows thefunctional elements 106 to tilt when extracted. In on embodiment, the access opening is about 2.6″ long. In one embodiment, thefirst housing 102 has a 0.028″ thickness. In another embodiment, the first housing has a smaller diameter than the second housing which is also between about 5 mm to 25 mm and a length of about 127 mm to about 228 mm. In one embodiment, the first housing has a ½″ diameter and is 6″ long. A portion of thefirst housing 102 is cut away to produce an access opening 118 to allow the cameras to be retracted therein and extracted therefrom. Thefirst housing 102 preferably includes sufficient space to house cable to provide sufficient slack to accommodate the movement of thefunctional elements 106 as described herein. - It is understood that the
device 100 may be adapted to provide additional functionality. For instance, thefunctional element 106 may be an effector type instrument, such as a light for illuminating the site of interest, a laser for cauterizing, coagulating, or ablation, a scissors, ultrasonic dissector or other types of dissecting instrument, a needle, a grasper, a scalpel, diathermy/cautery instruments, a suturing instrument, a stapling instrument, or any other type of surgical instrument. The instrument may be fixed in relation to the device or may be moveabe in relation to the device in one of the various degrees of freedom, as noted above. Moreover, the device may include multiplefunctional elements 106, such as at least two of a light, laser, and a camera element, or any one of the other functional elements noted above. The light or fiber optic light guides may also be fixed to any one of the housings or incorporated into the camera element. In one embodiment, the multiple instruments may be controlled consistently with each other. For example, a light may be controlled in the various degrees of freedom to illuminate the site consistent with the movement of the camera element. In one embodiment, theinsertable device 100 includes a plurality ofshuttles 135, oneshuttle 135 including a camera element and at least oneshuttle 135 which includes a functional element, such as a light, a laser, etc., thereon. - As noted above, the present invention may be temporarily placed into a luminal structure for minimal access procedures to obviate some or all of the drawbacks of probe-like instruments, such as endoscopes, graspers, dissectors, etc., that pivot at the access opening of the luminal structure. Probe-like instruments are generally slender instruments intended to be inserted into the luminal structure for use in minimal access procedures. The present invention may also be used in connection or combined with such instruments to provide additional functionality thereto. For example, a grasper or an ultrasound dissector may be equipped with one or more functional elements, such as a camera element, moveably connected thereto, to similarly retract into and out of from the probe. In this instance, the body or a tubular section of the probe-like instrument forms the first housing from which the camera element may be retracted, for insertion into the luminal structure and extracted therefrom to provide an image of the site of interest. Any probe-like instrument may similarly be equipped with one or more functional elements, such as a circular stapler, to perform e.g., anastomosis. One of or more of the functional elements discussed above may be combined with any type of slender instrument to provide instruments with multiple functions thereby limiting the number of access openings to access the site of interest.
- Referring to
FIGS. 7-12 , in one embodiment, thedevice 100 includes at least one electrical circuit that electrically and/or communicatively couples thefunctional element 106, theshuttle 135, an actuating device 108, 190, or a combination thereof, with adriving device 220. The electrical circuit generally includes at least onewire 202 disposed within thefirst housing 102 and at least onecontact 204 associated with theshuttle 135. Thewire 202 generally receives and/or communicates power, energy, sensor, video, or drive signals, as discussed above, from thecable 210 that interfaces with thedriving device 220. Thewire 202 may also receive or communicate with a local communication unit located on the device 100 (not shown), which communicates wirelessly with acorresponding communication unit 214 associated with thedriving device 220, and with a local power supply also located on thedevice 100, to generally provide wireless control of theinsertable device 100. Thewire 202 is generally disposed along at least a portion of the length of thefirst housing 102 essentially parallel or inline with the elongated axis of thedevice 100 so that thecontact 204 associated with theshuttle 135 remains in contact thewire 202 as theshuttle 135 translates within thefirst housing 102. Awire 202 is generally any electrically conductive structure that may be so disposed, such as a wire having a circular, square, or a rectangular cross section, such as in the form of a conductive film, etc. Thewire 202 may be adhered to thefirst housing 102 or integrated therein. - The
contact 204 generally connects an actuating device 108, 190 or afunctional element 106 associated with theshuttle 135 with thewire 202, e.g., usingwire 208, while theshuttle 135 translates along within thefirst housing 102, preferably for the full range of motion of theshuttle 135. Various types of contacts may be used in this respect. Thecontact 204 may, for example, include a bearing, such as a ball bearing, disposed in arecess 206, which bearingcontacts wire 202 andwire 208 thereby establishing continuity between thecable 210 and the actuating device 108, 190 orfunctional element 104. Thecontact 204 may be biased toward thewire 202 to maintain continuous contact with thewire 202 as theshuttle 135 translates within thefirst housing 102. Bias may be maintained with a spring that forces the bearing toward thewire 202. The spring is preferably electrically conductive to maintain the desired continuity in the circuit. - Referring to
FIGS. 11 and 12 , thedevice 100 may include a plurality of electrical circuits. For instance, an electrical circuit may be used to conduct a drive signal to the actuating device 108, 190. An electrical circuit may also be used, depending on the type of functional element, to conduct energy or communicate image or other data to or from thefunctional element 106. For example, an electrical circuit or channel may communicate image data from a camera element or an ultrasound probe. Similarly, the electrical circuit may conduct energy for an ultrasonic dissector or any other type of effector and receive data therefrom. In instances where functional elements may interfere with each other, such as a camera element and an ultrasound probe, the functional elements preferably operate at different frequencies or include some other means for limiting interference. Thedevice 100 may also include a sensor, such as an oxygen sensor or oximeters, a stress/strain sensor, a temperature sensor, a pressure sensor, haptic feedback devices, etc., disposed on thefunctional element 106 or elsewhere on thedevice 100, to obtain relevant data from the site of interest. In this instance, thedevice 100 may include a circuit or channel to communicate sensor data from the sensor to thedriving device 220. Haptic feedback devices generally provide the user with feedback regarding feel, usually by generating resistive forces in input device. When the driving device includes imaging, sensor, and effector elements or subsystems, the device integrates control of all of these systems. - The electrical circuits may be disposed longitudinally at various locations in the
first housing 102 as dictated by the size of thedevice 100. That is, for relativelylarge devices 100, all of the electrical circuits may be disposed in a localized area or areas of thefirst housing 100 without limitation. In contrast, forsmaller devices 100 the electrical circuits may be spaced sufficiently apart around the perimeter of thefirst housing 102 to accommodate as many circuits as desired. Thecontacts 204 may also be longitudinally spaced on theshuttle 135 as shown inFIG. 11 andFIG. 12 to allow thewires 202 to be spaced closer together to accommodatemore wires 202, and thus more circuits or channels, than may otherwise be available with all of thecontacts 204 on the same plane. - The actuating elements 108, 190 or the
functional elements 106 may also share electrical circuits or portions thereof. For example, the actuating elements disposed on theshuttles 135 as well as those producing translational movement may share a common ground. In this instance, one of thewires 202 will serve as a ground bus for a plurality of actuating elements 108, 190. A plurality ofwires 202 may also serve as a communication bus for thefunctional elements 106. For example, a plurality of camera elements, oxygen sensors, stress/strain sensors, pressure sensors, temperature sensors, etc., or a combination thereof, may communicate data with a common set ofwires 202. The data communicated from these data acquisition devices may also include a data string, such as a header, or some other means that associates the data with the particular type of capturing device. For example, image data may be preceded with a data string that identifies the data that follows as image data. Where a plurality of camera elements communicate over the data bus, the data string or header may also associate the image data that follows with a particular camera element. - Referring to
FIG. 7 , a minimal access system, according to one embodiment, includes at least oneinsertable device 100 or a plurality of insertable devices communicatively coupled to adriving device 220. Thedriving device 220 is generally a device, which provides the driving signal or signals to produce the desired functionality with theinsertable device 100, such as movement in the relevant degrees of freedom of motion, imaging, provide power or energy for cauterizing, coagulation, ablation, for actuating graspers, scissors, etc. Thedriving device 220 as well as the other components discussed herein may be implemented in hardware, software, or a combination thereof. Although thedriving device 220 may be discussed by way of example in relation to certain modules or components, it is understood that the functionality of thedriving device 220 may be accomplished with a variety of hardware and software components and is thus not limited thereto. - In one embodiment, the driving
device 220 includes at least onecontroller 200 to drive at least one motor associated with thedevice 100 and to reproduce the images of the site of interest. Thecontroller 200 may consist of a plurality of controllers, such as a motor controller for each of the actuating devices incorporated into thedevice 100, a camera controller for each of the camera elements, and specific controllers for each of the other types of functional elements. The motor controllers generally provide the drive signal to control the operation of the actuating elements and the camera controllers provide the signal to control the functions of the camera based on signals from, e.g., an input device, avoice recognition module 224, animage tracking module 226, etc. Thedriving device 220 may also include a power supply that provides the power for the actuating elements electrically connected to thedriving device 220 and the functional elements communicatively connected to thedriving device 220, as well as the components of thedriving device 220. The controller or controllers may operate the elements of thedevice 100 based at least initially on a signal from an input device, such as a joystick and/or from a component that provides a signal for automatically controlling the elements of thedevice 100. In one embodiment, the system includes a plurality ofinsertable devices 100 with each of thedevices 100 providing a different functionality, such as one of imaging, light, coagulation, and ablation. - The
driving device 220 may also include an image processor/display adaptor 222, which receives image data or other types of acquired data from at least oneinsertable device 100 and converts image data received from the camera elements or sensors into a signal suitable for displaying the image on a monitor, such as a CRT display, an LCD display, stereoscopic goggles, etc. The image processor generally receives image data from the camera elements and produces a video image of the site of interest for continuous video display. With other types of data acquisition elements, the system may convert the signal received from these elements into a numerical or graphical representation of the signal for display. For instance, the system may convert a signal from a pressure sensor into a numerical value. The image processor may also process the image data for other purposes, such as to extract data from the image data. The extracted data, may represent an object or a portion of the object in the field of view, which may be used to track the object as discussed below. - In one embodiment, the system provides hybrid control, which allows the user to control movement with regard to some of the degrees of freedom of the
device 100 while the system autonomously controls movement with regard to the remaining degrees of freedom. For example, the system may be adapted to autonomously control camera movement in the first and second degrees offreedom - The system may also independently track user-identified objects to maintain such objects in view when the objects move in the site of interest or more particularly in the image field. For example, the system may track the movement of organs or instruments in a subject's abdominal cavity and control the camera element to maintain the organ or instrument in view during a minimal access procedure or a portion thereof. This may be accomplished with a
tracking module 226, which receives a first set of image data of the site of interest and instruction regarding an object or objects to be tracked, which object or objects are represented in the first set of image data. A set of image data generally includes data sufficient to identify an object in the field of view. The set of image data may include sufficient data to produce an image or frame of a video or a subset of such data. The user defined targeting instructions may be received with a pointing device that allows the user to select an object or point on a graphic display of the site of interest. The pointing device may be a mouse, a joystick, a stylus, a touch screen display, etc. Thetracking module 226 receives a subsequent set of image data and tracks movement therein of the user-identified object based on differences between the first set of image data and the subsequent set of data. Accordingly, movement may be tracked in real-time based on a comparison of contiguous and/or sequential image data sets or frames obtained at different times. The image data sets may be stored in adata store 230 associated with the tracking module for tracking or for reproduction at a later time. - The
tracking module 226 may operate on many different imaging cues, such as gray-level regions, geometric features, motion, fiducial markers, etc. In one embodiment, image processing is used to identify a target based on its RGB color components. In this respect, any movement of the target may be tracked by following the target's RGB color components. The tracking algorithms discussed herein have been applied to track protein crystals and a grasping loop in real time as shown inFIGS. 13-14 .FIG. 13 shows the beginning sequence andFIG. 14 shows the tracking convergence as the grasping loop is placed under the crystal to pick it up. - As noted above, the tracking module may track one or more features, instruments, or organs and provide information to the
controller 200 in order to maintain the targeted object in view. This may be accomplished in a variety of ways. In one embodiment, once the targeted object is identified, the camera element may be moved in a first, second, or third degree of freedom, or a combination thereof, to pan and tilt the camera as needed to keep the target centered in the image or at any other point in the image. Computer control algorithms may be used to pan and tilt the camera elements. For example, a vertical or horizontal error measured in image pixels from the image center may be used to control tilt and pan, respectively, where the velocity is proportional to the rate of the vertical/horizontal pixel errors. The control signals may generally be updated periodically, such as 30 times per second, for real-time control. Thetracking module 226 may also provide a signal to thecontroller 200 to automatically and independently verge a plurality of camera elements on tracked objects to allow stereoscopic imaging of the object in 3D. A plurality of objects may also be tracked independently and a plurality of camera element may each be controlled separately to provide a range of viewpoints to a surgeon while maintaining each of the tracked objects in the field of view. This is particularly useful with minimal access procedures that involve multiple organs/instruments. - Although the present invention has been described in particular detail with regard to imaging platforms, which include one or more camera elements, the present invention may generally serve as a basis for other data acquisition platforms or effector platforms. To facilitate remote, open or closed loop, or hybrid control with regard to effector platforms, the functional elements may include sensors, such as stress/strain, ultrasound, haptic, RF, etc., that provide feedback for use in tracking and actuating the effector type of functional elements. Additional data input with the addition of various sensors on the effectors may further guide decision making by the surgeon with input from the computer. For example, sensors that may be used include ultrasound probes, oximeters, or haptic feedback devices to measure the pressure required to affect a task (conceptually, the equivalent of tactile sensation).
- The system may further be adapted to perform open loop position control of the one or two functional elements in the relevant degrees of freedom, interface the open loop control to the surgeon through either voice activation or an input device, such as a joystick, an alphanumeric keypad, etc., produce a video image of the site, track moving structures within the body, and/or create stereo images in real-time based on automatic vergence algorithms. Stereo images may be displayed on head-mounted stereoscopic goggles for immersive 3D stereo imaging.
- The
driving device 220 generally provides control remote from theinsertable device 100, e.g., the drivingdevice 220 is located exterior to the body whereas theinsertable device 100 may be implanted to provide the relevant functionality with respect to minimal access procedures. Thedriving device 220 may interface with thedevice 100 with cables, such as a cable 2 m long and 1-12 mm in diameter. The cable generally includes a plurality of wires that carry power, energy, video, and/or the drive signal to control the elements of thedevice 100. Alternatively, the video and/or the drive signal may be wirelessly transmitted to the device to reduce the number of wires necessary to operate thedevice 100. In this instance, the drivingdevice 220 includes acommunication module 214 that allowsdevices 100 with corresponding communication modules to communicate with each other. Power may also be provided with a battery within thedriving device 100 to eliminate cabling altogether. For extended use the battery may be charged or maintained with wireless energy transducers. - While the foregoing invention has been described in some detail for purposes of clarity and understanding, it will be appreciated by one skilled in the art, from a reading of the disclosure, that various changes in form and detail can be made without departing from the true scope of the invention in the appended claims.
Claims (40)
1. A device insertable into a structure having a lumen, comprising:
a first housing;
at least one functional element movably connected to the first housing; and
at least one actuating element connected to the first housing and the functional element for moving the functional element in relation to the first housing in a first degree of rotational freedom essentially orthogonal to an elongated axis of the device for retracting and extracting the functional element from the first housing.
2. The insertable device of claim 1 , wherein the functional element comprises a data acquisition device.
3. The insertable device of claim 2 , wherein the data acquisition device is selected from the group comprising a camera element, a sensor, an ultrasound probe, and a haptic feedback device.
4. The insertable device of claim 2 , wherein the sensor is selected from the group comprising an oxygen sensor, a stress or strain sensor, a temperature sensor, and a pressure sensor.
5. The insertable device of claim 1 , wherein the functional element comprises an effector.
6. The insertable device of claim 5 , wherein the effector is selected from the group comprising a light, a laser, a dissecting instrument, a needle, a grasper, a scalpel, a diathermy instrument, a cautery instrument, a suturing instrument, and a stapling instrument.
7. The insertable device of claim 1 , wherein the functional element comprises a camera element comprising one of a CMOS imaging sensor and a CCD image sensor.
8. The insertable device of claim 1 , wherein the functional element is a camera element that comprises a lens housing having a lens therein, and an imaging sensor mounted in the lens housing for making focal adjustments.
9. The insertable device of claim 1 , wherein the functional element is movably connected to the first housing, allowing the functional element to be moved in at least one of a second degree of rotational freedom essentially inline with an elongated axis of the device and a third a third degree of translation freedom essentially inline with the elongated axis, and wherein the at least one actuating element is for moving the functional element in relation to the first housing in at least one of the second degree and the third degree of freedom.
10. The insertable device of claim 9 , wherein the at least one actuating element comprises a plurality of actuating elements, wherein each of the plurality of actuating elements is for moving the functional element in relation to the first housing in one of the degrees of freedom.
11. The insertable device of claim 1 , wherein the device is a probe-like instrument for minimal access procedures and the first housing has a tubular body.
12. The insertable device of claim 11 , wherein the probe-like instrument includes at least one selected from the group comprising an endoscope, a grasper, and a dissector.
13. The insertable device of claim 1 , comprising a second housing rotatably attached to the first housing and wherein the at least one actuating element is further connected to the second housing, the actuating element capable of moving the functional element in relation to the first housing in a second degree of rotational freedom essentially inline with an elongated axis of the device by rotating the first housing in relation to the second housing.
14. The insertable device of claim 1 , wherein the at least one functional element is movably connected to the first housing allowing the functional element to move in a third degree of translational freedom essentially inline with an elongated axis of the device, and wherein the at least one actuating element is for moving the functional element along the third degree of freedom.
15. The insertable device of claim 14 , further comprising a shuttle capable of moving in relation to the first housing along the elongated axis of the device, wherein the functional element is movably connected to the shuttle for moving the shuttle along the elongated axis.
16. The insertable device of claim 15 , further comprising a driving device and at least one electrical circuit disposed within the first housing for coupling at least one of the functional element, the shuttle, and the at least one actuating device to a driving device.
17. The insertable device of claim 16 , wherein the electrical circuit comprises at least one wire disposed within at least a portion of a length of the first housing and at least one contact associated with the shuttle, wherein the contact remains in contact with the wire as the shuttle moves within the first housing.
18. The insertable device of claim 17 , wherein the contact comprises a ball bearing disposed in a recess in the shuttle.
19. The insertable device of claim 17 , wherein the contact is biased toward the wire to maintain continuous contact with the wire as the shuttle moves within the first housing.
20. The insertable device of claim 16 , comprising at least one electrical circuit for conducting energy and at least one electrical circuit for communicating data.
21. The insertable device of claim 16 , wherein at least one of the functional element, the shuttle, and the actuating device share at least a portion of the electrical circuit.
22. A device insertable into a structure having a lumen, comprising:
a first housing;
a second housing rotatably connected to the first housing;
at least one camera element comprising an image sensor movably connected to the first housing; and
at least one actuating element connected to the first housing and the camera element, for moving the camera element in relation to the first housing in at least one degree of freedom selected from the group consisting of:
a first degree of rotational freedom essentially orthogonal to an elongated axis of the device,
a second degree of rotational freedom essentially inline with the elongated axis, and
a third degree of longitudinal freedom essentially inline with the elongated axis.
23. A minimal access system comprising a driving device communicatively connected to at least one device insertable into a structure having a lumen, wherein the insertable device comprises:
a first housing;
at least one functional element movably connected to the first housing; and
at least one actuating element connected to the first housing and the functional element for moving the functional element in relation to the first housing in at least one degree of freedom, and wherein the driving device comprises at least one controller that provides a driving signal to control movement of the functional element in the at least one degree of freedom.
24. The system of claim 23 , wherein the controller produces a signal for controlling the functional element.
25. The system of claim 24 , wherein the functional element comprises a camera element and wherein the controller provides a signal for controlling the camera element.
26. The system of claim 24 , further comprising an input device, wherein the controller controls the functional element based on signals from an input device.
27. The system of claim 24 , wherein the functional element comprises an effector and wherein the controller provides a signal for operating the effector.
28. The system of claim 27 , wherein the effector is selected from the group comprising a laser element, a dissecting instrument, a diathermy instrument, and a cautery instrument, and wherein the controller provides an energy signal for at least one of cutting, cauterizing, coagulating, and ablating.
29. The system of claim 27 , wherein the effector is selected from the group comprising a needle, scissors, a stapling instrument, a suturing instrument, a scalpel, and a grasper and wherein the controller provides a signal for actuating the functional element.
30. The system of claim 23 , wherein the controller controls movement of the functional element at least initially based on signals from an input device.
31. The system of claim 23 , further comprising an image tracking module for tracking movement of at least one object in a field of view of the camera element and wherein the functional element comprises a camera element and wherein controller controls movement of the camera element based on signals from the image tracking module.
32. The system of claim 31 , wherein the controller controls movement of the camera element for maintaining the object in the field of view of the camera element.
33. The system of claim 31 , wherein the image tracking module tracks movement of a user-identified object.
34. The system of claim 31 , wherein the tracking module:
receives a first set of image data of a site of interest;
receives instruction regarding the at least one object represented in the first set of image data to be tracked;
receives a subsequent set of image data; and
tracks movement of the at least one object based on differences between the first set of image data and the subsequent set of data.
35. The system of claim 34 , wherein the tracking module tracks the at least one object based on the object's RGB color components.
36. The system of claim 31 , further comprising an image tracking module for tracking a plurality of objects in the field of view of the camera elements wherein the functional element comprises a plurality of camera elements, and wherein the controller controls movement of the camera elements independently based on signals from the image tracking module.
37. The system of claim 23 , wherein the device comprises a plurality of camera elements, and wherein the controller controls movement of the camera elements based on signals from an image tracking module that tracks movement of at least one object in a field of view of the camera element for guiding the angle of the plurality of camera elements toward the object.
38. The system of claim 27 , further comprising sensor elements.
39. The system of claim 37 , wherein the driving device integrates control of the camera elements, the sensor elements, and the effectors.
40. A minimal access system comprising a driving device communicatively connected to at least one device insertable into a structure having a lumen, wherein the insertable device comprises:
a first housing;
at least one camera element moveably connected to the first housing for allowing the camera element to move in at least one degree of freedom; and
at least one actuating element connected to the first housing and the camera element, for moving the camera element in relation to the first housing in the at least one degree of freedom, and wherein the driving device comprises:
at least one controller for providing a driving signal for controlling movement of the camera element in the at least one degree of freedom; and
an image tracking module for tracking movement of at least one object in a field of view of the camera element, wherein the controller controls movement of the camera element based on a signal from the image tracking module for maintaining the object in the field of view of the camera element.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/475,737 US20070032701A1 (en) | 2003-07-15 | 2006-06-26 | Insertable device and system for minimal access procedure |
US12/545,403 US20100081875A1 (en) | 2003-07-15 | 2009-08-21 | Surgical Device For Minimal Access Surgery |
US14/073,483 US9393076B2 (en) | 2003-07-15 | 2013-11-06 | Insertable device and system for minimal access procedure |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/620,298 US7066879B2 (en) | 2003-07-15 | 2003-07-15 | Insertable device and system for minimal access procedure |
US22666505A | 2005-09-13 | 2005-09-13 | |
US11/475,737 US20070032701A1 (en) | 2003-07-15 | 2006-06-26 | Insertable device and system for minimal access procedure |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US22666505A Continuation | 2003-07-15 | 2005-09-13 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/545,403 Continuation-In-Part US20100081875A1 (en) | 2003-07-15 | 2009-08-21 | Surgical Device For Minimal Access Surgery |
US14/073,483 Division US9393076B2 (en) | 2003-07-15 | 2013-11-06 | Insertable device and system for minimal access procedure |
Publications (1)
Publication Number | Publication Date |
---|---|
US20070032701A1 true US20070032701A1 (en) | 2007-02-08 |
Family
ID=34062751
Family Applications (5)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/620,298 Expired - Lifetime US7066879B2 (en) | 2003-07-15 | 2003-07-15 | Insertable device and system for minimal access procedure |
US11/474,061 Active 2026-02-13 US8096941B2 (en) | 2003-07-15 | 2006-06-23 | Insertable device and system for minimal access procedure |
US11/475,737 Abandoned US20070032701A1 (en) | 2003-07-15 | 2006-06-26 | Insertable device and system for minimal access procedure |
US13/352,017 Active 2024-05-07 US9730761B2 (en) | 2003-07-15 | 2012-01-17 | Insertable device and system for minimal access procedure |
US14/073,483 Expired - Lifetime US9393076B2 (en) | 2003-07-15 | 2013-11-06 | Insertable device and system for minimal access procedure |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/620,298 Expired - Lifetime US7066879B2 (en) | 2003-07-15 | 2003-07-15 | Insertable device and system for minimal access procedure |
US11/474,061 Active 2026-02-13 US8096941B2 (en) | 2003-07-15 | 2006-06-23 | Insertable device and system for minimal access procedure |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/352,017 Active 2024-05-07 US9730761B2 (en) | 2003-07-15 | 2012-01-17 | Insertable device and system for minimal access procedure |
US14/073,483 Expired - Lifetime US9393076B2 (en) | 2003-07-15 | 2013-11-06 | Insertable device and system for minimal access procedure |
Country Status (4)
Country | Link |
---|---|
US (5) | US7066879B2 (en) |
EP (1) | EP1643895B1 (en) |
JP (1) | JP5079327B2 (en) |
WO (1) | WO2005009211A2 (en) |
Cited By (151)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060007360A1 (en) * | 2004-07-09 | 2006-01-12 | Kim Hee C | Display apparatus and method for reproducing color therewith |
US20070241714A1 (en) * | 2003-07-08 | 2007-10-18 | Board Or Regents Of The University Of Nebraska | Robot for surgical applications |
US20070265495A1 (en) * | 2005-12-15 | 2007-11-15 | Medivision, Inc. | Method and apparatus for field of view tracking |
US20080004634A1 (en) * | 2006-06-22 | 2008-01-03 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic surgical devices and related methods |
US20080027279A1 (en) * | 2007-10-24 | 2008-01-31 | Abou El Kheir Tarek A N | Endoscopic System and Method for Therapeutic Applications and Obtaining 3-Dimensional Human Vision Simulated Imaging With Real Dynamic Convergence |
US20080065101A1 (en) * | 2006-06-13 | 2008-03-13 | Intuitive Surgical, Inc. | Minimally invasive surgical apparatus with side exit instruments |
US20080111513A1 (en) * | 2003-07-08 | 2008-05-15 | Board Of Regents Of The University Of Nebraska | Robot for surgical applications |
US20080167521A1 (en) * | 2007-01-09 | 2008-07-10 | Sheetz Jane A | Method of in vivo monitoring using an imaging system including scanned beam imaging unit |
US20080167546A1 (en) * | 2007-01-09 | 2008-07-10 | Ethicon Endo-Surgery, Inc. | Methods for imaging the anatomy with an anatomically secured scanner assembly |
US20080200755A1 (en) * | 2007-02-15 | 2008-08-21 | Bakos Gregory J | Method and device for retrieving suture tags |
US20080200933A1 (en) * | 2007-02-15 | 2008-08-21 | Bakos Gregory J | Surgical devices and methods for forming an anastomosis between organs by gaining access thereto through a natural orifice in the body |
US20080200911A1 (en) * | 2007-02-15 | 2008-08-21 | Long Gary L | Electrical ablation apparatus, system, and method |
US20080200912A1 (en) * | 2007-02-15 | 2008-08-21 | Long Gary L | Electroporation ablation apparatus, system, and method |
US20080221591A1 (en) * | 2007-02-20 | 2008-09-11 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical visualization and device manipulation |
US20080221619A1 (en) * | 2007-03-08 | 2008-09-11 | Spivey James T | Surgical suture anchors and deployment device |
US20080269783A1 (en) * | 2007-04-27 | 2008-10-30 | Griffith David B | Curved needle suturing tool |
US20080269779A1 (en) * | 2003-12-02 | 2008-10-30 | Board Of Regents, The University Of Texas System | Surgical anchor and system |
US20090024140A1 (en) * | 2007-07-20 | 2009-01-22 | Searete Llc, A Limited Liability Corporation Of The State Of Delaware | Surgical feedback system |
US20090036734A1 (en) * | 2007-07-31 | 2009-02-05 | Ethicon Endo-Surgery, Inc. | Devices and methods for introducing a scanning beam unit into the anatomy |
US20090048612A1 (en) * | 2007-08-15 | 2009-02-19 | Board Of Regents Of The University Of Nebraska | Modular and cooperative medical devices and related systems and methods |
US20090062795A1 (en) * | 2007-08-31 | 2009-03-05 | Ethicon Endo-Surgery, Inc. | Electrical ablation surgical instruments |
US20090062792A1 (en) * | 2007-08-31 | 2009-03-05 | Ethicon Endo-Surgery, Inc. | Electrical ablation surgical instruments |
US20090076536A1 (en) * | 2007-08-15 | 2009-03-19 | Board Of Regents Of The University Of Nebraska | Medical inflation, attachment, and delivery devices and related methods |
WO2009058350A1 (en) | 2007-11-02 | 2009-05-07 | The Trustees Of Columbia University In The City Of New York | Insertable surgical imaging device |
US20090131933A1 (en) * | 2007-11-21 | 2009-05-21 | Ghabrial Ragae M | Bipolar forceps |
US20090157059A1 (en) * | 2007-12-14 | 2009-06-18 | Searete Llc, A Limited Liability Corporation Of The State Of Delaware | Surgical instrument navigation system |
US20090171332A1 (en) * | 2007-12-27 | 2009-07-02 | Intuitive Surgical, Inc. | Medical device with orientable tip for robotically directed laser cutting and biomaterial application |
US20090171373A1 (en) * | 2007-06-21 | 2009-07-02 | Farritor Shane M | Multifunctional operational component for robotic devices |
US20090171372A1 (en) * | 2007-12-27 | 2009-07-02 | Intuitive Surgical, Inc. | Medical device with orientable tip for robotically directed laser cutting and biomaterial application |
US20090227828A1 (en) * | 2008-03-10 | 2009-09-10 | Ethicon Endo-Surgery, Inc. | Anastomotic device |
US20090287236A1 (en) * | 2008-05-16 | 2009-11-19 | Ethicon Endo-Surgery, Inc. | Endoscopic rotary access needle |
US20090299385A1 (en) * | 2008-05-30 | 2009-12-03 | Ethicon Endo-Surgery, Inc. | Surgical fastening device |
US20090299143A1 (en) * | 2008-05-30 | 2009-12-03 | Conlon Sean P | Actuating and articulating surgical device |
US20100010294A1 (en) * | 2008-07-10 | 2010-01-14 | Ethicon Endo-Surgery, Inc. | Temporarily positionable medical devices |
US20100049190A1 (en) * | 2008-08-25 | 2010-02-25 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US20100081877A1 (en) * | 2008-10-01 | 2010-04-01 | Ethicon Endo-Surgery, Inc. | Overtube with expandable tip |
US7691103B2 (en) | 2006-04-29 | 2010-04-06 | Board Of Regents, The University Of Texas System | Devices for use in transluminal and endoluminal surgery |
WO2010088481A1 (en) * | 2009-01-30 | 2010-08-05 | The Trustees Of Columbia University In The City Of New York | Controllable magnetic source to fixture intracorporeal apparatus |
US20100198244A1 (en) * | 2009-02-02 | 2010-08-05 | Ethicon Endo-Surgery, Inc. | Surgical scissors |
US20100249512A1 (en) * | 2009-03-27 | 2010-09-30 | EndoSphere Surgical, Inc. | Cannula with integrated camera and illumination |
US20110056470A1 (en) * | 2009-09-04 | 2011-03-10 | Estrate Evan A | Paintball Hopper With Integrated Imaging System |
US20110071508A1 (en) * | 2006-06-13 | 2011-03-24 | Intuitive Surgical Operations, Inc. | Retrograde instrument |
US20110087224A1 (en) * | 2009-10-09 | 2011-04-14 | Cadeddu Jeffrey A | Magnetic surgical sled with variable arm |
US7960935B2 (en) | 2003-07-08 | 2011-06-14 | The Board Of Regents Of The University Of Nebraska | Robotic devices with agent delivery components and related methods |
US20110160514A1 (en) * | 2009-12-31 | 2011-06-30 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US20110160530A1 (en) * | 2004-10-11 | 2011-06-30 | Nitesh Ratnakar | Next Generation Endoscope |
US20110237890A1 (en) * | 2009-12-17 | 2011-09-29 | Board Of Regents Of The University Of Nebraska | Modular and cooperative medical devices and related systems and methods |
US8075572B2 (en) | 2007-04-26 | 2011-12-13 | Ethicon Endo-Surgery, Inc. | Surgical suturing apparatus |
US20110306832A1 (en) * | 2010-06-11 | 2011-12-15 | Bassan Harmanpreet | Folding endoscope and method of using the same |
US8114119B2 (en) | 2008-09-09 | 2012-02-14 | Ethicon Endo-Surgery, Inc. | Surgical grasping device |
US8114072B2 (en) | 2008-05-30 | 2012-02-14 | Ethicon Endo-Surgery, Inc. | Electrical ablation device |
US8157834B2 (en) | 2008-11-25 | 2012-04-17 | Ethicon Endo-Surgery, Inc. | Rotational coupling device for surgical instrument with flexible actuators |
US8172772B2 (en) | 2008-12-11 | 2012-05-08 | Ethicon Endo-Surgery, Inc. | Specimen retrieval device |
US20120116155A1 (en) * | 2010-11-04 | 2012-05-10 | Ethicon Endo-Surgery, Inc. | Light-based, transcutaneous video signal transmission |
US8211125B2 (en) | 2008-08-15 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Sterile appliance delivery device for endoscopic procedures |
US8241204B2 (en) | 2008-08-29 | 2012-08-14 | Ethicon Endo-Surgery, Inc. | Articulating end cap |
US8252057B2 (en) | 2009-01-30 | 2012-08-28 | Ethicon Endo-Surgery, Inc. | Surgical access device |
US8262563B2 (en) | 2008-07-14 | 2012-09-11 | Ethicon Endo-Surgery, Inc. | Endoscopic translumenal articulatable steerable overtube |
US20120277757A1 (en) * | 2011-04-13 | 2012-11-01 | Curax, Llc | Multi-function cannulated surgical device |
US8317806B2 (en) | 2008-05-30 | 2012-11-27 | Ethicon Endo-Surgery, Inc. | Endoscopic suturing tension controlling and indication devices |
US8343171B2 (en) | 2007-07-12 | 2013-01-01 | Board Of Regents Of The University Of Nebraska | Methods and systems of actuation in robotic devices |
US8353487B2 (en) | 2009-12-17 | 2013-01-15 | Ethicon Endo-Surgery, Inc. | User interface support devices for endoscopic surgical instruments |
US8361112B2 (en) | 2008-06-27 | 2013-01-29 | Ethicon Endo-Surgery, Inc. | Surgical suture arrangement |
US8361066B2 (en) | 2009-01-12 | 2013-01-29 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US20130046137A1 (en) * | 2011-08-15 | 2013-02-21 | Intuitive Surgical Operations, Inc. | Surgical instrument and method with multiple image capture sensors |
US8403926B2 (en) | 2008-06-05 | 2013-03-26 | Ethicon Endo-Surgery, Inc. | Manually articulating devices |
US8409200B2 (en) | 2008-09-03 | 2013-04-02 | Ethicon Endo-Surgery, Inc. | Surgical grasping device |
US8480689B2 (en) | 2008-09-02 | 2013-07-09 | Ethicon Endo-Surgery, Inc. | Suturing device |
US8480657B2 (en) | 2007-10-31 | 2013-07-09 | Ethicon Endo-Surgery, Inc. | Detachable distal overtube section and methods for forming a sealable opening in the wall of an organ |
US8496574B2 (en) | 2009-12-17 | 2013-07-30 | Ethicon Endo-Surgery, Inc. | Selectively positionable camera for surgical guide tube assembly |
US8506564B2 (en) | 2009-12-18 | 2013-08-13 | Ethicon Endo-Surgery, Inc. | Surgical instrument comprising an electrode |
US8579897B2 (en) | 2007-11-21 | 2013-11-12 | Ethicon Endo-Surgery, Inc. | Bipolar forceps |
US8608652B2 (en) | 2009-11-05 | 2013-12-17 | Ethicon Endo-Surgery, Inc. | Vaginal entry surgical devices, kit, system, and method |
US8623011B2 (en) | 2009-10-09 | 2014-01-07 | Ethicon Endo-Surgery, Inc. | Magnetic surgical sled with locking arm |
US8652150B2 (en) | 2008-05-30 | 2014-02-18 | Ethicon Endo-Surgery, Inc. | Multifunction surgical device |
US8679003B2 (en) | 2008-05-30 | 2014-03-25 | Ethicon Endo-Surgery, Inc. | Surgical device and endoscope including same |
US20140179997A1 (en) * | 2012-12-20 | 2014-06-26 | avateramedical GmBH | System with Decoupled Multiple Cameras for Use in Minimal-Invasive Surgery |
US20140180001A1 (en) * | 2012-12-20 | 2014-06-26 | avanteramedical GmBH | Endoscope Comprising a System with Multiple Cameras for Use in Minimal-Invasive Surgery |
US8828031B2 (en) | 2009-01-12 | 2014-09-09 | Ethicon Endo-Surgery, Inc. | Apparatus for forming an anastomosis |
US8834358B2 (en) | 2009-03-27 | 2014-09-16 | EndoSphere Surgical, Inc. | Cannula with integrated camera and illumination |
US8870749B2 (en) | 2011-09-02 | 2014-10-28 | Stryker Corporation | Arrangement for minimal access surgery |
US8888792B2 (en) | 2008-07-14 | 2014-11-18 | Ethicon Endo-Surgery, Inc. | Tissue apposition clip application devices and methods |
US8891924B2 (en) | 2012-04-26 | 2014-11-18 | Bio-Medical Engineering (HK) Limited | Magnetic-anchored robotic system |
US8906035B2 (en) | 2008-06-04 | 2014-12-09 | Ethicon Endo-Surgery, Inc. | Endoscopic drop off bag |
US8939897B2 (en) | 2007-10-31 | 2015-01-27 | Ethicon Endo-Surgery, Inc. | Methods for closing a gastrotomy |
US8968267B2 (en) | 2010-08-06 | 2015-03-03 | Board Of Regents Of The University Of Nebraska | Methods and systems for handling or delivering materials for natural orifice surgery |
US8986199B2 (en) | 2012-02-17 | 2015-03-24 | Ethicon Endo-Surgery, Inc. | Apparatus and methods for cleaning the lens of an endoscope |
US9005198B2 (en) | 2010-01-29 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Surgical instrument comprising an electrode |
US9010214B2 (en) | 2012-06-22 | 2015-04-21 | Board Of Regents Of The University Of Nebraska | Local control robotic surgical devices and related methods |
US9028483B2 (en) | 2009-12-18 | 2015-05-12 | Ethicon Endo-Surgery, Inc. | Surgical instrument comprising an electrode |
US9049987B2 (en) | 2011-03-17 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Hand held surgical device for manipulating an internal magnet assembly within a patient |
US9060781B2 (en) | 2011-06-10 | 2015-06-23 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to surgical end effectors |
US9078662B2 (en) | 2012-07-03 | 2015-07-14 | Ethicon Endo-Surgery, Inc. | Endoscopic cap electrode and method for using the same |
US9089353B2 (en) | 2011-07-11 | 2015-07-28 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
US9131832B2 (en) | 2012-08-15 | 2015-09-15 | Stryker Corporation | Cannula arrangement for minimally invasive surgery |
US9226772B2 (en) | 2009-01-30 | 2016-01-05 | Ethicon Endo-Surgery, Inc. | Surgical device |
US9233241B2 (en) | 2011-02-28 | 2016-01-12 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices and methods |
US9254169B2 (en) | 2011-02-28 | 2016-02-09 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices and methods |
US9277957B2 (en) | 2012-08-15 | 2016-03-08 | Ethicon Endo-Surgery, Inc. | Electrosurgical devices and methods |
US9314620B2 (en) | 2011-02-28 | 2016-04-19 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices and methods |
US9427255B2 (en) | 2012-05-14 | 2016-08-30 | Ethicon Endo-Surgery, Inc. | Apparatus for introducing a steerable camera assembly into a patient |
US9498292B2 (en) | 2012-05-01 | 2016-11-22 | Board Of Regents Of The University Of Nebraska | Single site robotic device and related systems and methods |
US9545290B2 (en) | 2012-07-30 | 2017-01-17 | Ethicon Endo-Surgery, Inc. | Needle probe guide |
US9572623B2 (en) | 2012-08-02 | 2017-02-21 | Ethicon Endo-Surgery, Inc. | Reusable electrode and disposable sheath |
US9743987B2 (en) | 2013-03-14 | 2017-08-29 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
US9770305B2 (en) | 2012-08-08 | 2017-09-26 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
US9888966B2 (en) | 2013-03-14 | 2018-02-13 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to force control surgical systems |
US9946350B2 (en) * | 2014-12-01 | 2018-04-17 | Qatar University | Cutaneous haptic feedback system and methods of use |
US10092291B2 (en) | 2011-01-25 | 2018-10-09 | Ethicon Endo-Surgery, Inc. | Surgical instrument with selectively rigidizable features |
US10098527B2 (en) | 2013-02-27 | 2018-10-16 | Ethidcon Endo-Surgery, Inc. | System for performing a minimally invasive surgical procedure |
US10172669B2 (en) | 2009-10-09 | 2019-01-08 | Ethicon Llc | Surgical instrument comprising an energy trigger lockout |
US10179033B2 (en) | 2012-04-26 | 2019-01-15 | Bio-Medical Engineering (HK) Limited | Magnetic-anchored robotic system |
US10314649B2 (en) | 2012-08-02 | 2019-06-11 | Ethicon Endo-Surgery, Inc. | Flexible expandable electrode and method of intraluminal delivery of pulsed power |
US10314638B2 (en) | 2015-04-07 | 2019-06-11 | Ethicon Llc | Articulating radio frequency (RF) tissue seal with articulating state sensing |
US10342561B2 (en) | 2014-09-12 | 2019-07-09 | Board Of Regents Of The University Of Nebraska | Quick-release end effectors and related systems and methods |
US10376322B2 (en) | 2014-11-11 | 2019-08-13 | Board Of Regents Of The University Of Nebraska | Robotic device with compact joint design and related systems and methods |
US10582973B2 (en) | 2012-08-08 | 2020-03-10 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US10603117B2 (en) | 2017-06-28 | 2020-03-31 | Ethicon Llc | Articulation state detection mechanisms |
US10667883B2 (en) | 2013-03-15 | 2020-06-02 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US10702347B2 (en) | 2016-08-30 | 2020-07-07 | The Regents Of The University Of California | Robotic device with compact joint design and an additional degree of freedom and related systems and methods |
US10722319B2 (en) | 2016-12-14 | 2020-07-28 | Virtual Incision Corporation | Releasable attachment device for coupling to medical devices and related systems and methods |
US10751136B2 (en) | 2016-05-18 | 2020-08-25 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
US10751117B2 (en) | 2016-09-23 | 2020-08-25 | Ethicon Llc | Electrosurgical instrument with fluid diverter |
US10751109B2 (en) | 2014-12-22 | 2020-08-25 | Ethicon Llc | High power battery powered RF amplifier topology |
US10779876B2 (en) | 2011-10-24 | 2020-09-22 | Ethicon Llc | Battery powered surgical instrument |
US10779882B2 (en) | 2009-10-28 | 2020-09-22 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US10799284B2 (en) | 2017-03-15 | 2020-10-13 | Ethicon Llc | Electrosurgical instrument with textured jaws |
US10806538B2 (en) | 2015-08-03 | 2020-10-20 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US10856934B2 (en) | 2016-04-29 | 2020-12-08 | Ethicon Llc | Electrosurgical instrument with electrically conductive gap setting and tissue engaging members |
US10959771B2 (en) | 2015-10-16 | 2021-03-30 | Ethicon Llc | Suction and irrigation sealing grasper |
US10959806B2 (en) | 2015-12-30 | 2021-03-30 | Ethicon Llc | Energized medical device with reusable handle |
WO2021062309A1 (en) * | 2019-09-26 | 2021-04-01 | Miraki Innovation Think Tank, Llc | Miniaturized intra-body controllable medical device |
US10966700B2 (en) | 2013-07-17 | 2021-04-06 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
US10987156B2 (en) | 2016-04-29 | 2021-04-27 | Ethicon Llc | Electrosurgical instrument with electrically conductive gap setting member and electrically insulative tissue engaging members |
US11013564B2 (en) | 2018-01-05 | 2021-05-25 | Board Of Regents Of The University Of Nebraska | Single-arm robotic device with compact joint design and related systems and methods |
US11033323B2 (en) | 2017-09-29 | 2021-06-15 | Cilag Gmbh International | Systems and methods for managing fluid and suction in electrosurgical systems |
US11033325B2 (en) | 2017-02-16 | 2021-06-15 | Cilag Gmbh International | Electrosurgical instrument with telescoping suction port and debris cleaner |
US11051894B2 (en) | 2017-09-27 | 2021-07-06 | Virtual Incision Corporation | Robotic surgical devices with tracking camera technology and related systems and methods |
US11090103B2 (en) | 2010-05-21 | 2021-08-17 | Cilag Gmbh International | Medical device |
US11173004B2 (en) | 2018-09-25 | 2021-11-16 | Miraki Innovation Think Tank, Llc | In-vivo robotic imaging, sensing and deployment devices and methods for medical scaffolds |
US11173617B2 (en) | 2016-08-25 | 2021-11-16 | Board Of Regents Of The University Of Nebraska | Quick-release end effector tool interface |
US11207099B2 (en) * | 2013-03-15 | 2021-12-28 | Synaptive Medical Inc. | Intelligent positioning system and methods therefor |
US11284958B2 (en) | 2016-11-29 | 2022-03-29 | Virtual Incision Corporation | User controller with user presence detection and related systems and methods |
US11357595B2 (en) | 2016-11-22 | 2022-06-14 | Board Of Regents Of The University Of Nebraska | Gross positioning device and related systems and methods |
US11439429B2 (en) | 2019-07-11 | 2022-09-13 | New View Surgical | Cannula assembly with deployable camera |
US11484358B2 (en) | 2017-09-29 | 2022-11-01 | Cilag Gmbh International | Flexible electrosurgical instrument |
US11490951B2 (en) | 2017-09-29 | 2022-11-08 | Cilag Gmbh International | Saline contact with electrodes |
US11497546B2 (en) | 2017-03-31 | 2022-11-15 | Cilag Gmbh International | Area ratios of patterned coatings on RF electrodes to reduce sticking |
US11883065B2 (en) | 2012-01-10 | 2024-01-30 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical access and insertion |
US11903658B2 (en) | 2019-01-07 | 2024-02-20 | Virtual Incision Corporation | Robotically assisted surgical system and related devices and methods |
US11957342B2 (en) | 2022-10-13 | 2024-04-16 | Cilag Gmbh International | Devices, systems, and methods for detecting tissue and foreign objects during a surgical operation |
Families Citing this family (585)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20030216622A1 (en) * | 2002-04-25 | 2003-11-20 | Gavriel Meron | Device and method for orienting a device in vivo |
AU2003288516A1 (en) * | 2002-12-26 | 2004-07-22 | Given Imaging Ltd. | Immobilizable in vivo sensing device |
US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism |
US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
DE10323216B3 (en) * | 2003-05-22 | 2004-12-23 | Siemens Ag | Endoscope apparatus has cameras which are provided at respective ends of endoscope capsule, such that one of camera is tilted or rotated to change photography range |
US7066879B2 (en) * | 2003-07-15 | 2006-06-27 | The Trustees Of Columbia University In The City Of New York | Insertable device and system for minimal access procedure |
WO2008033133A2 (en) * | 2005-09-13 | 2008-03-20 | The Trustees Of Columbia University In The City Of New York | Insertable device and system for minimal access procedure |
US20090012530A1 (en) * | 2003-07-15 | 2009-01-08 | Fowler Dennis L | Insertable Device and System For Minimal Access Procedure |
US7604589B2 (en) * | 2003-10-01 | 2009-10-20 | Given Imaging, Ltd. | Device, system and method for determining orientation of in-vivo devices |
US7625338B2 (en) * | 2003-12-31 | 2009-12-01 | Given Imaging, Ltd. | In-vivo sensing device with alterable fields of view |
US8702597B2 (en) * | 2003-12-31 | 2014-04-22 | Given Imaging Ltd. | Immobilizable in-vivo imager with moveable focusing mechanism |
US7374533B2 (en) * | 2004-03-26 | 2008-05-20 | Karl Storz Development Corp. | Tip structure for variable direction of view endoscope |
US8353896B2 (en) | 2004-04-19 | 2013-01-15 | The Invention Science Fund I, Llc | Controllable release nasal system |
US8512219B2 (en) | 2004-04-19 | 2013-08-20 | The Invention Science Fund I, Llc | Bioelectromagnetic interface system |
US9011329B2 (en) | 2004-04-19 | 2015-04-21 | Searete Llc | Lumenally-active device |
US7850676B2 (en) * | 2004-04-19 | 2010-12-14 | The Invention Science Fund I, Llc | System with a reservoir for perfusion management |
US20050288555A1 (en) * | 2004-06-28 | 2005-12-29 | Binmoeller Kenneth E | Methods and devices for illuminating, vievwing and monitoring a body cavity |
US8215531B2 (en) | 2004-07-28 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having a medical substance dispenser |
US11890012B2 (en) | 2004-07-28 | 2024-02-06 | Cilag Gmbh International | Staple cartridge comprising cartridge body and attached support |
US8858425B2 (en) * | 2004-09-24 | 2014-10-14 | Vivid Medical, Inc. | Disposable endoscope and portable display |
US8827899B2 (en) * | 2004-09-24 | 2014-09-09 | Vivid Medical, Inc. | Disposable endoscopic access device and portable display |
US9033870B2 (en) * | 2004-09-24 | 2015-05-19 | Vivid Medical, Inc. | Pluggable vision module and portable display for endoscopy |
US8878924B2 (en) * | 2004-09-24 | 2014-11-04 | Vivid Medical, Inc. | Disposable microscope and portable display |
US8585584B2 (en) * | 2004-10-11 | 2013-11-19 | Nitesh Ratnakar | Dual view endoscope |
US7621869B2 (en) * | 2005-05-06 | 2009-11-24 | Nitesh Ratnakar | Next generation colonoscope |
US20090281389A1 (en) * | 2004-12-30 | 2009-11-12 | Iddan Gavriel J | Device, system, and method for adaptive imaging |
WO2006102529A2 (en) * | 2005-03-23 | 2006-09-28 | Saris Cycling Group, Inc. | Closed loop control of resistance in a resistance-type exercise system |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US20070194079A1 (en) | 2005-08-31 | 2007-08-23 | Hueil Joseph C | Surgical stapling device with staple drivers of different height |
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 |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US7301403B2 (en) * | 2005-09-10 | 2007-11-27 | Comlent Technology, Inc. | Low noise amplifier with switch gain control |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
SG132553A1 (en) | 2005-11-28 | 2007-06-28 | Pang Ah San | A device for laparoscopic or thoracoscopic surgery |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
US20110024477A1 (en) | 2009-02-06 | 2011-02-03 | Hall Steven G | Driven Surgical Stapler Improvements |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
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 |
US8186555B2 (en) | 2006-01-31 | 2012-05-29 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting and fastening instrument with mechanical closure system |
US8161977B2 (en) | 2006-01-31 | 2012-04-24 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
US20110006101A1 (en) | 2009-02-06 | 2011-01-13 | EthiconEndo-Surgery, Inc. | Motor driven surgical fastener device with cutting member lockout arrangements |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
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 |
US8708213B2 (en) | 2006-01-31 | 2014-04-29 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a feedback system |
US9861359B2 (en) | 2006-01-31 | 2018-01-09 | Ethicon Llc | Powered surgical instruments with firing system lockout arrangements |
US8763879B2 (en) | 2006-01-31 | 2014-07-01 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of surgical instrument |
US11224427B2 (en) | 2006-01-31 | 2022-01-18 | Cilag Gmbh International | Surgical stapling system including a console and retraction assembly |
US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
US8133255B2 (en) * | 2006-03-13 | 2012-03-13 | Mini-Lap Technologies, Inc. | Minimally invasive surgical assembly and methods |
US8313507B2 (en) * | 2006-03-13 | 2012-11-20 | Mini-Lap Technologies, Inc. | Minimally invasive rake retractor and method for using same |
US7766937B2 (en) | 2006-03-13 | 2010-08-03 | Mini-Lap Technologies, Inc. | Minimally invasive surgical assembly and methods |
US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
US20070225562A1 (en) | 2006-03-23 | 2007-09-27 | Ethicon Endo-Surgery, Inc. | Articulating endoscopic accessory channel |
RU2008141608A (en) * | 2006-04-21 | 2010-05-27 | Физули Акбер оглы Насиров (AZ) | CONTROLLED ROBOT ENDOSCOPE OF MICROCapsule TYPE |
US20070250012A1 (en) * | 2006-04-24 | 2007-10-25 | Ifung Lu | Medical instrument having a medical needle-knife |
US20070249908A1 (en) * | 2006-04-24 | 2007-10-25 | Ifung Lu | Medical cannula and medical cannula system |
US9138250B2 (en) | 2006-04-24 | 2015-09-22 | Ethicon Endo-Surgery, Inc. | Medical instrument handle and medical instrument having a handle |
US8211114B2 (en) * | 2006-04-24 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Medical instrument having a medical snare |
US7927327B2 (en) * | 2006-04-25 | 2011-04-19 | Ethicon Endo-Surgery, Inc. | Medical instrument having an articulatable end effector |
US7837620B2 (en) * | 2006-04-25 | 2010-11-23 | Ethicon Endo-Surgery, Inc. | Medical tubular assembly |
US20070255312A1 (en) * | 2006-05-01 | 2007-11-01 | Ifung Lu | Medical instrument having an end-effector-associated member |
US7758593B2 (en) * | 2006-05-04 | 2010-07-20 | Ethicon Endo-Surgery, Inc. | Medical instrument handle and medical instrument having same |
US7753843B2 (en) | 2006-05-09 | 2010-07-13 | Boston Scientific Scimed, Inc. | Medical device positioning system |
US7959642B2 (en) * | 2006-05-16 | 2011-06-14 | Ethicon Endo-Surgery, Inc. | Medical instrument having a needle knife |
US20070270639A1 (en) * | 2006-05-17 | 2007-11-22 | Long Gary L | Medical instrument having a catheter and having a catheter accessory device and method for using |
US7892166B2 (en) | 2006-05-18 | 2011-02-22 | Ethicon Endo-Surgery, Inc. | Medical instrument including a catheter having a catheter stiffener and method for using |
US20070270651A1 (en) * | 2006-05-19 | 2007-11-22 | Zvika Gilad | Device and method for illuminating an in vivo site |
US20070282170A1 (en) * | 2006-05-30 | 2007-12-06 | Sundaram Ravikumar | Rake Retractor and Needle Assembly for Minimally Invasive Surgical Applications |
US8322455B2 (en) | 2006-06-27 | 2012-12-04 | Ethicon Endo-Surgery, Inc. | Manually driven surgical cutting and fastening instrument |
GB0613576D0 (en) * | 2006-07-10 | 2006-08-16 | Leuven K U Res & Dev | Endoscopic vision system |
US9079762B2 (en) | 2006-09-22 | 2015-07-14 | Ethicon Endo-Surgery, Inc. | Micro-electromechanical device |
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 |
US7506791B2 (en) | 2006-09-29 | 2009-03-24 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with mechanical mechanism for limiting maximum tissue compression |
US10130359B2 (en) | 2006-09-29 | 2018-11-20 | Ethicon Llc | Method for forming a staple |
US7713265B2 (en) | 2006-12-22 | 2010-05-11 | Ethicon Endo-Surgery, Inc. | Apparatus and method for medically treating a tattoo |
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 |
US11291441B2 (en) | 2007-01-10 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with wireless communication between control unit and remote sensor |
US8459520B2 (en) | 2007-01-10 | 2013-06-11 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and remote sensor |
US8652120B2 (en) | 2007-01-10 | 2014-02-18 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and sensor transponders |
US11039836B2 (en) | 2007-01-11 | 2021-06-22 | Cilag Gmbh International | Staple cartridge for use with a surgical stapling instrument |
US8540128B2 (en) | 2007-01-11 | 2013-09-24 | Ethicon Endo-Surgery, Inc. | Surgical stapling device with a curved end effector |
JP2008188115A (en) * | 2007-02-01 | 2008-08-21 | Olympus Corp | Stabilizer |
US8216214B2 (en) | 2007-03-12 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Power modulation of a scanning beam for imaging, therapy, and/or diagnosis |
US8727197B2 (en) | 2007-03-15 | 2014-05-20 | Ethicon Endo-Surgery, Inc. | Staple cartridge cavity configuration with cooperative surgical staple |
US8893946B2 (en) | 2007-03-28 | 2014-11-25 | Ethicon Endo-Surgery, Inc. | Laparoscopic tissue thickness and clamp load measuring devices |
WO2008122997A1 (en) * | 2007-04-04 | 2008-10-16 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Teleoperated endoscopic capsule |
US7995045B2 (en) | 2007-04-13 | 2011-08-09 | Ethicon Endo-Surgery, Inc. | Combined SBI and conventional image processor |
US8626271B2 (en) | 2007-04-13 | 2014-01-07 | Ethicon Endo-Surgery, Inc. | System and method using fluorescence to examine within a patient's anatomy |
US8534528B2 (en) | 2007-06-04 | 2013-09-17 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a multiple rate directional switching mechanism |
US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US11857181B2 (en) | 2007-06-04 | 2024-01-02 | Cilag Gmbh International | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US8160678B2 (en) | 2007-06-18 | 2012-04-17 | Ethicon Endo-Surgery, Inc. | Methods and devices for repairing damaged or diseased tissue using a scanning beam assembly |
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 |
US7982776B2 (en) | 2007-07-13 | 2011-07-19 | Ethicon Endo-Surgery, Inc. | SBI motion artifact removal apparatus and method |
US7983739B2 (en) | 2007-08-27 | 2011-07-19 | Ethicon Endo-Surgery, Inc. | Position tracking and control for a scanning assembly |
US7925333B2 (en) | 2007-08-28 | 2011-04-12 | Ethicon Endo-Surgery, Inc. | Medical device including scanned beam unit with operational control features |
US8561870B2 (en) | 2008-02-13 | 2013-10-22 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument |
US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
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 |
US8584919B2 (en) | 2008-02-14 | 2013-11-19 | Ethicon Endo-Sugery, Inc. | Surgical stapling apparatus with load-sensitive firing mechanism |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
BRPI0901282A2 (en) | 2008-02-14 | 2009-11-17 | Ethicon Endo Surgery Inc | surgical cutting and fixation instrument with rf electrodes |
US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
US8758391B2 (en) | 2008-02-14 | 2014-06-24 | Ethicon Endo-Surgery, Inc. | Interchangeable tools for surgical instruments |
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 |
US8752749B2 (en) | 2008-02-14 | 2014-06-17 | Ethicon Endo-Surgery, Inc. | Robotically-controlled disposable motor-driven loading unit |
US8657174B2 (en) | 2008-02-14 | 2014-02-25 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument having handle based power source |
US8622274B2 (en) | 2008-02-14 | 2014-01-07 | Ethicon Endo-Surgery, Inc. | Motorized cutting and fastening instrument having control circuit for optimizing battery usage |
US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
US9770245B2 (en) | 2008-02-15 | 2017-09-26 | Ethicon Llc | Layer arrangements for surgical staple cartridges |
US11272927B2 (en) | 2008-02-15 | 2022-03-15 | Cilag Gmbh International | Layer arrangements for surgical staple cartridges |
US8050520B2 (en) | 2008-03-27 | 2011-11-01 | Ethicon Endo-Surgery, Inc. | Method for creating a pixel image from sampled data of a scanned beam imager |
US8332014B2 (en) | 2008-04-25 | 2012-12-11 | Ethicon Endo-Surgery, Inc. | Scanned beam device and method using same which measures the reflectance of patient tissue |
US8562513B2 (en) * | 2008-05-20 | 2013-10-22 | Olympus Medical Systems Corp. | Endoscope device |
US20130006055A1 (en) | 2008-07-30 | 2013-01-03 | Acclarent, Inc. | Swing prism endoscope |
JP5161714B2 (en) * | 2008-09-19 | 2013-03-13 | オリンパスメディカルシステムズ株式会社 | Medical equipment |
US7857186B2 (en) | 2008-09-19 | 2010-12-28 | Ethicon Endo-Surgery, Inc. | Surgical stapler having an intermediate closing position |
PL3476312T3 (en) | 2008-09-19 | 2024-03-11 | Ethicon Llc | Surgical stapler with apparatus for adjusting staple height |
US9005230B2 (en) | 2008-09-23 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
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 |
US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
US9050083B2 (en) | 2008-09-23 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
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 |
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 |
CN102341048A (en) | 2009-02-06 | 2012-02-01 | 伊西康内外科公司 | Driven surgical stapler improvements |
US8403826B1 (en) * | 2009-02-18 | 2013-03-26 | Integrated Medical Systems International, Inc | Video endoscope for diagnostic and therapeutic usage |
WO2010137705A1 (en) * | 2009-05-29 | 2010-12-02 | オリンパスメディカルシステムズ株式会社 | Capsule type medical device |
US9186203B2 (en) | 2009-10-09 | 2015-11-17 | Ethicon Endo-Surgery, Inc. | Method for exchanging end effectors In Vivo |
US9295485B2 (en) | 2009-10-09 | 2016-03-29 | Ethicon Endo-Surgery, Inc. | Loader for exchanging end effectors in vivo |
US8851354B2 (en) | 2009-12-24 | 2014-10-07 | Ethicon Endo-Surgery, Inc. | Surgical cutting instrument that analyzes tissue thickness |
US8220688B2 (en) | 2009-12-24 | 2012-07-17 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument with electric actuator directional control assembly |
US9326757B2 (en) * | 2009-12-31 | 2016-05-03 | Teleflex Medical Incorporated | Surgical instruments for laparoscopic aspiration and retraction |
US20110166455A1 (en) * | 2010-01-07 | 2011-07-07 | Cully Edward H | Catheter |
US8219171B2 (en) * | 2010-03-16 | 2012-07-10 | Given Imaging Ltd. | Delivery device for implantable monitor |
KR101070695B1 (en) * | 2010-03-16 | 2011-10-07 | 송광석 | Electronic Endoscope for providing 3D image data |
US9610133B2 (en) * | 2010-03-16 | 2017-04-04 | Covidien Lp | Wireless laparoscopic camera |
US8783543B2 (en) | 2010-07-30 | 2014-07-22 | Ethicon Endo-Surgery, Inc. | Tissue acquisition arrangements and methods for surgical stapling devices |
US8672207B2 (en) * | 2010-07-30 | 2014-03-18 | Ethicon Endo-Surgery, Inc. | Transwall visualization arrangements and methods for surgical circular staplers |
US9289212B2 (en) | 2010-09-17 | 2016-03-22 | Ethicon Endo-Surgery, Inc. | Surgical instruments and batteries for surgical instruments |
US8632525B2 (en) | 2010-09-17 | 2014-01-21 | Ethicon Endo-Surgery, Inc. | Power control arrangements for surgical instruments and batteries |
US9877720B2 (en) | 2010-09-24 | 2018-01-30 | Ethicon Llc | Control features for articulating surgical device |
US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
US9282962B2 (en) | 2010-09-30 | 2016-03-15 | Ethicon Endo-Surgery, Llc | Adhesive film laminate |
US9433419B2 (en) | 2010-09-30 | 2016-09-06 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising a plurality of layers |
US9055941B2 (en) | 2011-09-23 | 2015-06-16 | Ethicon Endo-Surgery, Inc. | Staple cartridge including collapsible deck |
US9332974B2 (en) | 2010-09-30 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Layered tissue thickness compensator |
US11849952B2 (en) | 2010-09-30 | 2023-12-26 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
US9386988B2 (en) | 2010-09-30 | 2016-07-12 | Ethicon End-Surgery, LLC | Retainer assembly including a tissue thickness compensator |
US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US9204880B2 (en) | 2012-03-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising capsules defining a low pressure environment |
US9307989B2 (en) | 2012-03-28 | 2016-04-12 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorportating a hydrophobic agent |
US9220501B2 (en) | 2010-09-30 | 2015-12-29 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensators |
US8893949B2 (en) | 2010-09-30 | 2014-11-25 | Ethicon Endo-Surgery, Inc. | Surgical stapler with floating anvil |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
US9016542B2 (en) | 2010-09-30 | 2015-04-28 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising compressible distortion resistant components |
US9517063B2 (en) | 2012-03-28 | 2016-12-13 | Ethicon Endo-Surgery, Llc | Movable member for use with a tissue thickness compensator |
US9211120B2 (en) | 2011-04-29 | 2015-12-15 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising a plurality of medicaments |
EP2621356B1 (en) | 2010-09-30 | 2018-03-07 | Ethicon LLC | Fastener system comprising a retention matrix and an alignment matrix |
US9364233B2 (en) | 2010-09-30 | 2016-06-14 | Ethicon Endo-Surgery, Llc | Tissue thickness compensators for circular surgical staplers |
US9314246B2 (en) | 2010-09-30 | 2016-04-19 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent |
US9414838B2 (en) | 2012-03-28 | 2016-08-16 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprised of a plurality of materials |
US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
WO2012120837A1 (en) * | 2011-03-10 | 2012-09-13 | パナソニック株式会社 | Endoscopic camera and endoscopic device |
CA2834649C (en) | 2011-04-29 | 2021-02-16 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising staples positioned within a compressible portion thereof |
US20120296163A1 (en) * | 2011-05-19 | 2012-11-22 | Tyco Healthcare Group Lp | Integrated visualization apparatus, systems and methods thereof |
US11207064B2 (en) | 2011-05-27 | 2021-12-28 | Cilag Gmbh International | Automated end effector component reloading system for use with a robotic system |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
US9050084B2 (en) | 2011-09-23 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Staple cartridge including collapsible deck arrangement |
US20130158348A1 (en) * | 2011-12-14 | 2013-06-20 | Ethicon Endo-Surgery, Inc. | Introducer for an internal magnetic camera |
KR101150350B1 (en) | 2011-12-26 | 2012-06-08 | 윤치순 | 3-dimensional endoscopic surgery apparratus |
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 |
US9198662B2 (en) | 2012-03-28 | 2015-12-01 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator having improved visibility |
CN104379068B (en) | 2012-03-28 | 2017-09-22 | 伊西康内外科公司 | Holding device assembly including tissue thickness compensation part |
BR112014024098B1 (en) | 2012-03-28 | 2021-05-25 | Ethicon Endo-Surgery, Inc. | staple cartridge |
BR112014024102B1 (en) | 2012-03-28 | 2022-03-03 | Ethicon Endo-Surgery, Inc | CLAMP CARTRIDGE ASSEMBLY FOR A SURGICAL INSTRUMENT AND END ACTUATOR ASSEMBLY FOR A SURGICAL INSTRUMENT |
US9662018B2 (en) | 2012-03-30 | 2017-05-30 | Covidien Lp | Integrated self-fixating visualization devices, systems and methods |
US20130282173A1 (en) * | 2012-04-20 | 2013-10-24 | Erhan H. Gunday | Remotely Controlled Surgical Robots |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
CN102688100A (en) * | 2012-06-20 | 2012-09-26 | 闾夏轶 | Medical magnetic navigation device |
US9642606B2 (en) | 2012-06-27 | 2017-05-09 | Camplex, Inc. | Surgical visualization system |
US9492065B2 (en) | 2012-06-27 | 2016-11-15 | Camplex, Inc. | Surgical retractor with video cameras |
US8747238B2 (en) | 2012-06-28 | 2014-06-10 | Ethicon Endo-Surgery, Inc. | Rotary drive shaft assemblies for surgical instruments with articulatable end effectors |
US9226751B2 (en) | 2012-06-28 | 2016-01-05 | Ethicon Endo-Surgery, Inc. | Surgical instrument system including replaceable end effectors |
US9028494B2 (en) | 2012-06-28 | 2015-05-12 | Ethicon Endo-Surgery, Inc. | Interchangeable end effector coupling arrangement |
US9101385B2 (en) | 2012-06-28 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Electrode connections for rotary driven surgical tools |
BR112014032776B1 (en) | 2012-06-28 | 2021-09-08 | Ethicon Endo-Surgery, Inc | SURGICAL INSTRUMENT SYSTEM AND SURGICAL KIT FOR USE WITH A SURGICAL INSTRUMENT SYSTEM |
US9125662B2 (en) | 2012-06-28 | 2015-09-08 | Ethicon Endo-Surgery, Inc. | Multi-axis articulating and rotating surgical tools |
US9204879B2 (en) | 2012-06-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Flexible drive member |
JP6290201B2 (en) | 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. | Lockout for empty clip cartridge |
US9119657B2 (en) | 2012-06-28 | 2015-09-01 | Ethicon Endo-Surgery, Inc. | Rotary actuatable closure arrangement for surgical end effector |
US9561038B2 (en) | 2012-06-28 | 2017-02-07 | Ethicon Endo-Surgery, Llc | Interchangeable clip applier |
US9282974B2 (en) | 2012-06-28 | 2016-03-15 | Ethicon Endo-Surgery, Llc | Empty clip cartridge lockout |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
US11278284B2 (en) | 2012-06-28 | 2022-03-22 | Cilag Gmbh International | Rotary drive arrangements for surgical instruments |
US9072536B2 (en) | 2012-06-28 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Differential locking arrangements for rotary powered surgical instruments |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
US9125681B2 (en) | 2012-09-26 | 2015-09-08 | Ethicon Endo-Surgery, Inc. | Detachable end effector and loader |
US20140171977A1 (en) | 2012-12-13 | 2014-06-19 | Ethicon Endo-Surgery, Inc. | Pawl Mechanism in Circular Needle Applier |
WO2014104405A1 (en) * | 2012-12-28 | 2014-07-03 | Olympus Corporation | Three-dimensional endoscope |
US9386984B2 (en) | 2013-02-08 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Staple cartridge comprising a releasable cover |
US9451937B2 (en) | 2013-02-27 | 2016-09-27 | Ethicon Endo-Surgery, Llc | Percutaneous instrument with collet locking mechanisms |
US10092292B2 (en) | 2013-02-28 | 2018-10-09 | Ethicon Llc | Staple forming features for surgical stapling instrument |
JP6345707B2 (en) | 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. | Surgical instrument with soft stop |
JP6382235B2 (en) | 2013-03-01 | 2018-08-29 | 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. | Articulatable surgical instrument with a conductive path for signal communication |
US20140246475A1 (en) | 2013-03-01 | 2014-09-04 | Ethicon Endo-Surgery, Inc. | Control methods for surgical instruments with removable implement portions |
US20140263552A1 (en) | 2013-03-13 | 2014-09-18 | Ethicon Endo-Surgery, Inc. | Staple cartridge tissue thickness sensor system |
US9629629B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgey, LLC | Control systems for surgical instruments |
US9332987B2 (en) | 2013-03-14 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Control arrangements for a drive member of a surgical instrument |
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 |
US9795384B2 (en) | 2013-03-27 | 2017-10-24 | Ethicon Llc | Fastener cartridge comprising a tissue thickness compensator and a gap setting element |
BR112015026109B1 (en) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | surgical instrument |
US9844368B2 (en) | 2013-04-16 | 2017-12-19 | Ethicon Llc | Surgical system comprising first and second drive systems |
KR102195714B1 (en) * | 2013-05-02 | 2020-12-28 | 삼성전자주식회사 | Trocar for surgery and method for obtaining image using the same |
WO2014189969A1 (en) | 2013-05-21 | 2014-11-27 | Camplex, Inc. | Surgical visualization systems |
US9574644B2 (en) | 2013-05-30 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Power module for use with a surgical instrument |
JP6416260B2 (en) | 2013-08-23 | 2018-10-31 | エシコン エルエルシー | Firing member retractor for a powered surgical instrument |
US20150053746A1 (en) | 2013-08-23 | 2015-02-26 | Ethicon Endo-Surgery, Inc. | Torque optimization for surgical instruments |
JP6521982B2 (en) | 2013-09-20 | 2019-05-29 | キャンプレックス インコーポレイテッド | Surgical visualization system and display |
EP3046458B1 (en) | 2013-09-20 | 2020-10-21 | Camplex, Inc. | Surgical visualization systems |
US9968354B2 (en) | 2013-12-23 | 2018-05-15 | Ethicon Llc | Surgical staples and methods for making the same |
US20150173756A1 (en) | 2013-12-23 | 2015-06-25 | Ethicon Endo-Surgery, Inc. | Surgical cutting and stapling methods |
US9724092B2 (en) | 2013-12-23 | 2017-08-08 | Ethicon Llc | Modular surgical instruments |
US9839428B2 (en) | 2013-12-23 | 2017-12-12 | Ethicon Llc | Surgical cutting and stapling instruments with independent jaw control features |
US11547446B2 (en) | 2014-01-13 | 2023-01-10 | Trice Medical, Inc. | Fully integrated, disposable tissue visualization device |
US9962161B2 (en) | 2014-02-12 | 2018-05-08 | Ethicon Llc | Deliverable surgical instrument |
CN106232029B (en) | 2014-02-24 | 2019-04-12 | 伊西康内外科有限责任公司 | Fastening system including firing member locking piece |
US9839422B2 (en) | 2014-02-24 | 2017-12-12 | Ethicon Llc | Implantable layers and methods for altering implantable layers for use with surgical fastening instruments |
BR112016021943B1 (en) | 2014-03-26 | 2022-06-14 | Ethicon Endo-Surgery, Llc | SURGICAL INSTRUMENT FOR USE BY AN OPERATOR IN A SURGICAL PROCEDURE |
US10004497B2 (en) | 2014-03-26 | 2018-06-26 | Ethicon Llc | Interface systems for use with surgical instruments |
US10201364B2 (en) | 2014-03-26 | 2019-02-12 | Ethicon Llc | Surgical instrument comprising a rotatable shaft |
US9733663B2 (en) | 2014-03-26 | 2017-08-15 | Ethicon Llc | Power management through segmented circuit and variable voltage protection |
US9913642B2 (en) | 2014-03-26 | 2018-03-13 | Ethicon Llc | Surgical instrument comprising a sensor system |
JP6636452B2 (en) | 2014-04-16 | 2020-01-29 | エシコン エルエルシーEthicon LLC | Fastener cartridge including extension having different configurations |
JP6532889B2 (en) | 2014-04-16 | 2019-06-19 | エシコン エルエルシーEthicon LLC | Fastener cartridge assembly and staple holder cover arrangement |
US10561422B2 (en) | 2014-04-16 | 2020-02-18 | Ethicon Llc | Fastener cartridge comprising deployable tissue engaging members |
US20150297223A1 (en) | 2014-04-16 | 2015-10-22 | Ethicon Endo-Surgery, Inc. | Fastener cartridges including extensions having different configurations |
BR112016023825B1 (en) | 2014-04-16 | 2022-08-02 | Ethicon Endo-Surgery, Llc | STAPLE CARTRIDGE FOR USE WITH A SURGICAL STAPLER AND STAPLE CARTRIDGE FOR USE WITH A SURGICAL INSTRUMENT |
US10327764B2 (en) | 2014-09-26 | 2019-06-25 | Ethicon Llc | Method for creating a flexible staple line |
JP2017514608A (en) * | 2014-05-05 | 2017-06-08 | バイカリアス サージカル インク. | Virtual reality surgical device |
US10045781B2 (en) | 2014-06-13 | 2018-08-14 | Ethicon Llc | Closure lockout systems for surgical instruments |
US11311294B2 (en) | 2014-09-05 | 2022-04-26 | Cilag Gmbh International | Powered medical device including measurement of closure state of jaws |
US10111679B2 (en) | 2014-09-05 | 2018-10-30 | Ethicon Llc | Circuitry and sensors for powered medical device |
BR112017004361B1 (en) | 2014-09-05 | 2023-04-11 | Ethicon Llc | ELECTRONIC SYSTEM FOR A SURGICAL INSTRUMENT |
US10105142B2 (en) | 2014-09-18 | 2018-10-23 | Ethicon Llc | Surgical stapler with plurality of cutting elements |
JP6648119B2 (en) | 2014-09-26 | 2020-02-14 | エシコン エルエルシーEthicon LLC | Surgical stapling buttress and accessory materials |
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 |
US11141153B2 (en) | 2014-10-29 | 2021-10-12 | Cilag Gmbh International | Staple cartridges comprising driver arrangements |
US10517594B2 (en) | 2014-10-29 | 2019-12-31 | Ethicon Llc | Cartridge assemblies for surgical staplers |
US9844376B2 (en) | 2014-11-06 | 2017-12-19 | Ethicon Llc | Staple cartridge comprising a releasable adjunct material |
WO2016090336A1 (en) | 2014-12-05 | 2016-06-09 | Camplex, Inc. | Surgical visualization systems and displays |
US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument 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 |
US10117649B2 (en) | 2014-12-18 | 2018-11-06 | Ethicon Llc | Surgical instrument assembly comprising a lockable articulation system |
US10004501B2 (en) | 2014-12-18 | 2018-06-26 | Ethicon Llc | Surgical instruments with improved closure arrangements |
MX2017008108A (en) | 2014-12-18 | 2018-03-06 | Ethicon Llc | Surgical instrument with an anvil that is selectively movable about a discrete non-movable axis relative to a staple cartridge. |
US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
US10188385B2 (en) | 2014-12-18 | 2019-01-29 | Ethicon Llc | Surgical instrument system comprising lockable systems |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
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 |
US10321907B2 (en) | 2015-02-27 | 2019-06-18 | Ethicon Llc | System for monitoring whether a surgical instrument needs to be serviced |
US9993258B2 (en) | 2015-02-27 | 2018-06-12 | Ethicon Llc | Adaptable surgical instrument handle |
US10548504B2 (en) | 2015-03-06 | 2020-02-04 | Ethicon Llc | Overlaid multi sensor radio frequency (RF) electrode system to measure tissue compression |
US9924961B2 (en) | 2015-03-06 | 2018-03-27 | Ethicon Endo-Surgery, Llc | Interactive feedback system for powered surgical instruments |
US10687806B2 (en) | 2015-03-06 | 2020-06-23 | Ethicon Llc | Adaptive tissue compression techniques to adjust closure rates for multiple tissue types |
JP2020121162A (en) | 2015-03-06 | 2020-08-13 | エシコン エルエルシーEthicon LLC | Time dependent evaluation of sensor data to determine stability element, creep element and viscoelastic element of measurement |
US9808246B2 (en) | 2015-03-06 | 2017-11-07 | Ethicon Endo-Surgery, Llc | Method of operating a powered surgical instrument |
US9901342B2 (en) | 2015-03-06 | 2018-02-27 | Ethicon Endo-Surgery, Llc | Signal and power communication system positioned on a rotatable shaft |
US10617412B2 (en) | 2015-03-06 | 2020-04-14 | Ethicon Llc | System for detecting the mis-insertion of a staple cartridge into a surgical stapler |
US10245033B2 (en) | 2015-03-06 | 2019-04-02 | Ethicon Llc | Surgical instrument comprising a lockable battery housing |
US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of 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 |
US11154378B2 (en) | 2015-03-25 | 2021-10-26 | Camplex, Inc. | Surgical visualization systems and displays |
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 |
US10368861B2 (en) | 2015-06-18 | 2019-08-06 | Ethicon Llc | Dual articulation drive system arrangements for articulatable surgical instruments |
US10298617B2 (en) * | 2015-07-08 | 2019-05-21 | T-Mobile Usa, Inc. | Trust policy for telecommunications device |
US11058425B2 (en) | 2015-08-17 | 2021-07-13 | Ethicon Llc | Implantable layers for a surgical instrument |
US10357251B2 (en) | 2015-08-26 | 2019-07-23 | Ethicon Llc | Surgical staples comprising hardness variations for improved fastening of tissue |
JP6828018B2 (en) | 2015-08-26 | 2021-02-10 | エシコン エルエルシーEthicon LLC | Surgical staple strips that allow you to change the characteristics of staples and facilitate filling into cartridges |
US10342520B2 (en) | 2015-08-26 | 2019-07-09 | Ethicon Llc | Articulating surgical devices and loaders having stabilizing features |
US10335196B2 (en) | 2015-08-31 | 2019-07-02 | Ethicon Llc | Surgical instrument having a stop guard |
MX2022006192A (en) | 2015-09-02 | 2022-06-16 | Ethicon Llc | Surgical staple configurations with camming surfaces located between portions supporting surgical staples. |
US10238390B2 (en) | 2015-09-02 | 2019-03-26 | Ethicon Llc | Surgical staple cartridges with driver arrangements for establishing herringbone staple patterns |
ES2746874T3 (en) * | 2015-09-03 | 2020-03-09 | Wolf Gmbh Richard | Stem instrument and especially endoscopic medical stem instrument |
US10085751B2 (en) | 2015-09-23 | 2018-10-02 | Ethicon Llc | Surgical stapler having temperature-based motor control |
US10363036B2 (en) | 2015-09-23 | 2019-07-30 | Ethicon Llc | Surgical stapler having force-based motor control |
US10105139B2 (en) | 2015-09-23 | 2018-10-23 | Ethicon Llc | Surgical stapler having downstream current-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 |
US10076326B2 (en) | 2015-09-23 | 2018-09-18 | Ethicon Llc | Surgical stapler having current mirror-based motor control |
US10251636B2 (en) | 2015-09-24 | 2019-04-09 | Ethicon Llc | Devices and methods for cleaning a surgical device |
US10299878B2 (en) | 2015-09-25 | 2019-05-28 | Ethicon Llc | Implantable adjunct systems for determining adjunct skew |
US10702257B2 (en) | 2015-09-29 | 2020-07-07 | Ethicon Llc | Positioning device for use with surgical instruments |
US10285699B2 (en) | 2015-09-30 | 2019-05-14 | Ethicon Llc | Compressible adjunct |
US10980539B2 (en) | 2015-09-30 | 2021-04-20 | Ethicon Llc | Implantable adjunct comprising bonded layers |
US10327777B2 (en) | 2015-09-30 | 2019-06-25 | Ethicon Llc | Implantable layer comprising plastically deformed fibers |
US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
US10675009B2 (en) | 2015-11-03 | 2020-06-09 | Ethicon Llc | Multi-head repository for use with a surgical device |
US10912543B2 (en) | 2015-11-03 | 2021-02-09 | Ethicon Llc | Surgical end effector loading device and trocar integration |
WO2017091704A1 (en) | 2015-11-25 | 2017-06-01 | Camplex, Inc. | Surgical visualization systems and displays |
US10265130B2 (en) | 2015-12-11 | 2019-04-23 | Ethicon Llc | Systems, devices, and methods for coupling end effectors to surgical devices and loading devices |
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 |
BR112018016098B1 (en) | 2016-02-09 | 2023-02-23 | Ethicon Llc | SURGICAL INSTRUMENT |
US20170224332A1 (en) | 2016-02-09 | 2017-08-10 | Ethicon Endo-Surgery, Llc | Surgical instruments with non-symmetrical articulation arrangements |
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 |
US11064997B2 (en) | 2016-04-01 | 2021-07-20 | Cilag Gmbh International | Surgical stapling instrument |
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 |
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 |
US10426467B2 (en) | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
US10335145B2 (en) | 2016-04-15 | 2019-07-02 | Ethicon Llc | Modular surgical instrument with configurable operating mode |
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 |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10405859B2 (en) | 2016-04-15 | 2019-09-10 | Ethicon Llc | Surgical instrument with adjustable stop/start control during a firing motion |
US10368867B2 (en) | 2016-04-18 | 2019-08-06 | Ethicon Llc | Surgical instrument comprising a 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 |
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 |
USD850617S1 (en) | 2016-06-24 | 2019-06-04 | Ethicon Llc | Surgical fastener cartridge |
US10702270B2 (en) | 2016-06-24 | 2020-07-07 | Ethicon Llc | Stapling system for use with wire staples and stamped staples |
JP6957532B2 (en) | 2016-06-24 | 2021-11-02 | エシコン エルエルシーEthicon LLC | Staple cartridges including wire staples and punched staples |
US20200015666A1 (en) | 2016-09-29 | 2020-01-16 | Mitos Medical Ltd | A rigid medical surgery illuminating device |
US10973516B2 (en) | 2016-12-21 | 2021-04-13 | Ethicon Llc | Surgical end effectors and adaptable firing members therefor |
US10687810B2 (en) | 2016-12-21 | 2020-06-23 | Ethicon Llc | Stepped staple cartridge with tissue retention and gap setting features |
US10993715B2 (en) | 2016-12-21 | 2021-05-04 | Ethicon Llc | Staple cartridge comprising staples with different clamping breadths |
US10856868B2 (en) | 2016-12-21 | 2020-12-08 | Ethicon Llc | Firing member pin configurations |
US20180168648A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Durability features for end effectors and firing assemblies of surgical stapling instruments |
US11090048B2 (en) | 2016-12-21 | 2021-08-17 | Cilag Gmbh International | Method for resetting a fuse of a surgical instrument shaft |
US10945727B2 (en) | 2016-12-21 | 2021-03-16 | Ethicon Llc | Staple cartridge with deformable driver retention features |
JP7010956B2 (en) | 2016-12-21 | 2022-01-26 | エシコン エルエルシー | How to staple tissue |
US10695055B2 (en) | 2016-12-21 | 2020-06-30 | Ethicon Llc | Firing assembly comprising a lockout |
US10588631B2 (en) | 2016-12-21 | 2020-03-17 | Ethicon Llc | Surgical instruments with positive jaw opening features |
US20180168633A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments and staple-forming anvils |
CN110099619B (en) | 2016-12-21 | 2022-07-15 | 爱惜康有限责任公司 | Lockout device for surgical end effector and replaceable tool assembly |
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 |
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 |
MX2019007311A (en) | 2016-12-21 | 2019-11-18 | Ethicon Llc | Surgical stapling systems. |
US11134942B2 (en) | 2016-12-21 | 2021-10-05 | Cilag Gmbh International | Surgical stapling instruments and staple-forming anvils |
US11684367B2 (en) | 2016-12-21 | 2023-06-27 | Cilag Gmbh International | Stepped assembly having and end-of-life indicator |
US10918385B2 (en) | 2016-12-21 | 2021-02-16 | Ethicon Llc | Surgical system comprising a firing member rotatable into an articulation state to articulate an end effector of the surgical system |
US10568624B2 (en) | 2016-12-21 | 2020-02-25 | Ethicon Llc | Surgical instruments with jaws that are pivotable about a fixed axis and include separate and distinct closure and firing systems |
US20180168625A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments with smart staple cartridges |
US10959727B2 (en) | 2016-12-21 | 2021-03-30 | Ethicon Llc | Articulatable surgical end effector with asymmetric shaft arrangement |
US10888322B2 (en) | 2016-12-21 | 2021-01-12 | Ethicon Llc | Surgical instrument comprising a cutting member |
US10426471B2 (en) | 2016-12-21 | 2019-10-01 | Ethicon Llc | Surgical instrument with multiple failure response modes |
US10682138B2 (en) | 2016-12-21 | 2020-06-16 | Ethicon Llc | Bilaterally asymmetric staple forming pocket pairs |
US10582983B2 (en) * | 2017-02-06 | 2020-03-10 | C. R. Bard, Inc. | Ultrasonic endovascular catheter with a controllable sheath |
US11081274B2 (en) | 2017-02-24 | 2021-08-03 | Greatbatch Ltd. | Wirelessly powered devices for minimally invasive surgery |
US10918455B2 (en) | 2017-05-08 | 2021-02-16 | Camplex, Inc. | Variable light source |
WO2018208706A1 (en) | 2017-05-08 | 2018-11-15 | Platform Imaging, LLC | Laparoscopic device implantation and fixation system and method |
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 |
US10624633B2 (en) | 2017-06-20 | 2020-04-21 | Ethicon Llc | Systems and methods for controlling 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 |
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 |
US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument |
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 |
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 |
US10368864B2 (en) | 2017-06-20 | 2019-08-06 | Ethicon Llc | Systems and methods for controlling displaying motor velocity for a surgical instrument |
USD890784S1 (en) | 2017-06-20 | 2020-07-21 | Ethicon Llc | Display panel with changeable graphical user interface |
USD879809S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with changeable graphical user interface |
USD879808S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with graphical user interface |
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 |
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 |
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 |
US10646220B2 (en) | 2017-06-20 | 2020-05-12 | Ethicon Llc | Systems and methods for controlling displacement member velocity for a surgical 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 |
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 |
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 |
US10881396B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Surgical instrument with variable duration trigger arrangement |
US11266405B2 (en) | 2017-06-27 | 2022-03-08 | Cilag Gmbh International | Surgical anvil manufacturing methods |
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 |
US10856869B2 (en) | 2017-06-27 | 2020-12-08 | Ethicon Llc | Surgical anvil 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 |
US10716614B2 (en) | 2017-06-28 | 2020-07-21 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies with increased contact pressure |
US10903685B2 (en) | 2017-06-28 | 2021-01-26 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies forming capacitive channels |
US11259805B2 (en) | 2017-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical instrument comprising firing member supports |
US11484310B2 (en) | 2017-06-28 | 2022-11-01 | Cilag Gmbh International | Surgical instrument comprising a shaft including a closure tube profile |
USD869655S1 (en) | 2017-06-28 | 2019-12-10 | Ethicon Llc | Surgical fastener cartridge |
US11246592B2 (en) | 2017-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical instrument comprising an articulation system lockable to a frame |
US11478242B2 (en) | 2017-06-28 | 2022-10-25 | Cilag Gmbh International | Jaw retainer arrangement for retaining a pivotable surgical instrument jaw in pivotable retaining engagement with a second surgical instrument jaw |
USD854151S1 (en) | 2017-06-28 | 2019-07-16 | Ethicon Llc | Surgical instrument shaft |
USD851762S1 (en) | 2017-06-28 | 2019-06-18 | Ethicon Llc | Anvil |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
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 |
EP3420947B1 (en) | 2017-06-28 | 2022-05-25 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
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 |
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 |
US10258418B2 (en) | 2017-06-29 | 2019-04-16 | Ethicon Llc | System for controlling articulation forces |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
US11304695B2 (en) | 2017-08-03 | 2022-04-19 | Cilag Gmbh International | Surgical system shaft interconnection |
US11471155B2 (en) | 2017-08-03 | 2022-10-18 | Cilag Gmbh International | Surgical system bailout |
US11944300B2 (en) | 2017-08-03 | 2024-04-02 | Cilag Gmbh International | Method for operating a surgical system bailout |
US10966720B2 (en) * | 2017-09-01 | 2021-04-06 | RevMedica, Inc. | Surgical stapler with removable power pack |
CA3075692A1 (en) | 2017-09-14 | 2019-03-21 | Vicarious Surgical Inc. | Virtual reality surgical camera system |
USD907648S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated 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 |
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 |
USD907647S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
USD917500S1 (en) | 2017-09-29 | 2021-04-27 | Ethicon Llc | Display screen or portion thereof with graphical user interface |
US10743872B2 (en) | 2017-09-29 | 2020-08-18 | Ethicon Llc | System and methods for controlling a display of a surgical instrument |
US10796471B2 (en) | 2017-09-29 | 2020-10-06 | Ethicon Llc | Systems and methods of displaying a knife position for 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 |
US10779903B2 (en) | 2017-10-31 | 2020-09-22 | Ethicon Llc | Positive shaft rotation lock activated by jaw closure |
US10842490B2 (en) | 2017-10-31 | 2020-11-24 | Ethicon Llc | Cartridge body design with force reduction based on firing completion |
US10743875B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member |
US11071543B2 (en) | 2017-12-15 | 2021-07-27 | Cilag Gmbh International | Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges |
US10687813B2 (en) | 2017-12-15 | 2020-06-23 | Ethicon Llc | Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments |
US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
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 |
US10869666B2 (en) | 2017-12-15 | 2020-12-22 | Ethicon Llc | Adapters with control systems for controlling multiple motors of an electromechanical 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 |
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 |
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 |
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 |
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 |
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 |
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 |
US10729509B2 (en) | 2017-12-19 | 2020-08-04 | Ethicon Llc | Surgical instrument comprising closure and firing locking mechanism |
US10716565B2 (en) | 2017-12-19 | 2020-07-21 | Ethicon Llc | Surgical instruments with dual articulation drivers |
US11179152B2 (en) | 2017-12-21 | 2021-11-23 | Cilag Gmbh International | Surgical instrument comprising a tissue grasping system |
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 |
US11129680B2 (en) | 2017-12-21 | 2021-09-28 | Cilag Gmbh International | Surgical instrument comprising a projector |
US11039834B2 (en) | 2018-08-20 | 2021-06-22 | Cilag Gmbh International | Surgical stapler anvils with staple directing protrusions and tissue stability features |
US11253256B2 (en) | 2018-08-20 | 2022-02-22 | Cilag Gmbh International | Articulatable motor powered surgical instruments with dedicated articulation motor arrangements |
US11045192B2 (en) | 2018-08-20 | 2021-06-29 | Cilag Gmbh International | Fabricating techniques for surgical stapler anvils |
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 |
US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
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 |
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 |
US10856870B2 (en) | 2018-08-20 | 2020-12-08 | Ethicon Llc | Switching arrangements for motor powered articulatable surgical instruments |
US10912559B2 (en) | 2018-08-20 | 2021-02-09 | Ethicon Llc | Reinforced deformable anvil tip for surgical stapler anvil |
USD914878S1 (en) | 2018-08-20 | 2021-03-30 | Ethicon Llc | Surgical instrument anvil |
US11207065B2 (en) | 2018-08-20 | 2021-12-28 | Cilag Gmbh International | Method for fabricating surgical stapler anvils |
US11147553B2 (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 |
US11147551B2 (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 |
CN210043982U (en) * | 2019-03-26 | 2020-02-11 | 苏州阿格斯医疗技术有限公司 | Microlens array optical coherence tomography catheter and imaging system thereof |
US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin for a surgical instrument |
US11253254B2 (en) | 2019-04-30 | 2022-02-22 | Cilag Gmbh International | Shaft rotation actuator on a surgical instrument |
US11903581B2 (en) | 2019-04-30 | 2024-02-20 | Cilag Gmbh International | Methods for stapling tissue using a surgical instrument |
US11452528B2 (en) | 2019-04-30 | 2022-09-27 | Cilag Gmbh International | Articulation actuators for a surgical instrument |
US11471157B2 (en) | 2019-04-30 | 2022-10-18 | Cilag Gmbh International | Articulation control mapping for a surgical instrument |
US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for a surgical instrument |
US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
US11259803B2 (en) | 2019-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling system having an information encryption protocol |
US11350938B2 (en) | 2019-06-28 | 2022-06-07 | Cilag Gmbh International | Surgical instrument comprising an aligned rfid sensor |
US11291451B2 (en) | 2019-06-28 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with battery compatibility verification functionality |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
US11399837B2 (en) | 2019-06-28 | 2022-08-02 | Cilag Gmbh International | Mechanisms for motor control adjustments of a motorized surgical instrument |
US11298132B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Inlernational | Staple cartridge including a honeycomb extension |
US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
US11246678B2 (en) | 2019-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical stapling system having a frangible RFID tag |
US11051807B2 (en) | 2019-06-28 | 2021-07-06 | Cilag Gmbh International | Packaging assembly including a particulate trap |
US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
US11298127B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Interational | Surgical stapling system having a lockout mechanism for an incompatible cartridge |
US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US11219455B2 (en) | 2019-06-28 | 2022-01-11 | Cilag Gmbh International | Surgical instrument including a lockout key |
US11224497B2 (en) | 2019-06-28 | 2022-01-18 | Cilag Gmbh International | Surgical systems with multiple RFID tags |
US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
US11234698B2 (en) | 2019-12-19 | 2022-02-01 | Cilag Gmbh International | Stapling system comprising a clamp lockout and a firing lockout |
US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
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 |
US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
US11911032B2 (en) | 2019-12-19 | 2024-02-27 | Cilag Gmbh International | Staple cartridge comprising a seating cam |
US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
US20210259693A1 (en) * | 2020-02-26 | 2021-08-26 | Covidien Lp | Surgical stapling device with flexible shaft |
USD975278S1 (en) | 2020-06-02 | 2023-01-10 | Cilag Gmbh International | Staple cartridge |
USD966512S1 (en) | 2020-06-02 | 2022-10-11 | Cilag Gmbh International | Staple cartridge |
USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
USD975851S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD967421S1 (en) | 2020-06-02 | 2022-10-18 | Cilag Gmbh International | Staple cartridge |
USD976401S1 (en) | 2020-06-02 | 2023-01-24 | Cilag Gmbh International | Staple cartridge |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
GB2595901A (en) * | 2020-06-10 | 2021-12-15 | Surgease Innovations Ltd | Proctoscope |
US20220031320A1 (en) | 2020-07-28 | 2022-02-03 | Cilag Gmbh International | Surgical instruments with flexible firing member actuator constraint arrangements |
JP2023544417A (en) * | 2020-10-05 | 2023-10-23 | バンダービルト・ユニバーシティ | End cap for side viewing endoscope |
US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
US11844518B2 (en) | 2020-10-29 | 2023-12-19 | Cilag Gmbh International | Method for operating a surgical instrument |
US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
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 |
USD1013170S1 (en) | 2020-10-29 | 2024-01-30 | Cilag Gmbh International | Surgical instrument assembly |
USD980425S1 (en) | 2020-10-29 | 2023-03-07 | Cilag Gmbh International | Surgical instrument assembly |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
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 |
US11744581B2 (en) | 2020-12-02 | 2023-09-05 | Cilag Gmbh International | Powered surgical instruments with multi-phase tissue treatment |
US11678882B2 (en) | 2020-12-02 | 2023-06-20 | Cilag Gmbh International | Surgical instruments with interactive features to remedy incidental sled movements |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
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 |
US11950777B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Staple cartridge comprising an information access control system |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
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 |
US11826042B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Surgical instrument comprising a firing drive including a selectable leverage mechanism |
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 |
US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
US11737749B2 (en) | 2021-03-22 | 2023-08-29 | Cilag Gmbh International | Surgical stapling instrument comprising a retraction system |
US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
US11903582B2 (en) | 2021-03-24 | 2024-02-20 | Cilag Gmbh International | Leveraging surfaces for cartridge installation |
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 |
US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
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 |
US11832816B2 (en) | 2021-03-24 | 2023-12-05 | Cilag Gmbh International | Surgical stapling assembly comprising nonplanar staples and planar staples |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
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 |
US11937816B2 (en) | 2021-10-28 | 2024-03-26 | Cilag Gmbh International | Electrical lead arrangements for surgical instruments |
Citations (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3643653A (en) * | 1968-12-24 | 1972-02-22 | Olympus Optical Co | Endoscopic apparatus |
US4651201A (en) * | 1984-06-01 | 1987-03-17 | Arnold Schoolman | Stereoscopic endoscope arrangement |
JPH02268866A (en) * | 1989-04-10 | 1990-11-02 | Tokyo Electron Ltd | Processing device |
US5166787A (en) * | 1989-06-28 | 1992-11-24 | Karl Storz Gmbh & Co. | Endoscope having provision for repositioning a video sensor to a location which does not provide the same cross-sectionally viewed relationship with the distal end |
US5604531A (en) * | 1994-01-17 | 1997-02-18 | State Of Israel, Ministry Of Defense, Armament Development Authority | In vivo video camera system |
US5653677A (en) * | 1994-04-12 | 1997-08-05 | Fuji Photo Optical Co. Ltd | Electronic endoscope apparatus with imaging unit separable therefrom |
US5895350A (en) * | 1992-10-28 | 1999-04-20 | Vista Medical Technologies, Inc. | Electronic endoscope |
US5976076A (en) * | 1995-02-22 | 1999-11-02 | Kolff; Jack | Stereo laparoscope with synchronized optics |
US6162171A (en) * | 1998-12-07 | 2000-12-19 | Wan Sing Ng | Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures |
US6240312B1 (en) * | 1997-10-23 | 2001-05-29 | Robert R. Alfano | Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment |
US20020103417A1 (en) * | 1999-03-01 | 2002-08-01 | Gazdzinski Robert F. | Endoscopic smart probe and method |
US6428469B1 (en) * | 1997-12-15 | 2002-08-06 | Given Imaging Ltd | Energy management of a video capsule |
US6454727B1 (en) * | 1998-03-03 | 2002-09-24 | Senorx, Inc. | Tissue acquisition system and method of use |
US20020198470A1 (en) * | 2001-06-26 | 2002-12-26 | Imran Mir A. | Capsule and method for treating or diagnosing the intestinal tract |
US20030032863A1 (en) * | 2001-08-09 | 2003-02-13 | Yuri Kazakevich | Endoscope with imaging probe |
US6540693B2 (en) * | 1998-03-03 | 2003-04-01 | Senorx, Inc. | Methods and apparatus for securing medical instruments to desired locations in a patients body |
US20030092966A1 (en) * | 2001-11-15 | 2003-05-15 | Schara Nathan J. | Apparatus and method for stereo viewing in variable direction-of- view endoscopy |
US20030092964A1 (en) * | 2001-11-12 | 2003-05-15 | Korea Institute Of Science And Technology | Micro capsule type robot |
US20030120130A1 (en) * | 2001-08-06 | 2003-06-26 | Arkady Glukhovsky | System and method for maneuvering a device in vivo |
US6648816B2 (en) * | 2000-02-01 | 2003-11-18 | Karl Storz Gmbh & Co. Kg | Device for intracorporal, minimal-invasive treatment of a patient |
US20050029978A1 (en) * | 2003-07-08 | 2005-02-10 | Dmitry Oleynikov | Microrobot for surgical applications |
US6951536B2 (en) * | 2001-07-30 | 2005-10-04 | Olympus Corporation | Capsule-type medical device and medical system |
US7066879B2 (en) * | 2003-07-15 | 2006-06-27 | The Trustees Of Columbia University In The City Of New York | Insertable device and system for minimal access procedure |
US7126303B2 (en) * | 2003-07-08 | 2006-10-24 | Board Of Regents Of The University Of Nebraska | Robot for surgical applications |
US20080004634A1 (en) * | 2006-06-22 | 2008-01-03 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic surgical devices and related methods |
US20080058989A1 (en) * | 2006-04-13 | 2008-03-06 | Board Of Regents Of The University Of Nebraska | Surgical camera robot |
US7621869B2 (en) * | 2005-05-06 | 2009-11-24 | Nitesh Ratnakar | Next generation colonoscope |
Family Cites Families (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4040413A (en) * | 1974-07-18 | 1977-08-09 | Fuji Photo Optical Co. Ltd. | Endoscope |
JPS5588732A (en) * | 1978-12-26 | 1980-07-04 | Olympus Optical Co | Endoscope |
JPS55130640A (en) * | 1979-03-30 | 1980-10-09 | Olympus Optical Co | Endoscope |
JPS5810067A (en) * | 1981-07-09 | 1983-01-20 | オリンパス光学工業株式会社 | Medical capsule |
JPS60232524A (en) * | 1984-05-02 | 1985-11-19 | Olympus Optical Co Ltd | Stereoscopic image type electronic endoscope |
US5018509A (en) | 1989-02-21 | 1991-05-28 | Olympus Optical Co., Ltd. | Endoscope insertion controlling apparatus |
JPH04144533A (en) * | 1990-10-05 | 1992-05-19 | Olympus Optical Co Ltd | Endoscope |
US5347987A (en) * | 1991-04-08 | 1994-09-20 | Feldstein David A | Self-centering endoscope system |
JPH0663030A (en) * | 1992-08-24 | 1994-03-08 | Olympus Optical Co Ltd | Medical capsule |
JP3631265B2 (en) * | 1994-04-27 | 2005-03-23 | オリンパス株式会社 | In-vivo observation device |
US5836869A (en) * | 1994-12-13 | 1998-11-17 | Olympus Optical Co., Ltd. | Image tracking endoscope system |
US5928137A (en) | 1996-05-03 | 1999-07-27 | Green; Philip S. | System and method for endoscopic imaging and endosurgery |
DE19800917A1 (en) | 1998-01-14 | 1999-07-15 | Storz Karl Gmbh & Co | Instrument for insertion during endoscopic operations |
IL123646A (en) * | 1998-03-11 | 2010-05-31 | Refael Beyar | Remote control catheterization |
US6352503B1 (en) * | 1998-07-17 | 2002-03-05 | Olympus Optical Co., Ltd. | Endoscopic surgery apparatus |
US6234958B1 (en) | 1998-11-30 | 2001-05-22 | Medical Access Systems, Llc | Medical device introduction system including medical introducer having a plurality of access ports and methods of performing medical procedures with same |
JP3739592B2 (en) | 1998-12-02 | 2006-01-25 | 株式会社モリタ製作所 | Laparoscopic device |
JP2000175865A (en) | 1998-12-18 | 2000-06-27 | Honda Seiki Kk | Active endoscope using magnetic torque |
US6527704B1 (en) | 1999-03-10 | 2003-03-04 | Stryker Corporation | Endoscopic camera system integrated with a trocar sleeve |
JP3490931B2 (en) * | 1999-06-07 | 2004-01-26 | ペンタックス株式会社 | Swallowable endoscope device |
US7637905B2 (en) * | 2003-01-15 | 2009-12-29 | Usgi Medical, Inc. | Endoluminal tool deployment system |
US6527753B2 (en) * | 2000-02-29 | 2003-03-04 | Olympus Optical Co., Ltd. | Endoscopic treatment system |
IL155045A0 (en) * | 2000-09-27 | 2003-10-31 | Given Imaging Ltd | An immobilizable in vivo sensing device |
KR100413058B1 (en) * | 2001-04-24 | 2003-12-31 | 한국과학기술연구원 | Micro Robotic Colonoscope with Motor Locomotion |
JP4059642B2 (en) | 2001-05-09 | 2008-03-12 | 株式会社リコー | IC socket contact pin and IC socket |
KR100402920B1 (en) * | 2001-05-19 | 2003-10-22 | 한국과학기술연구원 | Micro robot |
JP4744026B2 (en) * | 2001-07-30 | 2011-08-10 | オリンパス株式会社 | Capsule endoscope and capsule endoscope system |
US6764441B2 (en) * | 2001-09-17 | 2004-07-20 | Case Western Reserve University | Peristaltically self-propelled endoscopic device |
US6866626B2 (en) | 2001-11-09 | 2005-03-15 | Ethicon-Endo Surgery, Inc. | Self-propelled, intraluminal device with working channel and method of use |
US8423110B2 (en) * | 2002-01-09 | 2013-04-16 | Boston Scientific Scimed, Inc. | Imaging device and related methods |
US7001329B2 (en) | 2002-07-23 | 2006-02-21 | Pentax Corporation | Capsule endoscope guidance system, capsule endoscope holder, and capsule endoscope |
US8449452B2 (en) * | 2002-09-30 | 2013-05-28 | Given Imaging Ltd. | In-vivo sensing system |
JP4398184B2 (en) * | 2003-06-24 | 2010-01-13 | オリンパス株式会社 | Endoscope |
US20050096502A1 (en) | 2003-10-29 | 2005-05-05 | Khalili Theodore M. | Robotic surgical device |
US7780639B2 (en) | 2003-11-12 | 2010-08-24 | Van Lue Stephen J | Magnetic devices and apparatus for medical/surgical procedures and methods for using same |
US20050165272A1 (en) | 2003-12-01 | 2005-07-28 | Yuta Okada | Endoscope system |
US8277373B2 (en) | 2004-04-14 | 2012-10-02 | Usgi Medical, Inc. | Methods and apparaus for off-axis visualization |
US8512229B2 (en) * | 2004-04-14 | 2013-08-20 | Usgi Medical Inc. | Method and apparatus for obtaining endoluminal access |
US7927272B2 (en) | 2006-08-04 | 2011-04-19 | Avantis Medical Systems, Inc. | Surgical port with embedded imaging device |
-
2003
- 2003-07-15 US US10/620,298 patent/US7066879B2/en not_active Expired - Lifetime
-
2004
- 2004-07-14 WO PCT/US2004/022760 patent/WO2005009211A2/en active Application Filing
- 2004-07-14 EP EP04778333.7A patent/EP1643895B1/en active Active
- 2004-07-14 JP JP2006520334A patent/JP5079327B2/en active Active
-
2006
- 2006-06-23 US US11/474,061 patent/US8096941B2/en active Active
- 2006-06-26 US US11/475,737 patent/US20070032701A1/en not_active Abandoned
-
2012
- 2012-01-17 US US13/352,017 patent/US9730761B2/en active Active
-
2013
- 2013-11-06 US US14/073,483 patent/US9393076B2/en not_active Expired - Lifetime
Patent Citations (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3643653A (en) * | 1968-12-24 | 1972-02-22 | Olympus Optical Co | Endoscopic apparatus |
US4651201A (en) * | 1984-06-01 | 1987-03-17 | Arnold Schoolman | Stereoscopic endoscope arrangement |
JPH02268866A (en) * | 1989-04-10 | 1990-11-02 | Tokyo Electron Ltd | Processing device |
US5166787A (en) * | 1989-06-28 | 1992-11-24 | Karl Storz Gmbh & Co. | Endoscope having provision for repositioning a video sensor to a location which does not provide the same cross-sectionally viewed relationship with the distal end |
US5895350A (en) * | 1992-10-28 | 1999-04-20 | Vista Medical Technologies, Inc. | Electronic endoscope |
US5604531A (en) * | 1994-01-17 | 1997-02-18 | State Of Israel, Ministry Of Defense, Armament Development Authority | In vivo video camera system |
US5653677A (en) * | 1994-04-12 | 1997-08-05 | Fuji Photo Optical Co. Ltd | Electronic endoscope apparatus with imaging unit separable therefrom |
US5976076A (en) * | 1995-02-22 | 1999-11-02 | Kolff; Jack | Stereo laparoscope with synchronized optics |
US6240312B1 (en) * | 1997-10-23 | 2001-05-29 | Robert R. Alfano | Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment |
US6428469B1 (en) * | 1997-12-15 | 2002-08-06 | Given Imaging Ltd | Energy management of a video capsule |
US6454727B1 (en) * | 1998-03-03 | 2002-09-24 | Senorx, Inc. | Tissue acquisition system and method of use |
US6540693B2 (en) * | 1998-03-03 | 2003-04-01 | Senorx, Inc. | Methods and apparatus for securing medical instruments to desired locations in a patients body |
US6162171A (en) * | 1998-12-07 | 2000-12-19 | Wan Sing Ng | Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures |
US20020103417A1 (en) * | 1999-03-01 | 2002-08-01 | Gazdzinski Robert F. | Endoscopic smart probe and method |
US6648816B2 (en) * | 2000-02-01 | 2003-11-18 | Karl Storz Gmbh & Co. Kg | Device for intracorporal, minimal-invasive treatment of a patient |
US20020198470A1 (en) * | 2001-06-26 | 2002-12-26 | Imran Mir A. | Capsule and method for treating or diagnosing the intestinal tract |
US6951536B2 (en) * | 2001-07-30 | 2005-10-04 | Olympus Corporation | Capsule-type medical device and medical system |
US20030120130A1 (en) * | 2001-08-06 | 2003-06-26 | Arkady Glukhovsky | System and method for maneuvering a device in vivo |
US20030032863A1 (en) * | 2001-08-09 | 2003-02-13 | Yuri Kazakevich | Endoscope with imaging probe |
US6916286B2 (en) * | 2001-08-09 | 2005-07-12 | Smith & Nephew, Inc. | Endoscope with imaging probe |
US6719684B2 (en) * | 2001-11-12 | 2004-04-13 | Korea Institute Of Science And Technology | Micro capsule type robot |
US20030092964A1 (en) * | 2001-11-12 | 2003-05-15 | Korea Institute Of Science And Technology | Micro capsule type robot |
US6648817B2 (en) * | 2001-11-15 | 2003-11-18 | Endactive, Inc. | Apparatus and method for stereo viewing in variable direction-of-view endoscopy |
US20030092966A1 (en) * | 2001-11-15 | 2003-05-15 | Schara Nathan J. | Apparatus and method for stereo viewing in variable direction-of- view endoscopy |
US7199545B2 (en) * | 2003-07-08 | 2007-04-03 | Board Of Regents Of The University Of Nebraska | Robot for surgical applications |
US7042184B2 (en) * | 2003-07-08 | 2006-05-09 | Board Of Regents Of The University Of Nebraska | Microrobot for surgical applications |
US20060196301A1 (en) * | 2003-07-08 | 2006-09-07 | Dmitry Oleynikov | Robot for surgical applications |
US20060198619A1 (en) * | 2003-07-08 | 2006-09-07 | Dmitry Oleynikov | Surgical camera robot |
US7126303B2 (en) * | 2003-07-08 | 2006-10-24 | Board Of Regents Of The University Of Nebraska | Robot for surgical applications |
US20050029978A1 (en) * | 2003-07-08 | 2005-02-10 | Dmitry Oleynikov | Microrobot for surgical applications |
US7339341B2 (en) * | 2003-07-08 | 2008-03-04 | Board Of Regents Of The University Of Nebraska | Surgical camera robot |
US7492116B2 (en) * | 2003-07-08 | 2009-02-17 | Board Of Regents Of The University Of Nebraska | Robot for surgical applications |
US7066879B2 (en) * | 2003-07-15 | 2006-06-27 | The Trustees Of Columbia University In The City Of New York | Insertable device and system for minimal access procedure |
US7621869B2 (en) * | 2005-05-06 | 2009-11-24 | Nitesh Ratnakar | Next generation colonoscope |
US20080058989A1 (en) * | 2006-04-13 | 2008-03-06 | Board Of Regents Of The University Of Nebraska | Surgical camera robot |
US20080004634A1 (en) * | 2006-06-22 | 2008-01-03 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic surgical devices and related methods |
US20080058835A1 (en) * | 2006-06-22 | 2008-03-06 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic surgical devices and related methods |
Cited By (277)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7772796B2 (en) | 2003-07-08 | 2010-08-10 | Board Of Regents Of The University Of Nebraska | Robotic devices with agent delivery components and related methods |
US20070241714A1 (en) * | 2003-07-08 | 2007-10-18 | Board Or Regents Of The University Of Nebraska | Robot for surgical applications |
US20080111513A1 (en) * | 2003-07-08 | 2008-05-15 | Board Of Regents Of The University Of Nebraska | Robot for surgical applications |
US20090069821A1 (en) * | 2003-07-08 | 2009-03-12 | Board Of Regents Of The University Of Nebraska | Robotic devices with agent delivery components and related methods |
US9403281B2 (en) | 2003-07-08 | 2016-08-02 | Board Of Regents Of The University Of Nebraska | Robotic devices with arms and related methods |
US7960935B2 (en) | 2003-07-08 | 2011-06-14 | The Board Of Regents Of The University Of Nebraska | Robotic devices with agent delivery components and related methods |
US8604742B2 (en) | 2003-07-08 | 2013-12-10 | Board Of Regents Of The University Of Nebraska | Robotic devices with arms and related methods |
US9033957B2 (en) | 2003-12-02 | 2015-05-19 | Board Of Regents, The University Of Texas System | Surgical anchor and system |
US20080269779A1 (en) * | 2003-12-02 | 2008-10-30 | Board Of Regents, The University Of Texas System | Surgical anchor and system |
US20060007360A1 (en) * | 2004-07-09 | 2006-01-12 | Kim Hee C | Display apparatus and method for reproducing color therewith |
US11653816B2 (en) * | 2004-10-11 | 2023-05-23 | Nitesh Ratnakar | Next generation endoscope |
US20110160530A1 (en) * | 2004-10-11 | 2011-06-30 | Nitesh Ratnakar | Next Generation Endoscope |
US20070265495A1 (en) * | 2005-12-15 | 2007-11-15 | Medivision, Inc. | Method and apparatus for field of view tracking |
US20100256636A1 (en) * | 2006-04-29 | 2010-10-07 | Raul Fernandez | Devices for Use in Transluminal and Endoluminal Surgery |
US7691103B2 (en) | 2006-04-29 | 2010-04-06 | Board Of Regents, The University Of Texas System | Devices for use in transluminal and endoluminal surgery |
US8480668B2 (en) | 2006-04-29 | 2013-07-09 | Board Of Regents Of The University Of Texas System | Devices for use in transluminal and endoluminal surgery |
US10448813B2 (en) | 2006-06-13 | 2019-10-22 | Intuitive Surgical Operations, Inc. | Side looking minimally invasive surgery instrument assembly |
US8083667B2 (en) | 2006-06-13 | 2011-12-27 | Intuitive Surgical Operations, Inc. | Side looking minimally invasive surgery instrument assembly |
US8551076B2 (en) | 2006-06-13 | 2013-10-08 | Intuitive Surgical Operations, Inc. | Retrograde instrument |
US7942868B2 (en) | 2006-06-13 | 2011-05-17 | Intuitive Surgical Operations, Inc. | Surgical instrument with parallel motion mechanism |
US9549663B2 (en) | 2006-06-13 | 2017-01-24 | Intuitive Surgical Operations, Inc. | Teleoperated surgical retractor system |
US20110071508A1 (en) * | 2006-06-13 | 2011-03-24 | Intuitive Surgical Operations, Inc. | Retrograde instrument |
US8062211B2 (en) | 2006-06-13 | 2011-11-22 | Intuitive Surgical Operations, Inc. | Retrograde instrument |
US20080065101A1 (en) * | 2006-06-13 | 2008-03-13 | Intuitive Surgical, Inc. | Minimally invasive surgical apparatus with side exit instruments |
US8672833B2 (en) | 2006-06-13 | 2014-03-18 | Intuitive Surgical Operations, Inc. | Side looking minimally invasive surgery instrument assembly |
US9510734B2 (en) | 2006-06-13 | 2016-12-06 | Intuitive Surgical Operations, Inc. | Side looking minimally invasive surgery instrument assembly |
US20080065110A1 (en) * | 2006-06-13 | 2008-03-13 | Intuitive Surgical Inc. | Retrograde instrument |
US8679099B2 (en) | 2006-06-13 | 2014-03-25 | Intuitive Surgical Operations, Inc. | Side looking minimally invasive surgery instrument assembly |
US9173547B2 (en) | 2006-06-13 | 2015-11-03 | Intuitive Surgical Operations Inc. | Retrograde instrument |
US20080071290A1 (en) * | 2006-06-13 | 2008-03-20 | Intuitive Surgical, Inc. | Minimally invasive surgery instrument assembly with reduced cross section |
US8057385B2 (en) | 2006-06-13 | 2011-11-15 | Intuitive Surgical Operations, Inc. | Side looking minimally invasive surgery instrument assembly |
US20080065097A1 (en) * | 2006-06-13 | 2008-03-13 | Intuitive Surgical, Inc. | Retrograde instrument |
US20080065102A1 (en) * | 2006-06-13 | 2008-03-13 | Intuitive Surgical, Inc. | Surgical instrument with parallel motion mechanism |
US9215967B2 (en) | 2006-06-13 | 2015-12-22 | Intuitive Surgical Operations Inc. | Side looking minimally invasive surgery instrument assembly |
US20080065099A1 (en) * | 2006-06-13 | 2008-03-13 | Intuitive Surgical, Inc. | Side looking minimally invasive surgery instrument assembly |
US20080065106A1 (en) * | 2006-06-13 | 2008-03-13 | Intuitive Surgical, Inc. | Minimally invasive surgical apparatus with side exit instruments |
US8986196B2 (en) | 2006-06-13 | 2015-03-24 | Intuitive Surgical Operations, Inc. | Minimally invasive surgery instrument assembly with reduced cross section |
US11304769B2 (en) | 2006-06-13 | 2022-04-19 | Intuitive Surgical Operations, Inc. | Side looking minimally invasive surgery instrument assembly |
US10307199B2 (en) | 2006-06-22 | 2019-06-04 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices and related methods |
US8968332B2 (en) | 2006-06-22 | 2015-03-03 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic surgical devices and related methods |
US20080004634A1 (en) * | 2006-06-22 | 2008-01-03 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic surgical devices and related methods |
US20080058835A1 (en) * | 2006-06-22 | 2008-03-06 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic surgical devices and related methods |
US10959790B2 (en) | 2006-06-22 | 2021-03-30 | Board Of Regents Of The University Of Nebraska | Multifunctional operational component for robotic devices |
US8834488B2 (en) | 2006-06-22 | 2014-09-16 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic surgical devices and related methods |
US10376323B2 (en) | 2006-06-22 | 2019-08-13 | Board Of Regents Of The University Of Nebraska | Multifunctional operational component for robotic devices |
US9883911B2 (en) | 2006-06-22 | 2018-02-06 | Board Of Regents Of The University Of Nebraska | Multifunctional operational component for robotic devices |
US8273015B2 (en) * | 2007-01-09 | 2012-09-25 | Ethicon Endo-Surgery, Inc. | Methods for imaging the anatomy with an anatomically secured scanner assembly |
US8801606B2 (en) * | 2007-01-09 | 2014-08-12 | Ethicon Endo-Surgery, Inc. | Method of in vivo monitoring using an imaging system including scanned beam imaging unit |
US20080167546A1 (en) * | 2007-01-09 | 2008-07-10 | Ethicon Endo-Surgery, Inc. | Methods for imaging the anatomy with an anatomically secured scanner assembly |
US20080167521A1 (en) * | 2007-01-09 | 2008-07-10 | Sheetz Jane A | Method of in vivo monitoring using an imaging system including scanned beam imaging unit |
US20080200933A1 (en) * | 2007-02-15 | 2008-08-21 | Bakos Gregory J | Surgical devices and methods for forming an anastomosis between organs by gaining access thereto through a natural orifice in the body |
US8449538B2 (en) | 2007-02-15 | 2013-05-28 | Ethicon Endo-Surgery, Inc. | Electroporation ablation apparatus, system, and method |
US8425505B2 (en) | 2007-02-15 | 2013-04-23 | Ethicon Endo-Surgery, Inc. | Electroporation ablation apparatus, system, and method |
US10478248B2 (en) | 2007-02-15 | 2019-11-19 | Ethicon Llc | Electroporation ablation apparatus, system, and method |
US20080200755A1 (en) * | 2007-02-15 | 2008-08-21 | Bakos Gregory J | Method and device for retrieving suture tags |
US20080200912A1 (en) * | 2007-02-15 | 2008-08-21 | Long Gary L | Electroporation ablation apparatus, system, and method |
US7655004B2 (en) | 2007-02-15 | 2010-02-02 | Ethicon Endo-Surgery, Inc. | Electroporation ablation apparatus, system, and method |
US20080200911A1 (en) * | 2007-02-15 | 2008-08-21 | Long Gary L | Electrical ablation apparatus, system, and method |
US9375268B2 (en) | 2007-02-15 | 2016-06-28 | Ethicon Endo-Surgery, Inc. | Electroporation ablation apparatus, system, and method |
US8029504B2 (en) | 2007-02-15 | 2011-10-04 | Ethicon Endo-Surgery, Inc. | Electroporation ablation apparatus, system, and method |
US20080221591A1 (en) * | 2007-02-20 | 2008-09-11 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical visualization and device manipulation |
US9579088B2 (en) | 2007-02-20 | 2017-02-28 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical visualization and device manipulation |
US7815662B2 (en) | 2007-03-08 | 2010-10-19 | Ethicon Endo-Surgery, Inc. | Surgical suture anchors and deployment device |
US20080221619A1 (en) * | 2007-03-08 | 2008-09-11 | Spivey James T | Surgical suture anchors and deployment device |
US8075572B2 (en) | 2007-04-26 | 2011-12-13 | Ethicon Endo-Surgery, Inc. | Surgical suturing apparatus |
US8100922B2 (en) | 2007-04-27 | 2012-01-24 | Ethicon Endo-Surgery, Inc. | Curved needle suturing tool |
US20080269783A1 (en) * | 2007-04-27 | 2008-10-30 | Griffith David B | Curved needle suturing tool |
US8679096B2 (en) | 2007-06-21 | 2014-03-25 | Board Of Regents Of The University Of Nebraska | Multifunctional operational component for robotic devices |
US20090171373A1 (en) * | 2007-06-21 | 2009-07-02 | Farritor Shane M | Multifunctional operational component for robotic devices |
US9179981B2 (en) | 2007-06-21 | 2015-11-10 | Board Of Regents Of The University Of Nebraska | Multifunctional operational component for robotic devices |
US9956043B2 (en) | 2007-07-12 | 2018-05-01 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical access and procedures |
US8828024B2 (en) | 2007-07-12 | 2014-09-09 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical access and procedures |
US10695137B2 (en) | 2007-07-12 | 2020-06-30 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical access and procedures |
US8343171B2 (en) | 2007-07-12 | 2013-01-01 | Board Of Regents Of The University Of Nebraska | Methods and systems of actuation in robotic devices |
US20090024140A1 (en) * | 2007-07-20 | 2009-01-22 | Searete Llc, A Limited Liability Corporation Of The State Of Delaware | Surgical feedback system |
US20090036734A1 (en) * | 2007-07-31 | 2009-02-05 | Ethicon Endo-Surgery, Inc. | Devices and methods for introducing a scanning beam unit into the anatomy |
US9125552B2 (en) * | 2007-07-31 | 2015-09-08 | Ethicon Endo-Surgery, Inc. | Optical scanning module and means for attaching the module to medical instruments for introducing the module into the anatomy |
US10335024B2 (en) | 2007-08-15 | 2019-07-02 | Board Of Regents Of The University Of Nebraska | Medical inflation, attachment and delivery devices and related methods |
US20090048612A1 (en) * | 2007-08-15 | 2009-02-19 | Board Of Regents Of The University Of Nebraska | Modular and cooperative medical devices and related systems and methods |
US8974440B2 (en) | 2007-08-15 | 2015-03-10 | Board Of Regents Of The University Of Nebraska | Modular and cooperative medical devices and related systems and methods |
US20090076536A1 (en) * | 2007-08-15 | 2009-03-19 | Board Of Regents Of The University Of Nebraska | Medical inflation, attachment, and delivery devices and related methods |
US20090062795A1 (en) * | 2007-08-31 | 2009-03-05 | Ethicon Endo-Surgery, Inc. | Electrical ablation surgical instruments |
US8568410B2 (en) | 2007-08-31 | 2013-10-29 | Ethicon Endo-Surgery, Inc. | Electrical ablation surgical instruments |
US20090062792A1 (en) * | 2007-08-31 | 2009-03-05 | Ethicon Endo-Surgery, Inc. | Electrical ablation surgical instruments |
US8105233B2 (en) | 2007-10-24 | 2012-01-31 | Tarek Ahmed Nabil Abou El Kheir | Endoscopic system and method for therapeutic applications and obtaining 3-dimensional human vision simulated imaging with real dynamic convergence |
US20080027279A1 (en) * | 2007-10-24 | 2008-01-31 | Abou El Kheir Tarek A N | Endoscopic System and Method for Therapeutic Applications and Obtaining 3-Dimensional Human Vision Simulated Imaging With Real Dynamic Convergence |
US8939897B2 (en) | 2007-10-31 | 2015-01-27 | Ethicon Endo-Surgery, Inc. | Methods for closing a gastrotomy |
US8480657B2 (en) | 2007-10-31 | 2013-07-09 | Ethicon Endo-Surgery, Inc. | Detachable distal overtube section and methods for forming a sealable opening in the wall of an organ |
WO2009058350A1 (en) | 2007-11-02 | 2009-05-07 | The Trustees Of Columbia University In The City Of New York | Insertable surgical imaging device |
US8810638B2 (en) * | 2007-11-02 | 2014-08-19 | The Trustees Of Columbia University In The City Of New York | Insertable surgical imaging device |
US20100245549A1 (en) * | 2007-11-02 | 2010-09-30 | The Trustees Of Columbia University In The City Of New York | Insertable surgical imaging device |
US20090131933A1 (en) * | 2007-11-21 | 2009-05-21 | Ghabrial Ragae M | Bipolar forceps |
US8579897B2 (en) | 2007-11-21 | 2013-11-12 | Ethicon Endo-Surgery, Inc. | Bipolar forceps |
US8262655B2 (en) | 2007-11-21 | 2012-09-11 | Ethicon Endo-Surgery, Inc. | Bipolar forceps |
US20090157059A1 (en) * | 2007-12-14 | 2009-06-18 | Searete Llc, A Limited Liability Corporation Of The State Of Delaware | Surgical instrument navigation system |
US9216061B2 (en) * | 2007-12-27 | 2015-12-22 | Intuitive Surgical Operations, Inc. | Medical device with orientable tip for robotically directed laser cutting and biomaterial application |
US9043018B2 (en) * | 2007-12-27 | 2015-05-26 | Intuitive Surgical Operations, Inc. | Medical device with orientable tip for robotically directed laser cutting and biomaterial application |
US9636177B2 (en) * | 2007-12-27 | 2017-05-02 | Intuitive Surgical Operations, Inc. | Medical device with orientable tip for robotically directed laser cutting and biomaterial application |
US20150157407A1 (en) * | 2007-12-27 | 2015-06-11 | Intuitive Surgical Operations, Inc. | Medical device with orientable tip for robotically directed laser cutting & biomaterial application |
US20090171372A1 (en) * | 2007-12-27 | 2009-07-02 | Intuitive Surgical, Inc. | Medical device with orientable tip for robotically directed laser cutting and biomaterial application |
US20160074117A1 (en) * | 2007-12-27 | 2016-03-17 | Intuitive Surgical Operations, Inc. | Medical device with orientable tip for robotically directed laser cutting & biomaterial application |
US20090171332A1 (en) * | 2007-12-27 | 2009-07-02 | Intuitive Surgical, Inc. | Medical device with orientable tip for robotically directed laser cutting and biomaterial application |
US20090227828A1 (en) * | 2008-03-10 | 2009-09-10 | Ethicon Endo-Surgery, Inc. | Anastomotic device |
US8262680B2 (en) | 2008-03-10 | 2012-09-11 | Ethicon Endo-Surgery, Inc. | Anastomotic device |
US20090287236A1 (en) * | 2008-05-16 | 2009-11-19 | Ethicon Endo-Surgery, Inc. | Endoscopic rotary access needle |
US20090299385A1 (en) * | 2008-05-30 | 2009-12-03 | Ethicon Endo-Surgery, Inc. | Surgical fastening device |
US8771260B2 (en) | 2008-05-30 | 2014-07-08 | Ethicon Endo-Surgery, Inc. | Actuating and articulating surgical device |
US20090299143A1 (en) * | 2008-05-30 | 2009-12-03 | Conlon Sean P | Actuating and articulating surgical device |
US8070759B2 (en) | 2008-05-30 | 2011-12-06 | Ethicon Endo-Surgery, Inc. | Surgical fastening device |
US8652150B2 (en) | 2008-05-30 | 2014-02-18 | Ethicon Endo-Surgery, Inc. | Multifunction surgical device |
US8114072B2 (en) | 2008-05-30 | 2012-02-14 | Ethicon Endo-Surgery, Inc. | Electrical ablation device |
US8679003B2 (en) | 2008-05-30 | 2014-03-25 | Ethicon Endo-Surgery, Inc. | Surgical device and endoscope including same |
US8317806B2 (en) | 2008-05-30 | 2012-11-27 | Ethicon Endo-Surgery, Inc. | Endoscopic suturing tension controlling and indication devices |
US8906035B2 (en) | 2008-06-04 | 2014-12-09 | Ethicon Endo-Surgery, Inc. | Endoscopic drop off bag |
US8403926B2 (en) | 2008-06-05 | 2013-03-26 | Ethicon Endo-Surgery, Inc. | Manually articulating devices |
US8361112B2 (en) | 2008-06-27 | 2013-01-29 | Ethicon Endo-Surgery, Inc. | Surgical suture arrangement |
US20100010294A1 (en) * | 2008-07-10 | 2010-01-14 | Ethicon Endo-Surgery, Inc. | Temporarily positionable medical devices |
US11399834B2 (en) | 2008-07-14 | 2022-08-02 | Cilag Gmbh International | Tissue apposition clip application methods |
US8888792B2 (en) | 2008-07-14 | 2014-11-18 | Ethicon Endo-Surgery, Inc. | Tissue apposition clip application devices and methods |
US10105141B2 (en) | 2008-07-14 | 2018-10-23 | Ethicon Endo-Surgery, Inc. | Tissue apposition clip application methods |
US8262563B2 (en) | 2008-07-14 | 2012-09-11 | Ethicon Endo-Surgery, Inc. | Endoscopic translumenal articulatable steerable overtube |
US8211125B2 (en) | 2008-08-15 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Sterile appliance delivery device for endoscopic procedures |
US20100049190A1 (en) * | 2008-08-25 | 2010-02-25 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US8529563B2 (en) | 2008-08-25 | 2013-09-10 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US8241204B2 (en) | 2008-08-29 | 2012-08-14 | Ethicon Endo-Surgery, Inc. | Articulating end cap |
US8480689B2 (en) | 2008-09-02 | 2013-07-09 | Ethicon Endo-Surgery, Inc. | Suturing device |
US8409200B2 (en) | 2008-09-03 | 2013-04-02 | Ethicon Endo-Surgery, Inc. | Surgical grasping device |
US8114119B2 (en) | 2008-09-09 | 2012-02-14 | Ethicon Endo-Surgery, Inc. | Surgical grasping device |
US20100081877A1 (en) * | 2008-10-01 | 2010-04-01 | Ethicon Endo-Surgery, Inc. | Overtube with expandable tip |
US8337394B2 (en) | 2008-10-01 | 2012-12-25 | Ethicon Endo-Surgery, Inc. | Overtube with expandable tip |
US10314603B2 (en) | 2008-11-25 | 2019-06-11 | Ethicon Llc | Rotational coupling device for surgical instrument with flexible actuators |
US8157834B2 (en) | 2008-11-25 | 2012-04-17 | Ethicon Endo-Surgery, Inc. | Rotational coupling device for surgical instrument with flexible actuators |
US9220526B2 (en) | 2008-11-25 | 2015-12-29 | Ethicon Endo-Surgery, Inc. | Rotational coupling device for surgical instrument with flexible actuators |
US8172772B2 (en) | 2008-12-11 | 2012-05-08 | Ethicon Endo-Surgery, Inc. | Specimen retrieval device |
US8828031B2 (en) | 2009-01-12 | 2014-09-09 | Ethicon Endo-Surgery, Inc. | Apparatus for forming an anastomosis |
US8361066B2 (en) | 2009-01-12 | 2013-01-29 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US10004558B2 (en) | 2009-01-12 | 2018-06-26 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US9011431B2 (en) | 2009-01-12 | 2015-04-21 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US20110306840A1 (en) * | 2009-01-30 | 2011-12-15 | The Trustees Of Columbia University In The City Of New York | Controllable magnetic source to fixture intracorporeal apparatus. |
WO2010088481A1 (en) * | 2009-01-30 | 2010-08-05 | The Trustees Of Columbia University In The City Of New York | Controllable magnetic source to fixture intracorporeal apparatus |
US8252057B2 (en) | 2009-01-30 | 2012-08-28 | Ethicon Endo-Surgery, Inc. | Surgical access device |
US9226772B2 (en) | 2009-01-30 | 2016-01-05 | Ethicon Endo-Surgery, Inc. | Surgical device |
US8037591B2 (en) | 2009-02-02 | 2011-10-18 | Ethicon Endo-Surgery, Inc. | Surgical scissors |
US20100198244A1 (en) * | 2009-02-02 | 2010-08-05 | Ethicon Endo-Surgery, Inc. | Surgical scissors |
US8439830B2 (en) | 2009-03-27 | 2013-05-14 | EndoSphere Surgical, Inc. | Cannula with integrated camera and illumination |
US20100249512A1 (en) * | 2009-03-27 | 2010-09-30 | EndoSphere Surgical, Inc. | Cannula with integrated camera and illumination |
US8834358B2 (en) | 2009-03-27 | 2014-09-16 | EndoSphere Surgical, Inc. | Cannula with integrated camera and illumination |
US20110056470A1 (en) * | 2009-09-04 | 2011-03-10 | Estrate Evan A | Paintball Hopper With Integrated Imaging System |
US8623011B2 (en) | 2009-10-09 | 2014-01-07 | Ethicon Endo-Surgery, Inc. | Magnetic surgical sled with locking arm |
US20110087224A1 (en) * | 2009-10-09 | 2011-04-14 | Cadeddu Jeffrey A | Magnetic surgical sled with variable arm |
US10172669B2 (en) | 2009-10-09 | 2019-01-08 | Ethicon Llc | Surgical instrument comprising an energy trigger lockout |
US10779882B2 (en) | 2009-10-28 | 2020-09-22 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US8608652B2 (en) | 2009-11-05 | 2013-12-17 | Ethicon Endo-Surgery, Inc. | Vaginal entry surgical devices, kit, system, and method |
US8894633B2 (en) | 2009-12-17 | 2014-11-25 | Board Of Regents Of The University Of Nebraska | Modular and cooperative medical devices and related systems and methods |
US20110237890A1 (en) * | 2009-12-17 | 2011-09-29 | Board Of Regents Of The University Of Nebraska | Modular and cooperative medical devices and related systems and methods |
US8353487B2 (en) | 2009-12-17 | 2013-01-15 | Ethicon Endo-Surgery, Inc. | User interface support devices for endoscopic surgical instruments |
US8496574B2 (en) | 2009-12-17 | 2013-07-30 | Ethicon Endo-Surgery, Inc. | Selectively positionable camera for surgical guide tube assembly |
US9028483B2 (en) | 2009-12-18 | 2015-05-12 | Ethicon Endo-Surgery, Inc. | Surgical instrument comprising an electrode |
US10098691B2 (en) | 2009-12-18 | 2018-10-16 | Ethicon Endo-Surgery, Inc. | Surgical instrument comprising an electrode |
US8506564B2 (en) | 2009-12-18 | 2013-08-13 | Ethicon Endo-Surgery, Inc. | Surgical instrument comprising an electrode |
US20110160514A1 (en) * | 2009-12-31 | 2011-06-30 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
US9005198B2 (en) | 2010-01-29 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Surgical instrument comprising an electrode |
US11090103B2 (en) | 2010-05-21 | 2021-08-17 | Cilag Gmbh International | Medical device |
US8602980B2 (en) * | 2010-06-11 | 2013-12-10 | The Hospital For Sick Children | Folding endoscope and method of using the same |
US20110306832A1 (en) * | 2010-06-11 | 2011-12-15 | Bassan Harmanpreet | Folding endoscope and method of using the same |
US8968267B2 (en) | 2010-08-06 | 2015-03-03 | Board Of Regents Of The University Of Nebraska | Methods and systems for handling or delivering materials for natural orifice surgery |
US20120116155A1 (en) * | 2010-11-04 | 2012-05-10 | Ethicon Endo-Surgery, Inc. | Light-based, transcutaneous video signal transmission |
US10092291B2 (en) | 2011-01-25 | 2018-10-09 | Ethicon Endo-Surgery, Inc. | Surgical instrument with selectively rigidizable features |
US10258406B2 (en) | 2011-02-28 | 2019-04-16 | Ethicon Llc | Electrical ablation devices and methods |
US10278761B2 (en) | 2011-02-28 | 2019-05-07 | Ethicon Llc | Electrical ablation devices and methods |
US9233241B2 (en) | 2011-02-28 | 2016-01-12 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices and methods |
US9254169B2 (en) | 2011-02-28 | 2016-02-09 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices and methods |
US9314620B2 (en) | 2011-02-28 | 2016-04-19 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices and methods |
US9049987B2 (en) | 2011-03-17 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Hand held surgical device for manipulating an internal magnet assembly within a patient |
US9883910B2 (en) | 2011-03-17 | 2018-02-06 | Eticon Endo-Surgery, Inc. | Hand held surgical device for manipulating an internal magnet assembly within a patient |
US20120277757A1 (en) * | 2011-04-13 | 2012-11-01 | Curax, Llc | Multi-function cannulated surgical device |
US9757187B2 (en) | 2011-06-10 | 2017-09-12 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to surgical end effectors |
US10350000B2 (en) | 2011-06-10 | 2019-07-16 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to surgical end effectors |
US11065050B2 (en) | 2011-06-10 | 2021-07-20 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to surgical end effectors |
US11832871B2 (en) | 2011-06-10 | 2023-12-05 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to surgical end effectors |
US9060781B2 (en) | 2011-06-10 | 2015-06-23 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to surgical end effectors |
US9089353B2 (en) | 2011-07-11 | 2015-07-28 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
US11909576B2 (en) | 2011-07-11 | 2024-02-20 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
US11032125B2 (en) | 2011-07-11 | 2021-06-08 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems and related methods |
US10111711B2 (en) | 2011-07-11 | 2018-10-30 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
US11595242B2 (en) | 2011-07-11 | 2023-02-28 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems and related methods |
US20130046137A1 (en) * | 2011-08-15 | 2013-02-21 | Intuitive Surgical Operations, Inc. | Surgical instrument and method with multiple image capture sensors |
US8870749B2 (en) | 2011-09-02 | 2014-10-28 | Stryker Corporation | Arrangement for minimal access surgery |
US10779876B2 (en) | 2011-10-24 | 2020-09-22 | Ethicon Llc | Battery powered surgical instrument |
US11883065B2 (en) | 2012-01-10 | 2024-01-30 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical access and insertion |
US8986199B2 (en) | 2012-02-17 | 2015-03-24 | Ethicon Endo-Surgery, Inc. | Apparatus and methods for cleaning the lens of an endoscope |
US10179033B2 (en) | 2012-04-26 | 2019-01-15 | Bio-Medical Engineering (HK) Limited | Magnetic-anchored robotic system |
US9020640B2 (en) | 2012-04-26 | 2015-04-28 | Bio-Medical Engineering (HK) Limited | Magnetic-anchored robotic system |
US9789613B2 (en) | 2012-04-26 | 2017-10-17 | Bio-Medical Engineering (HK) Limited | Magnetic-anchored robotic system |
US8891924B2 (en) | 2012-04-26 | 2014-11-18 | Bio-Medical Engineering (HK) Limited | Magnetic-anchored robotic system |
US10065323B2 (en) | 2012-04-26 | 2018-09-04 | Bio-Medical Engineering (HK) Limited | Magnetic-anchored robotic system |
US10219870B2 (en) | 2012-05-01 | 2019-03-05 | Board Of Regents Of The University Of Nebraska | Single site robotic device and related systems and methods |
US11819299B2 (en) | 2012-05-01 | 2023-11-21 | Board Of Regents Of The University Of Nebraska | Single site robotic device and related systems and methods |
US9498292B2 (en) | 2012-05-01 | 2016-11-22 | Board Of Regents Of The University Of Nebraska | Single site robotic device and related systems and methods |
US11529201B2 (en) | 2012-05-01 | 2022-12-20 | Board Of Regents Of The University Of Nebraska | Single site robotic device and related systems and methods |
US11284918B2 (en) | 2012-05-14 | 2022-03-29 | Cilag GmbH Inlernational | Apparatus for introducing a steerable camera assembly into a patient |
US10206709B2 (en) | 2012-05-14 | 2019-02-19 | Ethicon Llc | Apparatus for introducing an object into a patient |
US9427255B2 (en) | 2012-05-14 | 2016-08-30 | Ethicon Endo-Surgery, Inc. | Apparatus for introducing a steerable camera assembly into a patient |
US11484374B2 (en) | 2012-06-22 | 2022-11-01 | Board Of Regents Of The University Of Nebraska | Local control robotic surgical devices and related methods |
US10470828B2 (en) | 2012-06-22 | 2019-11-12 | Board Of Regents Of The University Of Nebraska | Local control robotic surgical devices and related methods |
US9010214B2 (en) | 2012-06-22 | 2015-04-21 | Board Of Regents Of The University Of Nebraska | Local control robotic surgical devices and related methods |
US9788888B2 (en) | 2012-07-03 | 2017-10-17 | Ethicon Endo-Surgery, Inc. | Endoscopic cap electrode and method for using the same |
US9078662B2 (en) | 2012-07-03 | 2015-07-14 | Ethicon Endo-Surgery, Inc. | Endoscopic cap electrode and method for using the same |
US10492880B2 (en) | 2012-07-30 | 2019-12-03 | Ethicon Llc | Needle probe guide |
US9545290B2 (en) | 2012-07-30 | 2017-01-17 | Ethicon Endo-Surgery, Inc. | Needle probe guide |
US9572623B2 (en) | 2012-08-02 | 2017-02-21 | Ethicon Endo-Surgery, Inc. | Reusable electrode and disposable sheath |
US10314649B2 (en) | 2012-08-02 | 2019-06-11 | Ethicon Endo-Surgery, Inc. | Flexible expandable electrode and method of intraluminal delivery of pulsed power |
US11832902B2 (en) | 2012-08-08 | 2023-12-05 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US9770305B2 (en) | 2012-08-08 | 2017-09-26 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
US11051895B2 (en) | 2012-08-08 | 2021-07-06 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
US11617626B2 (en) | 2012-08-08 | 2023-04-04 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems and related methods |
US10582973B2 (en) | 2012-08-08 | 2020-03-10 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US10624704B2 (en) | 2012-08-08 | 2020-04-21 | Board Of Regents Of The University Of Nebraska | Robotic devices with on board control and related systems and devices |
US9277957B2 (en) | 2012-08-15 | 2016-03-08 | Ethicon Endo-Surgery, Inc. | Electrosurgical devices and methods |
US9788885B2 (en) | 2012-08-15 | 2017-10-17 | Ethicon Endo-Surgery, Inc. | Electrosurgical system energy source |
US10342598B2 (en) | 2012-08-15 | 2019-07-09 | Ethicon Llc | Electrosurgical system for delivering a biphasic waveform |
US9131832B2 (en) | 2012-08-15 | 2015-09-15 | Stryker Corporation | Cannula arrangement for minimally invasive surgery |
US20140179997A1 (en) * | 2012-12-20 | 2014-06-26 | avateramedical GmBH | System with Decoupled Multiple Cameras for Use in Minimal-Invasive Surgery |
US20140180001A1 (en) * | 2012-12-20 | 2014-06-26 | avanteramedical GmBH | Endoscope Comprising a System with Multiple Cameras for Use in Minimal-Invasive Surgery |
US9307894B2 (en) * | 2012-12-20 | 2016-04-12 | avateramedical GmBH | Endoscope comprising a system with multiple cameras for use in minimal-invasive surgery |
US11484191B2 (en) | 2013-02-27 | 2022-11-01 | Cilag Gmbh International | System for performing a minimally invasive surgical procedure |
US10098527B2 (en) | 2013-02-27 | 2018-10-16 | Ethidcon Endo-Surgery, Inc. | System for performing a minimally invasive surgical procedure |
US9888966B2 (en) | 2013-03-14 | 2018-02-13 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to force control surgical systems |
US11806097B2 (en) | 2013-03-14 | 2023-11-07 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
US10743949B2 (en) | 2013-03-14 | 2020-08-18 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to force control surgical systems |
US9743987B2 (en) | 2013-03-14 | 2017-08-29 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
US10603121B2 (en) | 2013-03-14 | 2020-03-31 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
US10667883B2 (en) | 2013-03-15 | 2020-06-02 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US11207099B2 (en) * | 2013-03-15 | 2021-12-28 | Synaptive Medical Inc. | Intelligent positioning system and methods therefor |
US11633253B2 (en) | 2013-03-15 | 2023-04-25 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US10966700B2 (en) | 2013-07-17 | 2021-04-06 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
US11826032B2 (en) | 2013-07-17 | 2023-11-28 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
US10342561B2 (en) | 2014-09-12 | 2019-07-09 | Board Of Regents Of The University Of Nebraska | Quick-release end effectors and related systems and methods |
US11576695B2 (en) | 2014-09-12 | 2023-02-14 | Virtual Incision Corporation | Quick-release end effectors and related systems and methods |
US11406458B2 (en) | 2014-11-11 | 2022-08-09 | Board Of Regents Of The University Of Nebraska | Robotic device with compact joint design and related systems and methods |
US10376322B2 (en) | 2014-11-11 | 2019-08-13 | Board Of Regents Of The University Of Nebraska | Robotic device with compact joint design and related systems and methods |
US9946350B2 (en) * | 2014-12-01 | 2018-04-17 | Qatar University | Cutaneous haptic feedback system and methods of use |
US10751109B2 (en) | 2014-12-22 | 2020-08-25 | Ethicon Llc | High power battery powered RF amplifier topology |
US10314638B2 (en) | 2015-04-07 | 2019-06-11 | Ethicon Llc | Articulating radio frequency (RF) tissue seal with articulating state sensing |
US10806538B2 (en) | 2015-08-03 | 2020-10-20 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US11872090B2 (en) | 2015-08-03 | 2024-01-16 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US10959771B2 (en) | 2015-10-16 | 2021-03-30 | Ethicon Llc | Suction and irrigation sealing grasper |
US10959806B2 (en) | 2015-12-30 | 2021-03-30 | Ethicon Llc | Energized medical device with reusable handle |
US10987156B2 (en) | 2016-04-29 | 2021-04-27 | Ethicon Llc | Electrosurgical instrument with electrically conductive gap setting member and electrically insulative tissue engaging members |
US10856934B2 (en) | 2016-04-29 | 2020-12-08 | Ethicon Llc | Electrosurgical instrument with electrically conductive gap setting and tissue engaging members |
US11826014B2 (en) | 2016-05-18 | 2023-11-28 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
US10751136B2 (en) | 2016-05-18 | 2020-08-25 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
US11173617B2 (en) | 2016-08-25 | 2021-11-16 | Board Of Regents Of The University Of Nebraska | Quick-release end effector tool interface |
US10702347B2 (en) | 2016-08-30 | 2020-07-07 | The Regents Of The University Of California | Robotic device with compact joint design and an additional degree of freedom and related systems and methods |
US11839422B2 (en) | 2016-09-23 | 2023-12-12 | Cilag Gmbh International | Electrosurgical instrument with fluid diverter |
US10751117B2 (en) | 2016-09-23 | 2020-08-25 | Ethicon Llc | Electrosurgical instrument with fluid diverter |
US11813124B2 (en) | 2016-11-22 | 2023-11-14 | Board Of Regents Of The University Of Nebraska | Gross positioning device and related systems and methods |
US11357595B2 (en) | 2016-11-22 | 2022-06-14 | Board Of Regents Of The University Of Nebraska | Gross positioning device and related systems and methods |
US11284958B2 (en) | 2016-11-29 | 2022-03-29 | Virtual Incision Corporation | User controller with user presence detection and related systems and methods |
US10722319B2 (en) | 2016-12-14 | 2020-07-28 | Virtual Incision Corporation | Releasable attachment device for coupling to medical devices and related systems and methods |
US11786334B2 (en) | 2016-12-14 | 2023-10-17 | Virtual Incision Corporation | Releasable attachment device for coupling to medical devices and related systems and methods |
US11033325B2 (en) | 2017-02-16 | 2021-06-15 | Cilag Gmbh International | Electrosurgical instrument with telescoping suction port and debris cleaner |
US10799284B2 (en) | 2017-03-15 | 2020-10-13 | Ethicon Llc | Electrosurgical instrument with textured jaws |
US11497546B2 (en) | 2017-03-31 | 2022-11-15 | Cilag Gmbh International | Area ratios of patterned coatings on RF electrodes to reduce sticking |
US10603117B2 (en) | 2017-06-28 | 2020-03-31 | Ethicon Llc | Articulation state detection mechanisms |
US11051894B2 (en) | 2017-09-27 | 2021-07-06 | Virtual Incision Corporation | Robotic surgical devices with tracking camera technology and related systems and methods |
US11484358B2 (en) | 2017-09-29 | 2022-11-01 | Cilag Gmbh International | Flexible electrosurgical instrument |
US11490951B2 (en) | 2017-09-29 | 2022-11-08 | Cilag Gmbh International | Saline contact with electrodes |
US11033323B2 (en) | 2017-09-29 | 2021-06-15 | Cilag Gmbh International | Systems and methods for managing fluid and suction in electrosurgical systems |
US11504196B2 (en) | 2018-01-05 | 2022-11-22 | Board Of Regents Of The University Of Nebraska | Single-arm robotic device with compact joint design and related systems and methods |
US11013564B2 (en) | 2018-01-05 | 2021-05-25 | Board Of Regents Of The University Of Nebraska | Single-arm robotic device with compact joint design and related systems and methods |
US11950867B2 (en) | 2018-01-05 | 2024-04-09 | Board Of Regents Of The University Of Nebraska | Single-arm robotic device with compact joint design and related systems and methods |
US11173004B2 (en) | 2018-09-25 | 2021-11-16 | Miraki Innovation Think Tank, Llc | In-vivo robotic imaging, sensing and deployment devices and methods for medical scaffolds |
US11903658B2 (en) | 2019-01-07 | 2024-02-20 | Virtual Incision Corporation | Robotically assisted surgical system and related devices and methods |
US11439429B2 (en) | 2019-07-11 | 2022-09-13 | New View Surgical | Cannula assembly with deployable camera |
WO2021062309A1 (en) * | 2019-09-26 | 2021-04-01 | Miraki Innovation Think Tank, Llc | Miniaturized intra-body controllable medical device |
US11957342B2 (en) | 2022-10-13 | 2024-04-16 | Cilag Gmbh International | Devices, systems, and methods for detecting tissue and foreign objects during a surgical operation |
Also Published As
Publication number | Publication date |
---|---|
JP2007534350A (en) | 2007-11-29 |
EP1643895B1 (en) | 2019-07-10 |
US20120158015A1 (en) | 2012-06-21 |
EP1643895A2 (en) | 2006-04-12 |
EP1643895A4 (en) | 2009-02-11 |
US20070032700A1 (en) | 2007-02-08 |
US20140066954A1 (en) | 2014-03-06 |
US9393076B2 (en) | 2016-07-19 |
JP5079327B2 (en) | 2012-11-21 |
US7066879B2 (en) | 2006-06-27 |
US20050014994A1 (en) | 2005-01-20 |
WO2005009211A3 (en) | 2005-12-15 |
US8096941B2 (en) | 2012-01-17 |
US9730761B2 (en) | 2017-08-15 |
WO2005009211A2 (en) | 2005-02-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9393076B2 (en) | Insertable device and system for minimal access procedure | |
EP1933692B1 (en) | Insertable device and system for minimal access procedure | |
US11850093B2 (en) | Surgical system with combined laser ablation/ imaging tool | |
US11666204B2 (en) | Minimally invasive surgical system | |
US20090012530A1 (en) | Insertable Device and System For Minimal Access Procedure | |
US10695136B2 (en) | Preventing instrument/tissue collisions | |
CN105616007B (en) | Medical robotic system with coordinated type control model | |
US20100081875A1 (en) | Surgical Device For Minimal Access Surgery | |
US20130046137A1 (en) | Surgical instrument and method with multiple image capture sensors | |
US20200405144A1 (en) | Laparoscopic insertable device | |
JPH07328015A (en) | Surgical manipulator system | |
US11957304B2 (en) | Minimally invasive surgical system | |
US20240127399A1 (en) | Visualization adjustments for instrument roll | |
JPH09149879A (en) | Endoscope device | |
JP2023553816A (en) | Visualization adjustment for instrument rotation | |
WO2024033898A1 (en) | User interfaces for navigating anatomical channels in medical procedures | |
Allen et al. | Tie Hu |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: TRUSTEES OF COLUMBIA UNIVERSITY IN THE CITY OF NEW Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:FOWLER, DENNIS L.;ALLEN, PETER K.;MILLER, ANDREW T.;REEL/FRAME:018422/0831;SIGNING DATES FROM 20061018 TO 20061019 |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |