WO1993025267A1 - Mechanism for manipulating a tool - Google Patents
Mechanism for manipulating a tool Download PDFInfo
- Publication number
- WO1993025267A1 WO1993025267A1 PCT/US1993/005253 US9305253W WO9325267A1 WO 1993025267 A1 WO1993025267 A1 WO 1993025267A1 US 9305253 W US9305253 W US 9305253W WO 9325267 A1 WO9325267 A1 WO 9325267A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tool
- actuator member
- tool actuator
- flexible elongate
- elongate
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0158—Tip steering devices with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26B—HAND-HELD CUTTING TOOLS NOT OTHERWISE PROVIDED FOR
- B26B15/00—Hand-held shears with motor-driven blades
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3478—Endoscopic needles, e.g. for infusion
-
- 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
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
- A61F2002/30003—Material related properties of the prosthesis or of a coating on the prosthesis
- A61F2002/3006—Properties of materials and coating materials
- A61F2002/30092—Properties of materials and coating materials using shape memory or superelastic materials, e.g. nitinol
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2210/00—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
- A61F2210/0014—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof using shape memory or superelastic materials, e.g. nitinol
- A61F2210/0019—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof using shape memory or superelastic materials, e.g. nitinol operated at only one temperature whilst inside or touching the human body, e.g. constrained in a non-operative shape during surgery, another temperature only occurring before the operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2210/00—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
- A61F2210/0014—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof using shape memory or superelastic materials, e.g. nitinol
- A61F2210/0023—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof using shape memory or superelastic materials, e.g. nitinol operated at different temperatures whilst inside or touching the human body, heated or cooled by external energy source or cold supply
- A61F2210/0033—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof using shape memory or superelastic materials, e.g. nitinol operated at different temperatures whilst inside or touching the human body, heated or cooled by external energy source or cold supply electrically, e.g. heated by resistor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
Definitions
- This invention relates to a mechanism for manipulating a tool and to a flexible elongate device using the same.
- pull wires or levers have been utilized to perform operations at the distal extremities.
- pull wires or levers have been utilized to perform operations at the distal extremities.
- they have serious limitations because of the frictional engagement between the pull wires and the device in which they are operating.
- they have been unsatisfactory because they provide at best a slow response.
- Another object of the invention is to provide a mechanism of the above character which can be very small and can be provided at the distal extremities of flexible elongate devices.
- Another object of the invention is to provide a mechanism of the above character in which the rectilinear motion can be converted into circular motion.
- Another object of the invention is to provide a mechanism of the above character in which a fluid can be introduced through the distal extremity of the flexible elongate device.
- Another object of the invention is to provide a flexible elongate device incorporating the mechanism for manipulation of a tool which permits the use of a relatively small diameter for the flexible elongate device.
- Another object of the invention is to provide a mechanism of the above character which can be utilized with various types of tools utilized in medical procedures. Additional objects and features of the invention will appear from the following description in which the preferred embodiments are set forth in detail in conjunction with the accompanying drawings.
- Figure 1 is a side elevational view partially in cross- section of a flexible elongate device having mounted on the distal extremity thereof a mechanism formanipulating a tool incorporating the present invention and the control console for use therewith and showing the tool in a retracted position.
- Figure 2 is a cross-sectional view taken along the line 2-2 of Figure l.
- Figure 3 is a end elevated view taken along the line 3-3 of Figure 1.
- Figure 4 is a cross-sectional view similar to Figure 1 showing the tool in extended position.
- Figure 5 is a side-elevational viewpartially in cross- section of the distal extremity of another flexible elongate device having a mechanism mounted on the distal extremity thereof incorporating the present invention for manipulating a tool to provide rotatable motion to the tool and showing the tool in a retractable position.
- Figure 6 is a cross-sectional view similar to Figure 5 but showing the tool in an advanced position.
- Figure 7 is a side-elevational view of a flexible elongate device having a mechanism mounted on the distal extremity thereof showing another embodiment of the present invention which is utilized for manipulating a tool with rotational rectilinear motion.
- Figure 8 is a cross-sectional view taken along the line 8-8 of Figure 7.
- Figure 9 is a side elevational view of the distal extremity of a flexible elongate device having a mechanism for manipulating a tool mounted on the distal extremity thereof incorporating another embodiment of the invention for providing a scissors which is shown in a closed position.
- Figure 10 is a view similar to Figure 8 showing the scissors in an open position.
- Figure 11 is a top plan view looking along the line 11-11 of Figure 8.
- Figure 12 is a circuit diagram showing a portion of the circuitry utilized in the control console shown in Figure 1.
- the mechanism for manipulating a tool which is adapted to be mounted on the distal extremity of a flexible elongate device is comprised of a housing.
- a tool actuating member is provided in the housing.
- First and second springs formed of a shape memory material are disposed in the housing. Each of the springs has first and second ends.
- Means is carried by the housing engaging the first end of the first spring and engaging the second end of the second spring.
- Means is also carried by the tool actuating member and is engaged by the second end of the first spring and the first end of the second spring.
- Means is provided for supplying current to the first and second springs for causing movement of the tool actuating member. This movement is a rectilinear movement which can be converted to rotational movement.
- a flexible elongate device 11 in the form of a catheter is provided.
- the flexible elongate device 11 has proximal and distal extremities 12 and 13.
- the flexible elongate device 11 consists of a flexible elongate member 16 formed of a suitable medical grade plastic such as polyethylene, polya ide or a silicone. As shown in Figure 2, it can be cylindrical in form and is provided with a centrally disposed lumen 17 which extends from the proximal extremity 12 to the distal extremity 13 of the device 11. It is also provided with a plurality of smaller lumens 18 which are circu ferentially spaced around the central lumen 17.
- the lumens 18 can be provided which are equally spaced around the central lumen 17.
- the lumens 18 extend from the proximal to the distal extremities 12 and 13 of the flexible elongate device and can be utilized for various purposes.
- Three of the lumens 18 can be utilized for steering wires 21 of the type described in co-pending application Serial No.07/793,858 filed on November 18, 1991, for causing steering movement of the distal extremity of the flexible elongate device 11.
- the steering wires 21 are formed of a material having a negative coefficient of expansion and are formed of a suitable material such as a nickel- titanium alloy manufactured and sold under the trademark Flexinol by Toki of Japan.
- the steering wires 21 are connected to electrical conductors (not shown) which extend through a cable 22 at the proximal extremity 12 of the catheter 11 and are connected to an electrical connector 23 and are adapted to be connected to a Controller of the type described is said co-pending application.
- the distal extremities of the steering wires 21 are secured to the distal extremity of the flexible elongate member 16 in a suitable manner such as by bonding the distal extremities of the wires in the distal extremities of the lumens 18 by an adhesive so that they are retained therein.
- the three steering wires 21 are offset by a suitable angle, as for example 120° from each other, to provide the desired motion of the distal extremity of the device 11.
- First and second coil springs 31 and 32 are disposed within the central lumen 17 near the distal extremity thereof as shown in Figure 1.
- the helical coil springs 31 and 32 are formed of a shape memory material such as Nitinol.
- the springs are fabricated in the following manner: The Nitinol wire of appropriate diameter (such as 0.005") is wound on “ " a mandrel having a spiral groove. The pitch of the spiral groove determines the pitch of the spring when actuated (expanded) .
- the two ends of the Nitinol wire are secured (with set screws) and heated at 400°C to 550°C for 10-15 minutes to provide the shape memory.
- the transition temperature is chosen above body temp (of 45°C) so that the Nitinol springs can only be activated by the application of electricity.
- the spring 31 is provided with a first or proximal end 33 and a second or distal end 34 and, similarly,
- the spring 32 is provided with a first or proximal end 36 and a second or distal end 37.
- the springs can be formed of a wire of various diameters.
- the springs can be formed of wire having a diameter to provide the desired force, as for example, from .001" to .020", and preferably a diameter of .004".
- Such wire can be utilized to form coils of various outside diameters ranging from .010" to 0.1", and having inside diameters ranging from .008 to .080".
- the springs 31 and 32 can be formed of the same length or can be formed of different lengths ranging from 1/4" to 2". The length of the springs is dependent on the desired motion to be provided by the springs.
- the distal extremity of the flexible elongate member 16 serves as a housing for the springs 31 and 32 disposed within the central lumen 17.
- Means is carried by the flexible elongate member serving as the housing for engaging the first or proximal end of the first spring and the distal or second end of the second spring, and consists of an annular member or ring 41 which is mounted in the lumen 17 and is secured to the side wall of the flexible elongate member or housing 16 by suitable means such as an adhesive (not shown) .
- This ring 41 engages the proximal extremity of the first spring 31.
- annular member or ring 42 is mounted within the lumen 17 and is secured to the side wall of the flexible elongate member 16 forming the lumens 17 by suitable means such as an adhesive (not shown) .
- This ring 42 is engaged by the distal or second extremity of the second spring 32.
- a tool actuating member 46 is disposed within the central lumen 17 and within the coil springs 31 and 32.
- This tool actuator member 46 as shown in Figure 2 is cylindrical in cross-section and forms a part of a cannula which is used as hereinafter described.
- the tool actuating member 46 is formed of a suitable material such as stainless steel.
- Means is provided which is carried by the tool actuating member 46 which is adapted to be engaged by the second or distal extremity of the first spring 31 and the first or proximal extremity of the second spring 32, and consists of a annular flange 47 formed integral with the tool actuating member 46 which is engaged by the second or distal extremity of the first spring 31 and by the proximal or first end of the second spring 32.
- Means is provided for supplying electrical energy to the first and second springs 31 and 32, and consists of insulated conductors 51 and 52 which are provided in two of the lumens 18.
- the conductor 51 is connected to the distal extremity of the first coil spring 31.
- the conductor 52 is connected to the distal extremity of the second spring 32.
- the distal extremity of the spring 31 and the proximal extremity of the spring 32 are interconnected by a cross link 53 extending through a hole (not shown) in the flanges 47.
- the cross link 53 is connected by an insulated conductor 54 also extending through a hole (not shown) in the tool actuator member 46 and passing proximally interiorally of the tool actuator member through a bore 55 and connected to the common return conductor 24.
- the conductor 54 is provided with a coiled portion 54a to accommodate the rectilinear movement of the tool actuator member 46 as hereinafter described.
- These additional conductors 51 and 52 also extend through the cable 22 and are connected to the conductor 23 so that electrical energy can be supplied to the same for supplying energy to the springs 31 and 32.
- the tool actuator member 46 is adapted to be secured to a tool 56 which is shown in the form of a cannula.
- the tool cannula 56 is circular in cross- section and is provided with a flow passage 57 which adjoins the bore 55.
- the tool actuating member 46 and the cannula 56 are formed as a single integral member. However, it should be appreciated that they can be formed of two separate members which can be joined together in a suitable manner, such as by brazing.
- the flow passage 57 is in communication with the bore 55 in the tool actuator member 56 and opens into the central lumen 17.
- the central lumen 17 at the proximal extremity of the flexible elongate member 16 is connected to a flexible elongate member 58 in a suitable manner such as by an adhesive which also is provided with a flow passage 59 in communication with the central lumen 17 which is connected to a Luer adapter 61 which is adapted to be connected to a conventional syringe (not shown) whereby a liquid can be supplied to the member 58 and through the flow passage 57 provided int eh cannula 56.
- the cannula 56 is provided with an inclined circular sharpened edge 62 which is adapted to extend through a disk-type valve member 63 which is provided with a diametrically extending slit 64 (see Figure 3) .
- the valve member 63 is retained in place by ring 65.
- a control console 66 is provided for controlling the flexible elongate device 11.
- the control console is provided with a cabinet 67 with a cable 68 extending therefrom and having a female connector 69 mounted thereon which is adapted to receive the male connector 23 connected to the cable 22 of the flexible elongate device 11.
- a joystick 71 is mounted on the top of the cabinet 66 as shown in Figure 1 which is movable throughout 360° of a cone to control the steering wires 21 in a manner described in co-pending application Serial No. 793,858 filed on November 18, 1991.
- the joystick 71 operates circuitry of the type disclosed in said co-pending application, which is incorporated in the cabinet
- a sliding mechanism 72 is provided on the front wall 73 of the cabinet 67, movable between forward and reverse positions. It also includes a control knob 76 mounted on the front wall 73, rotatable between 0 and 360°. It also includes an on-off switch 77 and a light-emitting diode 78 to indicate when the power is on.
- the control console 66 is connected to a suitable source of power such as 110 volts AC, or alternatively it can be provided with battery power.
- the control console 66 is utilized to cause linear motion by forward and reverse motion of the cannula or tool 56 by causing it to pass through the slit 64 in the valve member 63 to perform surgical operations.
- the valve member 63 serves to prevent blood from coming back into the catheter or flexible elongate device 11.
- This flexible elongate device 81 is similar in many respects to the flexible elongate device 11, with the exception that the cannula tool 56 provided in flexible elongate device 11 has been elongated to provide an elongated tool or cannula 82.
- Cooperative means is provided between the distal extremity of the cannula 82 and the distal extremity of the flexible elongate member 16 for translating rectilinear motion into rotary motion and, as shown, consists of helical ribbon or structure 83 which can be formed integral with the cannula 82 or, alternatively, can be formed as a separate part bonded to the exterior of the cannula 82 by suitable means such as brazing.
- the helical structure 83 provides an annular helical groove 84 which is inclined at a suitable angle, as for example 60°.
- Means is provided for engaging the helical structure 83 and consists of an annular protrusion 86 formed of a suitable material such as a metal or plastic which is secured to the interior wall of the flexible elongate member 16 forming the lumen 17 by suitable means such as an adhesive.
- the protrusion 86 is seated within the groove 84.
- helical grooves could be provided in the interior surface of the flexible elongate member 16 with corresponding grooves being provided in the exterior surface of the cannula with low- friction interengaging means such as a pin or a ball seated in the grooves to cause rotary motion upon linear translation of the cannula or tool.
- a flexible elongate device When it is desired to encounter less friction to obtain rotational movement as the tool is translated linearly, this can be accomplished in an embodiment of the invention such as shown in Figures 7 and 8.
- a flexible elongate device such as shown in Figures 7 and 8.
- 91 which consists of a flexible elongate member
- the flexible elongate member 92 of the same type as the flexible elongate member 16. It has a centrally disposed lumen 93 which extends longitudinally thereof.
- the flexible elongate member 92 is provided with a plurality of additional lumens 94 which are spaced apart circumferentially around a large central lumen 93 as shown in Figure 8.
- Three steering wires 96 are provided in the lumens 94 and are spaced approximately 120° and are fastened in the distal extremities of the lumens 94 in the manner hereinbefore described with the embodiment of the invention shown in Figures 1 and 2.
- the steering wires 96 are connected to a common return conductor 97 (see Figure 8) .
- a tool 101 in the form of a cannula is provided in the distal extremity of the flexible elongate member 92 and is disposed in the lumen 93.
- the tool or cannula 101 is provided with a radially extending flange 102 between the ends of the same, which is engaged by the distal extremity of first spring 103 and by the proximal extremity of a second spring 104 coaxially disposed on the tool or cannula 101 as shown in Figure 7.
- the first and second springs 103 and 104 are formed of the Nitinol material hereinbefore described for the springs 31 and 32.
- the proximal extremity of the first spring 103 engages an annular flange 106 adhered to the inner surface forming the lumen 93 by suitable means such as an adhesive, and the distal extremity of the second spring 104 engages a similar annular flange 107 secured to the interior surface forming the lumen 93.
- An attachment 111 is secured to the distal extremity of the tool or cannula 101 by suitable means such as a fitting 112.
- the attachment 111 is provided with an arcuate or substantially semicircular cutting edge 113.
- the first spring 103 has one or the other proximal end connected to a conductor 116.
- the other or distal end connected to the proximal end of the second spring 104 bya cross link 117 extending through a hole (not shown) in the flange 102 and connected to a conductor 118 that is connected to elongate alot 119.
- the conductor 118 is connected to the common return conductor 97.
- a conductor 120 is connected to the distal end of the second spring 104 which has its other end connected to the common return conductor 97.
- a Nitinol wire 121 has programmed into its memory rotational motion. This is accomplished by first taking a piece of Nitinol wire and clamping one end of the same, and then rotating the other free end by the desired number of turns, and then clamping the wire into another clamp to hold it in this rotated position. The Nitinol wire thus clamped is then heated to an appropriate annealing temperature such as 500 to 550°C for a period of time ranging typically from 4 to 6 minutes to thereby incorporate the turns into its memory. Thereafter the Nitinol wire 121 is permitted to cool to room temperature.
- One end of the wire 121 is secured to a block 122 by suitable means such as by spot welding.
- the block 122 is slidably mounted within the tool or cannula 101.
- Cooperative means is provided between the block and the cannula for causing rotational movement of the cannula as the block 122 la rotated.
- the block 122 is rectangular in shape and cooperates with the rectangular bore 124 provided within the tool or cannula 101, which has the same general configuration as the block 122.
- the cooperating means can be utilized. For example, an oval-shape could be utilized and a key and keyway could be provided. All that is necessary is the connection which permits rectilinear movement of the tool or cannula 101 and at the same time permits rotational movement to be independently applied to the tool or cannula.
- the other end of the wire 121 is secured to another block 126 which is mounted in a fixed position in the lumen 93 by suitable means such as by an adhesive.
- the block 126 is provided with a bore 127 into which the proximal extremity of the Nitinol wire 121 extends and is bonded therein by suitable means such as by spot welding.
- Means for supplying electrical energy to the Nitinol wire 121 and consists of insulated conductors 128 and 129 connected to the proximal end of the wire 121 and conductor 129 extending through a bore 130 in the wire 121 and being connected to the distal extremity of the wire 121.
- This additional insulated conductor 129 can extend through bore 131 provided in the wire 121 extending to the distal extremity of the wire 121. The conductor 129 can then be connected to the common return 97.
- the conductors to the steering wires 96 and the other conductors provided in the lumens 94 are brought out to the proximal extremity of the flexible elongate device 91 and are connected to a control console 66 of the type hereinbefore described.
- the operation of the device 8L in conjunction with the control console will hereinafter be described in conjunction with the circuit diagram in Figure 12.
- FIG. 9-11 Another embodiment of the invention is shown in Figure 9-11, inwhich rectilinearmovement is converted into a clamping or scissors-like action.
- the flexible elongate device 141 shown in Figure 8 is provided with a tool 142 on its distal extremity.
- the flexible elongate device 141 consists of a flexible elongate member 143 which has a lumen 144 extending therethrough.
- the actuator member 146 is move rectilinearly by the use of Nitinol springs of the type hereinbefore described and electrically energized in teh manner hereinbefore described, which includes the first and second Nitinol springs 147 and 148 engaging annular circular abutments 149 and 150 provided in the lumen 144 and a centrally disposed flange portion 146a on the tool actuator member 146.
- a scissor mechanism 151 is mounted in the distal extremity of the tubular member 143 and consists of a first cutting blade 152 having pivotally connected thereto another cutting blade 153 by pivot pin 154.
- a linkage 156 is provided for interconnecting the distal extremity of the tool actuator member 146 to the movable blade 153 and consists of a link 157 which has one end mounted in a fixed position on the blade 153 and has the other end pivotally connected to one end of a link 158 by a pin 159.
- the other end of the link 158 is pivotally connected by a pin 161 to the distal extremity of the tool actuator member 146.
- FIG 11 shows the Nitinol springs which are utilized in the present invention.
- the springs are 31 and 32.
- the springs would be respectively springs 103 and 104, and in the embodiment shown in Figure 9, the springs would be spring 147 and 148.
- the other springs for providing rectilinear movement in the other embodiments could be substituted for the springs 31 and 32.
- the two springs 31 and 32 are energized by two variable power supplies 166 and 167.
- the power supplies 166 and 167 include potentiometers 168 and 169 which are provided with wiper arms 171 and 172 that are ganged together as shown by the dotted line 173 and connected to the slide mechanism 72 of the control console 66.
- the wiper arms 171 and 172 are connected to the inputs of amplifiers Al and A2, respectively, to provided currents to the transistors Ql and Q2 which create voltages on their outputs which correspond to the inputs from the wiper arms 171 and 172.
- Capacitors Cl and C2 are provided to filter the outputs.
- These outputs are utilized to supply current through the conductors 51 and 52 to the Nitinol springs 31 and 32. This current passes through the same, and then returns to ground through the common conductor 24.
- the slider 72 is advanced upwardly on the front panel 73 of the control console 66. This causes current to be supplied through the conductor 51 to the Nitinol spring 31 to cause the same to expand with the electrical energy supplied to the same to move the tool actuator member 46 forward. If still further advancement of the tool 46 is required, the physician can move the slider 72 still further upwardly to cause still further advancement of the tool.
- a catheter incorporating the present invention can be made of any desired size.
- the present invention particularly lends itself to small-diameter devices, as for example 7 French and below, or, in other words, devices having diameters ranging from .040 to .100".
- the catheters can have any suitable length, as for example ranging from 150 to 200 cm depending upon the application.
- the proximal extremity can be steered so that the tool which is being operated can be properly positioned in the manner described in co-pending application Serial No. 07/793,858 filed on November 18, 1991, by operation of the joystick 71.
- the rectilinear motion of the tool actuator member can also be caused to rotate by operation of the slider 72. However, as previously pointed out, this rotational movement is dependent upon the rectilinear motion of the tool actuator member.
- FIG. 7 When independent rotational movement is desired, a construction of the type shown in Figures 7 and 8 is utilized, which requires the use of additional circuitry shown in Figure 7.
- This additional circuitry takes the form of an additional power supply 181 which is provided with a potentiometer 182 having a wiper arm 183. Current from the wiper arm is supplied to the input of an amplifier 83 which amplifies the current and supplies it to a transistor Q3 which has its output filtered by capacitor C3. The output is supplied through the conductor 128 to the Nitinol wire
- the wiper 183 is controlled by the knob 76 provided on the front panel 73.
- the knob 76 As the knob 76 is rotated, current is supplied through the conductor 128 to the wire 121 which, because of the memory incorporated therein, causes rotation of one end of the wire with respect to the other end of the wire, as for example by causing rotation of the block 122 which will cause a rotation of the tool actuator member 101.
- the amount of rotation of the tool actuator member 101 can be controlled by the rotational position of the knob 76.
- the block 122 can be caused to rotate in an opposite direction carrying with it in rotational movement to tool actuator member 101.
- a flexible elongate device 11 which has a tool carried by the distal extremity thereof which is capable of a multiplicity of operations.
- the tool carried by the tool actuator member can be advanced and retracted rectilinearly and can also be caused to rotate either independently or in conjunction with the rectilinear movement.
- the distal extremity """' of the flexible elongate device which typically is in the form of a catheter, can be moved in various desired positions by the use of the joystick. All of these operations can be performed simultaneously or individually, depending upon the desires of the operator.
- a power supply for providing the V+ voltages shown in the circuitry is provided from a battery 187 through the on-off switch 77 and mounted on the front panel. When the switch is in the "ON" position, power is supplied through a resistor Rl to the LED 78 provided on the front panel 73.
- the battery 187 can be of a suitable voltage, such as 6 or 9 volts.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6501562A JPH07508668A (en) | 1992-06-05 | 1993-06-03 | Instrument operation mechanism |
AU44035/93A AU675652B2 (en) | 1992-06-05 | 1993-06-03 | Mechanism for manipulating a tool |
EP93914332A EP0643597A4 (en) | 1992-06-05 | 1993-06-03 | Mechanism for manipulating a tool. |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US07/893,770 US5389072A (en) | 1992-06-05 | 1992-06-05 | Mechanism for manipulating a tool and flexible elongate device using the same |
US07/893,770 | 1992-06-05 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1993025267A1 true WO1993025267A1 (en) | 1993-12-23 |
Family
ID=25402067
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1993/005253 WO1993025267A1 (en) | 1992-06-05 | 1993-06-03 | Mechanism for manipulating a tool |
Country Status (6)
Country | Link |
---|---|
US (1) | US5389072A (en) |
EP (1) | EP0643597A4 (en) |
JP (1) | JPH07508668A (en) |
AU (1) | AU675652B2 (en) |
CA (1) | CA2137290A1 (en) |
WO (1) | WO1993025267A1 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0674878A1 (en) * | 1994-03-30 | 1995-10-04 | Richard Wolf GmbH | Medical instrument |
WO1996000526A1 (en) * | 1994-06-28 | 1996-01-11 | Aesculap Ag | Surgical instrument |
WO2005094937A1 (en) * | 2004-03-24 | 2005-10-13 | Windcrest Llc | Energizer for vascular guidewire |
US7615032B2 (en) | 2004-03-24 | 2009-11-10 | Windcrest Llc | Vascular guidewire control apparatus |
US8147481B2 (en) | 2005-03-24 | 2012-04-03 | The Cleveland Clinic Foundation | Vascular guidewire control apparatus |
EP2962644A1 (en) * | 2014-06-30 | 2016-01-06 | BioScopeX ApS | Endoscopic biopsy instrument |
WO2017217952A1 (en) * | 2016-06-17 | 2017-12-21 | Istanbul Teknik Universitesi | Innovative laparoscopic grasper |
US11369398B2 (en) | 2020-08-19 | 2022-06-28 | Tag Dream Medical Ltd. | Hybrid laser cutter |
Families Citing this family (261)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5281218A (en) | 1992-06-05 | 1994-01-25 | Cardiac Pathways Corporation | Catheter having needle electrode for radiofrequency ablation |
US5928191A (en) * | 1993-07-30 | 1999-07-27 | E.P. Technologies, Inc. | Variable curve electrophysiology catheter |
US5833604A (en) * | 1993-07-30 | 1998-11-10 | E.P. Technologies, Inc. | Variable stiffness electrophysiology catheter |
US5763979A (en) * | 1996-02-29 | 1998-06-09 | The United States Of America As Represented By The Secretary Of The Navy | Actuation system for the control of multiple shape memory alloy elements |
US6652480B1 (en) | 1997-03-06 | 2003-11-25 | Medtronic Ave., Inc. | Methods for reducing distal embolization |
US5845646A (en) * | 1996-11-05 | 1998-12-08 | Lemelson; Jerome | System and method for treating select tissue in a living being |
US7169160B1 (en) | 1998-07-28 | 2007-01-30 | Medtronic, Inc. | Device for anchoring tubular element |
US6102887A (en) | 1998-08-11 | 2000-08-15 | Biocardia, Inc. | Catheter drug delivery system and method for use |
JP4096325B2 (en) * | 1998-12-14 | 2008-06-04 | 正喜 江刺 | Active capillary and method for manufacturing the same |
US6124662A (en) * | 1999-03-22 | 2000-09-26 | Maness; Richard | Actuator using electrical contacts pressed in abutment |
DE10156316A1 (en) * | 2001-11-19 | 2003-06-05 | Wittenstein Ag | distraction |
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 |
US20060161118A1 (en) * | 2004-05-28 | 2006-07-20 | Cathlogic, Inc. | Dysfunction resistant catheter system and associated methods |
US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
US8795348B2 (en) * | 2005-06-14 | 2014-08-05 | Boston Scientific Scimed, Inc. | Medical devices and related methods |
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 |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
US8708213B2 (en) | 2006-01-31 | 2014-04-29 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a feedback system |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
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 |
US8186555B2 (en) | 2006-01-31 | 2012-05-29 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting and fastening instrument with mechanical closure system |
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 |
US20110295295A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument having recording capabilities |
US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
US8551019B1 (en) * | 2006-09-06 | 2013-10-08 | Pacesetter, Inc. | Variable stiffness guide wire |
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 |
US9050438B2 (en) | 2006-10-21 | 2015-06-09 | Vesatek, Llc | Guidewire manipulation device |
US11291441B2 (en) | 2007-01-10 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with wireless communication between control unit and remote sensor |
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 |
US8827133B2 (en) | 2007-01-11 | 2014-09-09 | Ethicon Endo-Surgery, Inc. | Surgical stapling device having supports for a flexible drive mechanism |
EP2120737B1 (en) | 2007-02-05 | 2020-04-01 | Boston Scientific Limited | Thrombectomy apparatus |
US7669747B2 (en) | 2007-03-15 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Washer for use with a surgical stapling instrument |
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 |
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 |
BRPI0901282A2 (en) | 2008-02-14 | 2009-11-17 | Ethicon Endo Surgery Inc | surgical cutting and fixation instrument with rf electrodes |
US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
US9386983B2 (en) | 2008-09-23 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Robotically-controlled motorized surgical instrument |
US8210411B2 (en) | 2008-09-23 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument |
US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
US9005230B2 (en) | 2008-09-23 | 2015-04-14 | 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 |
US8372033B2 (en) * | 2008-12-31 | 2013-02-12 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Catheter having proximal heat sensitive deflection mechanism and related methods of use and manufacturing |
US8926529B2 (en) | 2009-02-10 | 2015-01-06 | Vesatek, Llc | Method and apparatus for manipulating a surgical guidewire |
US9351730B2 (en) | 2011-04-29 | 2016-05-31 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising channels |
US8978954B2 (en) | 2010-09-30 | 2015-03-17 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising an adjustable distal portion |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US9592050B2 (en) | 2010-09-30 | 2017-03-14 | Ethicon Endo-Surgery, Llc | End effector comprising a distal tissue abutment member |
US11849952B2 (en) | 2010-09-30 | 2023-12-26 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
US9320523B2 (en) | 2012-03-28 | 2016-04-26 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising tissue ingrowth features |
US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
WO2012135339A1 (en) | 2011-03-28 | 2012-10-04 | North Carolina State University | Active catheter device and associated system and method |
CA2834649C (en) | 2011-04-29 | 2021-02-16 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising staples positioned within a compressible portion thereof |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
JP6305979B2 (en) | 2012-03-28 | 2018-04-04 | 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. | Tissue thickness compensator with multiple layers |
CN104334098B (en) | 2012-03-28 | 2017-03-22 | 伊西康内外科公司 | Tissue thickness compensator comprising capsules defining a low pressure environment |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
US20140001234A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Coupling arrangements for attaching surgical end effectors to drive systems therefor |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
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 |
US9649111B2 (en) | 2012-06-28 | 2017-05-16 | Ethicon Endo-Surgery, Llc | Replaceable clip cartridge for a clip applier |
MX368026B (en) | 2013-03-01 | 2019-09-12 | Ethicon Endo Surgery Inc | Articulatable surgical instruments with conductive pathways for signal communication. |
BR112015026109B1 (en) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | surgical instrument |
US10405857B2 (en) | 2013-04-16 | 2019-09-10 | Ethicon Llc | Powered linear surgical stapler |
US9808249B2 (en) | 2013-08-23 | 2017-11-07 | Ethicon Llc | Attachment portions for surgical instrument assemblies |
CN106028966B (en) | 2013-08-23 | 2018-06-22 | 伊西康内外科有限责任公司 | For the firing member restoring device of powered surgical instrument |
CA2934555C (en) | 2013-12-20 | 2020-07-07 | Microvention, Inc. | Device delivery system |
US9733663B2 (en) | 2014-03-26 | 2017-08-15 | Ethicon Llc | Power management through segmented circuit and variable voltage protection |
US20150297225A1 (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 |
CN106456176B (en) | 2014-04-16 | 2019-06-28 | 伊西康内外科有限责任公司 | Fastener cartridge including the extension with various configuration |
BR112016023807B1 (en) | 2014-04-16 | 2022-07-12 | Ethicon Endo-Surgery, Llc | CARTRIDGE SET OF FASTENERS FOR USE WITH A SURGICAL INSTRUMENT |
US10135242B2 (en) | 2014-09-05 | 2018-11-20 | Ethicon Llc | Smart cartridge wake up operation and data retention |
BR112017004361B1 (en) | 2014-09-05 | 2023-04-11 | Ethicon Llc | ELECTRONIC SYSTEM FOR A SURGICAL INSTRUMENT |
US11523821B2 (en) | 2014-09-26 | 2022-12-13 | Cilag Gmbh International | Method for creating a flexible staple line |
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 |
US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument system |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
US9968355B2 (en) | 2014-12-18 | 2018-05-15 | Ethicon Llc | Surgical instruments with articulatable end effectors and improved firing beam support arrangements |
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 |
US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
BR112017012996B1 (en) | 2014-12-18 | 2022-11-08 | Ethicon Llc | SURGICAL INSTRUMENT WITH AN ANvil WHICH IS SELECTIVELY MOVABLE ABOUT AN IMMOVABLE GEOMETRIC AXIS DIFFERENT FROM A STAPLE CARTRIDGE |
US11154301B2 (en) | 2015-02-27 | 2021-10-26 | Cilag Gmbh International | Modular stapling assembly |
US10548504B2 (en) | 2015-03-06 | 2020-02-04 | Ethicon Llc | Overlaid multi sensor radio frequency (RF) electrode system to measure tissue compression |
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 |
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 |
US10390825B2 (en) | 2015-03-31 | 2019-08-27 | Ethicon Llc | Surgical instrument with progressive rotary drive systems |
WO2017027837A1 (en) | 2015-08-12 | 2017-02-16 | Vesatek, Llc | System and method for manipulating an elongate medical device |
US10561440B2 (en) | 2015-09-03 | 2020-02-18 | Vesatek, Llc | Systems and methods for manipulating medical devices |
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 |
US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
US10271849B2 (en) | 2015-09-30 | 2019-04-30 | Ethicon Llc | Woven constructs with interlocked standing fibers |
US10226263B2 (en) | 2015-12-23 | 2019-03-12 | Incuvate, Llc | Aspiration monitoring system and method |
US10292704B2 (en) | 2015-12-30 | 2019-05-21 | Ethicon Llc | Mechanisms for compensating for battery pack failure in powered surgical instruments |
US11213293B2 (en) | 2016-02-09 | 2022-01-04 | Cilag Gmbh International | Articulatable surgical instruments with single articulation link arrangements |
CN108882932B (en) | 2016-02-09 | 2021-07-23 | 伊西康有限责任公司 | Surgical instrument with asymmetric articulation configuration |
US11224426B2 (en) | 2016-02-12 | 2022-01-18 | Cilag Gmbh International | 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 |
US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10426467B2 (en) | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10492783B2 (en) | 2016-04-15 | 2019-12-03 | Ethicon, Llc | Surgical instrument with improved stop/start control during a firing motion |
US10363037B2 (en) | 2016-04-18 | 2019-07-30 | Ethicon Llc | Surgical instrument system comprising a magnetic 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 |
US10492785B2 (en) | 2016-12-21 | 2019-12-03 | Ethicon Llc | Shaft assembly comprising a lockout |
US10736629B2 (en) | 2016-12-21 | 2020-08-11 | Ethicon Llc | Surgical tool assemblies with clutching arrangements for shifting between closure systems with closure stroke reduction features and articulation and firing systems |
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 |
US20180168625A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments with smart staple cartridges |
US10973516B2 (en) | 2016-12-21 | 2021-04-13 | Ethicon Llc | Surgical end effectors and adaptable firing members therefor |
JP6983893B2 (en) | 2016-12-21 | 2021-12-17 | エシコン エルエルシーEthicon LLC | Lockout configuration for surgical end effectors and replaceable tool assemblies |
US20180168575A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling systems |
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 |
JP7010956B2 (en) | 2016-12-21 | 2022-01-26 | エシコン エルエルシー | How to staple tissue |
US10537325B2 (en) | 2016-12-21 | 2020-01-21 | Ethicon Llc | Staple forming pocket arrangement to accommodate different types of staples |
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 |
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 |
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 |
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 |
US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument |
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 |
US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
US11324503B2 (en) | 2017-06-27 | 2022-05-10 | Cilag Gmbh International | Surgical firing member arrangements |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
EP3420947B1 (en) | 2017-06-28 | 2022-05-25 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
US10588633B2 (en) | 2017-06-28 | 2020-03-17 | Ethicon Llc | Surgical instruments with open and closable jaws and axially movable firing member that is initially parked in close proximity to the jaws prior to firing |
US11389161B2 (en) | 2017-06-28 | 2022-07-19 | Cilag Gmbh International | Surgical instrument comprising selectively actuatable rotatable couplers |
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 |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
GB2564124B (en) * | 2017-07-04 | 2021-08-25 | Creo Medical Ltd | Control device for an electrosurgical instrument |
US11944300B2 (en) | 2017-08-03 | 2024-04-02 | Cilag Gmbh International | Method for operating a surgical system bailout |
US11471155B2 (en) | 2017-08-03 | 2022-10-18 | Cilag Gmbh International | Surgical system bailout |
US11304695B2 (en) | 2017-08-03 | 2022-04-19 | Cilag Gmbh International | Surgical system shaft interconnection |
US10842490B2 (en) | 2017-10-31 | 2020-11-24 | Ethicon Llc | Cartridge body design with force reduction based on firing completion |
US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
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 |
US11751867B2 (en) | 2017-12-21 | 2023-09-12 | Cilag Gmbh International | Surgical instrument comprising sequenced systems |
US11311290B2 (en) | 2017-12-21 | 2022-04-26 | Cilag Gmbh International | Surgical instrument comprising an end effector dampener |
US11678905B2 (en) | 2018-07-19 | 2023-06-20 | Walk Vascular, Llc | Systems and methods for removal of blood and thrombotic material |
US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
US11696761B2 (en) | 2019-03-25 | 2023-07-11 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11903581B2 (en) | 2019-04-30 | 2024-02-20 | Cilag Gmbh International | Methods for stapling tissue using a surgical instrument |
US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin for a surgical instrument |
US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for a surgical instrument |
US11724069B2 (en) * | 2019-04-30 | 2023-08-15 | Covidien Lp | Catheter including contractible electroactive elements |
US11452528B2 (en) | 2019-04-30 | 2022-09-27 | Cilag Gmbh International | Articulation actuators for a surgical instrument |
US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
US11471157B2 (en) | 2019-04-30 | 2022-10-18 | Cilag Gmbh International | Articulation control mapping for a surgical instrument |
US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
US11361176B2 (en) | 2019-06-28 | 2022-06-14 | Cilag Gmbh International | Surgical RFID assemblies for compatibility detection |
US11853835B2 (en) | 2019-06-28 | 2023-12-26 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
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 |
US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
US11241235B2 (en) | 2019-06-28 | 2022-02-08 | Cilag Gmbh International | Method of using multiple RFID chips with a surgical assembly |
US11399837B2 (en) | 2019-06-28 | 2022-08-02 | Cilag Gmbh International | Mechanisms for motor control adjustments of a motorized surgical instrument |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
US11298132B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Inlernational | Staple cartridge including a honeycomb extension |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
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 |
US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11911032B2 (en) | 2019-12-19 | 2024-02-27 | Cilag Gmbh International | Staple cartridge comprising a seating cam |
US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD976401S1 (en) | 2020-06-02 | 2023-01-24 | Cilag Gmbh International | Staple cartridge |
USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
USD966512S1 (en) | 2020-06-02 | 2022-10-11 | Cilag Gmbh International | Staple cartridge |
USD975278S1 (en) | 2020-06-02 | 2023-01-10 | Cilag Gmbh International | Staple cartridge |
USD967421S1 (en) | 2020-06-02 | 2022-10-18 | Cilag Gmbh International | Staple cartridge |
USD975851S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
US20220031351A1 (en) | 2020-07-28 | 2022-02-03 | Cilag Gmbh International | Surgical instruments with differential articulation joint arrangements for accommodating flexible actuators |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
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 |
US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
US11844518B2 (en) | 2020-10-29 | 2023-12-19 | Cilag Gmbh International | Method for operating a surgical instrument |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
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 |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
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 |
US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
US11627960B2 (en) | 2020-12-02 | 2023-04-18 | Cilag Gmbh International | Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
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 |
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 |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11812964B2 (en) | 2021-02-26 | 2023-11-14 | Cilag Gmbh International | Staple cartridge comprising a power management circuit |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
US11826012B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising a pulsed motor-driven firing rack |
US11806011B2 (en) | 2021-03-22 | 2023-11-07 | Cilag Gmbh International | Stapling instrument comprising tissue compression systems |
US11737749B2 (en) | 2021-03-22 | 2023-08-29 | Cilag Gmbh International | Surgical stapling instrument comprising a retraction system |
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 |
US11723658B2 (en) | 2021-03-22 | 2023-08-15 | Cilag Gmbh International | Staple cartridge comprising a firing lockout |
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 |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
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 |
US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
US11832816B2 (en) | 2021-03-24 | 2023-12-05 | Cilag Gmbh International | Surgical stapling assembly comprising nonplanar staples and planar staples |
US11903582B2 (en) | 2021-03-24 | 2024-02-20 | Cilag Gmbh International | Leveraging surfaces for cartridge installation |
US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
US11786239B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Surgical instrument articulation joint arrangements comprising multiple moving linkage features |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
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 (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4509517A (en) * | 1982-09-30 | 1985-04-09 | Zibelin Henry S | Kidney stone instrument |
US4736587A (en) * | 1984-11-07 | 1988-04-12 | Kabushiki Kaisha Tokai Rika Denki Seisakusho | Shape-memory electromechanical drive |
US4811564A (en) * | 1988-01-11 | 1989-03-14 | Palmer Mark D | Double action spring actuator |
US4841730A (en) * | 1987-07-02 | 1989-06-27 | Pda Engineering | Thermal actuator |
US5020842A (en) * | 1988-09-02 | 1991-06-04 | Waseda University | Instrument for inoculating bulb scales |
Family Cites Families (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3326207A (en) * | 1964-07-10 | 1967-06-20 | James J Egan | Electrocardiac instrument for testing unborn infants |
US4601705A (en) * | 1983-10-31 | 1986-07-22 | Mccoy William C | Steerable and aimable catheter |
US4758222A (en) * | 1985-05-03 | 1988-07-19 | Mccoy William C | Steerable and aimable catheter |
US4543090A (en) * | 1983-10-31 | 1985-09-24 | Mccoy William C | Steerable and aimable catheter |
US4944727A (en) * | 1986-06-05 | 1990-07-31 | Catheter Research, Inc. | Variable shape guide apparatus |
US4522212A (en) * | 1983-11-14 | 1985-06-11 | Mansfield Scientific, Inc. | Endocardial electrode |
CA1265586A (en) * | 1984-08-14 | 1990-02-06 | Consiglio Nazionale Delle Ricerche | Method and device for quick location of starting site of ventricular arrhythmias |
DE3685835T2 (en) * | 1985-04-17 | 1993-02-18 | Hitachi Ltd | GRIPPER TOOL. |
US4660571A (en) * | 1985-07-18 | 1987-04-28 | Cordis Corporation | Percutaneous lead having radially adjustable electrode |
US4699147A (en) * | 1985-09-25 | 1987-10-13 | Cordis Corporation | Intraventricular multielectrode cardial mapping probe and method for using same |
US4799474A (en) * | 1986-03-13 | 1989-01-24 | Olympus Optical Co., Ltd. | Medical tube to be inserted in body cavity |
US4776844A (en) * | 1986-05-02 | 1988-10-11 | Olympus Optical Co., Ltd. | Medical tube |
US4753223A (en) * | 1986-11-07 | 1988-06-28 | Bremer Paul W | System for controlling shape and direction of a catheter, cannula, electrode, endoscope or similar article |
US4940064A (en) * | 1986-11-14 | 1990-07-10 | Desai Jawahar M | Catheter for mapping and ablation and method therefor |
US4900078A (en) * | 1986-12-23 | 1990-02-13 | The Boeing Company | Gripping device utilizing a shape memory alloy |
US4884557A (en) * | 1987-05-15 | 1989-12-05 | Olympus Optical Co., Ltd. | Endoscope for automatically adjusting an angle with a shape memory alloy |
JPS6480367A (en) * | 1987-09-21 | 1989-03-27 | Terumo Corp | Member for correcting ureter |
IT1211530B (en) * | 1987-11-16 | 1989-11-03 | Consiglio Nazionale Ricerche | AREA OF THE POINT OF ORIGIN OF ARITCATERERE FOR ENDOCARDIC BIOPSY AND MY VENTRICULARS THAT CAN BE USED ALSO FOR THE INDIVIDUAL |
SE8800019D0 (en) * | 1988-01-07 | 1988-01-07 | Knut Olof Edhag | FOR CARDIALLY DEFIBLATION USED INTRAVASCULES ELECTRO CABLE |
US4964062A (en) * | 1988-02-16 | 1990-10-16 | Ubhayakar Shivadev K | Robotic arm systems |
US4945912A (en) * | 1988-11-25 | 1990-08-07 | Sensor Electronics, Inc. | Catheter with radiofrequency heating applicator |
US5037391A (en) * | 1989-01-09 | 1991-08-06 | Pilot Cardiovascular Systems, Inc. | Steerable angioplasty device |
US4921482A (en) * | 1989-01-09 | 1990-05-01 | Hammerslag Julius G | Steerable angioplasty device |
US4977886A (en) * | 1989-02-08 | 1990-12-18 | Olympus Optical Co., Ltd. | Position controlling apparatus |
US5219357A (en) * | 1990-05-31 | 1993-06-15 | Tnco, Inc. | Micro-instrument |
US5236424A (en) * | 1992-06-05 | 1993-08-17 | Cardiac Pathways Corporation | Catheter with retractable cannula for delivering a plurality of chemicals |
US5238002A (en) * | 1992-06-08 | 1993-08-24 | C. R. Bard, Inc. | Disposable biopsy forceps |
-
1992
- 1992-06-05 US US07/893,770 patent/US5389072A/en not_active Expired - Fee Related
-
1993
- 1993-06-03 JP JP6501562A patent/JPH07508668A/en active Pending
- 1993-06-03 AU AU44035/93A patent/AU675652B2/en not_active Ceased
- 1993-06-03 CA CA002137290A patent/CA2137290A1/en not_active Abandoned
- 1993-06-03 EP EP93914332A patent/EP0643597A4/en not_active Withdrawn
- 1993-06-03 WO PCT/US1993/005253 patent/WO1993025267A1/en not_active Application Discontinuation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4509517A (en) * | 1982-09-30 | 1985-04-09 | Zibelin Henry S | Kidney stone instrument |
US4736587A (en) * | 1984-11-07 | 1988-04-12 | Kabushiki Kaisha Tokai Rika Denki Seisakusho | Shape-memory electromechanical drive |
US4841730A (en) * | 1987-07-02 | 1989-06-27 | Pda Engineering | Thermal actuator |
US4811564A (en) * | 1988-01-11 | 1989-03-14 | Palmer Mark D | Double action spring actuator |
US5020842A (en) * | 1988-09-02 | 1991-06-04 | Waseda University | Instrument for inoculating bulb scales |
Non-Patent Citations (1)
Title |
---|
See also references of EP0643597A4 * |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0674878A1 (en) * | 1994-03-30 | 1995-10-04 | Richard Wolf GmbH | Medical instrument |
US5562699A (en) * | 1994-03-30 | 1996-10-08 | Richard Wolf Gmbh | Forceps |
WO1996000526A1 (en) * | 1994-06-28 | 1996-01-11 | Aesculap Ag | Surgical instrument |
US5709706A (en) * | 1994-06-28 | 1998-01-20 | Aesculap Ag | Surgical instrument |
WO2005094937A1 (en) * | 2004-03-24 | 2005-10-13 | Windcrest Llc | Energizer for vascular guidewire |
US7615032B2 (en) | 2004-03-24 | 2009-11-10 | Windcrest Llc | Vascular guidewire control apparatus |
US8147481B2 (en) | 2005-03-24 | 2012-04-03 | The Cleveland Clinic Foundation | Vascular guidewire control apparatus |
EP2962644A1 (en) * | 2014-06-30 | 2016-01-06 | BioScopeX ApS | Endoscopic biopsy instrument |
WO2016001061A1 (en) * | 2014-06-30 | 2016-01-07 | Bioscopex Aps | Endoscopic biopsy instrument |
WO2017217952A1 (en) * | 2016-06-17 | 2017-12-21 | Istanbul Teknik Universitesi | Innovative laparoscopic grasper |
GB2568400A (en) * | 2016-06-17 | 2019-05-15 | Univ Istanbul Teknik | Innovative Laparoscopic grasper |
GB2568400B (en) * | 2016-06-17 | 2022-03-09 | Univ Istanbul Teknik | Innovative Laparoscopic grasper |
US11369398B2 (en) | 2020-08-19 | 2022-06-28 | Tag Dream Medical Ltd. | Hybrid laser cutter |
US11638591B2 (en) | 2020-08-19 | 2023-05-02 | Tag Dream Medical Ltd. | Hybrid laser cutter |
Also Published As
Publication number | Publication date |
---|---|
US5389072A (en) | 1995-02-14 |
AU675652B2 (en) | 1997-02-13 |
EP0643597A1 (en) | 1995-03-22 |
CA2137290A1 (en) | 1993-12-23 |
EP0643597A4 (en) | 1995-08-23 |
JPH07508668A (en) | 1995-09-28 |
AU4403593A (en) | 1994-01-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
AU675652B2 (en) | Mechanism for manipulating a tool | |
EP1803481B1 (en) | Dual-lever bi-directional handle | |
US5389073A (en) | Steerable catheter with adjustable bend location | |
US5236424A (en) | Catheter with retractable cannula for delivering a plurality of chemicals | |
EP2569040B1 (en) | A catheter handle | |
US5876373A (en) | Steerable catheter | |
CA2604320C (en) | Lead extraction device | |
EP0746242B1 (en) | Rotatable clevis assembly for a flexible microsurgical instrument | |
AU712738B2 (en) | Steerable catheter | |
US20120310111A1 (en) | Magnetic linear actuator for deployable catheter tools | |
EP3210559A1 (en) | Surgical instrument having a bipolar end effector assembly and a deployable monopolar assembly | |
JPH10507678A (en) | Steerable electrode catheter | |
AU2011252743B2 (en) | A catheter shape adjustment mechanism | |
JP2007530175A (en) | Blood vessel guide wire control device | |
JPH06261952A (en) | Steerable catheter and method of which bending location and/or radius of gyration are adjustable | |
WO2009117696A1 (en) | Steerable tool guide for use with flexible endoscopic medical devices | |
WO2009046002A1 (en) | Tip for lead extraction device | |
EP1139859A1 (en) | A handle for manipulation of a stylet used for deflecting a tip of a lead or catheter | |
US5403297A (en) | Elongate device having steerable distal extremity and proximal bend and method | |
US20150148801A1 (en) | Micro-bipolar endoscopic endonasal cautery device | |
US20210401481A1 (en) | Inductively heated perforator with suction | |
WO2024068924A1 (en) | Microinvasive surgery device | |
WO2023095127A1 (en) | Mounting arm for a surgical device | |
WO2023244638A1 (en) | Systems, apparatuses, and methods for medical devices | |
WO2023241774A1 (en) | A catheter set for forming a fistula between two blood vessels |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AU CA JP |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2137290 Country of ref document: CA Ref document number: 1993914332 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 1993914332 Country of ref document: EP |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: 1993914332 Country of ref document: EP |