公开(公告)号：EP2982330B1

公开(公告)日：2018-12-12

申请号：EP14772848.9

申请日：2014-01-30

申请人： Olympus Corporation

发明人： KOMURO, Takahiro

IPC分类号： A61B1/00 ,  A61B1/012 ,  A61B34/30 ,  A61B1/018 ,  A61B34/37 ,  A61B17/30

CPC分类号： A61B1/00133 ,  A61B1/0016 ,  A61B1/0052 ,  A61B1/0125 ,  A61B1/018 ,  A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/2906 ,  A61B2017/3445 ,  A61B2019/2211 ,  A61B2019/2223 ,  A61B2034/301

摘要： Provided is a treatment tool exchanging device that switches and holds a plurality of treatment tools for treating a target to be treated. The treatment tool exchanging device includes a flexible insertion part into which the plurality of treatment tools are inserted and in which a plurality of treatment tool channels for defining insertion paths for the treatment tools are formed; a driving part that advances each of the plurality of treatment tools, which are inserted through the treatment tool channels, within the treatment tool channel, and retracts each of the plurality of treatment tools within the treatment tool channel; a manipulating part that manipulates the plurality of treatment tools to perform treatment; and a control unit that controls the amount of protrusion, from the treatment tool channel of the treatment tool, which has protruded from a distal end of the treatment tool channel, among the plurality of treatment tools. The insertion part has a switching part that changes the insertion path of the treatment tool to be inserted.

公开(公告)号：EP3179951A4

公开(公告)日：2018-03-21

申请号：EP15831381

申请日：2015-08-12

申请人： INTUITIVE SURGICAL OPERATIONS

发明人： MCGROGAN ANTHONY K ,  COOPER THOMAS G ,  LARKIN DAVID Q ,  ANDERSON KENT M ,  BROWN JEFFREY D ,  LILAGAN PAUL E ,  IKEDA MICHAEL

IPC分类号： A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B90/90

CPC分类号： A61B34/30 ,  A61B19/22 ,  A61B19/2203 ,  A61B34/70 ,  A61B90/50 ,  A61B90/90 ,  A61B2017/3445 ,  A61B2019/2211 ,  A61B2019/2234 ,  A61B2034/301 ,  A61B2034/305 ,  B25J15/0028 ,  Y10S901/36 ,  Y10S901/38 ,  Y10S901/39

摘要： A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft (262A1) of at least one (260A1) of the surgical instruments be bent between the base of the surgical instrument (260A1) and the point where the shaft contacts a channel in an entry guide (270A). Each surgical instrument (260A1, 260A2) is positioned by an instrument manipulator positioning system (231A) so that when the shaft is inserted in a channel of the entry guide (270A), any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：EP3179951A1

公开(公告)日：2017-06-21

申请号：EP15831381.7

申请日：2015-08-12

申请人： Intuitive Surgical Operations Inc.

发明人： MCGROGAN, Anthony K. ,  COOPER, Thomas G. ,  LARKIN, David Q. ,  ANDERSON, Kent M. ,  BROWN, Jeffrey D. ,  LILAGAN, Paul E. ,  IKEDA, Michael

IPC分类号： A61B34/00

CPC分类号： B25J15/0028 ,  A61B19/22 ,  A61B19/2203 ,  A61B34/30 ,  A61B34/70 ,  A61B90/50 ,  A61B90/90 ,  A61B2017/3445 ,  A61B2019/2211 ,  A61B2019/2234 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/36 ,  Y10S901/38 ,  Y10S901/39

摘要： A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

摘要翻译： 手术系统在各种手术中使用单一入口。 为了通过单个入口将多个手术器械插入患者体内，要求至少一个（260A1）手术器械的轴（262A1）在手术器械（260A1）的基部和轴接触的点之间弯曲 进入指南（270A）中的频道。 通过仪器操纵器定位系统（231A）定位每个手术器械（260A1,260A2），使得当轴插入入口引导器（270A）的通道中时，轴的任何弯曲不会损坏手术器械，并且确实 不会妨碍手术器械的正确操作。

公开(公告)号：EP2982332A1

公开(公告)日：2016-02-10

申请号：EP14776302.3

申请日：2014-01-22

申请人： Olympus Corporation

发明人： OGAWA, Ryohei ,  KISHI, Kosuke

IPC分类号： A61B90/00 ,  B25J3/00

CPC分类号： A61B1/00045 ,  A61B1/00087 ,  A61B1/00149 ,  A61B1/005 ,  A61B1/04 ,  A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B2019/2211 ,  A61B2019/2223 ,  A61B2019/2269 ,  A61B2019/464 ,  A61B2034/301 ,  A61B2090/064 ,  B25J3/04 ,  B25J13/02

摘要： In the case of rotating a slave unit(4) by operating a master apparatus(2), in order to maintain a correspondence relation between a position of the master apparatus(2) and a position of treatment tools(9) on a monitor screen, there is provided a master-slave system (1) including: a slave unit(4) including an observation optical system(8) imaging a subject A; a treatment part(9) projecting from a surface(3a) on which the observation optical system(8) is provided and at least part of the treatment tools(9) is imaged along with the subject A by the observation optical system(8); a master apparatus(2) including an operating unit(23) held and operated by an operator; a control unit associating operation of the operating unit(23) of the master apparatus 2 with motion of the slave unit(4) and motion of the treatment part(9); and a monitor screen displaying an image acquired by the observation optical system(8), wherein the operating unit(23) includes a command input unit(25) into which a motion command for a slave unit(2) is inputted while the operating unit(23) is held by the operator without changing a pose of the operating unit (23).

摘要翻译： 在通过操作主设备（2）来旋转从单元（4）的情况下，为了保持主设备（2）的位置与监视器屏幕上的处理工具（9）的位置之间的对应关系 提供了一种主从系统（1），包括：从单元（4），包括对被摄体A成像的观察光学系统（8）; 从设置有观察光学系统（8）的表面（3a）突出的处理部（9）和至少一部分处理工具（9）通过观察光学系统（8）与被检体A成像， ; 主装置（2），包括由操作者保持和操作的操作单元（23）; 控制单元使主装置2的操作单元（23）与从属单元（4）的运动和处理部件（9）的运动相关联; 以及显示由观察光学系统（8）获取的图像的监视器屏幕，其中，所述操作单元（23）包括命令输入单元（25），其中输入用于从单元（2）的运动命令，而所述操作单元 （23）由操作者保持，而不改变操作单元（23）的姿势。

公开(公告)号：EP2982330A1

公开(公告)日：2016-02-10

申请号：EP14772848.9

申请日：2014-01-30

申请人： Olympus Corporation

发明人： KOMURO Takahiro

IPC分类号： A61B90/00 ,  A61B1/00

CPC分类号： A61B1/00133 ,  A61B1/0016 ,  A61B1/0052 ,  A61B1/0125 ,  A61B1/018 ,  A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/2906 ,  A61B2017/3445 ,  A61B2019/2211 ,  A61B2019/2223 ,  A61B2034/301

摘要： Provided is a treatment tool exchanging device that switches and holds a plurality of treatment tools for treating a target to be treated. The treatment tool exchanging device includes a flexible insertion part into which the plurality of treatment tools are inserted and in which a plurality of treatment tool channels for defining insertion paths for the treatment tools are formed; a driving part that advances each of the plurality of treatment tools, which are inserted through the treatment tool channels, within the treatment tool channel, and retracts each of the plurality of treatment tools within the treatment tool channel; a manipulating part that manipulates the plurality of treatment tools to perform treatment; and a control unit that controls the amount of protrusion, from the treatment tool channel of the treatment tool, which has protruded from a distal end of the treatment tool channel, among the plurality of treatment tools. The insertion part has a switching part that changes the insertion path of the treatment tool to be inserted.

摘要翻译： 提供了一种处理工具更换装置，该处理工具更换装置切换并保持用于处理待处理目标的多个处理工具。 治疗工具更换装置包括柔性插入部件，多个治疗工具插入该柔性插入部件中，并且其中形成用于限定治疗工具的插入路径的多个治疗工具通道; 驱动部，其使插入于所述处理器具通道内的所述多个处理器具分别在所述处理器具通道内前进，使所述多个处理器具分别退避至所述处理器具通道内; 操纵所述多个治疗工具以进行治疗的操纵部件; 以及控制部，该控制部从所述多个处理器具中的，从所述处理器具通道的前端突出的所述处理器具的处理器具通道控制突出量。 插入部分具有切换部分，该切换部分改变待插入的治疗工具的插入路径。

公开(公告)号：EP2658464A1

公开(公告)日：2013-11-06

申请号：EP11815655.3

申请日：2011-12-27

申请人： Endosense SA

发明人： LAMBERT, Hendrik ,  OLSTAD, Stuart, J. ,  FREMONT, Olivier B.

IPC分类号： A61B18/14

CPC分类号： A61B18/082 ,  A61B5/1076 ,  A61B18/10 ,  A61B18/1492 ,  A61B19/2203 ,  A61B2018/00351 ,  A61B2018/00357 ,  A61B2018/00375 ,  A61B2018/00577 ,  A61B2018/00702 ,  A61B2018/0072 ,  A61B2018/00767 ,  A61B2018/00875 ,  A61B2019/2211 ,  A61B2019/465 ,  A61B2034/301 ,  A61B2090/065 ,  A61B2218/002 ,  G06F19/00

摘要： A method and device for determining the transmurality and/or continuity of an isolation line formed by a plurality of point contact ablations. In one embodiment, a method for determining the size of a lesion (width, depth and/or volume) is disclosed, based on contact force of the ablation head with the target tissue, and an energization parameter that quantifies the energy delivered to the target tissue during the duration time of the lesion formation. In another embodiment, the sequential nature (sequence in time and space) of the ablation line formation is tracked and quantified in a quantity herein referred to as the “jump index,” and used in conjunction with the lesion size information to determine the probability of a gap later forming in the isolation line.

摘要翻译： 一种用于确定性采矿方法和装置通过点接触消融形成的多个隔离线的透和/或连续性。 在一个，实施例的用于确定性采矿病变的大小（宽度，深度和/或体积）方法被盘游离缺失，基于所述消融头与目标组织的接触力，及赋能参数做了量化传递到靶的能量 期间的持续时间的病变形成的组织。 在另一个实施方案中，顺序性（序列中的时间和空间）的消融线形成的被跟踪并且在由被称为在一个量量化“跳指数”，并使用结合病变大小信息来确定矿的概率 的间隙在隔离线后形成。