[go: up one dir, main page]

CN104602636A - 可互换的端部执行器联接结构 - Google Patents

可互换的端部执行器联接结构 Download PDF

Info

Publication number
CN104602636A
CN104602636A CN201380045645.0A CN201380045645A CN104602636A CN 104602636 A CN104602636 A CN 104602636A CN 201380045645 A CN201380045645 A CN 201380045645A CN 104602636 A CN104602636 A CN 104602636A
Authority
CN
China
Prior art keywords
end effector
jaw member
assembly
drive
shaft assembly
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.)
Granted
Application number
CN201380045645.0A
Other languages
English (en)
Other versions
CN104602636B (zh
Inventor
F·E·谢尔顿四世
C·O·巴克斯特三世
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ethicon Endo Surgery Inc
Original Assignee
Ethicon Endo Surgery Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Ethicon Endo Surgery Inc filed Critical Ethicon Endo Surgery Inc
Publication of CN104602636A publication Critical patent/CN104602636A/zh
Application granted granted Critical
Publication of CN104602636B publication Critical patent/CN104602636B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00309—Cut-outs or slits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A61B2017/00327—Cables or rods with actuating members moving in opposite directions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
    • A61B2017/00473—Distal part, e.g. tip or head
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • A61B2017/2903—Details of shaft characterized by features of the actuating rod transferring rotary motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2931—Details of heads or jaws with releasable head
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B2017/320044—Blunt dissectors
    • 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
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/00172—Connectors and adapters therefor
    • 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
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B2018/1452—Probes having pivoting end effectors, e.g. forceps including means for cutting
    • A61B2018/1455—Probes having pivoting end effectors, e.g. forceps including means for cutting having a moving blade for cutting tissue grasped by the jaws
    • 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
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B2018/1495—Electrodes being detachable from a support structure
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Otolaryngology (AREA)
  • Surgical Instruments (AREA)

Abstract

本发明公开了一种外科工具，所述外科工具包括可互换的端部执行器、柄部组件、和轴组件。所述可互换的端部执行器可包括具有第一电极的第一钳口构件和具有第二电极的第二钳口构件。所述第一钳口构件能够相对于所述第二钳口构件在第一位置和第二位置之间运动。所述柄部组件可位于所述外科端部执行器的近侧。所述轴组件可在所述柄部组件和所述可互换的端部执行器之间延伸。所述轴组件可包括能够传输旋转运动的旋转驱动轴。所述旋转驱动轴能够相对于所述轴组件在多个离散位置之间选择性地轴向运动。联接结构可用于将所述可互换的端部执行器可释放地附接到所述轴组件。

Description

可互换的端部执行器联接结构
背景技术
多年以来，已经开发出多种微创机器人(或“远距离外科手术”)系统以增加外科手术的灵活性，并允许外科医生以直观的方式对患者进行手术。多个此类系统在以下美国专利中有所公开，所述每个美国专利的全文以引用方式并入本文：名称为“Articulated Surgical Instrument For PerformingMinimally Invasive Surgery With Enhanced Dexterity and Sensitivity”的美国专利5,792,135、名称为“Robotic Arm DLUS For Performing Surgical Tasks”的美国专利6,231,565、名称为“Robotic Surgical Tool With UltrasoundCauterizing and Cutting Instrument”的美国专利6,783,524、名称为“Alignment of Master and Slave In a Minimally Invasive Surgical Apparatus”的美国专利6,364,888、名称为“Mechanical Actuator Interface System ForRobotic Surgical Tools”的美国专利7,524,320、名称为“Platform Link WristMechanism”的美国专利7,691,098、名称为“Repositioning and Reorientationof Master/Slave Relationship in Minimally Invasive Telesurgery”的美国专利7,806,891以及名称为“Surgical Tool With Writed Monopolar ElectrosurgicalEnd Effectors”的美国专利7,824,401。然而，过去的多个此类系统已不能生成有效切割和紧固组织所需量级的力。此外，现有的机器人外科系统在其可操作的不同类型的外科装置的数量方面受到限制。
附图说明
通过结合附图来参考本发明的示例实施例的以下说明，本发明的特征和优点及其获取方法将会变得更加明显，并可更好地理解本发明本身，其中：
本文结合下述附图以举例的方式对各种示例实施例进行描述，其中：
图1为机器人控制器的一个实施例的透视图。
图2为可操作地支撑多个外科工具实施例的机器人系统的机器人外科臂车/操纵器的透视图。
图3为图2中所示的机器人外科臂车/操纵器的一个实施例的侧视图。
图4为具有定位连杆的车结构的透视图，所述定位连杆用于可操作地支撑可与外科工具实施例一起使用的机器人操纵器。
图5为外科工具实施例和外科端部执行器实施例的透视图。
图6为与发生器电连通的电外科工具的一个实施例的透视图。
图7示出了图6的外科工具的端部执行器的一个实施例的透视图，其中钳口构件打开并且可轴向运动的构件的远侧端部处于回缩位置。
图8示出了图6的外科工具的端部执行器的一个实施例的透视图，其中钳口构件闭合并且可轴向运动的构件的远侧端部处于部分推进的位置。
图9为图6的外科工具的可轴向运动的构件的一个实施例的透视图。
图10为图6的外科工具的电外科端部执行器的一个实施例的剖视图。
图11为用于将各种外科工具实施例附接到机器人系统的适配器和工具保持器布置的一个实施例的分解组件视图。
图12为图11中所示的适配器的一个实施例的侧视图。
图13为图11中所示的适配器的一个实施例的底视图。
图14为图11和图12的适配器的一个实施例的顶视图。
图15为外科工具的一个实施例的局部底部透视图。
图16为外科工具的一部分的一个实施例的前透视图，其中为清楚起见省略了一些元件。
图17为图16的外科工具的一个实施例的后透视图。
图18为图16和图17的外科工具的一个实施例的顶视图。
图19为图16-18的外科工具的一个实施例的局部顶视图，其中可手动致动的驱动齿轮处于未致动位置。
图20为图16-19的外科工具的一个实施例的另一个局部顶视图，其中可手动致动的驱动齿轮处于初始致动位置。
图21为图16-20的外科工具的一个实施例的另一个局部顶视图，其中可手动致动的驱动齿轮处于致动位置。
图22为另一个外科工具实施例的后透视图。
图23为图22的外科工具的一个实施例的侧正视图。
图24为关节运动接头和端部执行器的一部分的一个实施例的剖视图。
图24A示出了图24的轴组件和关节运动接头的一个实施例，其中示出了远侧缆线部分和近侧缆线部分之间的连接。
图25为图24的关节运动接头和端部执行器的一部分的一个实施例的分解组件视图。
图26为图25中所示的关节运动接头和端部执行器部分的一个实施例的局部剖视透视图。
图27为端部执行器和驱动轴组件实施例的局部透视图。
图28为驱动轴组件的一个实施例的局部侧视图。
图29为驱动轴组件的一个实施例的透视图。
图30为图29的驱动轴组件的一个实施例的侧视图。
图31为复合驱动轴组件的一个实施例的透视图。
图32为图31的复合驱动轴组件的一个实施例的侧视图。
图33为呈弓形或“挠曲”构型的图29和图30的驱动轴组件的一个实施例的另一个视图。
图33A为呈弓形或“挠曲”构型的驱动轴组件的一个实施例的侧视图。
图33B为呈弓形或“挠曲”构型的另一个驱动轴组件的一个实施例的侧视图。
图34为另一个驱动轴组件实施例的一部分的透视图。
图35为图34的驱动轴组件实施例的顶视图。
图36为处于弓形构型的图34和图35的驱动轴组件实施例的另一个透视图。
图37为图36中所示的驱动轴组件实施例的顶视图。
图38为另一个驱动轴组件实施例的透视图。
图39为处于弓形构型的图38的驱动轴组件实施例的另一个透视图。
图40为图38和图39的驱动轴组件实施例的顶视图。
图41为图40的驱动轴组件实施例的剖视图。
图42为另一个驱动轴组件实施例的局部剖视图。
图43为图42的驱动轴组件实施例的另一个剖视图。
图44为另一个驱动轴组件实施例的一部分的另一个剖视图。
图45为图44的驱动轴组件的一个实施例的另一个剖视图。
图46为另一个外科工具实施例的透视图。
图47为图46的外科工具实施例的剖视透视图。
图48为关节运动系统的一个实施例的一部分的剖视透视图。
图49为处于中间位置的图48的关节运动系统的一个实施例的剖视图。
图50为处于关节运动位置的图48和图49的关节运动系统的一个实施例的另一个剖视图。
图51为图46-47的外科工具的一个实施例的一部分的侧正视图，其中为清楚起见省略了其部分。
图52为图46-47的外科工具的一个实施例的一部分的后透视图，其中为清楚起见省略了其部分。
图53为图46-47的外科工具的一个实施例的一部分的后正视图，其中为清楚起见省略了其部分。
图54为图46-47的外科工具的一个实施例的一部分的前透视图，其中为清楚起见省略了其部分。
图55为图46-47的外科工具的实施例的一部分的侧正视图，其中为清楚起见省略了其部分。
图56为图46-47的外科工具的示例反向系统实施例的分解组件视图。
图57为图56的反向系统的杠杆臂实施例的透视图。
图58为图56的反向系统的一个实施例的刀片回缩器按钮的透视图。
图59为图46-47的外科工具实施例的一部分的透视图，其中为清楚起见省略了其部分并且杠杆臂与反向齿轮处于可致动接合位置。
图60为图46-47的外科工具实施例的一部分的透视图，其中为清楚起见省略了其部分并且杠杆臂处于未致动位置。
图61为图46-47的外科工具实施例的一部分的另一个透视图，其中为清楚起见省略了其部分并且杠杆臂与反向齿轮处于可致动接合位置。
图62为图46-47的外科工具实施例的柄部组件部分的一部分的侧正视图，其中移位器按钮组件运动到下述位置，当驱动轴组件被致动时所述位置将导致端部执行器的旋转。
图63为图46-47的外科工具的一个实施例的柄部组件部分的一部分的另一个侧正视图，其中移位器按钮组件运动到另一个位置，当驱动轴组件被致动时所述另一个位置将导致端部执行器中的击发构件的击发。
图64为多轴线关节运动和旋转外科工具的实施例的透视图。
图65为图64所示的外科工具的一个实施例的各种部件的分解透视图。
图66为图64所示的外科工具的一个实施例的局部剖视透视图，其中示出了接合用于致动I型横梁构件的平移和端部执行器的钳口组件的闭合的旋转驱动螺母的旋转驱动轴。
图67为图64中所示的外科工具的一个实施例的剖视透视图，其中示出了接合用于致动I型横梁构件的平移和端部执行器的钳口组件的闭合的旋转驱动螺母的旋转驱动轴。
图68为图64中所示的外科工具的一个实施例的局部剖视透视图，其中示出了接合用于致动端部执行器的旋转的轴联接件的旋转驱动轴。
图69为图64中所示的外科工具的一个实施例的侧面剖视图，其中示出了处于打开位置的端部执行器的钳口组件、处于近侧回缩位置的I型横梁构件、以及接合用于致动I型横梁构件的平移和端部执行器的钳口组件的闭合的旋转驱动螺母的旋转驱动轴。
图70为图64中所示的外科工具的一个实施例的侧面剖视图，其中示出了处于闭合位置的端部执行器的钳口组件、处于远侧推进位置的I型横梁构件、以及接合用于致动I型横梁构件的平移和端部执行器的钳口组件的打开的旋转驱动螺母的旋转驱动轴。
图71为图64中所示的外科工具的一个实施例的侧面剖视图，其中示出了处于打开位置的端部执行器的钳口组件、处于近侧回缩位置的I型横梁构件、以及接合用于致动端部执行器的旋转的轴联接件的旋转驱动轴。
图72为图64中所示的外科工具的一个实施例的侧面剖视图，其中示出了处于闭合位置的端部执行器的钳口组件、处于远侧推进位置的I型横梁构件、以及接合用于致动端部执行器的旋转的轴联接件的旋转驱动轴。
图73和图74为图64中所示的外科工具的一个实施例的侧面剖视细部图，其中示出I型横梁构件的凸轮表面与第一钳口构件的砧座表面接合以使第一钳口构件相对于第二钳口构件在打开位置和闭合位置之间运动。
图75为构成多轴线关节运动和旋转外科工具的实施例的部件的分解图，所述多轴线关节运动和旋转外科工具包括头部锁定机构。
图76为图75中所示的外科工具的头部锁定机构的一个实施例的花键锁部件的分解图。
图77为图75中所示的外科工具的一个实施例的侧面剖视图，其中示出了处于打开位置的端部执行器的钳口组件、处于近侧回缩位置的I型横梁构件、接合用于致动I型横梁构件的平移和端部执行器的钳口组件的闭合的旋转驱动螺母的旋转驱动轴、以及阻止端部执行器的旋转的已接合花键锁。
图78为图75中所示的外科工具的一个实施例的侧面剖视图，其中示出了处于闭合位置的端部执行器的钳口组件、处于远侧推进位置的I型横梁构件、接合用于致动I型横梁构件的平移和端部执行器的钳口组件的打开的旋转驱动螺母的旋转驱动轴、以及阻止端部执行器的旋转的已接合花键锁。
图79为图75中所示的外科工具的一个实施例的侧面剖视图，其中示出了处于打开位置的端部执行器的钳口组件、处于近侧回缩位置的I型横梁构件、接合用于致动端部执行器的旋转的轴联接件的旋转驱动轴、以及允许端部执行器的旋转的已脱离花键锁。
图80为图64中所示的外科工具的一个实施例的侧面剖视图，其中示出了处于闭合位置的端部执行器的钳口组件、处于远侧推进位置的I型横梁构件、接合用于致动端部执行器的旋转的轴联接件的旋转驱动轴、以及允许端部执行器的旋转的已脱离花键锁。
图81为图80中所示的外科工具的一个实施例的侧面剖视细部图。
图82为图78中所示的外科工具的一个实施例的侧面剖视细部图。
图83为根据本文所述的某些实施例的具有第一钳口构件和第二钳口构件的外科工具的剖视透视图。
图84为图83的外科工具的一个实施例的闭合螺母的预期图。
图85为图83的外科工具的一个实施例的剖视正视图，其中第一钳口构件和第二钳口构件处于至少部分地打开位置，并且其中旋转驱动轴与旋转驱动螺母可操作地脱离。
图86为图83的外科工具的一个实施例的剖视正视图，其中第一钳口构件和第二钳口构件处于至少部分地打开位置，并且其中旋转驱动轴与旋转驱动螺母可操作地接合。
图87为图83的外科工具的一个实施例的剖视正视图，其中第一钳口构件和第二钳口构件处于至少部分地闭合位置，其中旋转驱动轴与旋转驱动螺母可操作地接合，并且其中闭合螺母与旋转驱动螺母可操作地脱离。
图88为图83的外科工具的一个实施例的剖视正视图，其中第一钳口构件和第二钳口构件处于至少部分地闭合位置，其中旋转驱动轴与旋转驱动螺母可操作地接合，并且其中I型横梁构件为至少部分地延伸的。
图89为图83的外科工具的一个实施例的剖视正视图，其中第一钳口构件和第二钳口构件处于至少部分地闭合位置，其中旋转驱动轴与旋转驱动螺母可操作地接合，并且其中I型横梁构件为至少部分地回缩的。
图90为图83的外科工具的一个实施例的剖视正视图，其中第一钳口构件和第二钳口构件处于至少部分地闭合位置，其中旋转驱动轴与旋转驱动螺母可操作地接合，并且其中I型横梁构件为至少部分地回缩的。
图91为图83的外科工具的一个实施例的剖视正视图，其中第一钳口构件和第二钳口构件处于至少部分地打开位置，其中旋转驱动轴与旋转驱动螺母可操作地接合，并且其中闭合螺母与旋转驱动螺母可操作地接合。
图92为根据本文所述的某些实施例的具有第一钳口构件和第二钳口构件的外科工具的剖视透视图。
图93为图92的外科工具的一个实施例的剖视正视图，其中第一钳口构件和第二钳口构件处于至少部分地打开位置，并且其中旋转驱动轴与端部执行器驱动外壳的花键联接部分可操作地接合。
图94为图92的外科工具的一个实施例的剖视正视图，其中第一钳口构件和第二钳口构件处于至少部分地闭合位置，并且其中旋转驱动轴与筒形凸轮的花键联接部分可操作地接合。
图95为图92的外科工具的一个实施例的剖视正视图，其中第一钳口构件和第二钳口构件处于至少部分地闭合位置，并且其中旋转驱动轴未与花键联接部分中的任一部分可操作地接合。
图96为图92的外科工具的一个实施例的剖视正视图，其中第一钳口构件和第二钳口构件处于至少部分地闭合位置，并且其中旋转驱动轴与旋转驱动螺母的花键联接部分可操作地接合。
图97示出了根据至少一个实施例的外科器械的端部执行器和关节运动接头的透视图，其中为示出目的一些部分被移除。
图98示出了根据至少一个实施例的能够在图97的端部执行器和关节运动接头内平移的驱动轴的细部图。
图99示出了根据至少一个另选的实施例的驱动轴的透视图。
图100示出了图99的驱动轴的一个实施例的正视图。
图101示出了以关节运动状态示出的图99的驱动轴的一个实施例的正视图。
图102示出了根据至少一个另选的实施例的包括驱动管以及围绕驱动管延伸的螺纹的驱动轴组件的透视图。
图103示出了图102的驱动轴组件的一个实施例的正视图。
图104示出了根据至少一个实施例的包括驱动管、围绕驱动管延伸的螺纹、和延伸穿过驱动管的内芯的驱动轴组件的透视图。
图105示出了图104的驱动轴组件的一个实施例的正视图。
图106为根据本文所述的某些实施例的具有第一钳口构件和第二钳口构件的外科工具的透视图。
图107为图106中所示的外科端部工具的第一钳口构件和第二钳口构件的一个实施例的远侧部分的剖视图。
图108为根据本文所述的某些实施例的外科端部执行器和轴组件的透视图。
图109为根据本文所述的某些实施例的外科端部执行器的钳口构件的预期图。
图110为根据本文所述的某些实施例的与轴组件脱离的外科执行器的剖视图。
图111为根据本文所述的某些实施例的附接到轴组件的外科执行器的剖视图。
图112为根据本文所述的某些实施例的多个可互换的外科端部执行器的透视图。
图113为根据本文所述的某些实施例的外科端部执行器的透视图，其中包括钳口构件的剖视图。
图114为根据本文所述的某些实施例的与轴组件脱离的外科执行器的剖视图。
图115为根据本文所述的某些实施例的附接到轴组件的外科执行器的剖视图。
图116为根据本文所述的某些实施例的具有第一钳口和第二钳口的外科端部执行器的透视图。
图117为根据本文所述的某些实施例的图116中所示的外科端部执行器的另一个透视图，其中包括钳口构件的剖视透视图。
图118为根据本文所述的某些实施例的外科端部执行器的第一钳口构件和第二钳口构件的剖视图。
图119为根据本文所述的某些实施例的外科端部执行器的第一钳口构件和第二钳口构件的剖视图。
图120为根据本文所述的某些实施例的外科端部执行器的第一钳口构件和第二钳口构件的透视图。
图121为根据本文所述的某些实施例的外科端部执行器的钳口构件的远侧部分的预期图。
图122为根据本文所述的某些实施例的夹持部分的顶视图。
图123为根据本文所述的某些实施例的夹持部分的顶视图。
图124为根据本文所述的某些实施例的夹持部分的顶视图。
图125为根据本文所述的某些实施例的夹持部分的顶视图。
图126为根据本文所述的某些实施例的夹持部分的顶视图。
图127为根据本文所述的某些实施例的夹持部分的顶视图。
图128为根据本文所述的某些实施例的夹持部分的顶视图。
图129为根据本文所述的某些实施例的夹持部分的顶视图。
图130为根据本文所述的某些实施例的夹持部分的顶视图。
图131为根据本文所述的某些实施例的夹持部分的顶视图。
图132为端部执行器的一个实施例的透视图，所述端部执行器具有处于打开位置的第一钳口和第二钳口构件以及沿钳口构件的基本上整个长度的成角度的组织接触表面。
图133为图132中所示的端部执行器的一个实施例的另一个透视图，其中第一钳口构件和第二钳口构件处于闭合位置。
图134为图133中所示的端部执行器的一个实施例的前视图。
图135为图134中所示的端部执行器的一个实施例的剖视图。
图136为图132中所示的端部执行器的一个实施例的侧视图。
图137为图133中所示的端部执行器的一个实施例的侧视图。
图138为示出具有第一钳口构件和第二钳口构件的端部执行器的一个实施例的前视图的示意图，其中每个钳口构件具有两个成相反角度的组织接触表面。
图139为端部执行器的一个实施例的透视图，所述端部执行器具有处于打开位置的第一钳口构件和第二钳口构件以及沿钳口构件的长度的一部分的成角度的组织接触表面。
图140为图139中所示的端部执行器的一个实施例的另一个透视图。
图141为端部执行器的一个实施例的透视图，所述端部执行器具有处于打开位置的第一钳口构件和第二钳口构件、沿钳口构件的长度的一部分的成角度的组织接触表面、以及定位在第二钳口构件上的两个成角度的组织接触表面之间的电极。
图142为端部执行器的一个实施例的剖视图，所述端部执行器具有处于夹持钳口构件之间的组织的闭合位置的第一钳口构件和第二钳口构件，其中第一钳口构件和第二钳口构件具有相对的成角度的组织接触表面。
图143为图64-82的端部执行器和轴组件的一个实施例的剖视图，其中示出了旋转电极组件的示例安装。
图144为图143的端部执行器和轴组件的一个实施例的分解图，其中示出了已被安装的和分解的旋转电极组件。
图145为图143的端部执行器和轴组件的一个实施例的剖视图，其中示出了旋转电极组件以及处于近侧位置的旋转驱动头。
图146为图143的端部执行器和轴组件的一个实施例的剖视图，其中示出了旋转电极组件以及处于远侧位置的旋转驱动头。
图147-148为图143的端部执行器和轴组件的一个实施例的剖视图，其中外部接触件的纵向长度被选择为使得旋转连接器组件交替地产生和中断由刷组件的纵向位置限制的电连接。
图149-150示出了图143的端部执行器和轴组件的一个实施例，其中示出了包括位于端部执行器和轴组件之间的引线部分和连接器组件的构型。
图151示出了端部执行器和轴组件的一个实施例的剖视图，其中示出了可使用旋转连接器组件的另一个环境。
图152示出了图83-91的端部执行器和轴组件的一个实施例的剖视图，其中示出了旋转电极组件的另一个示例安装。
图153示出了可与各种外科工具(包括本文所述的那些)一起使用的端部执行器的一个实施例。
图154示出了图153的端部执行器的一个实施例，其中示出了邻近端部执行器的第二钳口构件的纵向通道的组织接触部分。
图155示出了图153的端部执行器的一个实施例，其中示出了沿第一钳口构件的中线的轴向横截面，显示邻近第一钳口构件的纵向通道设置的组织接触部分。
图156示出了处于打开位置的图153的端部执行器的一个实施例的透视图。
图157示出了适于与图153的端部执行器一起使用的第二钳口构件的一个实施例的顶视图。
图158示出了适于与图153的端部执行器一起使用的第一钳口构件的一个实施例的底视图。
图159示出了处于闭合位置的图153的端部执行器的另一个实施例的前剖视图。
图160-165示出了图153的端部执行器的各种实施例的侧面剖视图。
图166示出了适于与处于闭合位置的保持外科工具的图153的端部执行器一起使用的第二钳口构件的另一个实施例。
图167示出了适于与图153的端部执行器一起使用的第二钳口构件的一个实施例。
图168示出了适于与图153的端部执行器一起使用的第二钳口构件的另一个实施例。
具体实施方式
本专利申请的申请人还拥有与本专利同一日期提交的以下专利申请，这些专利申请各自的全部内容均以引用方式并入本文：
1.名称为“Flexible Drive Member”的美国专利申请序列号_____________(代理人案卷号END7131USNP/120135)。
2.名称为“Multi-Functional Powered Surgical Device with ExternalDissection Features”的美国专利申请序列号_____________(代理人案卷号END7132USNP/120136)。
3.名称为“Coupling Arrangements for Attaching Surgical End Effectorsto Drive Systems Therefor”的美国专利申请序列号_____________(代理人案卷号END7133USNP/120137)。
4.名称为“Rotary Actuatable Closure Arrangement for Surgical EndEffector”的美国专利申请序列号_____________(代理人案卷号END7134USNP/120138)。
5.名称为“Surgical End Effectors Having Angled Tissue-ContactingSurfaces”的美国专利申请序列号_____________(代理人案卷号END7135USNP/120139)。
6.名称为“Surgical End Effector Jaw and Electrode Configurations”的美国专利申请序列号_____________(代理人案卷号END7137USNP/120141)。
7.名称为“Multi-Axis Articulating and Rotating Surgical Tools”的美国专利申请序列号_____________(代理人案卷号END7138USNP/120142)。
8.名称为“Differential Locking Arrangements for Rotary PoweredSurgical Instruments”的美国专利申请序列号_____________(代理人案卷号END7139USNP/120143)。
9.名称为“Interchangeable Clip Applier”的美国专利申请序列号_____________(代理人案卷号END7140USNP/120144)。
10.名称为“Firing System Lockout Arrangements for SurgicalInstruments”的美国专利申请序列号_____________(代理人案卷号END7141USNP/120145)。
11.名称为“Rotary Drive Shaft Assemblies for Surgical Instruments withArticulatable End Effectors”的美国专利申请序列号_____________(代理人案卷号END7142USNP/120146)。
12.名称为“Rotary Drive Arrangements for Surgical Instruments”的美国专利申请序列号_____________(代理人案卷号END7143USNP/120147)。
13.名称为“Robotically Powered Surgical Device With Manually-Actuatable Reversing System”的美国专利申请序列号_____________(代理人案卷号END7144USNP/120148)。
14.名称为“Replaceable Clip Cartridge for a Clip Applier”的美国专利申请序列号_____________(代理人案卷号END7145USNP/120149)。
15.名称为“Empty Clip Cartridge Lockout”的美国专利申请序列号_____________(代理人案卷号END7146USNP/120150)。
16.名称为“Surgical Instrument System Including Replaceable EndEffectors”的美国专利申请序列号_____________(代理人案卷号END7147USNP/120151)。
17.名称为“Rotary Support Joint Assemblies for Coupling a First Portionof a Surgical Instrument to a Second Portion ofa Surgical Instrument”的美国专利申请序列号_____________(代理人案卷号END7148USNP/120152)。
18.名称为“Electrode Connections for Rotary Driven Surgical Tools”的美国专利申请序列号_____________(代理人案卷号END7149USNP/120153)。
申请人还拥有以下专利申请，这些专利申请各自的全部内容均以引用方式并入本文：
-名称为“Surgical Instrument With Wireless Communication Between aControl Unit of a Robotic System and Remote Sensor”的美国专利申请序列号13/118,259，美国专利申请公开号2011-0295270A1；
-名称为“Robotically-Controlled Disposable Motor Driven LoadingUnit”的美国专利申请序列号13/118,210，美国专利申请公开号2011-0290855 A1；
-名称为“Robotically-Controlled Endoscopic Accessory Channel”的美国专利申请序列号13/118,194，美国专利申请公开号2011-0295242；
-名称为“Robotically-Controlled Motorized Surgical Instrument”的美国专利申请序列号13/118,253，美国专利申请公开号2011-0295269A1；
-名称为“Robotically-Controlled Surgical Stapling Devices That ProduceFormed Staples Having Different Lengths”的美国专利申请序列号13/118,278，美国专利申请公开号2011-0290851A1；
-名称为“Robotically-Controlled Motorized Cutting and FasteningInstrument”的美国专利申请序列号13/118,190，美国专利申请公开号2011-0288573 A1
-名称为“Robotically-Controlled Shaft Based Rotary Drive Systems ForSurgical Instruments”的美国专利申请序列号13/118,223，美国专利申请公开号2011-0290854A1；
-名称为“Robotically-Controlled Surgical Instrument Having RecordingCapabilities”的美国专利申请序列号13/118,263，美国专利申请公开号2011-0295295A1；
-名称为“Robotically-Controlled Surgical Instrument With ForceFeedback Capabilities”的美国专利申请序列号13/118,272，美国专利申请公开号2011-0290856A1；
-名称为“Robotically-Driven Surgical Instrument With E-Beam Driver”的美国专利申请序列号13/118,246，美国专利申请公开号2011-0290853 A1；和
-名称为“Surgical Stapling Instruments With Rotatable StapleDeployment Arrangements”的美国专利申请序列号13/118,241。
现在将描述某些示例实施例，从而提供对本文所公开的装置和方法的结构、功能、制造和使用的原理的全面理解。这些示例实施例的一个或多个实例在附图中示出。本领域的普通技术人员将会理解，本文具体描述和在附图中示出的装置和方法为非限制性的示例实施例，并且本发明的各种示例实施例的范围仅由权利要求书限定。结合一个示例实施例而示出或描述的特征可与其他示例实施例的特征进行组合。这种修改和变型旨在包括在本发明的范围之内。
图1示出了结合图2中所示类型的从属机械臂车20使用的主控制器12。主控制器12和从属机械臂车20以及它们各自的部件和控制系统在本文中统称为机器人系统10。此类系统和装置的实例公开于美国专利7,524,320中，所述专利以引用方式并入本文。因而，除了对理解本文所述的多种示例实施例可能必要的细节以外，本文将不详细地描述此类装置的各种细节。众所周知，主控制器12通常包括如下主控制器(在图1中一般表示为14)：在外科医生通过立体显示器16观察手术时，所述主控制器由外科医生抓持并在空间中操控。主控制器12大体包括手动输入装置，该手动输入装置优选地以多个自由度运动并通常进一步地具有用于致动工具的可致动的柄部(例如，用于闭合握紧钳口、向电极施加电势等)。
如图2中所示，机械臂车20能够致动多个外科工具，一般称为30。名称为“Multi-Component Telepresence System and Method”的美国专利6,132,368中公开了使用主控制器和机械臂车结构的各种机器人外科系统和方法，该专利申请的全部公开内容以引用方式并入本文。如图所示，机械臂车20包括基座22，在例示的实施例中，所述基座22支撑有三个外科工具30。外科工具30各自由一系列手动关节运动式连杆(一般称为装置接头32)和机器人操纵器34支撑。本文示出的这些结构具有在机器人连杆的大部分之上延伸的护盖。这些护盖可以是任选的，并且可在尺寸上有所限制或完全被消除，以使用于操纵此类装置的伺服机构遇到的惯性最小化、限制运动部件的体积以避免碰撞、并且限制车20的总重量。车20通常具有适于在手术室之间来搬运车20的尺寸。车20能够通常适于穿过标准的手术室门并放置到标准的医院电梯上。车20可优选地具有重量并包括轮(或其他运输)系统，所述轮系统允许车20被单个维护人员定位在手术台附近。
现在参见图3，如图所示的机器人操纵器34包括限制外科工具30的运动的连杆38。连杆38包括由旋转接头以平行四边形布置方式联接在一起的刚性连接件，使得外科工具30围绕空间40中的某一点旋转，如在美国专利5,817,084中更充分地描述，所述专利的全部公开内容以引用方式并入本文。平行四边形布置方式将旋转限制为围绕轴40a(有时称为俯仰轴)枢转。支撑平行四边形连杆的连接件枢转地安装到装置接头32(图2)上，使得外科工具30进一步围绕轴40b(有时称为偏航轴)旋转。俯仰轴40a和偏航轴40b在远程中心42处相交，所述远程中心沿外科工具30的轴44对齐。当由操纵器50支撑时，外科工具30可具有另外的从动自由度，包括外科工具30沿纵向工具轴线“LT-LT”的滑动运动。当外科工具30相对于操纵器50(箭头40c)沿工具轴线LT-LT运动时，远程中心42相对于操纵器50的基座52保持固定。从而，使整个操纵器总体上运动以重新定位远程中心42。操纵器50的连杆54由一系列的马达56驱动。这些马达响应于来自控制系统的处理器的命令而主动地运动连杆54。马达56还用于操纵外科工具30。图4中示出了可供选择的装置接头结构。在该实施例中，外科工具30由两个组织操纵工具之间的可供选择的操纵器结构50'支撑。
其他实施例可包括多种可供选择的机器人结构，包括描述于名称为“Automated Endoscope System For Optimal Positioning”的美国专利5,878,193中的那些，该专利的全部内容以引用方式并入本文。另外，虽然结合外科工具30和主控制器12之间的通信描述了机器人部件与机器人外科系统的处理器之间的数据通信，但类似的通信可发生在操纵器、装置接头、内窥镜或其他图像捕获装置等的电路与机器人外科系统的处理器之间，所述机器人外科系统的处理器用于部件兼容性确认、部件类型识别、部件校正(例如偏移等)通信、部件与机器人外科系统的联接确认等。
极其适于与机器人系统10一起使用的外科工具100示于图5-6中。图5示出了外科工具100和电外科端部执行器3000的另外的实施例。如在图5中可见，外科工具100包括电外科端部执行器3000。电外科端部执行器3000可利用电能来处理和/或破坏组织。电外科端部执行器3000通常包括第一钳口构件和第二钳口构件3008A、3008B，所述第一钳口构件和第二钳口构件可为直的(如图6-10所示)或为弯曲的(如本文所述的各种其他附图所示)。钳口构件3008A、3008B之一或两者通常包括用于向组织提供电外科能量的各种电极。外科工具100通常包括细长轴组件200，所述细长轴组件通过工具安装部分(通常称为300)可操作地联接到操纵器50。电外科工具(例如，包括电外科端部执行器的外科工具，诸如工具100和端部执行器3000)可在任何合适类型的外科环境中使用，包括例如开放式、腹腔镜式、内窥镜式外科环境等。
通常，电外科工具包括用于提供电流的一个或多个电极。电极可抵靠组织进行定位和/或相对于组织进行定位，使得电流可流过组织。电流可在组织中产生热，这继而导致在组织内和/或在组织之间形成一个或多个止血密封。例如，由电流导致的组织加热可至少部分地使组织内的蛋白质变性。此类蛋白质(诸如胶原)可例如变性为蛋白质性混合物，其在蛋白质复性时混合和熔合、或“焊接”在一起。当所处理的区域随时间推移而愈合时，这种生物“焊接”可通过身体的伤口愈合过程而被重新吸收。
由电外科工具提供的电能可具有任何合适的形式，包括例如直流电或交流电。例如，电能可包括高频交流电，诸如射频或“RF”能量。RF能量可包括在300千赫(kHz)至1兆赫(MHz)的范围内的能量。当施加到组织时，RF能量可导致离子振荡或摩擦，由此增加组织的温度。另外，RF能量可在受累组织和围绕其的其他组织之间提供清晰的边界，由此允许外科医生以高精准水平和高控制水平进行操作。RF能量的低操作温度使得外科医生能够移除、收缩、或塑造软组织，同时密封血管。射频能量尤其良好地适用于结缔组织，所述结缔组织主要由胶原构成，并在接触热时收缩。
在某些结构中，一些双极(例如，双电极)电外科工具可包括相对的第一钳口构件和第二钳口构件，其中每个钳口的面可包括电流通路和/或电极。在使用中，组织可被捕获在钳口表面之间，使得电流可在相对的钳口构件中的电极之间流动，并流过位于电极之间的组织。此类工具可能不得不凝固、密封或“焊接”多种类型的组织，例如，具有含不规则或厚的纤维性内容物的壁的解剖结构、成束的不同解剖结构、显著较厚的解剖结构、和/或具有厚筋膜层的组织(诸如大直径血管)。一些实施例可包括用以例如在施加电外科能量期间或之后横断组织的刀片或切割刃。例如，尤其对于切割和密封大直径血管而言，此类应用可能需要在处理后立即进行高强度组织焊接。
图6为与发生器3002电连通的电外科工具100的一个实施例的透视图。与发生器3002结合的电外科工具100能够向患者的组织提供能量，诸如电能、超声能、和/或热能。在例示的实施例和功能类似的实施例中，发生器3002经由合适的传输介质(诸如缆线3010)连接到电外科工具100。在一个实施例中，发生器3002联接到控制器，例如控制单元3004。在各种实施例中，控制单元3004可与发生器3002整体形成或者可作为电联接到发生器3002(以虚线显示以示出该部分)的独立的电路模块或装置而提供。尽管在本发明所公开的实施例中，发生器3002被示为与电外科工具100分离，但在一个实施例中，发生器3002(和/或控制单元3004)可与电外科工具100整体形成，以形成一体的电外科系统。例如，在一些实施例中，发生器或等同电路可存在于工具安装部分300内和/或存在于合适的手动实施例中的柄部内(如本文所述)。
发生器3002可包括位于发生器3002控制台的前面板上的输入装置3006。输入装置3006可包括生成适于对发生器3002的操作进行程控的信号的任何合适装置，例如键盘或输入端口。在一个实施例中，可将第一钳口构件3008A和第二钳口构件3008B中的各种电极联接到发生器3002。将工具安装部分300连接到发生器3002的缆线3010可包括用于对电外科工具100的正(+)和负(-)电极施加电能的多种电导体。控制单元3004可用于启动发生器3002，所述发生器可用作电源。在各种实施例中，发生器3002可包括例如射频源、超声波源、直流电源、和/或任何其他合适类型的电能源。
在各种实施例中，外科工具100可包括至少一个供电导体3012和至少一个返回导体3014，其中电流可经由供电导体3012供给到电外科工具100，并且其中电流可经由返回导体3014流回到发生器3002。在各种实施例中，供电导体3012和返回导体3014可包括绝缘线和/或任何其他合适类型的导体。在某些实施例中，如下文所述，供电导体3012和返回导体3014可容纳在缆线3010内和/或可包括缆线3010，所述缆线在或至少部分地在发生器3002和电外科工具100的端部执行器3000之间延伸。在任何情况下，发生器3002能够在供电导体3012和返回导体3014之间提供足够的电压差，使得可将足够的电流供给到端部执行器3000。
电外科端部执行器3000可适于捕获和横断组织并适于利用受控施加的能量(例如RF能量)来同时焊接所捕获的组织。图7示出了电外科端部执行器300的一个实施例，其中钳口构件3008A、3008B打开并且可轴向运动的构件3016处于近侧回缩位置。图8示出了电外科端部执行器300的一个实施例，其中钳口构件3008A、3008B闭合并且可轴向运动的构件3016处于部分推进的位置。
在使用中，钳口构件3008A、3008B闭合，从而围绕由可轴向运动的构件3016(或其远侧部分)限定的纵向工具轴线LT-LT来捕获或接合组织。第一钳口构件3008A和第二钳口构件3008B还可对组织施加压缩。在一些实施例中，细长轴200、以及第一钳口构件3008A和第二钳口构件3008B可相对于工具安装部分300旋转完整的360°角度，如箭头3018所示(参见图8)。
第一钳口构件3008A和第二钳口构件3008B可各自包括分别沿其相应的中间部分向外设置的细长狭槽或通道3020A和3020B(图7)。另外，第一钳口构件3008A和第二钳口构件3008B可各自具有组织夹持元件，诸如设置在第一钳口构件3008A和第二钳口构件3008B的内部部分上的齿状物3022。下钳口构件3008B可限定具有能量递送表面或电极3024B的钳口主体。例如，电极3024B可经由供电导体3012与发生器3002电连通。位于上部第一钳口构件3008上的能量递送表面3024A可提供电外科能量的返回路径。例如，能量递送表面3024A可与返回导体3014电连通。在例示的实施例和功能类似的实施例中，外科工具100的其他导电部分(包括例如钳口构件3008A、3008B、轴200等)可形成返回路径的全部或部分。电极的各种构型和用于将能量递送表面3024A、3024B联接到导体3012、3014的各种构型在本文中有所描述。另外，应当理解，供电电极3024B可提供在下钳口构件3008B上(如图所示)或上钳口构件3008A上。
可轴向运动的构件3016的远侧平移和近侧平移可用于打开和闭合钳口构件3008A、3008B，并切断保持在它们之间的组织。图9为外科工具100的可轴向运动的构件3016的一个实施例的透视图。可轴向运动的构件3016可包括一个或若干零件，但在任何情况下，可相对于细长轴200和/或钳口构件3008A、3008B进行运动或平移。另外，在至少一个实施例中，可轴向运动的构件3016可由17-4沉淀硬化的不锈钢制成。可轴向运动的构件3016的远侧端部可包括能够在钳口构件3008A和3008B中的通道3020AA和3020B内滑动的带凸缘的“I”型横梁。可轴向运动的构件3016可在通道3020A、3020B内滑动，以打开和闭合第一钳口构件3008A和第二钳口构件3008B。可轴向运动的构件3016的远侧端部还可包括上凸缘或“c”-形部分3016A以及下凸缘或“c”-形部分3016B。凸缘3016A和3016B分别限定用于接合第一钳口构件3008A和第二钳口构件3008B的向外表面的内部凸轮表面3026A和3026B。钳口构件3008A和3008B的打开-闭合可利用凸轮机构对组织施加极高的压缩力，所述凸轮机构可包括可运动的“I型横梁”、可轴向运动的构件3016和钳口构件3008A、3008B的向外表面3028A、3028B。
更具体地讲，现在参见图7-9，总体而言，可轴向运动的构件3016的远侧端部的内部凸轮表面3026A和3026B可分别适于滑动地接合第一钳口构件3008A和第二钳口构件3008B的第一向外表面3028A和第二向外表面3028B。第一钳口构件3008A内的通道3020A和第二钳口构件3008B内的通道3020B的尺寸可设定成并可被配置成适应可轴向运动的构件3016的运动，所述可轴向运动的构件可包括组织切割元件3030，例如，包括尖锐的远侧边缘。例如，图8示出了至少部分地推进穿过通道3020A和3020B(图7)的可轴向运动的构件3016的远侧端部。可轴向运动的构件3016的推进可将端部执行器3000从图7中所示的打开构型闭合。在图8所示的闭合位置中，上部第一钳口构件3008A和下部第二钳口构件3008B限定第一钳口构件3008A的第一能量递送表面3024A与第二钳口构件3008B的第二能量递送表面3024B之间的间隙或尺寸D。在各种实施例中，尺寸D可等于约0005"至约0.040"，例如，在一些实施例中，在约0.001"至约0.010"之间。另外，第一能量递送表面3024A和第二能量递送表面3024B的边缘可为圆形的以防止切开组织。
图10为外科工具100的端部执行器3000的一个实施例的剖视图。下钳口构件3008B的接合或组织接触表面3024B适于至少部分地通过导电-电阻性基质(诸如可变电阻正温度系数(PTC)主体，如下文更详细地描述)向组织递送能量。上钳口构件和下钳口构件3008A、3008B中的至少一个可承载能够从发生器3002向所捕获的组织递送能量的至少一个电极3032。上钳口构件3008A的接合或组织接触表面3024A可承载类似的导电-电阻性基质(即PTC材料)，或者在一些实施例中，此表面可为例如导电电极或绝缘层。作为另外一种选择，钳口构件的接合表面可承载2001年10月22日提交的名称为“ELECTROSURGICAL JAW STRUCTURE FOR CONTROLLEDENERGY DELIVERY”的美国专利6,773,409所公开的能量递送部件中的任何一个，该专利的全部公开内容以引用方式并入本文。
第一能量递送表面3024A和第二能量递送表面3024B可各自与发生器3002电连通。第一能量递送表面3024A和第二能量递送表面3024B可能够接触组织并将适于密封或焊接组织的电外科能量递送到捕获的组织。控制单元3004调节由电发生器3002递送的电能，所述电发生器继而向第一能量递送表面3024A和第二能量递送表面3024B递送电外科能量。可以任何合适的方式(例如，在机器人系统10致动时)启动能量递送。在一个实施例中，可经由脚踏开关3034(图6)通过发生器3002来对电外科工具100进行供能。当致动时，脚踏开关3034触发发生器3002以例如将电能递送到端部执行器3000。控制单元3004可在启动期间调节由发生器3002生成的功率。尽管脚踏开关3034可适用于多种情况，但可利用其他合适类型的开关。
如上所述，由电发生器3002递送并且由控制单元3004调节或以其他方式控制的电外科能量可包括射频(RF)能量，或其他合适形式的电能。另外，相对的第一能量递送表面和第二能量递送表面3024A和3024B之一或二者可承载与发生器3002和控制单元3004进行电连通的可变电阻性正温度系数(PTC)主体。有关电外科端部执行器、钳口闭合机构、以及电外科能量递送表面的附加细节在以下的美国专利和公开的专利申请中有所描述：美国专利号7,087,054、7,083,619、7,070,597、7,041,102、7,011,657、6,929,644、6,926,716、6,913,579、6,905,497、6,802,843、6,770,072、6,656,177、6,533,784、和6,500,176、以及美国专利公开号2010/0036370和2009/0076506，上述专利申请的全部内容以引用方式并入本文并形成本说明书的一部分。
在一个实施例中，发生器3002可被实现为电外科单元(ESU)，所述电外科单元能够提供足以利用射频(RF)能量来执行双极电外科手术的功率。在一个实施例中，ESU可为ERBE USA公司(Marietta,Georgia)出售的双极ERBEICC 350。在一些实施例中，诸如对于双极性电外科手术应用而言，可利用具有有源电极和返回电极的外科工具，其中有源电极和返回电极可抵靠、邻近待处理的组织来定位和/或与待处理的组织电连通，使得电流可从有源电极通过正温度系数(PTC)主体并通过组织流到返回电极。因此，在各种实施例中，电外科系统150可包括供电路径和返回路径，其中正被处理的所捕获组织完成或闭合电路。在一个实施例中，发生器3002可为单极性RF ESU并且电外科工具100可包括其中集成一个或多个有源电极的单极性端部执行器3000。对于此类系统而言，发生器3002可需要位于远离操作位点的位置处与患者紧密接触的返回垫，和/或其他合适的返回路径。返回垫可通过缆线连接到发生器3002。
在电外科工具100的操作期间，临床医生通常抓紧组织，对所捕获的组织供应能量以形成焊接或密封(例如，通过致动按钮214和/或踏板216)，然后驱动位于可轴向运动的构件3016的远侧端部处的组织切割元件3030穿过所捕获的组织。根据各种实施例，可轴向运动的构件3016的轴向运动的平移可为有节奏的或以其他方式受控制的，以有助于以合适的行进速率来驱动可轴向运动的构件3016。通过控制行进速率，所捕获组织在经切割元件3030横断之前已被适当地和功能性地密封的可能性增加。
现在参见图11-15中所示的实施例，工具安装部分300包括工具安装板304，所述工具安装板可操作地支撑多个(图15中示出4个)可旋转的主体部分、从动盘或从动元件306，所述从动盘或元件各自包括从从动元件306的表面延伸的一对销308。一个销308比相同从动元件306上的其他销308更靠近每个从动元件306的旋转轴，这有助于确保从动元件306的正向角对齐。接口302可包括能够以安装方式接合安装板304的适配器部分310，如将在下文中进一步描述。所示的适配器部分310包括电连接销312阵列(图13)，其可通过工具安装部分300内的电路板联接到存储器结构。虽然在本文结合机械耦合元件、电耦合元件和磁耦合元件描述了接口302，但应当理解，在其他实施例中可使用多种遥测形式，包括红外、电感耦合等。
如图11-14所示，适配器部分310大体包括工具侧314和保持器侧316。将多个可旋转主体320安装到浮动板318，所述浮动板相对于与适配器310的主表面垂直的周围适配器结构具有有限的运动范围。当沿工具安装部分外壳侧(未示出)的杠杆或其他闩锁形成物致动时，浮动板318的轴向运动有助于使可旋转主体320从工具安装部分300脱离。其他实施例可采用其他机构/结构以用于将工具安装部分300可释放地联接到适配器310。在图11-15的实施例中，通过弹性径向构件将可旋转主体320弹性地安装到浮动板318，所述弹性径向构件延伸到围绕可旋转主体320的周边凹痕中。可旋转主体320可通过偏转这些弹性结构而相对于板318轴向运动。当设置在第一轴向位置(朝工具侧314)时，可旋转主体320可自由旋转而没有角度限制。然而，当可旋转主体320朝工具侧314轴向运动时，突出部322(从可旋转主体320径向延伸)横向接合位于浮动板上的棘爪以便限制可旋转主体320围绕其轴线的角旋转。当驱动销332将可旋转主体320推动至受限的旋转位置直到销332与开口334’对齐(并滑动到其中)时，可使用该受限的旋转以协助可旋转主体320与机器人系统10的对应工具保持器部分330的驱动销332驱动地接合。可旋转主体320的工具侧314上的开口334和保持器侧316上的开口334’能够使工具安装部分300的从动元件306(图15)与工具保持器330的驱动元件336准确地对齐。如上关于从动元件306的内部和外部销308所述，开口304和304’位于距其各自的可旋转主体306的旋转轴线不同的距离处，以确保不与其预期的位置成180度对齐。另外，开口304中的每一个可略微径向细长，以便适当地接收周边方向上的销308。这允许销308在开口334和334’内径向滑动并适应工具100和工具保持器330之间的一些轴向偏差，同时使驱动元件和从动元件之间的任何角偏差和角侧隙最小化。工具侧314上的开口334可与保持器侧316上的开口334’(以虚线示出)偏置约90度，如图14中最清晰可见。
在图11-15的实施例中，电连接器销340阵列位于适配器310的保持器侧316上，并且适配器310的工具侧314包括用于从工具安装部分300接收销阵列(未示出)的狭槽342(图14)。除了在外科工具100和工具保持器330之间传输电信号之外，可通过适配器1240的电路板将这些电连接件中的至少一些联接至适配器存储器装置344(图13)。
在图11-15的实施例中，采用可拆卸的闩锁布置346以将适配器310可释放地附连到工具保持器330。如本文所用，术语“工具驱动组件”在用于机器人系统10的上下文中时至少涵盖适配器310和工具保持器330，并且其在图11中已通常统称为110。如在图11中可见，工具保持器330包括第一闩锁销布置337，所述第一闩锁销结构的尺寸设定成接收在设置于适配器310中的相应连接叉狭槽311中。此外，工具保持器330还具有第二闩锁销338，所述第二闩锁销的尺寸设定成保持在适配器310中的相应闩锁连接叉313中。参见图11。闩锁组件315被活动地支撑在适配器310上并具有形成于其中的可从第一闩锁位置(其中闩锁销338保持在其相应的闩锁连接叉313内)和未闩锁位置(其中连接叉317与连接叉313对齐以使得第二闩锁销338可插入到闩锁连接叉313中或从闩锁连接叉313移除)偏置的一对闩锁连接叉317。采用一个或多个弹簧(未示出)来将闩锁组件偏置到闩锁位置。适配器310的工具侧314上的唇缘可滑动地接收工具安装外壳(未示出)的侧向延伸突出部。
现在参见图5和图16-21，工具安装部分300可操作地支撑多个驱动系统以用于生成各种形式的控制运动，所述控制运动是操作联接到细长轴组件200的远侧端部的特定类型端部执行器所必需的。如图5和图16-21所示，工具安装部分300包括通常称为350的第一驱动系统，所述第一驱动系统能够接收来自机器人系统10的工具驱动组件110的相应的“第一”旋转输出运动，并将第一旋转输出运动转换成要施加到外科端部执行器的第一旋转控制运动。在例示的实施例中，第一旋转控制运动被用于使细长轴组件200(和外科端部执行器3000)围绕纵向工具轴线LT-LT旋转。
在图5和图16-18的实施例中，第一驱动系统350包括形成于(或附接到)细长轴组件200的近侧管段202的近侧端部208上的管齿轮段354。近侧管段202的近侧端部208通过安装在工具安装板304上的向前的支撑支架352被旋转地支撑在工具安装部分300的工具安装板304上。参见图16。管齿轮段354以与第一旋转齿轮组件360啮合而被支撑，所述第一旋转齿轮组件可操作地支撑在工具安装板304上。如图16所示，旋转齿轮组件360包括第一旋转驱动齿轮362，当工具安装部分300联接到工具驱动组件110时，所述第一旋转驱动齿轮联接到工具安装板304的保持器侧316上的从动盘或元件306中的相应第一者。参见图15。旋转齿轮组件360还包括被可旋转地支撑在工具安装板304上的第一旋转从动齿轮364。第一旋转从动齿轮364与第二旋转从动齿轮366处于啮合状态，所述第二旋转从动齿轮继而与管齿轮段354处于啮合状态。将来自机器人系统10的工具驱动组件110的第一旋转输出运动施加到相应的从动元件306将由此引起旋转驱动齿轮362的旋转。旋转驱动齿轮362的旋转最终导致细长轴组件200(和外科端部执行器3000)围绕纵向工具轴线LT-LT(图5中由箭头“R”表示)旋转。应当理解，从工具驱动组件110沿一个方向施加的旋转输出运动将导致细长轴组件200和外科端部执行器3000围绕纵向工具轴线LT-LT在第一旋转方向上旋转，并且沿相反方向施加的旋转输出运动将导致细长轴组件200和外科端部执行器3000在与第一旋转方向相反的第二旋转方向上旋转。
在图5和图16-21的实施例中，工具安装部分300还包括通常称为370的第二驱动系统，所述第二驱动系统能够接收来自机器人系统10的工具驱动组件110的相应的“第二”旋转输出运动，并将第二旋转输出运动转换成第二旋转控制运动以用于施加到外科端部执行器。第二驱动系统370包括第二旋转驱动齿轮372，当工具安装部分300联接到工具驱动组件110时，所述第二旋转驱动齿轮联接到工具安装板304的保持器侧316上的从动盘或元件306中的相应第二者。参见图15。第二驱动系统370还包括被可旋转地支撑在工具安装板304上的第一旋转从动齿轮374。第一旋转从动齿轮374与轴齿轮376处于啮合状态，所述轴齿轮可运动地并且不可旋转地安装到近侧驱动轴段380上。在此例示的实施例中，轴齿轮376通过一系列轴向键槽384不可旋转地安装到近侧驱动轴段380上，所述轴向键槽使得轴齿轮376能够在近侧驱动轴段380上轴向地运动，同时与其不可旋转地附连。近侧驱动轴段380的旋转导致第二旋转控制运动被传送到外科端部执行器3000。
图5和图16-21的实施例中的第二驱动系统370包括用于选择性地轴向偏移近侧驱动轴段380的移位系统390，从而将轴齿轮376运动成与第一旋转从动齿轮374啮合以及与第一旋转从动齿轮374脱离啮合。例如，如在图16-18中可见，近侧驱动轴段380被支撑在附接到工具安装板304的第二支撑支架382内，使得近侧驱动轴段380可相对于第二支撑支架382轴向运动和旋转。在至少一个形式中，移位系统390还包括被可滑动地支撑在工具安装板304上的移位器轭392。近侧驱动轴段380被支撑在移位器轭392中并在其上具有一对衬圈386，使得移位器轭392在工具安装板304的移位导致近侧驱动轴段380的轴向运动。在至少一个形式中，移位系统390还包括与移位器轭392可操作地交接的移位器螺线管394。移位器螺线管394接收来自机器人控制器12的控制功率，使得当移位器螺线管394被启动时移位器轭392沿远侧方向“DD”进行运动。
在例示的实施例中，轴弹簧396轴颈连接在轴齿轮376和第二支撑支架382之间的近侧驱动轴段380上，以使轴齿轮376沿近侧方向“PD”偏置并偏置成与第一旋转从动齿轮374啮合。参见图16、18和19。响应于由机器人系统10生成的旋转输出运动的第二旋转驱动齿轮372的旋转最终导致近侧驱动轴段380和与其联接的其他驱动轴部件(驱动轴组件388)围绕纵向工具轴线LT-LT进行旋转。应当理解，从工具驱动组件110沿一个方向施加的旋转输出运动将导致近侧驱动轴段380以及最终与其附接的其他驱动轴部件在第一方向上的旋转，并且沿相反方向施加的旋转输出运动将导致近侧驱动轴段380在与第一方向相反的第二方向上的旋转。当希望沿远侧方向“DD”上移动近侧驱动轴段380时，如将在下文更详细地描述，机器人控制器12启动移位器螺线管390以沿远侧方向“DD”移动移位器轭392。在一些实施例中，移位器螺线管390可能够在多于两个纵向位置之间移动近侧驱动轴段380。例如，一些实施例(诸如本文相对于图83-96所述的那些)可在多于两个纵向位置来使用旋转驱动轴(例如，被联接到近侧驱动轴段380)。
图22-23示出了另一个实施例，此实施例采用图5和图16-21中所示的实施例的相同部件，不同的是此实施例采用电池供电的马达400以用于向近侧驱动轴段380提供旋转驱动运动。此类结构使得工具安装部分能够生成较高的旋转输出运动和扭矩，这在采用不同形式的端部执行器时可为有利的。如在那些附图中可见，马达400通过支撑结构402附接到工具安装板304，使得联接到马达400的驱动器齿轮404保持与轴齿轮376啮合。在图22-23的实施例中，支撑结构402能够可移除地接合形成于工具安装板304中的闩锁凹口303，所述闩锁凹口被设计成在不使用马达400时有利于将外壳构件(未示出)附接到安装板304。因此，为了使用马达400，临床医生从工具安装板304移除外壳，然后将支撑结构的腿403插入到工具安装板304中的闩锁凹口303中。通过对马达400供电使得近侧驱动轴段380以及与其附接的其他驱动轴部件围绕纵向工具轴线LT-LT旋转。如图所示，马达400为电池供电的。然而，在此结构中，马达400与机器人控制器12交接，使得机器人系统10控制马达400的启动。在另选的实施例中，马达400可通过安装在马达400自身或工具安装部分300上的通断开关(未示出)来手动致动。在其他实施例中，马达400可接收来自机器人系统的电力和控制信号。
图5和图16-21中所示的实施例包括可手动致动的反向系统(通常称为410)，以用于在马达失效或到机器人系统的电力丢失或中断的情况下将反向旋转运动手动地施加到近侧驱动轴段380。例如，当驱动轴组件388被卡住或以其他方式被束缚以使得在仅有马达电力的情况下将阻止驱动轴部件的反向旋转时，此类可手动致动的反向系统410还可为尤其有用的。在例示的实施例中，可机械致动的反向系统410包括驱动齿轮组件412，所述驱动齿轮组件与第二旋转从动齿轮376能够选择性地接合，并可手动地致动以将反向旋转运动施加到近侧驱动轴段380。驱动齿轮组件412包括可运动地安装到工具安装板304的反向齿轮414。反向齿轮414可旋转地轴颈连接在枢轴416上，所述枢轴通过狭槽418可运动地安装到工具安装板304。参见图17。在图5和图16-21的实施例中，可手动致动的反向系统410还包括可手动致动的驱动齿轮420，所述可手动致动的驱动齿轮包括具有形成于其上的弓形齿轮段424的主体部分422。主体部分422枢转地联接到工具安装板304，以用于围绕基本上垂直于工具安装板304的致动器轴线A-A(图16)来选择性地枢转行进。
图16-19示出了处于第一未致动位置的可手动致动的反向系统410。在一个示例形式中，致动器柄部部分426形成于或以其他方式附接到主体部分422上。致动器柄部部分426相对于工具安装板304设定尺寸，使得在柄部部分426和工具安装板304之间建立少量的过盈以将柄部部分426保持在第一未致动位置。然而，当临床医生希望手动地致动驱动齿轮组件412时，临床医生可通过对柄部部分426施加枢转运动来容易地克服过盈配合。另外如在图16-19中可见，当驱动齿轮组件412处于第一未致动位置时，弓形齿轮段424不与反向齿轮414啮合。当临床医生希望对近侧驱动轴段380施加反向旋转驱动运动时，临床医生开始对驱动齿轮420施加枢转棘轮运动。当驱动齿轮420开始围绕致动轴线A-A枢转时，主体422的一部分接触反向齿轮414的一部分并沿远侧方向DD使反向齿轮414轴向地运动，从而使驱动轴齿轮376不与第二驱动系统370的第一旋转从动齿轮374啮合。参见图20。当使驱动齿轮420枢转时，弓形齿轮段424与反向齿轮414啮合。驱动齿轮420的持续棘轮运动导致将反向旋转驱动运动施加到驱动轴齿轮376，并最终施加到近侧驱动轴段380。临床医生可继续使驱动齿轮组件412按照完全释放或撤回相关联的端部执行器部件所需的次数来多次进行棘轮运动。一旦所需量的反向旋转运动已施加到近侧驱动轴段380，临床医生就使驱动齿轮420返回到初始或未致动位置，其中弓形齿轮段416不与驱动轴齿轮376啮合。当处于此位置时，轴弹簧396再次将轴齿轮376偏置成与第二驱动系统370的第一旋转从动齿轮374啮合。
在使用中，临床医生可将控制命令输入到机器人系统10的控制器或控制单元，所述机器人系统“机器人式地生成”输出运动，所述输出运动最终被传送到第二驱动系统370的各种部件。如本文所用，术语“机器人式地生成”或“机器人式地生成的”是指通过对机器人系统马达和其他电力驱动部件进行供电和控制所产生的运动。这些术语区别于术语“可手动致动的”或“手动生成的”，所述术语是指由临床医生采取的导致控制运动的动作，所述控制运动独立于通过对机器人系统马达进行供电所产生的那些运动而产生。沿第一方向施加到第二驱动系统的机器人式地生成的控制运动导致将第一旋转驱动运动施加到驱动轴组件388。当驱动轴组件388沿第一旋转方向旋转时，将可轴向运动的构件3016沿远侧方向“DD”从其在端部执行器3000中的起始位置朝结束位置驱动，例如，如本文相对于图64-96所述。沿第二方向施加到第二驱动系统的机器人式地生成的控制运动导致将第二旋转驱动运动施加到驱动轴组件388。当驱动轴组件388沿第二旋转方向旋转时，将可轴向运动的构件3016沿近侧方向“PD”从其在端部执行器3000中的结束位置朝起始位置驱动。当临床医生希望将旋转控制运动手动地施加到驱动轴组件388时，驱动轴组件388沿第二旋转方向旋转，由此使得击发构件(例如，可轴向平移的构件3016)在端部执行器中沿近侧方向“PD”运动。包括相同部件的其他实施例被配置成使得手动施加到驱动轴组件的旋转控制运动可导致驱动轴组件沿第一旋转方向旋转，这可用于辅助机器人式地生成的控制运动以沿远侧方向驱动可轴向运动的构件3016。
用于击发、闭合和旋转端部执行器的驱动轴组件可进行手动地致动和偏移，由此允许端部执行器释放并从手术部位以及腹腔取出，甚至在马达失效、机器人系统失去电力、或发生其他电力故障的情况下亦是如此。柄部部分426的致动导致致动力或控制力的手动生成，所述致动力或控制力通过可手动致动的反向系统410的各种部件施加到驱动轴组件388’。如果柄部部分426处于其未致动状态，则其偏置成不与反向齿轮414可致动的接合。柄部部分426的开始致动将改变这种偏置。柄部426能够按照完全释放可轴向运动的构件3016和端部执行器3000所需的次数来重复致动多次。
如图5和图16-21所示，工具安装部分300包括第三驱动系统430，所述第三驱动系统能够接收来自机器人系统10的工具驱动组件110的相应的“第三”旋转输出运动并将该第三旋转输出运动转换成第三旋转控制运动。第三驱动系统430包括第三驱动滑轮432，当工具安装部分300联接到工具驱动组件110时，所述第三驱动滑轮联接到工具安装板304的保持器侧316上的从动盘或元件306中的相应第三者。参见图15。第三驱动滑轮432能够将第三旋转控制运动(响应于由机器人系统10施加到其上的相应的旋转输出运动)施加到相应的第三驱动缆线434，所述第三驱动缆线可用于将各种控制或操纵运动施加到可操作地联接到轴组件200的端部执行器。如在图16-17中最具体可见，第三驱动缆线434围绕第三驱动心轴组件436延伸。第三驱动心轴组件436枢转地安装到工具安装板304，并且第三拉伸弹簧438附接在第三驱动心轴组件436和工具安装板304之间，以在第三驱动缆线434中保持所需拉伸量。如在附图中可见，第三驱动缆线434的缆线末端部分434A围绕附接到工具安装板304的滑轮组440的上部部分延伸，并且缆线末端部分434B围绕滑轮组440上的滑车滑轮或支架442延伸。应当理解，从工具驱动组件110沿一个方向施加的第三旋转输出运动将导致第三驱动滑轮432沿第一方向旋转，并且导致缆线末端部分434A和434B沿相反方向运动以将控制运动施加到端部执行器3000或细长轴组件200，如将在下文更详细地描述。即，当第三驱动滑轮432沿第一旋转方向旋转时，缆线末端部分434A沿远侧方向“DD”运动，并且缆线末端部分434B沿近侧方向“PD”运动。第三驱动滑轮432沿相反旋转方向的旋转导致缆线末端部分434A沿近侧方向“PD”运动并且导致缆线末端部分434B沿远侧方向“DD”运动。
图5和图16-21所示的工具安装部分300包括第四驱动系统450，所述第四驱动系统能够接收来自机器人系统10的工具驱动组件110的相应的“第四”旋转输出运动并且将此第四旋转输出运动转换成第四旋转控制运动。第四驱动系统450包括第四驱动滑轮452，当工具安装部分300联接到工具驱动组件110时，所述第四驱动滑轮联接到工具安装板304的保持器侧316上的从动盘或元件306中的相应第四者。参见图15。第四驱动滑轮452能够将第四旋转控制运动(响应于由机器人系统10施加到其上的相应的旋转输出运动)施加到相应的第四驱动缆线454，所述第四驱动缆线可用于将各种控制或操纵运动施加到可操作地联接到轴组件200的端部执行器。如在图16-17中最具体可见，第四驱动缆线454围绕第四驱动心轴组件456延伸。第四驱动心轴组件456枢转地安装到工具安装板304，并且第四拉伸弹簧458附接在第四驱动心轴组件456和工具安装板304之间，以保持第四驱动缆线454中的所需拉伸量。第四驱动缆线454的缆线末端部分454A围绕附接到工具安装板304的滑轮组440的底部部分延伸，并且缆线末端部分454B围绕滑轮组440上的滑车滑轮或第四支架462延伸。应当理解，从工具驱动组件110沿一个方向施加的旋转输出运动将导致第四驱动滑轮452沿第一方向旋转，并且导致缆线末端部分454A和454B沿相反方向运动，以将控制运动施加到端部执行器或细长轴组件200，如将在下文更详细地描述。即，当第四驱动滑轮434沿第一旋转方向旋转时，缆线末端部分454A沿远侧方向“DD”运动，并且缆线末端部分454B沿近侧方向“PD”运动。第四驱动滑轮452沿相反旋转方向的旋转导致缆线末端部分454A沿近侧方向“PD”运动并且导致缆线末端部分454B沿远侧方向“DD”运动。
图5-6所示的外科工具100包括关节运动接头3500。在此类实施例中，第三驱动系统430还可称为“第一关节运动驱动系统”并且第四驱动系统450在本文中可称为“第二关节运动驱动系统”。同样，第三驱动缆线434可称为“第一近侧关节运动缆线”并且第四驱动缆线454在本文中可称为“第二近侧关节运动缆线”。
图5和图16-21中所示的实施例的工具安装部分300包括通常称为470的第五驱动系统，所述第五驱动系统能够轴向地移动驱动杆组件490。驱动杆组件490包括近侧驱动杆段492，所述近侧驱动杆段延伸穿过近侧驱动轴段380和驱动轴组件388。参见图18。第五驱动系统470包括滑动地支撑在工具安装板304上的可运动驱动轭472。近侧驱动杆段492被支撑在驱动轭372中并在其上具有一对保持器球394，使得驱动轭372在工具安装板304上的偏移导致近侧驱动杆段492的轴向运动。在至少一个示例形式中，第五驱动系统370还包括与驱动轭472可操作地交接的驱动螺线管474。驱动螺线管474接收来自机器人控制器12的控制功率。驱动螺线管474沿第一方向的致动将导致驱动杆组件490沿远侧方向“DD”运动，并且驱动螺线管474沿第二方向的致动将导致驱动杆组件490沿近侧方向“PD”运动。如在图5中可见，端部执行器3000包括钳口构件，所述钳口构件可在将轴向闭合运动施加到闭合系统时在打开位置和闭合位置之间运动。在图5和图16-21的例示的实施例中，采用第五驱动系统470来生成此类闭合运动。因此，第五驱动系统470还可称为“闭合驱动器”。
图5和图16-21中所示的外科工具100包括与第三和第四驱动系统430、450配合的关节运动接头3500，所述第三和第四驱动系统分别用于使端部执行器3000围绕纵向工具轴线“LT”进行关节运动。关节运动接头3500包括附接到远侧外管部分231的远侧端部233并且在其中限定近侧球承窝3504的近侧承窝管3502。参见图24。近侧球构件3506可运动地安置在近侧球承窝3504内。如在图24中可见，近侧球构件3506具有中央驱动通道3508，所述中央驱动通道使得远侧驱动轴段3740能够延伸穿过其中。此外，近侧球构件3506在其中具有四个关节运动通道3510，所述关节运动通道有利于远侧缆线段444、445、446、447从其中穿过。在各种实施例中，远侧缆线段444、445、446、447可例如分别直接或间接地联接到近侧缆线末端部分434A、434B、454A、454B，如图24A所示。如在图24中进一步可见，关节运动接头3500还包括中间关节运动管段3512，所述中间关节运动管段具有形成于其中的中间球承窝3514。中间球承窝3514能够在其中可运动地支撑形成于端部执行器连接器管3520上的端部执行器球3522。远侧缆线段444、445、446、447延伸穿过形成于端部执行器球3522中的缆线通道3524，并通过接收在端部执行器球3522中的相应通道3528内的凸耳3526附接到端部执行器球3522。可采用其他附接结构以将远侧缆线段444、445、446、447附接到端部执行器球3522。
独特的和新型的旋转支撑接头组件(通常称为3540)示于图25和图26中。示出的旋转支撑接头组件3540包括大体上圆柱形形状的端部执行器驱动外壳4010的连接器部分4012。第一环形座圈4014形成于圆柱形连接器部分4012的周边。旋转支撑接头组件3540还包括形成于端部执行器连接器管3520中的远侧承窝部分3530，如图25和26所示。远侧承窝部分3530相对于圆柱形连接器部分4012设定尺寸，使得连接器部分4012可在承窝部分3530内自由地旋转。第二环形座圈3532形成于远侧承窝部分3530的内壁3531中。窗口3533被提供成穿过远侧承窝3530，所述远侧承窝与其中的第二环形座圈3532连通。另外如在图25和26中可见，旋转支撑接头组件3540还包括环状轴承3534。在各种示例实施例中，环状轴承3534包括在其中具有切口3535的可塑性变形的基本上圆形的环。切口在环状轴承3534中形成自由端3536、3537。如在图25中可见，环状轴承3534在其自然未偏置状态下具有大体上环状的形状。
为了将外科端部执行器3000(例如，外科工具的第一部分)联接到关节运动接头3500(例如，外科工具的第二部分)，将圆柱形连接器位置4012插入到远侧承窝部分3530中，以使第二环形座圈3532与第一环形座圈4014基本上对准。然后将环状轴承的自由端3536、3537中的一个穿过端部执行器连接器管3520的远侧承窝部分3530中的窗口3533插入到已对准的环形座圈4014、3532中。为了有利于容易的插入，窗口或开口3533具有形成于其上的渐缩表面3538。参见图25。将环状轴承3534基本上旋转到适当位置，并且其一旦被安装就不趋于退出窗口3533，因为其趋于形成圆或环。一旦环状轴承3534已插入到对准的环形座圈4014、3532中，端部执行器连接器管3520就将可旋转地附连到端部执行器驱动外壳4010的连接器部分4012。此类结构使得端部执行器驱动外壳4010能够相对于端部执行器连接器管3520围绕纵向工具轴线LT-LT旋转。环状轴承3534变成端部执行器驱动外壳4010随后在其上旋转的承载表面。任何侧向负载均试图使环状轴承3534变形，所述环状轴承由两个联锁座圈4014、3532支撑和容纳以防止环状轴承3534受到损害。应当理解，此类采用环状轴承3534的简单且有效的接头组件在可旋转部分4010、3530之间形成高度润滑接口。如果组装期间，自由端3536、3537中的一个允许通过窗口3533突出(参见例如图26)，则可通过将环状轴承构件3532通过窗口3533拉出来拆卸旋转支撑接头组件3540。旋转支撑接头组件3540允许容易的组装和制造，同时还提供良好的端部执行器支撑件以及有利于其旋转操纵。
关节运动接头3500有利于端部执行器3000围绕纵向工具轴线LT进行关节运动。例如，当希望使端部执行器3000沿如图5所示的第一方向“FD”进行关节运动时，机器人系统10可对第三驱动系统430进行供电，使得第三驱动心轴组件436(图16-18)沿第一方向旋转，从而沿近侧方向“PD”拉动近侧缆线末端部分434A以及最终拉动远侧缆线段444，并且释放近侧缆线末端部分434B和远侧缆线段445，由此使端部执行器球3522在承窝3514内旋转。同样，为了使端部执行器3000沿与第一方向FD相反的第二方向“SD”进行关节运动，机器人系统10可对第三驱动系统430进行供电，使得第三驱动心轴组件436沿第二方向旋转，从而沿近侧方向“PD”方向拉动近侧缆线末端部分434B以及最终拉动远侧缆线段445，并且释放近侧缆线末端部分434A和远侧缆线段444，由此使端部执行器球3522在承窝3514内旋转。当希望使端部执行器3000沿如图5所示的第三方向“TD”进行关节运动时，机器人系统10可对第四驱动系统450进行供电，使得第四驱动心轴组件456沿第三方向旋转，从而沿近侧方向“PD”拉动近侧缆线末端部分454A以及最终拉动远侧缆线段446，并且释放近侧缆线末端部分454B和远侧缆线段447，由此使端部执行器球3522在承窝3514内旋转。同样，为了使端部执行器3000沿与第三方向TD相反的第四方向“FTH”进行关节运动，机器人系统10可对第四驱动系统450进行供电，使得第四驱动心轴组件456沿第四方向旋转，从而沿近侧方向“PD”拉动近侧缆线末端部分454A以及最终拉动远侧缆线段446，并且释放近侧缆线末端部分454B和远侧缆线段447，由此使端部执行器球3522在承窝3514内旋转。
图5和图16-21中所示的端部执行器实施例采用通过细长轴组件从工具安装部分300传输的用于致动的旋转和纵向运动。用于将此类旋转和纵向运动(例如，扭转、拉伸、和压缩运动)传输到端部执行器的驱动轴组件为相对柔韧的，以有利于端部执行器围绕关节运动接头进行关节运动。图27-28示出了可结合图5和图16-21中所示的实施例使用的或可用于其他实施例中的另选的驱动轴组件3600。在图5所示的实施例中，近侧驱动轴段380包括驱动轴组件3600的一段，并且远侧驱动轴段3740类似地包括驱动轴组件3600的另一段。驱动轴组件3600包括驱动管3602，所述驱动管具有在其中切割的一系列环形接头段3604。在此例示的实施例中，驱动管3602包括近侧驱动轴段380的远侧部分。例如，本文相对于图27-45所述的轴组件3600、以及轴组件3600',3600"可为本文所述的各种旋转驱动轴(例如，旋转驱动轴680、1270、1382等)的部件和/或可机械联接到本文所述的各种旋转驱动轴。
驱动管3602包括中空金属管(不锈钢、钛等)，所述中空金属管具有形成于其中的一系列环形接头段3604。环形接头段3604包括多个松散联锁的燕尾形状3606，所述燕尾形状例如被激光切割到驱动管3602中并用于促进邻接的接头段3604之间的柔性运动。参见图28。管材的此类激光切割产生可用于压缩、拉伸和扭转的柔性中空驱动管。此类结构采用通过“拼图”构型与相邻部分联锁的全直径切口。这些切口随后沿中空驱动管的长度按照阵列来进行复制，并且有时为“时控的”或旋转的以改变拉伸或扭转性能。
图29-33示出了包括多个激光切口形状3606’的另选的示例微环形接头段3604’，所述激光切口形状大致类似于松散联锁的、相对的“T”形状和其中具有凹口部分的T-形状。环形接头段3604、3604’基本上包括多个微关节运动扭转接头。即，每个接头段3604、3604’均可传输扭矩同时有利于每个环形接头段之间的相对关节运动。如图29-30所示，驱动管3602的远侧端部3603上的接头段3604D’具有远侧安装衬圈部3608D，所述远侧安装衬圈部有利于附接到其他驱动部件，所述其他驱动部件用于致动端部执行器或快速脱开接头的部分等，并且驱动管3602的近侧端部605上的接头段3604P’具有近侧安装衬圈部3608P’，所述近侧安装衬圈部有利于附接到其他近侧驱动部件或快速脱开接头的部分。
可通过增加激光切口中的间距来增加每个特定驱动轴组件3600的接头-接头运动范围。例如，为了确保接头段3604’保持联接在一起而不会显著地降低驱动管在所需运动范围内进行关节运动的能力，采用第二约束构件3610。在图31-32所示的实施例中，第二约束构件3610包括弹簧3612或其他螺旋盘绕构件。在各种示例实施例中，弹簧3612的远侧端部3614对应于远侧安装衬圈部3608D并比弹簧3612的中央部分3616盘绕得更紧密。相似地，弹簧3612的近侧端部618比弹簧3612的中央部分3616盘绕得更紧密。在其他实施例中，约束构件3610以所需的节距被安装在驱动管3602上，使得约束构件还充当例如柔性驱动螺纹以用于通过螺纹接合位于端部执行器和/或控制系统上的其他螺纹控制部件。还应理解，约束构件可被安装成具有可变节距，以在驱动轴组件旋转时实现所需旋转控制运动的传输。例如，约束构件的可变节距布置方式可用于增强打开/闭合和击发运动，所述打开/闭合和击发运动将受益于来自相同旋转运动的不同线性行程。在其他实施例中，例如，驱动轴组件包括位于中空柔性驱动轴上的可变节距螺纹，所述中空柔性驱动轴可围绕90度弯曲进行推动和牵拉。在其他实施例中，第二约束构件包括围绕驱动管3602的外部或周边施加的弹性体管或涂层3611，如图33A所示。在另一个实施例中，例如，弹性体管或涂层3611’被安装在形成于驱动管3602内的中空通道613中，如图33B所示。
此类驱动轴布置包括复合扭转驱动轴，所述复合变形驱动轴允许优异的负载传输，同时有利于所需的轴向关节运动范围。参见例如图33和图33A-33B。即，这些复合驱动轴组件允许大的运动范围，同时保持沿两个方向传输扭矩的能力并且有利于通过其来传输拉伸和压缩控制运动。此外，此类驱动轴布置的中空特性有利于其他控制部件从中穿过，同时提供改进的拉伸负载。例如，一些其他实施例包括延伸穿过驱动轴组件的柔性内部缆线，所述柔性内部缆线可有助于接头段的对准，同时有利于通过驱动轴组件来施加拉伸运动的能力。此外，此类驱动轴布置相对易于制造和组装。
图34-37示出了驱动轴组件3600’的段3620。此实施例包括从管材材料(例如，不锈钢、钛、聚合物等)激光切割出的接头段3622、3624。接头段3622、3624保持松散地附接在一起，因为切口3626为径向的并且为一定程度地渐缩的。例如，凸耳部分3628中的每一个具有渐缩的外周边部分3629，所述渐缩的外周边部分被接收在具有渐缩的内壁部分的承窝3630内。参见例如图35和37。因此，无需将接头段3622、3624附接在一起的组件。如在附图中可见，接头段3622具有在其每个末端上切割的相对的枢转凸耳部分3628，所述枢转凸耳部分被枢转地接收在形成于相邻接头段3624中的相应承窝3630中。
图34-37示出了驱动轴组件3600’的小段。本领域的普通技术人员应当理解，可贯穿驱动轴组件的整个长度来切割凸耳/承窝。即，接头段3624可具有在其中切割的相对的承窝3630，以有利于与邻接接头段3622的联接来使驱动轴组件3600’的长度完整。此外，接头段3624具有在其中切割的成角度的末端部分3632，以有利于接头段3624相对于接头段3622的关节运动，如图36-37所示。在例示的实施例中，每个凸耳3628具有关节运动止挡部分3634，所述关节运动止挡部分适于接触形成于接头段3622中的对应的关节运动止挡件3636。参见图36-图37。可另外与段3620相同的其他实施例不具有关节运动止挡部分3634和止挡件3636。
如上所述，可通过增加激光切口的间距来增加每个特定驱动轴组件的接头-接头运动范围。在此类实施例中，为了确保接头段3622、3624保持联接在一起而不会显著降低驱动管在所需运动范围内进行关节运动的能力，采用呈弹性体套管或涂层3640形式的第二约束构件。其他实施例采用本文所述的其他形式的约束构件以及它们的等同结构。如在图34中可见，接头段3622、3624能够围绕由枢转凸耳3628和对应的承窝3630限定的枢转轴线“PA-PA”枢转。为了获得扩大的关节运动范围，驱动轴组件3600’可围绕工具轴线TL-TL旋转同时围绕枢转轴线PA-PA旋转。
图38-43示出了另一个驱动轴组件3600”的段3640。驱动轴组件3600”包括多段驱动系统，所述多段驱动系统包括形成柔性中空驱动管3602”的多个互连的接头段3642。接头段3642包括球连接器部分3644和承窝部分3648。每个接头段3642可通过例如金属注塑成型“MIM”制成并且可由17-4、17-7、420不锈钢制成。其他实施例可由300或400系列不锈钢、6065或7071铝或钛加工制成。其他实施例可由例如塑料填充或未填充的尼龙、聚酰亚胺、ABS、聚碳酸酯或聚乙烯模塑而成。如在附图中可见，球连接器3644为六边形形状的。即，球连接器3644具有形成于其上的六个弓形表面3646并适于被可旋转地接收在类似形状的承窝3650中。每个承窝3650具有由六个平坦表面3654形成的六边形外部部分3652和径向成形的内部部分3656。参见图41。每个接头段3642具有相同的结构，不同的是形成驱动轴组件3600的远侧端部和近侧端部的最后的接头段的承窝部分能够与对应的控制部件可操作地配合。每个球连接器3644在其中具有中空通道3645，所述中空通道配合以形成穿过中空柔性驱动管3602”的中空通道3603。
如在图42和43中可见，互连的接头段3642容纳在约束构件3660内，所述约束构件包括由例如柔性聚合物材料制成的管或套管。图44示出了延伸穿过互连的接头段3642的柔性内芯构件3662。内芯构件3662包括由聚合物材料制成的实心构件或由柔性聚合物材料制成的中空管或套管。图45示出了另一个实施例，其中约束构件3660和内芯构件3662均被采用。
驱动轴组件3600”有利于将旋转和平移运动传输穿过可变半径的关节运动接头。驱动轴组件3600”的中空特性为额外的控制部件或拉伸元件(例如，柔性电缆)提供空间，以有利于拉伸和压缩负载传输。然而，在其他实施例中，接头段3624不提供穿过驱动轴组件的中空通道。在此类实施例中，例如，球连接器部分为实心的。经由六边形表面的边缘来平移旋转运动。较严格的容差可允许更大的负载容量。利用穿过驱动轴组件3600”的中心线的缆线或其他拉伸元件，整个驱动轴组件3600”可被旋转弯曲、推动、以及牵拉，而不限制运动范围。例如，驱动轴组件3600”可形成弓形驱动路径、直线驱动路径、螺线型驱动路径等。
尽管本文所述的各种示例实施例能够与机器人系统可操作地交接并且至少部分地由机器人系统致动，但本文所述的各种端部执行器和细长轴均可有效地结合手持式工具来使用。例如，图46-47示出了手持式外科工具2400，所述手持式外科工具可使用上文所述的各种部件和系统来可操作地致动与其联接的电外科端部执行器3000。应当理解，手持式外科工具2400可包含发生器和/或电连接到发生器，诸如发生器3002，以用于生成电外科驱动信号来驱动端部执行器300。在图46-47所示的示例实施例中，采用快速脱开接头2210来将端部执行器3000联接到细长轴组件2402。例如，快速脱开接头2210可操作以按照本文结合图106-115所述的方式来移除端部执行器3000。为了有利于端部执行器3000围绕关节运动接头3500进行关节运动，细长轴组件2402的近侧部分包括示例的可手动致动的关节运动驱动装置2410。
现在参见图48-50，在至少一个示例形式中，关节运动驱动装置2410包括四个可轴向运动的关节运动滑块，所述关节运动滑块被可运动地轴颈连接在位于近侧外管段2214和近侧驱动轴段380’之间的近侧驱动轴段380’上。例如，关节运动缆线段434A’附接到第一关节运动滑块2420，所述第一关节运动滑块具有从其突起的第一关节运动致动器杆2422。关节运动缆线段434B’附接到与第一关节运动滑块2420在直径上对置的第二关节运动滑块2430。第二关节运动滑块2430具有从其突起的第二关节运动致动器杆2432。关节运动缆线段454A’附接到第三关节运动滑块2440，所述第三关节运动滑块具有从其突起的第三关节运动致动器杆2442。关节运动缆线段454B’附接到与第三关节运动滑块2440在直径上对置的第四关节运动滑块2450。第四关节运动致动器杆2452从第四关节运动滑块2450突起。关节运动致动器杆2422、2432、2442、2452有利于通过关节运动环组件2460来将控制运动分别施加到关节运动滑块2420、2430、2440、2450。
如在图48中可见，关节运动致动器杆2422、2432、2442、2452可运动地穿过安装球2470，所述安装球被轴颈连接在近侧外管段2404上。在至少一个实施例中，安装球2470可以由适当的紧固件布置(例如，焊接件、粘合剂、螺杆等)附接到一起的段而制造。如图50所示，关节运动致动器杆2422和2432延伸穿过近侧外管段2404中的狭槽2472和安装球2470中的狭槽2474，以使得关节运动滑块2420、2430能够相对其进行轴向运动。尽管未示出，但关节运动致动器杆2442、2452延伸穿过近侧外管段2404和安装球2470中的类似狭槽2472、2474。关节运动致动器杆2422、2432、2442、2452中的每一个从安装球2470中的对应狭槽2474伸出，以被可操作地接收在关节运动环组件2460中的对应安装承窝2466内。参见图49。
在至少一个示例形式中，关节运动环组件2460由一对环段2480、2490制成，所述一对环段通过例如焊接、粘合剂、按扣特征结构、螺杆等接合在一起以形成关节运动环组件2460。环段2480、2490配合以形成安装承窝2466。关节运动致动器杆中的每一个均具有在其上形成的安装球2468，所述安装球各自适于被可运动地接收在关节运动环组件2460中的对应安装承窝2466内。
关节运动驱动装置2410的各种示例实施例还可包括示例锁定系统2486，所述锁定系统能够将关节运动环组件2460保持在致动位置。在至少一个示例形式中，锁定系统2486包括形成在关节运动环组件2460上的多个锁定翼片。例如，环段2480、2490可由略呈柔性的聚合物或橡胶材料制成。环段2480具有在其中形成的一系列柔性近侧锁定翼片2488，并且环段2490具有在其中形成的一系列柔性远侧锁定翼片2498。每个锁定翼片2388具有在其上形成的至少一个锁定棘爪2389，并且每个锁定翼片2398在其上具有至少一个锁定棘爪2399。锁定棘爪2389、2399可用于建立与关节运动球所需的锁定摩擦量，以便将关节运动球保持就位。在其他示例实施例中，锁定棘爪2389、2390能够配合地接合形成于安装球2470的外周边中的各种锁定凹坑。
可参照图49和50来理解关节运动驱动装置2410的操作。图49示出了处于非关节运动位置的关节运动驱动装置2410。在图50中，临床医生已手动地倾斜关节运动环组件2460，以使得关节运动滑块2420沿远侧方向“DD”轴向地运动，从而朝远侧推进关节运动缆线段434A’。关节运动环组件2460的此类运动还导致关节运动滑块2430沿近侧方向的轴向运动，所述轴向运动最终沿近侧方向牵拉关节运动缆线434B。关节运动缆线段434A’、434B’的此类推动与牵拉将导致端部执行器3000相对于纵向工具轴线“LT-LT”以上文所述的方式进行关节运动。为了反转关节运动方向，临床医生仅反转关节运动环组件2460的取向，从而使得关节运动滑块2430沿远侧方向“DD”运动并且使得关节运动滑块2420沿近侧方向“PD”运动。关节运动环组件2460可被类似地致动以将所需的推动和牵拉运动施加到关节运动缆线段454A’、454B’。锁定棘爪2389、2399与安装球的外周边之间所产生的摩擦用于在端部执行器3000已被致动到所需位置之后将关节运动驱动装置2410保持就位。在另选的示例实施例中，当锁定棘爪2389、2399被定位成便于接收在安装球的对应锁定凹坑中时，安装球将被保持就位。
在例示的示例实施例和其他实施例中，细长轴组件2402与柄部组件2500可操作地交接。柄部组件2500的示例实施例包括一对柄部外壳段2502、2504，所述一对柄部外壳段被联接在一起以形成用于各种驱动部件和系统的外壳，如将在下文中进一步地描述。参见例如图46。柄部外壳段2502、2504可通过螺杆、按扣特征结构、粘合剂等联接在一起。当联接在一起时，柄部段2502、2504可形成包括手握式握把部2506的柄部组件2500。
为了有利于端部执行器3000围绕纵向工具轴线“LT＝LT”的选择性旋转，细长轴组件2402可与第一驱动系统交接，通常称为2510。驱动系统2510包括可手动致动的旋转喷嘴2512，所述可手动致动的旋转喷嘴被可旋转地支撑在柄部组件2500上，使得其可相对于柄部组件旋转以及可在锁定位置和解锁位置之间轴向地运动。
外科工具2400可包括闭合系统3670。闭合系统3670可用于一些实施例中，以在细长轴组件2402和端部执行器3000中产生远侧和近侧运动。例如，在一些实施例中，闭合系统3670可驱动可轴向运动的构件，诸如3016。例如，闭合系统3670可用于平移可轴向运动的构件3016，而非本文相对于图64-82、83-91和92-96所述的各种旋转驱动轴。在此示例实施例中，闭合系统3670由闭合触发器2530来致动，所述闭合触发器被枢转地安装到柄部框架组件2520，所述柄部框架组件被支撑在柄部外壳段2502、2504内。闭合触发器2530包括致动部分2532，所述致动部分被枢转地安装到枢转销2531上，所述枢转销被支撑在柄部框架组件2520内。参见图51。此类示例结构有利于朝柄部组件2500的手握式握把部2506以及远离其枢转行进。如在图51中可见，闭合触发器2530包括闭合联接件2534，所述闭合联接件通过闭合线2535连接到第一枢转连接件和齿轮组件3695。因此，通过将闭合触发器2530朝柄部组件2500的手握式握把部2506枢转到致动位置，闭合联接件2534和闭合线2535使得第一枢转连接件和齿轮组件3695沿远侧方向“DD”运动，以导致远侧运动通过轴并且在一些实施例中到达端部执行器。
外科工具2400还可包括闭合触发器锁定系统2536，以将闭合触发器保持在致动位置。在至少一个示例形式中，闭合触发器锁定系统2536包括枢转地联接到柄部框架组件2520的闭合锁定构件2538。如在图52和53中可见，闭合锁定构件2538具有在其上形成的锁定臂2539，所述锁定臂能够在闭合触发器2530朝手握式握把部2506致动时骑跨在闭合联接件2532的弓形的部分2537上。当闭合触发器2530已被枢转到完全致动位置时，锁定臂2539下降到闭合联接件2532的端部后并防止闭合触发器2530返回到其未致动位置。因此，通过轴组件平移到端部执行器的远侧运动可被锁定。为了使得闭合触发器2530能够返回其未致动位置，临床医生简单地枢转闭合锁定构件2538，直至其锁定臂2539脱离闭合联接件2532的端部，从而允许闭合联接件2532运动到未致动位置。
通过闭合返回系统2540来使闭合触发器2532返回到未致动位置。例如，如在图51中可见，闭合触发器返回系统2540的一个示例形式包括闭合触发器滑块构件2542，所述闭合触发器滑块构件通过闭合触发器轭2544连接到闭合联接件2534。闭合触发器滑块构件2542被可滑动地支撑在柄部框架组件2520中的滑块腔2522内。闭合触发器返回弹簧2546定位在滑块腔2520内，以将偏置力施加到闭合触发器滑块构件2542。因此，当临床医生致动闭合触发器2530时，闭合触发器轭2544使闭合触发器滑块构件2542沿远侧方向“DD”运动，由此压缩闭合触发器返回弹簧2546。当闭合触发器锁定系统2536被脱离并且闭合触发器2530被释放时，闭合触发器返回弹簧2546使闭合触发器滑块构件2542沿近侧方向“PD”运动，从而将闭合触发器2530枢转到起始未致动位置。
外科工具2400还可采用上文所述的各种示例驱动轴组件中的任何一者。在至少一个示例形式中，外科工具2400采用第二驱动系统2550以用于将旋转控制运动施加到近侧驱动轴组件380’。参见图55。第二驱动系统2550可包括被可操作地支撑在手握式握把部2506中的马达组件2552。马达组件2552可通过可移除地地附接到柄部组件2500的电池组2554来供电，或者其可由交流电源来供电。第二驱动齿轮2556可操作地联接到马达组件2552的驱动轴2555。第二驱动齿轮2556被支撑成与第二旋转从动齿轮2558啮合，所述第二旋转从动齿轮附接到驱动轴组件的近侧驱动轴段380’。在至少一个形式中，例如，第二驱动齿轮2556还可在马达驱动轴2555上相对于马达组件2552沿由图55中的箭头“U”表示的方向进行轴向运动。偏置构件(例如，卷簧2560或类似的构件)定位在第二驱动齿轮2556马达外壳2553之间并用于使马达驱动轴2555上的第二驱动齿轮2556偏置成与第二从动齿轮2558上的第一齿轮段2559啮合。
第二驱动系统2550还可包括击发触发器组件2570，所述击发触发器组件可运动地(例如，可枢转地)附接到柄部框架组件2520。在至少一个示例形式中，例如，击发触发器组件2570包括第一旋转驱动触发器2572，所述第一旋转驱动触发器与对应的开关/接触件(未示出)配合，所述开关/接触件与马达组件2552电连通并在启动时导致马达组件2552向第二从动齿轮2558施加第一旋转驱动运动。此外，击发触发器组件2570还包括可相对于第一旋转驱动触发器枢转的回缩驱动触发器2574。回缩驱动触发器2574与开关/接触件(未示出)可操作地交接，所述开关/接触件与马达组件2552电连通并在启动时导致马达组件2552向第二从动齿轮2558施加第二旋转驱动运动。第一旋转驱动运动导致驱动轴组件和端部执行器中的工具驱动轴旋转，以使击发构件在端部执行器3000中朝远侧运动。相反地，第二旋转驱动运动与第一旋转驱动运动相反，并将最终导致驱动轴组件和工具驱动轴沿旋转方向旋转，这导致端部执行器3000中的击发构件的近侧运动或回缩。
例示的实施例还包括可手动致动的安全构件2580，所述可手动致动的安全构件枢转地附接到闭合触发器致动部分2532并可在第一“安全”位置(其中安全构件2580物理地阻止击发触发器组件2570的枢转行进)和第二“关闭”位置(其中临床医生可自由地枢转击发触发器组件2570)之间选择性地枢转。如在图51中可见，第一凹坑2582提供在闭合触发器致动部分2532中，所述闭合触发器致动部分对应于安全构件2580的第一位置。当安全构件2580处于第一位置时，安全构件2580上的棘爪(未示出)被接收在第一凹坑2582内。第二凹坑2584另外提供在闭合触发器致动部分2532中，所述闭合触发器致动部分对应于安全构件2580的第二位置。当安全构件2580处于第二位置时，安全构件2580上的棘爪被接收在第二凹坑2582内。
在至少一些示例形式中，外科工具2400可包括可机械致动的反向系统(通常称为2590)以用于在马达组件2552失效或电池电力丢失或中断的情况下将反向旋转运动机械地施加到近侧驱动轴段380’。例如，当可操作地联接到近侧驱动轴段380’的驱动轴系统部件被卡住或以其他方式被束缚以使得在仅有马达电力的情况下将阻止驱动轴部件的反向旋转时，此类机械反向系统2590还可为尤其有用的。在至少一个示例形式中，可机械致动的反向系统2590包括反向齿轮2592，所述反向齿轮被可被旋转地安装在形成于柄部框架组件2520上的轴2524A上并且与第二从动齿轮2558上的第二齿轮段2562啮合。参见图53。因此，当第二从动齿轮2558使驱动轴组件的近侧驱动轴段380’旋转时，反向齿轮2592在轴2524A上自由地旋转。
在各种示例形式中，机械反向系统2590还包括呈杠杆臂2596形式的可手动致动的驱动器2594。如在图56和57中可见，杠杆臂2596包括轭部分2597，所述轭部分具有穿过其的细长狭槽2598。轴2524A延伸穿过狭槽2598A，并且形成于柄部外壳组件2520上的相对的第二轴2598B延伸穿过另一个细长狭槽以将杠杆臂2596可运动地附连到相对的第二轴2598B。此外，杠杆臂2596具有形成于其上的可啮合地接合反向齿轮2592的致动器翅片2597。存在将杠杆臂2596保持在未致动状态的棘爪或干涉过盈件，直至临床医生施加显著力来致动它。这可避免其在倒置的情况下意外启动。其他实施例可采用弹簧来将杠杆臂偏置成未致动状态。机械反向系统2590的各种示例实施例还包括被可运动地轴颈连接在柄部框架组件2520中的刀片回缩器按钮2600。如在图56和57中可见，刀片回缩器按钮2600包括能够接合第二驱动齿轮2556的顶部的脱离翼片2602。通过刀片回缩器弹簧2604来将刀片回缩器按钮2600偏置到脱离位置。当处于脱离位置时，脱离翼片2602偏置成不与第二驱动齿轮2556接合。因此，直至临床医生希望通过按压刀片回缩器按钮2600来启动机械反向系统2590时，第二驱动齿轮2556才与第二从动齿轮2558的第一齿轮段2559啮合。
当临床医生希望向近侧驱动轴段380’施加反向旋转驱动运动时，临床医生按压刀片回缩器按钮2600以使第二从动齿轮2558上的第一齿轮段2559与第二驱动齿轮2556脱离。然后，临床医生开始对可手动致动的驱动器2594施加枢转棘轮运动，这导致其上的齿轮翅片2597驱动反向齿轮2592。反向齿轮2592与第二从动齿轮2558上的第二齿轮段2562处于啮合状态。可手动致动的驱动器2594的持续齿合导致反向旋转驱动运动被施加到第二齿轮段2562并最终被施加到近侧驱动轴段380’。临床医生可按照完全释放相关联的端部执行器部件或使其反向所需要的次数来继续多次齿合驱动器2594。一旦所需量的反向旋转运动已被施加到近侧驱动轴段380’，临床医生就将刀片回缩器按钮2600和驱动器2594释放到其相应的起始或未致动位置，其中翅片2597不与反向齿轮2592接合，并且第二驱动齿轮2556再次与第二从动齿轮2558上的第一齿轮段2559啮合。
外科工具2400还可与电外科端部执行器一起使用，所述电外科端部执行器包括利用旋转驱动轴在不同轴向位置以不同方式进行驱动的各种旋转驱动部件。本文相对于图64-82、83-91和92-96来描述此类端部执行器和驱动机构的实例。外科工具2400可采用移位系统2610，以用于选择性地轴向偏移近侧驱动轴段380’，从而使轴齿轮376运动成与第一旋转从动齿轮374啮合以及与第一旋转从动齿轮374脱离啮合。例如，近侧驱动轴段380’被可运动地支撑在柄部框架组件2520内，使得近侧驱动轴段380’可在其中轴向运动和旋转。在至少一个示例形式中，移位系统2610还包括由柄部框架组件2520可滑动地支撑的移位器轭2612。参见图51和54。近侧驱动轴段380’在其上具有一对衬圈386(示于图51和55中)，使得移位器轭2612在柄部框架组件2520上的移位导致近侧驱动轴段380’的轴向运动。在至少一个形式中，移位系统2610还包括与移位器轭2612可操作地交接的移位器按钮组件2614，并延伸穿过柄部组件2500的柄部外壳段2504中的狭槽2505。参见图62和63。移位器弹簧2616与柄部框架组件2520安装在一起，使得其接合近侧驱动轴段380’。参见图54和61。当将移位器按钮组件2614可滑动地定位在如图62所示的第一轴向位置(其中驱动轴组件的旋转导致端部执行器3000围绕纵向工具轴线“LT-LT”相对于关节运动接头3500的旋转(如图67所示))和如图63所示的第二轴向位置(其中驱动轴组件的旋转导致击发构件在端部执行器中的轴向运动(如图66所示))之间时，弹簧2616用于为临床医生提供可听咔嗒声和触觉反馈。因此，此类结构使得临床医生在保持柄部组件2500时能够容易地可滑动地定位移位器按钮组件2614。在一些实施例中，移位器按钮组件2500可具有多于两个轴向位置，对应于旋转驱动轴的多于两个所需轴向位置。本文结合图83-91和图92-96提供了此类外科工具的实例。
参见图64-72，多轴线关节运动和旋转外科工具600包括端部执行器550，所述端部执行器包括第一钳口构件602A和第二钳口构件602B。第一钳口构件602A可相对于第二钳口构件602B在打开位置(图64、66-69、71)和闭合位置(图70和72)之间运动，以夹持第一钳口构件602A和第二钳口构件602B之间的组织。外科工具600能够围绕关节运动接头640在垂直方向(图64和66-72中的标记为方向V)和水平方向(图64和65-68中的标记为方向H)上独立地进行关节运动。关节运动接头640的致动可按照类似于上文相对于图24-26所述的方式进行。外科工具600能够围绕头部旋转接头645在纵向方向(图64和66-72中的标记为方向H)上独立地旋转。端部执行器550包括I型横梁构件620和钳口组件555，所述钳口组件包括第一钳口构件602A、第二钳口构件602B、第二钳口构件602B的近侧部分603、以及安置在近侧部分603中的旋转驱动螺母606。I型横梁构件620和钳口组件555可按照本文所述的方式和类似于上文相对于可轴向运动的构件3016和钳口构件3008A、3008B(描述于上文中)描述的方式进行操作。
端部执行器550联接到轴组件560，所述轴组件包括端部执行器驱动外壳608、端部执行器连接器管610、中间关节运动管段616、和远侧外管部分642。端部执行器550和轴组件560一起构成外科工具600。端部执行器550可利用本文例如结合图106-115所述的机构来可移除地联接到端部执行器驱动外壳608。端部执行器连接器管610包括圆柱形部分612和球构件614。端部执行器驱动外壳608通过头部旋转接头645来联接到端部执行器连接器管610的圆柱形部分612。端部执行器550和端部执行器驱动外壳608一起构成外科工具600的头部部分556。外科工具600的头部部分556可围绕头部旋转接头645独立地旋转，如将在下文更详细地所述。
中间关节运动管段616包括球构件618和球承窝619。端部执行器连接器管610通过球窝接头联接到中间关节运动管段616，所述球窝接头通过端部执行器连接器管610的球构件614与中间关节运动管段616的球承窝619的相互接合而形成。中间关节运动管段616通过球窝接头联接到远侧外管部分642，所述球窝接头通过中间关节运动管段616的球构件618与远侧外管部分642的球承窝的相互接合而形成。关节运动接头640包括端部执行器连接器管610、中间关节运动管段616、和远侧外管部分642。可例如利用可独立致动的缆线段(例如，上文所述的连接到端部执行器连接器管610的球构件614的444、445、446、447)来致动外科工具600围绕关节运动接头640的独立竖直关节运动和/或水平关节运动。这种独立关节运动功能例如结合图24、24A和25进行描述。允许临床医生启动关节运动功能的机器人和手持式设备例如结合图6、16-21和46-50进行描述。
第一钳口构件602A相对于第二钳口构件602B在打开位置(图64、66-69和71)和闭合位置(图70和72)之间的运动可由合适的闭合致动机构来致动。参见图73和74，可通过I型横梁构件620的平移来致动钳口组件555的闭合。I型横梁构件620包括第一I型横梁凸缘622A和第二I型横梁凸缘622B。第一I型横梁凸缘622A和第二I型横梁凸缘622B与中间部分624连接。I型横梁构件620的中间部分624包括切割构件625，当钳口组件555处于闭合位置时，所述切割构件能够横断夹持在第一钳口构件602A和第二钳口构件602B之间的组织。I型横梁构件620能够在第一钳口构件602A中的第一通道601A内和第二钳口构件602B中的第二通道601B内平移。第一通道601A包括第一通道凸缘605A，并且第二通道601B包括第二通道凸缘605B。第一I型横梁凸缘622A可限定第一凸轮表面626A，并且第二I型横梁凸缘622B可限定第二凸轮表面626B。第一和第二凸轮表面626A和626B可分别滑动地接合第一和第二通道凸缘605A和605B的面向外的相对表面。更具体地讲，第一凸轮表面626A可包括能够滑动地接合第一钳口构件602A的第一通道凸缘605A的相对表面的合适轮廓，类似地，第二凸轮表面626B可包括能够滑动地接合第二钳口构件602B的第二通道凸缘605B的相对表面的合适轮廓，使得当I型横梁构件620朝远侧推进时，凸轮表面626A和626B可配合以使第一钳口构件602A朝第二钳口构件602B进行凸轮运动并使钳口组件555从打开位置运动到闭合位置，如图74中的箭头629所示。
图73示出了处于完全近侧位置的I型横梁构件620和处于打开位置的钳口组件555。在图73所示的位置中，第一凸轮表面626A正接合弓形砧座表面628的近侧部分，从而将第一钳口构件602A相对于第二钳口构件602B(图69和71)机械地保持成打开状态。I型横梁构件620沿纵向方向(图64和66-74中的标记为方向L)朝远侧的平移导致第一凸轮表面626A与弓形砧座表面628的一定长度滑动接合，由此使得第一钳口构件602A朝第二钳口构件602B进行凸轮运动，直至第一凸轮表面626A接合弓形砧座表面628的远侧部分。在I型横梁构件620朝远侧平移预定距离后，第一凸轮表面626A接合弓形砧座表面628的远侧部分，并且钳口组件处于闭合位置(图74)。然后，I型横梁构件620可进一步朝远侧平移，以便在第一钳口构件602A和第二钳口构件602B处于闭合位置时横断夹持在第一钳口构件602A和第二钳口构件602B之间的组织。
在I型横梁构件620在钳口组件闭合之后的远侧平移期间，第一和第二I型横梁凸缘622A和622B的第一和第二凸轮表面626A和626B分别滑动地接合第一和第二通道凸缘605A和605B的相对表面。这样，I型横梁构件朝远侧推进穿过第一钳口构件和第二钳口构件602A和602B的第一和第二通道601A和601B。
I型横梁构件620的远端或前端包括切割构件625，所述切割构件可为锋利的边缘或刀片，所述锋利的边缘或刀片能够在I型横梁构件的远侧平移行程期间切穿所夹持的组织，从而横断组织。图72和70示出了远侧平移行程之后的处于完全远侧位置的I型横梁构件620。在远侧平移行程之后，I型横梁构件620可朝近侧回缩回到图74所示的纵向位置，其中钳口组件保持闭合，从而夹持第一钳口构件602A和第二钳口构件602B之间的任何横断的组织。I型横梁构件朝完全近侧位置(图69、71和73)的进一步回缩将导致第一凸轮表面626A与砧座表面628的近侧部分接合，这使第一钳口构件602A远离第二钳口构件602B进行凸轮运动，由此打开钳口组件555。
在I型横梁构件620推进穿过夹持在第一钳口构件602A和第二钳口构件602B之间的组织之前、期间和/或之后，可将电流提供到位于第一和/或第二钳口构件602A和602B中的电极，以便焊接/熔合组织，如本说明书更详细地描述。例如，电极可能够在第一钳口构件602A和第二钳口构件602B处于闭合位置时将RF能量递送到夹持在第一钳口构件602A和第二钳口构件602B之间的组织，以焊接/熔合组织。
I型横梁构件620在近侧回缩位置(图64、66-69、71和73)、中间位置(图74)、和远侧推进位置(图70和72)之间的远侧和近侧平移可利用合适的平移致动机构来实现。参见图65-72，I型横梁构件620连接到螺纹旋转驱动构件604。螺纹旋转驱动螺母606螺纹接合到螺纹旋转驱动构件604上。螺纹旋转驱动螺母606安置在第二钳口构件602B的近侧部分603中。螺纹旋转驱动螺母606沿任何方向的平移被机械地约束，但螺纹旋转驱动螺母606可在第二钳口构件602B的近侧部分603内旋转。因此，鉴于旋转驱动螺母606和螺纹旋转驱动构件604的螺纹接合，旋转驱动螺母606的旋转运动被转换成螺纹旋转驱动构件604沿纵向方向的平移运动，并且继而转换成I型横梁构件620沿纵向方向的平移运动。
螺纹旋转驱动构件604穿过旋转驱动螺母606并定位在旋转驱动轴630的内腔内。螺纹旋转驱动构件604未附接或连接到旋转驱动轴630。螺纹旋转驱动构件604可在旋转驱动轴630的内腔中自由地运动并且当由旋转驱动螺母606的旋转驱动时将在旋转驱动轴630的内腔内平移。包括位于旋转驱动轴630的内腔内的螺纹旋转驱动构件604的旋转驱动轴630形成位于轴组件560的内腔内的同心旋转驱动轴/螺杆组件。
如图65所示，一起构成轴组件560的端部执行器驱动外壳608、端部执行器连接器管610和中间关节运动管段616具有开放内腔，因此轴组件具有内腔，如图66-68所示。再次参见图66-68，同心旋转驱动轴/螺纹旋转驱动构件组件位于轴组件560的内腔内并穿过端部执行器驱动外壳608、端部执行器连接器管610、和中间关节运动管段616。尽管未示于图66-68中，但至少旋转驱动轴630穿过远侧外管部分642的内腔并且可操作地联接到驱动机构，所述驱动机构向旋转驱动轴630提供旋转和轴向平移运动。例如，在一些实施例中，外科工具600可通过轴组件560可操作地联接到机器人外科系统(例如，结合图5和16-21所述的机器人外科系统)，所述机器人外科系统向旋转驱动轴630提供旋转运动和轴向平移运动。例如，旋转驱动轴630通过轴组件560可操作地联接到上文所述的近侧驱动轴段380。另外，在一些实施例中，外科工具600可结合手持式外科装置(诸如，上文结合图46-63所述的装置)来使用。例如，旋转驱动轴630可通过轴组件560可操作地联接到上文所述的近侧驱动轴段380'。
旋转驱动轴630包括旋转驱动头632。旋转驱动头632包括位于旋转驱动头632的远侧的凹型六角联接部分634，并且旋转驱动头632包括位于旋转驱动头632的近侧的凸型六角联接部分636。旋转驱动头632的远侧凹型六角联接部分634能够与位于旋转驱动螺母606的近侧的旋转驱动螺母606的凸型六角联接部分607机械地接合。旋转驱动头632的近侧凸型六角联接部分636能够与端部执行器驱动外壳608的凹型六角轴联接部分609机械地接合。
参见图66、67、69和70，旋转驱动轴630被示为处于完全远侧轴向位置，其中旋转驱动头632的凹型六角联接部分634与旋转驱动螺母606的凸型六角联接部分607机械地接合。在此构型中，旋转驱动轴630的旋转致动旋转驱动螺母606的旋转，继而致动螺纹旋转驱动构件604的平移，由此致动I型横梁构件620的平移。螺纹旋转驱动构件604和旋转驱动螺母606的螺纹取向可被确定，使得旋转驱动轴630的顺指针或逆时针旋转将致动螺纹旋转驱动构件604和I型横梁构件620的远侧或近侧平移。这样，旋转驱动轴630的旋转的方向、速度和持续时间可为受控的，以便控制I型横梁构件620的纵向平移的方向、速度和量值，并且因此控制钳口组件的闭合和打开、以及I型横梁构件沿第一和第二通道601A和601B的横断行程，如上所述。
参见图69，例如，旋转驱动轴630沿顺时针方向(如从近侧至远侧有利位置观察)的旋转致动旋转驱动螺母606的顺时针旋转，继而致动螺纹旋转驱动构件604的远侧平移，继而致动I型横梁构件620的远侧平移，由此致动钳口组件的闭合和I型横梁构件620/切割构件625的远侧横断行程。参见图70，例如，旋转驱动轴630沿逆时针方向(如从近侧至远侧有利位置观察)的旋转致动旋转驱动螺母606的逆时针旋转，继而致动螺纹旋转驱动构件604的近侧平移，继而致动I型横梁构件620的近侧平移，由此致动I型横梁构件620/切割构件625的近侧返回行程和钳口组件的打开。这样，旋转驱动轴630可用于独立地致动钳口组件的打开和闭合、以及I型横梁620/切割构件625的近侧-远侧横断行程。
参见图68、71和72，旋转驱动轴630被示为处于完全近侧轴向位置，其中旋转驱动头632的凸型六角联接部分636与端部执行器驱动外壳608的凹型六角轴联接部分609机械地接合。在此构型中，旋转驱动轴630的旋转致动外科工具600的头部部分556围绕旋转接头645的旋转，包括端部执行器550和端部执行器驱动外壳608的旋转。在此构型中，外科工具600的位于头部旋转接头645远侧的部分(即，外科工具600的头部部分556，包括端部执行器550和端部执行器驱动外壳608)随着旋转驱动轴630的旋转而旋转，并且外科工具的位于头部旋转接头645近侧的部分(例如，端部执行器连接器管610、中间关节运动管段616和远侧外管部分642)不随着旋转驱动轴630的旋转而旋转。应当理解，旋转驱动轴630用以驱动旋转驱动螺母606的所需旋转速度可大于用于使头部部分556旋转的所需旋转速度。例如，旋转驱动轴630可由能够以不同旋转速度操作的马达(未示出)驱动。
参见图71，例如，旋转驱动轴630沿顺时针方向(如从近侧至远侧有利位置观察)的旋转致动端部执行器550和端部执行器驱动外壳608(即，外科工具600的头部部分556)的顺时针旋转，其中钳口组件555处于打开位置。旋转驱动轴630沿逆时针方向(如从近侧至远侧有利位置观察)的旋转致动端部执行器550和端部执行器驱动外壳608的逆时针旋转，其中钳口组件555处于打开位置。参见图72，例如，旋转驱动轴630沿顺时针方向(如从近侧至远侧有利位置观察)的旋转致动端部执行器550和端部执行器驱动外壳608的顺时针旋转，其中钳口组件555处于闭合位置。旋转驱动轴630沿逆时针方向(如从近侧至远侧有利位置观察)的旋转致动端部执行器550和端部执行器驱动外壳608的逆时针旋转，其中钳口组件555处于闭合位置。尽管未示出，但应当理解，当旋转驱动轴630处于完全近侧轴向位置并且旋转驱动头632的凸型六角联接部分636与端部执行器驱动外壳608的凹型六角轴联接部分609机械地接合以致动外科工具的头部部分的旋转时，I型横梁构件620可位于中间位置，其中钳口组件闭合但I型横梁未完全朝远侧推进(参见例如图74)。
因此，旋转驱动轴630可用于独立地致动钳口组件的打开和闭合、I型横梁620/切割构件625的近侧-远侧横断行程、以及外科工具600d的头部部分556的旋转。
在各种实施例中，外科工具可包括端部执行器、第一致动机构和第二致动机构。外科工具还可包括离合构件，所述离合构件能够选择性地接合第一致动机构或第二致动机构中的任一者并且将旋转运动传输到第一致动机构或第二致动机构中的任一者。例如，在各种实施例中，离合构件可包括旋转驱动轴，所述旋转驱动轴包括例如结合图64-72所述的旋转驱动头。在各种实施例中，第一致动机构可包括I型横梁构件，所述I型横梁构件连接到穿过如例如结合图64-74所述的旋转驱动螺母的螺纹旋转驱动构件螺纹，其中I型横梁、螺纹旋转驱动构件、以及旋转驱动螺母能够致动钳口组件的闭合和打开和/或切割构件的平移。在各种实施例中，第二致动机构可包括如例如结合图64-72所述的轴联接部分，其中轴联接部分能够致动外科工具的头部部分的旋转
在各种实施例中，外科工具可包括端部执行器，所述端部执行器包括第一钳口构件、第二钳口构件和第一致动机构，所述第一致动机构能够使第一钳口构件相对于第二钳口构件在打开位置和闭合位置之间运动。外科工具还可包括位于外科端部执行器近侧的轴组件。外科工具还可包括旋转驱动轴。旋转驱动轴能够传输旋转运动，并且还可相对于轴组件在第一位置和第二位置之间选择性地运动。旋转驱动轴能够在处于第一位置时接合第一致动机构并将旋转运动选择性地传输到第一致动机构，并且旋转驱动轴还能够在处于第二位置时从致动机构脱离。例如，在各种实施例中，第一致动机构可包括I型横梁构件，所述I型横梁构件连接到穿过如例如结合图64-74所述的旋转驱动螺母的螺纹旋转驱动构件螺纹，其中当旋转驱动轴接合驱动螺母并将旋转运动选择性地传输到驱动螺母时，I型横梁、螺纹旋转驱动构件、以及旋转驱动螺母能够致动钳口组件的闭合和打开。
在各种实施例中，外科工具可包括外科端部执行器，所述外科端部执行器包括第一钳口构件、第二钳口构件和闭合机构，所述闭合机构能够使第一钳口构件相对于第二钳口构件在打开位置和闭合位置之间运动。外科工具还可包括位于外科端部执行器近侧的轴组件，其中外科端部执行器能够相对于轴组件旋转。外科工具还可包括能够传输旋转运动的旋转驱动轴，所述旋转驱动轴可相对于轴组件在第一位置和第二位置之间选择性地轴向运动，其中所述旋转驱动轴能够在处于第一轴向位置时将旋转运动施加到闭合机构，并且其中所述旋转驱动轴能够在处于第二轴向位置时将旋转运动施加到外科端部执行器。例如，在各种实施例中，第一轴向位置可对应于正处于完全远侧轴向位置的旋转驱动轴，其中旋转驱动头与如例如结合图64-72所述的旋转驱动螺母机械地接合。在各种实施例中，第二轴向位置可对应于正处于完全近侧轴向位置的旋转驱动轴，其中旋转驱动头与如例如结合图64-72所述的轴构件的轴联接部分机械地接合。
在各种实施例中，包括端部执行器、第一致动机构和第二致动机构的外科工具还可包括头部锁定机构。例如，参见图75-82，多轴线关节运动和旋转外科工具650包括端部执行器570、轴组件580、和头部锁定机构590。端部执行器570包括第一钳口构件652A和第二钳口构件652B。第一钳口构件602A可相对于第二钳口构件602B在打开位置(图77和79)和闭合位置(图78和80)之间运动以夹持第一钳口构件652A和第二钳口构件652B之间的组织。外科工具650能够围绕关节运动接头在竖直方向和水平方向上独立地进行关节运动，类似于图64-72所示的外科工具600。外科工具650还能够围绕头部旋转接头独立地旋转，类似于图64-72所示的外科工具600。端部执行器570包括I型横梁构件670和钳口组件575，所述钳口组件包括第一钳口构件652A、第二钳口构件652B、第二钳口构件652B的近侧部分653、以及安置在近侧部分653中的旋转驱动螺母656。
端部执行器570联接到轴组件580，所述轴组件包括端部执行器驱动外壳658、端部执行器连接器管660、中间关节运动管段666、和外科工具轴构件(未示出)。端部执行器570和轴组件580一起构成外科工具650。端部执行器570可利用如例如结合图106-115所述的机构可移除地联接到端部执行器驱动外壳658。端部执行器驱动外壳608通过头部旋转接头联接到端部执行器连接器管660。端部执行器570和端部执行器驱动外壳658一起构成外科工具650的头部部分578。外科工具650的头部部分578为可围绕头部旋转接头独立地旋转，如上文结合示出外科工具600的图64-72更详细地描述。
端部执行器连接器管660通过球窝接头联接到中间关节运动管段666，所述球窝接头通过端部执行器连接器管660的球构件与中间关节运动管段666的球承窝的相互接合而形成。中间关节运动管段666通过球窝接头联接到外科工具轴构件，所述球窝接头通过中间关节运动管段616的球构件与外科工具轴构件的球承窝的相互接合而形成。关节运动接头包括端部执行器连接器管660、中间关节运动管段666、和外科工具轴构件。可例如利用连接到端部执行器连接器管660的球构件的可独立致动的驱动缆线来致动外科工具650围绕关节运动接头的独立竖直关节运动和/或水平关节运动。这种独立关节运动功能例如结合图24-25进行描述。允许临床医生启动关节运动功能的机器人和手持式设备例如结合图6、16-21和46-50进行描述。
利用上文结合图73和74描述的相同致动机构来致动第一钳口构件652A相对于第二钳口构件652B的运动。I型横梁构件670在近侧回缩位置(图77和79)、中间位置(参见图74)、和远侧推进位置(图78和80)的远侧和近侧平移可利用合适的平移致动机构来实现。参见图75-80，I型横梁构件670连接到螺纹旋转驱动构件654。螺纹旋转驱动螺母656螺纹接合到螺纹旋转驱动构件654上。螺纹旋转驱动螺母656安置在第二钳口构件652B的近侧部分653中。螺纹旋转驱动螺母656沿任何方向的平移被机械地约束，但可在第二钳口构件652B的近侧部分653内旋转。因此，鉴于旋转驱动螺母656和螺纹旋转驱动构件654的螺纹接合，旋转驱动螺母656的旋转运动被转换成螺纹旋转驱动构件654沿纵向方向的平移运动，并且继而转换成I型横梁构件670沿纵向方向的平移运动。
螺纹旋转驱动构件654穿过旋转驱动螺母656并定位在旋转驱动轴680的内腔内。螺纹旋转驱动构件654未附接或连接到旋转驱动轴680。螺纹旋转驱动构件654可在旋转驱动轴680的内腔内自由地运动并且当由旋转驱动螺母656的旋转驱动时将在旋转驱动轴680的内腔内平移。包括位于旋转驱动轴680的内腔内的螺纹旋转驱动构件654的旋转驱动轴680形成位于轴组件580的内腔内的同心旋转驱动轴/螺杆组件。
参见图77-80，同心旋转驱动轴/螺杆组件位于轴组件560的内腔内并穿过端部执行器驱动外壳658、端部执行器连接器管660、和中间关节运动管段666。尽管未示于图77-80中，但至少旋转驱动轴680穿过外科工具轴构件的内腔并且可操作地联接到驱动机构，所述驱动机构向旋转驱动轴680提供旋转和轴向平移运动。例如，在一些实施例中，外科工具650可通过轴组件580可操作地联接到机器人外科系统(例如，结合图5和16-21所述的机器人外科系统)，所述机器人外科系统向旋转驱动轴680提供旋转运动和轴向平移运动。例如，在一些实施例中，外科工具650可通过轴组件580可操作地联接到手持式外科装置(例如结合图46和63所述的手持式外科装置)，所述手持式外科装置向旋转驱动轴680提供旋转运动和轴向平移运动。在一些实施例中，螺纹旋转驱动构件654具有小于旋转驱动轴680的长度的长度，并且因此位于旋转驱动轴680的仅远侧部分内。
螺纹旋转驱动构件654和旋转驱动轴680为柔性的，使得螺纹旋转驱动构件654和旋转驱动轴680的位于关节运动接头中的部分可在外科工具650围绕关节运动接头独立地进行关节运动期间弯曲，而不损害或损失可操作性。旋转驱动轴680的示例构型参考图28-45提供于本文中。
旋转驱动轴680包括旋转驱动头682。旋转驱动头682包括位于旋转驱动头682的远侧的凹型六角联接部分684，并且旋转驱动头682包括位于旋转驱动头682的近侧的凸型六角联接部分686。旋转驱动头682的远侧凹型六角联接部分684能够与位于旋转驱动螺母656的近侧的旋转驱动螺母656的凸型六角联接部分657机械地接合。旋转驱动头682的近侧凸型六角联接部分686能够与端部执行器驱动外壳658的凹型六角轴联接部分659机械地接合。
参见图77和78，旋转驱动轴680被示为处于完全远侧轴向位置，其中旋转驱动头682的凹型六角联接部分657与旋转驱动螺母656的凸型六角联接部分684机械地接合。在此构型中，旋转驱动轴680的旋转致动旋转驱动螺母656的旋转，继而致动螺纹旋转驱动构件654的平移，由此致动I型横梁构件670的平移。参见图79和80，旋转驱动轴680被示为处于完全近侧轴向位置，其中旋转驱动头682的凸型六角联接部分686与端部执行器驱动外壳658的凹型六角轴联接部分659机械地接合。在此构型中，旋转驱动轴680的旋转致动外科工具650的头部部分578围绕旋转接头的旋转，包括端部执行器570和端部执行器驱动外壳658的旋转。
旋转驱动轴680还包括花键锁690。花键锁690利用轴凸缘685联接到旋转驱动轴680。花键锁690沿任何方向的平移被旋转驱动轴680和轴凸缘685机械地约束，但可花键锁690可围绕旋转驱动轴680自由地旋转。花键锁690包括围绕花键锁690的外表面周向设置并被取向成与轴组件580共轴的花键构件692。如图75和76所示，花键锁690位于旋转接头处，所述旋转接头通过端部执行器驱动外壳658和端部执行器连接器管660的联接而形成。端部执行器驱动外壳658包括花键联接部分694，所述花键联接部分包括围绕端部执行器驱动外壳658的内表面周向设置并被取向成与轴组件580共轴的花键构件696。端部执行器连接器管660包括花键联接部分662，所述花键联接部分包括围绕端部执行器连接器管660的内表面周向设置并取向成与轴组件580共轴的花键构件664。
当旋转驱动轴680处于完全远侧轴向位置(其中旋转驱动头682的凹型六角联接部分684与旋转驱动螺母656的凸型六角联接部分657机械地接合以驱动旋转驱动螺母656的旋转以及螺纹旋转驱动构件654和I型横梁构件670的平移(图77、78、和82))时，花键锁690、端部执行器驱动外壳658、和端部执行器连接器管660的花键构件692、696和664分别能够彼此机械地接合。相应花键构件692、696和664的机械接合利用端部执行器连接器管660来将端部执行器驱动外壳658锁定就位，从而锁定旋转接头并阻止外科工具650的头部部分578的旋转。因为花键锁690可围绕旋转驱动轴680自由地旋转，所以相应花键构件692、696和664的机械接合并不阻止旋转驱动轴680致动旋转驱动螺母656、螺纹旋转驱动构件654、和I型横梁构件670。
当旋转驱动轴680处于完全近侧轴向位置(其中旋转驱动头682的凸型六角联接部分686与端部执行器驱动外壳658的凹型六角轴联接部分659机械地接合以驱动外科工具650的头部部分578旋转)时，花键锁690完全回缩到端部执行器连接器管660的内腔中并且花键锁690从端部执行器驱动外壳658的花键联接部分694完全脱离。(图79、80、和81)。在此构型中，花键锁690的花键构件692与端部执行器连接器管660的花键构件664完全接合，并且花键锁690的花键构件692与端部执行器驱动外壳658的花键构件696完全脱离。当旋转驱动轴680处于完全近侧轴向位置时，花键锁690的花键构件692与端部执行器驱动外壳658的花键构件696的机械脱离使端部执行器驱动外壳658从端部执行器连接器管660解锁，从而解锁旋转接头并允许外科工具650的头部部分578的旋转。因为花键锁690可围绕旋转驱动轴680自由地旋转，所以花键锁690的花键构件692与端部执行器连接器管660的花键构件664的机械接合不阻止旋转驱动轴680致动外科工具650的头部部分578的旋转。
当旋转驱动轴680处于接合旋转驱动螺母656的完全远侧轴向位置以驱动钳口闭合机构和/或I型横梁平移机构的致动时，头部锁定机构590确保外科工具650的头部部分578不旋转，如上所述(图77、78、和82))时，花键锁690、端部执行器驱动外壳658、和端部执行器连接器管660的花键构件692、696和664分别能够彼此机械地接合。当旋转驱动轴680处于接合端部执行器驱动外壳658的轴联接部分659的完全近侧轴向位置以驱动头部旋转时，头部锁定机构590确保外科工具650的头部部分578可自由旋转，如上所述(图79、80、和81)。
参见图77和78，例如，旋转驱动轴680的旋转致动旋转驱动螺母656的旋转，继而致动螺纹旋转驱动构件654(取决于旋转驱动轴680的旋转运动的方向)的远侧或近侧平移，继而致动I型横梁构件670的远侧或近侧平移，继而致动钳口组件575的闭合和打开以及I型横梁构件670/切割构件675的远侧和近侧横断行程。同时，花键锁690接合端部执行器驱动外壳658和端部执行器连接器管660两者以阻止非预期的头部旋转。
参见图79和80，例如，旋转驱动轴680的旋转致动端部执行器驱动外壳658的旋转，继而致动端部执行器570的旋转。同时，花键锁690与端部执行器驱动外壳658脱离并且不阻止头部旋转。因此，旋转驱动轴680可用于独立地致动钳口组件575的打开和闭合，I型横梁670/切割构件675的近侧-远侧横断行程，以及外科工具650的头部部分578的旋转。
在各种实施例中，端部执行器(诸如，图64-82中所示的端部执行器550和570)可包括第一钳口构件和第二钳口构件，所述第一钳口构件和第二钳口构件分别包括第一远侧纹理化部分和第二远侧纹理化部分。端部执行器的第一钳口构件和第二钳口构件的第一远侧纹理化部分和第二远侧纹理化部分可为相对的，并可允许端部执行器除了在切开操作期间夹持组织之外来夹持、传送和/或操纵外科工具，诸如用于缝合组织的针。在一些实施例中，远侧纹理化部分还可为电极，所述电极例如能够在切开操作期间将RF能量递送到组织。这种夹持、传送、操纵和/或切开功能例如结合图153-168进行描述。
在各种实施例中，端部执行器(诸如，图64-82中所示的端部执行器550和570)可包括第一钳口构件和第二钳口构件，所述第一钳口构件和第二钳口构件包括设置在第一钳口构件和第二钳口构件的面向外的表面上的第一夹持部分和第二夹持部分。端部执行器的第一钳口构件和第二钳口构件的第一夹持部分和第二夹持部分可有助于辅助组织切开，如例如结合图116-131所述。
在各种实施例中，端部执行器(诸如，图64-82所示的端部执行器550和570)可包括设置在至少一个钳口构件的至少一个组织接触表面上的至少一个电极。电极能够例如在钳口构件处于闭合位置时将RF能量递送到夹持在钳口构件之间的组织以焊接/熔合组织，所述组织在一些实施例中也可通过平移包括切割构件的I型横梁构件来进行横断。在一些实施例中，第二钳口构件还可包括位于钳口构件的远侧末端的偏置电极，所述电极能够例如在切开操作期间将RF能量递送到组织。这种电极功能例如结合153-168进行描述。
在各种实施例中，端部执行器(诸如，图64-82中所示的端部执行器550和570)可包括钳口构件，所述钳口构件包括结合图132-142所述的成角度的组织接触表面。
参见图83-91，多轴线关节运动和旋转外科工具1200包括端部执行器1202，所述端部执行器包括钳口组件1211，所述钳口组件包括第一钳口构件1204和第二钳口构件1206。第一钳口构件1204可相对于第二钳口构件1206在打开位置和闭合位置之间运动，以夹持第一钳口构件1204和第二钳口构件1206之间组织。外科工具1200能够围绕关节运动接头1208独立地进行关节运动。如上所述，外科工具1200还能够围绕头部旋转接头1210独立地进行关节运动。主要参见图83，端部执行器1202还包括近侧轴部分1212。
端部执行器1202联接到轴组件1214，所述轴组件包括端部执行器驱动外壳1216、端部执行器连接器管1218、中间关节运动管段1220、和远侧外管部分(图83-91中未示出)。端部执行器1202和轴组件1214可一起构成外科工具1200。端部执行器1202可利用如例如结合图106-115所述的机构可运动地联接到端部执行器驱动外壳1216。端部执行器连接器管1218包括圆柱形部分1222和球部分1224。端部执行器驱动外壳1216通过头部旋转接头1210联接到端部执行器连接器管1218的圆柱形部分1222。端部执行器1202和端部执行器驱动外壳1216一起构成外科工具1200的头部部分。外科工具1200的头部部分可围绕头部旋转接头1210独立地旋转。
主要参见图85-87，外科工具1200可包括用于使第一钳口构件1204相对于第二钳口构件1206在打开位置(图86)和闭合位置(图87)之间运动的闭合机构1226。如图83所示，第一钳口构件1204可包括第一安装孔1228，并且第二钳口构件1206可包括第二安装孔(图83-91中未示出)。第一钳口构件1204可相对于第二钳口构件1206进行布置，使得枢轴或耳轴销(图83-91中未示出)延伸穿过第一钳口构件1204的第一安装孔1228和第二钳口构件1206的第二安装孔，以将第一钳口构件1204枢转地联接到第二钳口构件1206。用于联接第一钳口构件1204和第二钳口构件1206的其他合适装置在本公开的范围内。
参见图83-91，闭合机构1226可包括连杆布置，所述连杆布置可包括第一连接件1230和第二连接件(图83-91中未示出)。闭合机构1226还可包括例如呈闭合螺母1232形式的闭合驱动器。闭合螺母1232(图84)可至少部分地定位在端部执行器驱动外壳1216内。在使用中，闭合螺母1232可相对于端部执行器驱动外壳1216在第一位置(图86)和第二位置(图87)之间轴向平移并且可包括第一臂1234和第二臂1236。主要参见图84，第一臂1234和第二臂1236可从闭合螺母1232的远侧部分1238朝远侧延伸，其中第一臂1234可包括第一开口1240，并且第一臂1234可通过第一开口1240经由第一销1242枢转地连接到第一连接件1230。相似地，第二臂1236可包括第二开口1244，其中第二臂1236可通过第二开口1244经由第二销(图83-91中未示出)枢转地连接到第二连接件。第一连接件1230和第二连接件(图83-91中未示出)还可枢转地连接到第一钳口构件1204，使得当闭合螺母1232从第一位置(图86)朝远侧推进到第二位置(图87)时，第一钳口构件1204相对于第二钳口构件1206朝闭合位置枢转。相应地，当闭合螺母1232从第二位置(图89)朝近侧回缩到第一位置(图91)时，第一钳口构件1204相对于第二钳口构件1206朝打开位置枢转。图85示出了处于第一位置的闭合螺母1232和处于打开位置的钳口组件1211。图87示出了处于第二位置的闭合螺母1232和处于闭合位置的钳口组件1211。然而，闭合螺母1232可通过例如紧靠端部执行器驱动外壳11316的标引特征进行约束而不能相对于端部执行器驱动外壳1316旋转。
参见图83-91，外科工具1200可包括具有合适击发驱动器的击发机构1246。击发机构1246可包括I型横梁构件1247、螺纹驱动构件1248、和螺纹旋转驱动螺母1250。I型横梁构件1247可包括第一I型横梁凸缘1252和第二I型横梁凸缘1254。I型横梁构件1247可按照类似于上文相对于可轴向运动的构件3016(描述于上文中)描述的方式来进行操作。例如，第一I型横梁凸缘1252和第二I型横梁凸缘1254与中间部分1256连接。I型横梁构件1247的中间部分1256可包括位于其远端或前端上的切割构件1258。I型横梁构件1247能够在第一钳口构件1204中的第一通道1260内和第二钳口构件1206中的第二通道1262内平移。图84示出了处于完全近侧位置的I型横梁构件1247和处于打开位置的钳口组件1211。I型横梁构件1247可朝远侧进行平移以便在第一钳口构件1204和第二钳口构件1206处于闭合位置时使切割构件1258横断夹持在第一钳口构件1204和第二钳口构件1206之间的组织。切割构件1258(可包括例如锋利边缘或刀片)能够在I型横梁构件1247的远侧平移(击发)行程期间切穿所夹持的组织，从而横断组织。图88示出了击发行程之后的处于完全远侧位置的I型横梁构件1247。
在I型横梁构件1247推进穿过夹持在第一钳口构件1204和第二钳口构件1206之间的组织之前、期间和/或之后，可将电流提供到位于第一钳口构件1204和/或第二钳口构件1206中的电极，以便焊接/熔合组织，如本说明书更详细地描述。例如，电极能够在第一钳口构件1204和第二钳口构件1206处于闭合位置时将RF能量递送到夹持在第一钳口构件1204和第二钳口构件1206之间的组织，以焊接/熔合组织。
I型横梁构件1247在近侧回缩位置和远侧推进位置之间的远侧和近侧平移可利用合适的击发机构1246来实现。参见图83-91，I型横梁构件1247连接到螺纹驱动构件1248，其中螺纹旋转驱动螺母1250与螺纹驱动构件1248螺纹接合。主要参见图83，螺纹旋转驱动螺母1250定位在端部执行器驱动外壳1216内，所述端部执行器驱动外壳在位于近侧环形凸缘1264和远侧环形凸缘1266之间的闭合螺母1232的近侧。螺纹旋转驱动螺母1250沿任何方向的平移被机械地约束，但可在端部执行器驱动外壳1216内围绕中心轴线A旋转。因此，鉴于旋转驱动螺母1250和螺纹驱动构件1248的螺纹接合，旋转驱动螺母1250的旋转运动被转换成螺纹驱动构件1248沿中心轴线A的平移运动，并且继而转换成I型横梁构件1247沿中心轴线A的平移运动。
螺纹驱动构件1248穿过旋转驱动螺母1250并且至少部分地定位在旋转驱动轴1270的内腔1268内。螺纹驱动构件1248未附接或连接到旋转驱动轴1270。在使用中，螺纹驱动构件1248可在旋转驱动轴1270的内腔内自由地运动并且当由旋转驱动螺母1250的旋转驱动时将在旋转驱动轴1270的内腔内平移。旋转驱动轴1270和螺纹驱动构件1248形成位于轴组件1214中的同心旋转驱动轴/螺杆组件。此外，螺纹驱动构件1248朝远侧延伸穿过闭合螺母1232的内腔1272。类似于上文所述，螺纹驱动构件1248可在闭合螺母1232的内腔1272内自由地运动，并且因此螺纹驱动构件1248在由旋转驱动螺母1250的旋转驱动时将在闭合螺母1232的内腔1272内平移。
参见图83-91，旋转驱动螺母1250可包括螺纹远侧部分1274。闭合螺母1232可包括螺纹近侧部分1276。旋转驱动螺母1250的螺纹远侧部分1274与闭合螺母1232的螺纹近侧部分1276处于螺纹接合。如上所述，螺纹旋转驱动螺母1250沿任何方向的平移被机械地约束，但可在端部执行器驱动外壳1216内围绕中心轴线A旋转。因此，鉴于旋转驱动螺母1250与闭合螺母1232的螺纹接合，旋转驱动螺母1250的旋转运动被转换成闭合螺母1232沿中心轴线A的平移运动，并且继而转换成钳口组件1211中的枢转运动。
如图83所示，一起构成轴组件1214的端部执行器驱动外壳1216、端部执行器连接器管1218和中间关节运动管段1220具有开放内腔，因此轴组件1214包括从其中纵向延伸穿过的内腔，如图83和85-91所示。再次参见图83和85-91，同心旋转驱动轴/螺纹驱动构件组件位于轴组件1214的内腔内，并且穿过端部执行器驱动外壳1216、端部执行器连接器管1218和中间关节运动管段1220。尽管未示于图83-91中，但至少旋转驱动轴1270穿过轴组件1214的内腔并且可操作地联接到驱动机构，所述驱动机构向旋转驱动轴1270提供旋转运动和轴向平移运动。例如，在一些实施例中，外科工具1200可通过轴组件1214可操作地联接到机器人外科系统(例如，结合图5和16-21所述的机器人外科系统)，所述机器人外科系统向旋转驱动轴1270提供旋转运动和轴向平移运动。例如，旋转驱动轴1270可通过轴组件联接到上文所述的近侧驱动轴段380。在一些实施例中，例如，外科工具1200可通过轴组件1214可操作地联接到手持式外科装置，诸如上文相对于图46-63所述的装置。例如，旋转驱动轴1270可通过轴组件560可操作地联接到上文所述的近侧驱动轴段380'。
在一些实施例中，螺纹驱动构件1248具有小于旋转驱动轴1270的长度的长度，并且因此位于例如旋转驱动轴1270的仅远侧部分内。螺纹驱动构件1248和旋转驱动轴1270可为柔性的，使得螺纹驱动构件1248和旋转驱动轴1270可在外科工具1200围绕关节运动接头1208的关节运动期间弯曲，而不损害或损失可操作性。
如本说明书在别处更详细地描述，旋转驱动轴1270可包括旋转驱动头1278。旋转驱动头1278包括位于旋转驱动头1278的远侧的凹型六角联接部分1280，并且旋转驱动头1278包括位于旋转驱动头1278的近侧的凸型六角联接部分1282。旋转驱动头1278的远侧凹型六角联接部分1280能够与位于旋转驱动螺母1250的近侧的旋转驱动螺母1250的凸型六角联接部分1284机械地接合。如在别处所述，旋转驱动头1278的近侧凸型六角联接部分1282能够与端部执行器驱动外壳1216的凹型六角联接部分1286机械地接合，以便围绕中心轴线A来旋转端部执行器1202。
参见图85，旋转驱动轴1270被示为处于完全轴向位置，其中旋转驱动头1278的六角联接部分1282与端部执行器驱动外壳1216的凹型六角轴联接部分机械地接合。在此构型中，旋转驱动轴1270的旋转导致外科工具1200的头部部分围绕头部旋转接头1210的旋转，包括端部执行器1202和端部执行器驱动外壳1216的旋转。在此构型中，外科工具1200的位于头部旋转接头1210远侧的部分(例如，头部部分)随着旋转驱动轴1270的旋转而旋转，并且外科工具1200的位于头部旋转接头1210近侧的部分不随旋转驱动轴1270的旋转而旋转。头部旋转接头1210的实例结合图64-82、83-91和92-96进行描述。用于使端部执行器1202相对于轴组件1214旋转的其他合适的技术和旋转装置在本公开的范围内。应当理解，用以驱动旋转驱动螺母1250的旋转驱动轴1270的所需旋转速度可大于用于使头部部分旋转的所需旋转速度。例如，旋转驱动轴1270可由能够以不同旋转速度操作的马达(未示出)来驱动。
螺纹驱动构件1248和旋转驱动螺母1250的螺纹取向可被确定，使得旋转驱动轴1270的顺指针旋转或逆时针旋转中的任一者将导致螺纹驱动构件1248和I型横梁构件1247的远侧或近侧平移。换句话讲，旋转驱动轴1270和旋转驱动螺母1250可沿第一方向进行旋转以朝远侧推进螺纹驱动构件1248，并且相对地，可沿相反的第二方向进行旋转以朝近侧回缩螺纹驱动构件1248。螺纹驱动构件1248的螺纹和旋转驱动螺母1250的螺纹的节距和/或头数可被选择以控制旋转驱动螺母1250的旋转的速度和/或持续时间，并且继而控制螺纹驱动构件1248的平移的速度和/或持续时间。这样，可控制旋转驱动轴1270的旋转的方向、速度和/或持续时间以便控制I型横梁构件1247沿第一通道1260和第二通道1262的平移的方向、速度和量值，如上所述。
类似于上文所述，旋转驱动螺母1250的螺纹远侧部分1274和闭合螺母1232的螺纹近侧部分1276的螺纹取向可被确定，使得旋转驱动轴1270的顺时针旋转或逆时针旋转中的任一者将导致闭合螺母1232的远侧或近侧平移，并且继而将导致钳口组件1211的闭合或打开。换句话讲，螺纹远侧部分1274可沿第一方向进行旋转以朝远侧推进螺纹近侧部分1276，并且相对地，可沿相反的第二方向进行旋转以朝近侧回缩螺纹近侧部分1276。螺纹驱动构件1248的螺纹远侧部分1274的螺纹和闭合螺母1232的螺纹近侧部分1276的螺纹的节距和/或头数可被选择以控制旋转驱动螺母1250的旋转的速度和/或持续时间以及闭合螺母1232的平移的速度和/或持续时间。这样，可控制旋转驱动轴1270的旋转的方向、速度和/或持续时间，以便控制钳口组件1211的枢转的方向、速度和量值。
参见图86-88，旋转驱动轴1270被示为处于完全延伸的远侧轴向位置，其中旋转驱动头1278的凹型六角联接部分1280与旋转驱动螺母1250的凸型六角联接部分1284机械地接合。在此构型中，旋转驱动轴1270沿第一方向(例如顺时针方向)围绕中心轴线A的旋转通过导致旋转驱动螺母1250沿第一方向旋转而开始击发行程。旋转驱动螺母的旋转推进螺纹驱动构件1248，这继而朝远侧推进I型横梁构件1247。同时，旋转驱动螺母1250的旋转朝远侧推进闭合螺母1232，由此使钳口组件1211闭合。闭合螺母1232和螺纹驱动构件1248朝远侧进行推进，直至闭合螺母1232从与旋转驱动螺母1250的螺纹接合脱离，如图88所示。换句话讲，闭合螺母1232可朝远侧进行推进，直至旋转驱动螺母1250的螺纹远侧部分1274的螺纹不再与闭合螺母1232的螺纹近侧部分1276的螺纹进行螺纹接合。因此，旋转驱动螺母1250沿第一方向的进一步旋转将不会朝远侧推进闭合螺母1232。闭合螺母1232在击发行程的剩余部分中将闲置。旋转驱动螺母1250沿相同方向的附加旋转使螺纹驱动构件1248的远侧推进继续，从而使I型横梁构件1247的远侧推进在击发行程的剩余部分中继续。
外科工具1200可包括例如至少部分地围绕旋转驱动螺母1250的螺纹远侧部分1274设置的偏置构件1288、螺旋弹簧和/或垫圈弹簧。如图86所示，偏置构件1288可包括紧靠端部执行器驱动外壳1216的远侧环形凸缘1266的近侧端部和紧靠闭合螺母1232的近侧端部1290的远侧端部。一旦闭合螺母1232从与旋转驱动螺母1250的螺纹接合释放，偏置构件1288就可通过沿远侧方向沿中心轴线A轴向地推动闭合螺母1232直至闭合螺母1232的远侧部分1238紧靠端部执行器1202的近侧轴部分1212的末端壁1294来保持闭合螺母1232不与旋转驱动螺母1250重新接合。偏置构件1288还确保当I型横梁构件1247朝远侧推进穿过闭合的钳口组件1211时，钳口组件1211通过偏置闭合螺母1232来保持处于正闭合压力下，所述闭合螺母紧靠端部执行器1202的近侧轴部分1212的末端壁1294。
主要参见图84，闭合螺母1232可包括从闭合螺母1232朝远侧延伸的凸轮构件1296。主要参见图87，当闭合螺母1232的远侧部分1238在来自偏置构件1288的正压力下紧靠端部执行器1202的近侧轴部分1212的末端壁1294时，凸轮构件1296可延伸穿过端部执行器1202的近侧轴部分1212的末端壁1294的开口1298。
参见图88，旋转驱动轴1270被示为处于完全延伸的远侧轴向位置，其中旋转驱动头1278的凹型六角联接部分1280与旋转驱动螺母1250的凸型六角联接部分1284机械地接合。在此构型中，旋转驱动轴1270沿与第一方向(例如逆时针方向)相反的第二方向的旋转通过导致旋转驱动螺母1250的相反旋转而开始反向行程，这使螺纹驱动构件1248回缩，继而回缩I型横梁构件1247。至少在反向行程的初始阶段期间，闭合螺母1232保持从旋转驱动螺母1250脱离。然而，当I型横梁构件1247正在回缩时，I型横梁构件1247可接合闭合螺母1232的凸轮构件1296。I型横梁构件1247的任何进一步回缩可通过将闭合螺母1232沿近侧方向沿中心轴线A朝旋转驱动螺母1250轴向地推动来同时地打开钳口组件1211。为了使I型横梁构件1247朝近侧推动闭合螺母1232，I型横梁构件1247必须压缩偏置构件1288。当I型横梁构件1247回缩时，I型横梁构件1247可朝近侧推动闭合螺母1232，直至闭合螺母返回到与旋转驱动螺母1250螺纹接合。此时，旋转驱动螺母1250可因两者间的螺纹接合而朝近侧牵拉闭合螺母1232。当闭合螺母1232朝近侧回缩时，第一连接件1230和第二连接件将导致钳口组件1211打开。I型横梁构件1247的回缩和钳口组件1211的打开在反向行程的剩余部分中同时继续。
导致钳口组件1211的闭合、I型横梁构件1247的完全延伸、I型横梁构件1247的完全回缩、和钳口组件1211的重新打开的事件序列按时间顺序示于图85-91中。图85示出了处于完全打开位置的钳口组件1211、处于完全回缩位置的I型横梁构件1247、和处于完全回缩轴向位置的旋转驱动轴1270，其中旋转驱动头1278的凹型六角联接部分1280从旋转驱动螺母1250的凸型六角联接部分1284机械地脱离。在第一操作阶段中，返回到图86，旋转驱动轴1270轴向地进行推进，以使旋转驱动头1278的凹型六角联接部分1280与旋转驱动螺母1250的凸型六角联接部分1284机械地接合。再次参见图86，旋转驱动轴1270沿第一方向(例如顺时针方向)围绕中心轴线A的旋转导致旋转驱动螺母1250沿第一方向的旋转。闭合螺母1232和螺纹驱动构件1248通过旋转驱动螺母1250沿第一方向的旋转来同时朝远侧推进。继而，钳口组件1211的闭合和I型横梁构件1247的初始推进在第一操作阶段期间同时发生。在第二操作阶段中，现在参见图87，闭合螺母1232从与旋转驱动螺母1250的螺纹接合脱离。在第二操作阶段的剩余部分中，旋转驱动螺母1250继续独立于闭合螺母1232来推进螺纹驱动构件1248。因此，主要参见图88，钳口组件1211保持闭合并且I型横梁构件1247继续推进直至第二操作阶段结束。
在第三操作阶段中，如图89所示，旋转驱动轴1270沿与第一方向相反的第二方向旋转，由此导致旋转驱动螺母1250沿第二方向的旋转。在第三操作阶段中，闭合螺母1232保持与旋转驱动螺母1250脱离。旋转驱动螺母1250的旋转独立于闭合螺母1232而回缩螺纹驱动构件1248。因此，钳口组件1211保持闭合，并且I型横梁构件1247响应于旋转驱动的旋转进行回缩。在第四操作阶段中，主要参见图90，旋转驱动螺母1250继续其沿第二方向的旋转，从而回缩螺纹驱动构件1248，由此回缩I型横梁构件1247，直至I型横梁构件1247接合闭合螺母1232的凸轮构件1296。I型横梁构件1247的任何进一步回缩通过将闭合螺母1232沿近侧方向沿中心轴线A轴向地朝压缩所述偏置构件1288的旋转驱动螺母1250的推动来同时地打开钳口组件1211。主要参见图91，I型横梁构件1247可继续朝近侧推动闭合螺母1232，直至其返回到与旋转驱动螺母1250螺纹接合。I型横梁构件1247的回缩和钳口组件1211的打开在第四操作阶段的剩余部分中同时继续。
参见图92-96，多轴线关节运动和旋转外科工具1300包括端部执行器1302，所述端部执行器包括钳口组件1311，所述钳口组件包括第一钳口构件1304和第二钳口构件1306。第一钳口构件1304可相对于第二钳口构件1306在打开位置和闭合位置之间运动，以夹持第一钳口构件1304和第二钳口构件1306之间的组织。外科工具1300能够围绕关节运动接头1308独立地进行关节运动。如上所述，外科工具1300还能够围绕头部旋转接头1310独立地进行关节运动。
端部执行器1302被联接到轴组件1314，所述轴组件包括端部执行器驱动外壳1316、端部执行器连接器管1318、中间关节运动管段1320以及远侧外管部分(图92-96中未示出)。端部执行器1302和轴组件1314可一起构成外科工具1300。端部执行器1302可利用如例如结合图106-115所述的机构可移除地联接到端部执行器驱动外壳1316。端部执行器连接器管1318包括圆柱形部分1322和球构件1324。端部执行器驱动外壳1316通过头部旋转接头1310联接到端部执行器连接器管1318的圆柱形部分1322。端部执行器1302和端部执行器驱动外壳1316一起构成外科工具1300的头部部分。外科工具1300的头部部分可围绕头部旋转接头1310独立地旋转。
主要参见图92，外科工具1300可包括用于使第一钳口构件1304相对于第二钳口构件1306在打开位置(图93)和闭合位置(图94)之间运动的闭合机构1326。如图83所示，第一钳口构件1304可包括第一安装孔1328，并且第二钳口构件1306可包括第二安装孔(图92-96中未示出)。第一钳口构件1304可相对于第二钳口构件1306进行布置，使得枢轴或耳轴销(图92-96中未示出)延伸穿过第一钳口构件1304的第一安装孔1328和第二钳口构件1306的第二安装孔，以将第一钳口构件1304枢转地联接到第二钳口构件1306。用于联接第一钳口构件1304和第二钳口构件1306的其他合适装置在本公开的范围内。
参见图92-96，闭合机构可包括闭合联接件1330，所述闭合联接件相对于端部执行器驱动外壳1316在第一位置和第二位置之间轴向平移。闭合联接件1330可包括远侧端部1332和近侧端部1334。远侧端部1332可枢转地连接到第一钳口构件1304的近侧部分1336，使得当闭合联接件1330在第一位置和第二位置之间平移时，第一钳口构件1304相对于第二钳口构件1306在打开和闭合位置之间进行运动。
参见图92-96，闭合机构1328还可包括呈例如筒形凸轮1338形式的闭合驱动器。筒形凸轮1338可定位在端部执行器驱动外壳1316内。筒形凸轮1338可通常包括具有穿过其中的内腔1340的大体圆柱形形状。筒形凸轮1338可包括限定在其周向表面中的第一弓形沟槽1346和第二弓形沟槽1348。第一弓形沟槽1346可接收从端部执行器驱动外壳1316延伸的第一销1350。第二弓形沟槽1348可接收从端部执行器驱动外壳1316延伸的第二销(图92-96中未示出)。第一销1350和第二销(图92-96中未示出)可从端部执行器驱动外壳1316的内壁的周向相对侧延伸。筒形凸轮1338可围绕中心轴线A旋转，其中当筒形凸轮1338围绕中心轴线A旋转时，第一销1350沿第一弓形沟槽1346行进，并且第二销沿第二弓形沟槽1348行进，从而使筒形凸轮1338沿中心轴线A轴向平移。结果是筒形凸轮1338的旋转运动被转换成闭合联接件1330的轴向运动。换句话讲，筒形凸轮1338沿第一方向(例如顺时针方向)围绕中心轴线A的旋转可导致筒形凸轮1338沿远侧方向轴向推进。相对地，筒形凸轮1338沿与第一方向相反的第二方向(例如逆时针方向)的旋转可导致筒形凸轮1338沿近侧方向沿中心轴线A轴向回缩。
参见图92-96，闭合联接件1330的近侧端部1334可与筒形凸轮1338可操作地接合，使得筒形凸轮1338的轴向推进可导致闭合联接件1330轴向推进并且继而闭合钳口组件1311。类似地，筒形凸轮1338的近侧回缩可回缩闭合联接件1330，由此可打开钳口组件1311。如图92-96所示，筒形凸轮1338可在其远侧部分处在筒形凸轮1338的外壁上包括周向凹陷部1354。闭合联接件1330的近侧端部可包括连接器构件1356。连接器构件1356可沿凹陷部1354与筒形凸轮1338可操作地接合。因此，筒形凸轮1338可通过连接器构件1356来将轴向运动平移到闭合联接件1330。
主要参见图92，外科工具1300可包括击发机构1358。击发机构1358可包括I型横梁构件1360、螺纹驱动构件1362、和螺纹旋转驱动螺母1364。I型横梁构件1360可按照类似于上文所述的可轴向运动的构件3016的方式来操作，并且可包括第一I型横梁凸缘1367和第二I型横梁凸缘1368。第一I型横梁凸缘1367和第二I型横梁凸缘1368与中间部分1370连接。I型横梁构件1360的中间部分1370可包括切割构件1372，所述切割构件可包括例如锋利边缘或刀片，以在钳口组件1311闭合时横断夹持在第一钳口构件1304和第二钳口构件1306之间的组织。在远侧平移(击发)行程期间，I型横梁构件1360可在限定于第一钳口构件1304中的第一通道(图92-96中未示出)和限定于第二钳口构件1306中的第二通道1376内平移以切穿所夹持的组织。图96示出了击发行程之后的I型横梁构件1360。
在I型横梁构件1360推进穿过夹持在第一钳口构件1304和第二钳口构件1306之间的组织之前、期间和/或之后，可将电流提供到位于第一钳口构件1304和/或第二钳口构件1306中的电极1378，以便焊接/熔合组织，如本说明书更详细地描述。例如，电极1378能够在第一钳口构件1304和第二钳口构件1306处于闭合位置时将RF能量递送到夹持在第一钳口构件1304和第二钳口构件1306之间的组织，以焊接/熔合组织。
I型横梁构件1360在近侧回缩位置和远侧推进位置之间的远侧和近侧平移可利用合适的击发机构1358来实现。参见图92-96，I型横梁构件1360连接到螺纹驱动构件1362，其中螺纹驱动构件与旋转驱动螺母1364螺纹接合。螺纹旋转驱动螺母1364定位在位于近侧环形凸缘1339A和远侧环形凸缘1339B之间的筒形凸轮1338远侧的端部执行器驱动外壳1316内。螺纹旋转驱动螺母1364沿任何方向的平移被机械地约束，但可在端部执行器驱动外壳1316内旋转。因此，鉴于旋转驱动螺母1364和螺纹驱动构件1362的螺纹接合，旋转驱动螺母1364的旋转运动被转换成螺纹驱动构件1362沿中心轴线A的平移运动，并且继而转换成I型横梁构件1360沿中心轴线A的平移运动。
螺纹驱动构件1362穿过旋转驱动螺母1364并且至少部分地定位在旋转驱动轴1382的内腔1381内。螺纹驱动构件1362未附接或连接到旋转驱动轴1382。螺纹驱动构件1362可在旋转驱动轴1382的内腔1381内自由地运动并且当由旋转驱动螺母1364的旋转驱动时将在旋转驱动轴1382的内腔1381内平移。旋转驱动轴1382和螺纹驱动构件1362形成位于轴组件1314中的同心旋转驱动轴/螺纹驱动构件组件。此外，螺纹驱动构件1362朝远侧延伸穿过筒形凸轮1338的内腔1384，其中螺纹驱动构件1362可在筒形凸轮1338的内腔1384内自由地运动并且当螺纹驱动构件由旋转驱动螺母1364的旋转驱动时将在筒形凸轮1338的内腔1384内平移。
如图92所示，一起构成轴组件1314的端部执行器驱动外壳1316、端部执行器连接器管1318和中间关节运动管段1320具有延伸穿过其中的内腔。因此，轴组件1314可包括延伸穿过其中的内腔，如图92-96所示。再次参见图92-96，同心旋转驱动轴/螺纹驱动构件组件位于轴组件1314的内腔内，并穿过端部执行器驱动外壳1316、端部执行器连接器管1318、和中间关节运动管段1320。尽管未示于图92-96中，但至少旋转驱动轴1382穿过轴组件1314的内腔并且可操作地联接到驱动机构，所述驱动机构向旋转驱动轴1382提供旋转运动和/或轴向平移运动。例如，在一些实施例中，外科工具1300可通过轴组件1314可操作地联接到机器人外科系统(例如，结合图5和16-21所述的机器人外科系统)，所述机器人外科系统向旋转驱动轴1382提供旋转运动和轴向平移运动。例如，旋转驱动轴1382可通过轴组件1314可操作地联接到上文所述的近侧驱动轴段380。另外，在一些实施例中，外科工具1300可结合手持式外科装置(诸如上文结合图46-63所述的装置)来使用。例如，旋转驱动轴1382通过轴组件1314可操作地联接到上文所述的近侧驱动轴段380'。
在一些实施例中，螺纹旋转驱动构件1362具有小于旋转驱动轴1382的长度的长度，并且因此位于例如旋转驱动轴1382的仅远侧部分内。螺纹驱动构件1362和旋转驱动轴1382可为柔性的，使得螺纹驱动构件1362和旋转驱动轴1382可在外科工具1300围绕关节运动接头1308的关节运动期间弯曲，而不损害或损失可操作性。
旋转驱动轴1382可包括旋转驱动头1386。旋转驱动头1386可包括围绕旋转驱动头1386的外表面周向设置并被取向成与轴组件1314共轴的花键构件1388。端部执行器驱动外壳1316可包括花键联接部分1390，所述花键联接部分包括围绕端部执行器驱动外壳1316的内壁周向设置并被取向成与轴组件1314共轴的花键构件1392。筒形凸轮1338可包括花键联接部分1394，所述花键联接部分包括围绕筒形凸轮1338的内壁周向设置并被取向成与轴组件1314共轴的花键构件1396。旋转驱动螺母1364也可包括花键联接部分1397，所述花键联接部分包括围绕旋转驱动螺母1364的内壁周向设置并被取向成与轴组件1314共轴的花键构件1398。如图93所示，旋转驱动轴1382可朝近侧选择性地回缩，以使旋转驱动头1386与端部执行器驱动外壳1316的花键联接部分1390可操作地接合。在此构型中，旋转驱动轴1382的旋转导致外科工具1300的头部部分围绕头部旋转接头1310的旋转，包括端部执行器1302和端部执行器驱动外壳1316的旋转。在此构型中，外科工具1300的位于头部旋转接头1310远侧的部分随旋转驱动轴1382的旋转而旋转，并且外科工具1300的位于头部旋转接头1310近侧的部分不随旋转驱动轴1382的旋转而旋转。头部旋转接头1310的实例结合图64-82、83-91和92-96进行描述。用于相对于轴组件1314来旋转端部执行器1302的其他合适的技术和旋转装置在本公开的范围内。应当理解，用以驱动旋转驱动螺母1364的旋转驱动轴1382的所需旋转速度可大于用于使头部部分旋转的所需旋转速度。例如，旋转驱动轴1270可由能够以不同旋转速度操作的马达(未示出)来驱动。
如图94所示，旋转驱动轴1382可朝远侧选择性地推进，以使旋转驱动头1386与筒形凸轮1338的花键联接部分1394可操作地接合。在此构型中，旋转驱动轴1382的旋转导致筒形凸轮1338的旋转。如上所述，筒形凸轮1338的旋转导致闭合联接件1330中的轴向运动。因此，旋转驱动轴1382沿第一方向(例如，顺时针方向)围绕中心轴线A的旋转可导致闭合联接件1330沿中心轴线A朝远侧推进，这可闭合钳口组件1311。另选地，旋转驱动轴1382沿与第一方向相反的第二方向(例如，顺时针方向)的旋转可导致闭合联接件1330沿中心轴线A朝近侧回缩，这继而可打开钳口组件1311。
如图95所示，旋转驱动轴1382可朝远侧选择性地推进，以将旋转驱动头1386通过筒形凸轮1338的内腔传送到位于筒形凸轮1338和旋转驱动螺母1364之间的端部执行器驱动外壳1316中的空间1399中，其中旋转驱动头1386不与花键联接部分中的任何一者可操作地接合。旋转驱动轴1382随后可朝远侧进一步推进，以使旋转驱动头1386与旋转驱动螺母1364的花键联接部分1397可操作地接合，如图96所示。在此构型中，旋转驱动轴1382的旋转导致旋转驱动螺母1364的旋转。如上所述，旋转驱动螺母1364的旋转导致螺纹驱动构件1362中的轴向运动。因此，旋转驱动轴1382沿第一方向(例如，顺时针方向)围绕中心轴线A的旋转可导致螺纹驱动构件1362朝远侧推进，这继而可朝远侧推进I型横梁构件1360。另选地，旋转驱动轴1382沿与第一方向相反的第二方向(例如，顺时针方向)的旋转可导致螺纹驱动构件1362朝近侧回缩，这可朝近侧回缩I型横梁构件1360。
导致钳口组件1311的闭合、I型横梁构件1360的完全延伸、I型横梁构件1360的完全回缩、和钳口组件1311的重新打开的事件序列按时间顺序示于图93-96中。图93示出了处于完全打开位置的钳口组件1311、处于完全回缩位置的I型横梁构件1360、和处于回缩轴向位置的旋转驱动轴1382，其中旋转驱动头1386与端部执行器驱动外壳1316的花键联接部分1390可操作地接合。在第一操作阶段中，旋转驱动轴1382被旋转以将端部执行器1302例如相对于血管旋转成合适的取向。在第二操作阶段中，旋转驱动轴1382轴向地推进以使旋转驱动头1386与筒形凸轮1338的花键联接部分1394可操作地接合。在此构型中，旋转驱动轴1382可沿第一方向(例如，顺时针方向)围绕中心轴线A进行旋转以使钳口组件1311围绕血管闭合。第一钳口构件1304和第二钳口构件1306中的电极1378可被激活以密封血管。在第三操作阶段中，旋转驱动轴1382随后可轴向地推进以使旋转驱动头1386与旋转驱动螺母1364的花键联接部分1397可操作地接合。在此构型中，旋转驱动轴1382可沿第一方向(例如，顺时针方向)围绕中心轴线A进行旋转以推进I型横梁构件1360，从而横断所密封的血管。在第四操作阶段中，旋转驱动轴1382可沿与第一方向相反的第二方向(例如，逆时针方向)进行旋转以回缩I型横梁构件1360。
在第五操作阶段中，旋转驱动轴1382轴向地回缩以使旋转驱动头1386与筒形凸轮1338的花键联接部分1394可操作地接合。在此构型中，旋转驱动轴1382可沿与第一方向相反的第二方向(例如逆时针方向)进行旋转以重新打开钳口组件1311，从而释放所密封的切割的血管。
如上所述，外科工具可利用驱动系统，所述驱动系统用于在外科工具的端部执行器内朝远侧平移驱动构件以例如在端部执行器内推进切割构件，并用于朝近侧平移驱动管以回缩驱动管和/或切割构件。图97和98示出了示例的驱动轴组件1400，所述驱动轴组件可结合端部执行器1420和/或本文所述的端部执行器中的任何一者来使用。例如，驱动轴组件1400(以及组件1400')可对应于本文所述的各种螺纹旋转驱动构件，包括例如螺纹旋转驱动构件604、654、1040、1248、1364等。对上文进行进一步描述，驱动轴组件1400可朝远侧推进，以便使端部执行器1420的钳口构件1422在闭合位置和打开位置之间旋转(如图97所示)并在钳口构件1422和定位在钳口构件1422对侧的钳口构件1424之间推进切割构件。在一个示例形式中，驱动轴组件1400包括驱动构件或管1402，所述驱动构件或管可包括在其中切割的一系列环形接头段1404。
在各种示例实施例中，驱动构件1402可包括由例如不锈钢、钛和/或任何其他合适材料构成的中空金属管，所述中空金属管具有在其中形成的一系列环形接头段1404。在至少一个实施例中，环形接头段1404可包括多个松散联锁的燕尾形状1406，所述松散联锁的燕尾形状例如通过激光切割到驱动构件1402中并用于促进邻接的接头段1404之间的柔性运动。管材的此类激光切割可产生可用于压缩、拉伸和/或扭转的柔性中空驱动管。此类结构可采用通过“拼图”构型与相邻部分联锁的全直径切口。这些切口随后沿中空驱动管的长度按照阵列来进行复制，并且有时为“时控的”或旋转的以改变拉伸或扭转性能。对上文进行进一步描述，联锁的燕尾形状1406仅为一个示例实施例，并且在各种情况下，驱动构件1402可包括任何合适的关节运动接头阵列，所述关节运动接头阵列包括联锁的驱动突出部和驱动凹陷部。在各种情况下，驱动构件1402可包括关节运动接头格，所述关节运动接头格包括可操作地接合的突出部和凹陷部，所述突出部和凹陷部可进行联锁以在两者间传输线性和/或旋转运动。在某种意义上，在各种实施例中，驱动构件1402可包括限定在驱动构件1402的主体内的多个或大量关节运动接头。驱动构件1402可包括驱动构件1402的主体固有的多个关节运动接头。
对上文进行进一步描述，驱动构件1402可朝远侧进行推动，使得纵向力通过驱动构件1402传输到例如与驱动构件1402的远侧端部可操作地联接的切割构件。相应地，驱动构件1402可被朝近侧进行牵拉，使得纵向力通过驱动构件1402传输到切割构件。联锁的燕尾形状1406能够在接头段1404之间传输纵向推动力和牵拉力，而不管接头段1404是否被纵向对齐(如图98所示)和/或相对于彼此进行关节运动以适应关节运动接头1430的关节运动，所述关节运动接头将端部执行器1420可旋转地连接到外科器械的轴。更具体地，对上文进行进一步描述，关节运动接头1430可包括一个或多个关节运动段1434，所述关节运动段可相对于彼此运动以允许端部执行器1420旋转，其中为了适应关节运动接头段1434的相对运动，驱动构件1402的接头段1404可相对于彼此进行旋转或偏移。在至少图97的例示实施例中，关节运动接头段1434可限定延伸穿过其中的通道1435，当关节运动接头1430已进行关节运动时，所述通道能够紧密地接收驱动管1402并且约束接头段1404之间的大的横向运动，同时允许接头段1404之间的足够相对运动。图99-101示出了可包括多个激光切口形状1406’的驱动构件1402’的另选的示例微环形接头段1404’，所述激光切口形状1406’大致类似于例如松散联锁的、相对的“T”形状和其中具有凹口部分的T-形状。激光切口形状1406’还可大致类似于例如松散联锁的、相对的“L”形状和限定凹口部分的L-形状。环形接头段1404、1404’可基本上包括多个微关节运动扭转接头。即，每个接头段1404、1404’可传输扭矩，同时有利于每个环形接头段之间的至少一些相对关节运动。如图99和100所示，驱动构件1402’的远侧端部1403’上的接头段1404D’具有远侧安装衬圈部1408D’，所述远侧安装衬圈部有利于附接到用于致动端部执行器的其他驱动部件。类似地，驱动构件1402’的近侧端部1405’上的接头段1404P’具有近侧安装衬圈部1408P’，所述近侧安装衬圈部有利于附接到例如其他近侧驱动部件或快速脱开接头的部分。
可通过增加激光切口中的间距来增加每个特定接头段1404’的接头-接头运动范围。然而，在各种情况下，驱动构件1402’的任何特定区域内的激光切口的数量和/或密度可导致驱动构件1402’在此区域为尤其柔性的。为了确保接头段1404’保持联接在一起而不显著地降低驱动管在所需运动范围内进行关节运动的能力，可使用第二约束构件来限制或阻止接头段1404’的向外伸展。在图102和103所示的示例实施例中，第二约束构件1410包括弹簧1412或另外的螺旋盘绕构件。在各种示例实施例中，弹簧1412的远侧端部1414可对应于并且可附接到远侧安装衬圈部1408D’，并且可比弹簧1412的中央部分1416盘绕得更紧密。类似地，弹簧1412的近侧端部1418可对应于并且可附接到近侧衬圈部1408P’，并且可比弹簧1412的中央部分1416盘绕地更紧密。由于更紧密的盘绕，远侧端部1414和/或近侧端部1418可包括比中央部分1416的线圈更紧密地定位在一起的线圈。换句话讲，远侧端部1414和/或近侧端部1418的每单位距离的线圈可大于中央部分1416的每单位距离的线圈。在任何情况下，弹簧1412可限定纵向孔1413，在所述纵向孔内可定位例如驱动构件1402’和/或驱动构件1402的。纵向孔1413和驱动构件1402’的尺寸可设定成并可被配置成使得驱动构件1402’被紧密地接收在纵向孔1413内，其中在各种情况下，弹簧1412的线圈可限制接头段1404’的向外运动，使得接头段1404’在其相对于彼此进行关节运动时彼此不分离。如上所述，弹簧1412的远侧端部1414可固定地安装到驱动构件1402’的远侧端部1403’，并且弹簧1412的近侧端部1418可固定地安装到驱动构件1402’的近侧端部1405’，其中远侧管末端1403’的运动可使远侧弹簧端部1414运动，并且对应地，近侧管末端1405’的运动可使近侧弹簧端部1418运动。在各种情况下，弹簧端部1414和1418可分别焊接到例如管端部1403’和1405’。在至少例示的实施例中，中央部分1416的线圈可不固定地安装到驱动构件1402’。在至少一个此类实施例中，驱动构件1402’能够在中央部分1416的线圈内至少部分地进行关节运动，直至驱动构件1402’接触线圈，其中此时线圈能够至少部分地伸展或偏移以适应驱动构件1402’的横向运动。在各种其他实施例中，中央部分1416的线圈的至少部分可通过例如焊接来固定地安装到驱动构件1402’。
对上文进行进一步描述，约束构件1410可以所需节距安装在驱动构件1402’上，使得约束构件1410还用作例如柔性驱动螺纹1440，所述柔性驱动螺纹可与端部执行器和/或驱动系统上的其他螺纹驱动部件通过螺纹进行接合，如上所述。驱动构件1402’围绕其纵向轴线的转动可被限制，其中当螺纹驱动输入端与螺纹1440接合并且借助马达例如沿第一方向旋转时，驱动构件1402’可在端部执行器1420内朝远侧推进。相应地，当与螺纹1440接合的螺纹驱动输入端沿相反的第二方向进行旋转时，驱动构件1402’可朝近侧回缩。应当理解，约束构件1410可被安装成使得螺纹1440包括沿其长度的恒定或至少基本上恒定的节距。在此类实施例中，对于螺纹驱动输入端进行旋转的给定速率，驱动构件1402’可以恒定或至少基本上恒定的速率推进和/或回缩。还应理解，约束构件1410可被安装成使得螺纹1440包括可变的节距或沿驱动构件1402’的长度而变化的节距。例如，约束构件1410的可变节距布置方式可用于在驱动组件1400’的击发行程的某些部分期间减慢驱动组件1400’或加速驱动组件1400’。例如，螺纹1440的第一部分可包括小于螺纹1440的第二部分的节距的第一节距，其中例如第一节距可以第一速率驱动闭合构件，并且第二部分可以第二速率驱动击发构件。在至少一些形式中，例如，驱动轴组件包括位于中空柔性驱动轴上的可变节距螺纹，所述中空柔性驱动轴可围绕90度弯曲或更大弯曲进行推动和牵拉。
如上所述，驱动构件1402’围绕其纵向轴线的转动可被约束。而且，整个驱动轴组件1400’围绕其纵向轴线的旋转被约束。在各种实施例中，驱动构件1402’可包括限定于其中的纵向狭槽，所述纵向狭槽可与一个或多个突出部接合，所述一个或多个突出部可例如从端部执行器1420和/或关节运动接头构件1434向内延伸到纵向狭槽中。纵向狭槽和突出部的此类结构能够阻止或至少限制驱动轴组件1400’围绕其纵向轴线的旋转。如本文所用，驱动轴组件1400’和/或驱动构件1402’的纵向轴线可沿驱动轴组件1400’的中心延伸，而不管驱动轴组件1400’为平直构型还是弯曲构型。因此，当端部执行器1420进行关节运动并且驱动轴组件1400’进行关节运动以适应端部执行器1420的关节运动时，驱动轴组件1400’的纵向轴线的路径和方向可改变。对上文进行进一步描述，驱动构件1402’可固定地安装到定位在端部执行器1420内的切割构件并且从其朝近侧延伸。如本文所述，切割构件可被紧密地接收在限定于端部执行器中的各种狭槽和/或通道内，所述狭槽和/或通道可阻止切割构件和从其延伸的驱动轴组件1400’围绕其纵向轴线旋转或至少基本上旋转。尽管驱动轴组件1400’的纵向轴线可由驱动构件1402’限定，但此纵向轴线可由弹簧1412限定。在至少一个此类实施例中，弹簧线圈的中心路径可限定驱动轴组件1400’的纵向轴线。在任何情况下，驱动轴组件1400’围绕其纵向轴线的转动被约束。
现在转到图104和105，驱动轴组件1400’可包括内部约束构件，例如柔性芯1417，所述柔性芯能够限制或阻止驱动构件1402’的接头段1404’的向内运动或塌缩。驱动构件1402’可限定能够紧密地接收柔性芯1417的内部纵向腔1415。在至少一个此类实施例中，限定于驱动构件1402’中的内部腔1415可包括等于或至少基本等于柔性芯1417的直径或宽度的直径或宽度。在各种情况下，在端部执行器1420的关节运动期间，例如，接头段1404’的部分可朝柔性芯1417向内挠曲或移动，其中当接头段1404’接触柔性芯1417时，芯1417可阻止接头段1404’的向内运动并且阻止驱动构件1402’向内塌缩。柔性芯1417可安装到驱动构件1402’的至少部分，例如其远侧端部1408D’和/或近侧端部1408P’。在某些实施例中，柔性芯1417可不固定地安装到驱动构件1402’，其中在此类实施例中，柔性芯1417可通过驱动构件1402’保持就位。在任何情况下，柔性芯1417可为足够柔性的，以便允许驱动轴组件1400’按照传输所施加到其的推动运动和牵拉运动的需要来弯曲或进行关节运动，如上所述。
如上所述，轴组件1400’例如能够弯曲或挠曲，以适应端部执行器1420围绕关节运动接头1430的关节运动。驱动构件1402’、柔性芯1417、和/或弹簧1412可为有弹性的，使得轴组件1400’可返回到例如其初始纵向构型。在各种情况下，端部执行器1420可从其关节运动位置旋转回到其纵向或平直的位置，并且由此轴组件1400’能够弯曲或挠曲以便适应端部执行器1420的返回。
参见图106-108，外科工具1000可包括外科端部执行器1001和轴组件1003。外科端部执行器1001能够响应于对其施加的驱动运动来执行外科行为。轴组件1003能够将此类驱动运动传输到外科端部执行器1001。外科端部执行器1001可包括第一钳口构件1002和第二钳口构件1004。第一钳口构件1002可相对于第二钳口构件1004在第一位置和第二位置之间运动。另选地，第一钳口构件1002和第二钳口构件1004可相对于彼此在第一位置和第二位置之间运动。第一位置可为打开位置并且第二位置可为闭合位置。
参见图106-108，第一钳口构件1002可相对于第二钳口构件1004在第一位置和第二位置之间枢转地运动。如图108所示，第一钳口构件1002可包括安装孔(未示出)，并且第二钳口构件1004可包括安装孔1008。第一钳口构件1002可相对于第二钳口构件1004进行布置，使得枢轴或耳轴销(未示出)穿过第一钳口构件1002的安装孔和第二钳口构件1004的安装孔1008插入，以将第一钳口构件1002枢转地联接到第二钳口构件1004。用于联接第一钳口构件1002和第二钳口构件1004的其他合适装置被设想在本公开的范围内。
参见图106-108，外科端部执行器1001可适于执行多个功能。例如，外科端部执行器1001可包括设置在第一钳口构件1002和/或第二钳口构件1004的外表面上的夹持部分1010。夹持部分1010可适于接触并且钝切组织。合适的夹持部分1010例如结合图116-131进行描述。外科端部执行器1001还可包括用于横断组织的成角度的组织接合表面1012。合适的成角度的组织接合表面1012例如结合图132-142进行描述。第一钳口构件1002可包括内表面1014并且第二钳口构件1004可包括内表面1016。第一内表面1014和第二内表面1016能够夹持、传送和/或操纵组织和/或外科工具，诸如用于缝合组织的针1015。这种夹持、传送、和/或操纵功能例如结合图153-168进行描述。此外，外科端部执行器1001还可包括用于在外科手术期间密封血管的电极1017和/或另一个电活性表面。电极1017能够在第一钳口构件1002和第二钳口构件1004处于闭合位置时将射频(RF)能量递送到夹持在第一钳口构件1002和第二钳口构件1004之间的组织，以焊接/熔合组织，所述组织可通过平移切割构件1018来进行横断。合适的电极例如结合图153-168进行描述。
参见图108-111，外科端部执行器1001可释放地附接到轴组件1003。操作者或外科医生可将外科端部执行器1001附接到轴组件1003来执行外科手术。在图108所示的实施例中，轴组件1003包括呈快速脱开结构或接头1019形式的联接结构，所述联接结构有利于将轴组件1003的远侧轴部分1020快速地附接到外科端部执行器1001的近侧轴部分1022。快速脱开接头1019可用于促进多个驱动系部件的快速附接和脱离，所述驱动系部件用于将控制运动从驱动运动源提供到可操作地联接到驱动系部件的端部执行器。
如图112所示，外科端部执行器1001可与适于与轴组件1003一起使用的其他外科端部执行器进行互换。例如，可使外科端部执行器1001从轴组件1003脱离并且可将第二外科端部执行器1024附接到轴组件1003。又如，第二外科端部执行器1024可由第三外科端部执行器1026来替换。外科端部执行器1001、1024和1026可包括通用驱动系部件，所述通用驱动系部件与其在轴组件1003中的对应件能够可操作地接合。然而，外科端部执行器1001、1024和1026可各自包括适用于某些外科任务的独特操作特征。
外科端部执行器1001可包括致动机构。致动机构可包括用于使第一钳口构件1002相对于第二钳口构件1004运动的闭合机构。致动机构可包括击发机构，所述击发机构用于横断抓持在第一钳口构件1002和第二钳口构件1004之间的组织。闭合和击发可通过独立的机构来实现，所述独立的机构可为独立驱动的或同时驱动的。另选地，闭合和击发可通过单个机构来实现。合适的闭合机构和合适的击发机构例如结合图64-82，83-91和92-96进行描述。
参见图113，示出了致动机构1028。致动机构可包括往复式构件1030。往复式构件1030可限定凸轮狭槽1032，所述凸轮狭槽能够接收联接到第一钳口构件1002的凸轮销1034。往复式构件1030的远侧和近侧运动可导致凸轮销1032在凸轮狭槽1034内平移，这继而导致第一钳口构件1002从打开位置(例如，往复式构件1030的近侧位置)枢转到闭合位置(例如，往复式构件1030的远侧位置)。在其中第一钳口构件1002和第二钳口构件1004可运动的实施例中，钳口构件1002和1004均可包括凸轮销，并且往复式构件1030可限定一对凸轮狭槽或沟槽。往复式构件1030可包括I型横梁构件，所述I型横梁构件适于在钳口构件1002和1004上滑动，以闭合钳口构件1002和1004，和/或提供趋于将钳口构件1002和1004推动到一起的夹持力。往复式构件1030可包括切割刀片1036。切割刀片1036可附接到往复式构件1030和可被设置成使其可与往复式构件1030一起延伸和回缩。切割构件可进行延伸以横断存在于钳口构件1002和1004之间的组织或材料。
参见图108-111，致动机构1028可包括旋转驱动螺母1038和螺纹旋转驱动构件1040。旋转驱动构件1040可从往复式构件1030朝近侧延伸。往复式构件1030和旋转驱动构件1040可一起形成为单个部件。另选地，往复式构件1030和旋转驱动构件1040可单独形成并被焊接在一起。用于接合往复式构件1030和旋转驱动构件1040的其他技术可被采用并且被设想在本公开的范围内。旋转驱动螺母1038能够可操作地支撑在外科端部执行器1001的近侧轴部分1022内，所述近侧轴部分相对于钳口构件1002和1004朝近侧延伸。旋转驱动螺母1038可例如围绕延伸穿过近侧轴部分1022的中心轴线进行旋转，如上文所述。旋转驱动构件1040可从往复式构件1030朝近侧沿中心轴线延伸穿过旋转驱动螺母1038。旋转驱动螺母1038和旋转驱动构件1040可被布置成配对布置，使得旋转驱动螺母1038沿一个方向(例如，顺时针方向)围绕中心轴线的旋转可推进旋转驱动构件1040，并且旋转驱动螺母1038沿相反方向(例如，逆时针方向)围绕中心轴线的旋转可回缩旋转驱动构件1040。这种致动机构和其他合适的致动机构例如结合图64-82、83-91和92-96进行描述。
参见图108-111，外科工具1000可包括穿过轴组件1003纵向设置的旋转驱动轴1042。旋转驱动轴1042可包括位于在其远侧部分处的旋转驱动头1044。旋转驱动螺母1038可包括用于与旋转驱动头1044配对布置的致动联接器1046，使得当联接时，旋转驱动头1044可将旋转运动传输到致动联接器1046。旋转驱动轴1042可在多个离散位置之间选择性地轴向运动。例如，旋转驱动轴1042可进行轴向延伸，以使得旋转驱动头1044与致动联接器1046可操作地接合，如图111所示。另选地，旋转驱动轴1042可进行轴向回缩，以使得旋转驱动头1044从致动联接器1046脱离。此类结构可允许多个外科端部执行器与轴组件1003的快速且有效的附接和脱离。
参见图108-110，外科端部执行器1001被示为从轴组件1003脱离。外科端部执行器1001的近侧轴部分1022从轴组件1003的远侧轴部分1020脱离。如图108所示，外科端部执行器1001的近侧轴部分1022可包括用于与轴组件1003的远侧轴部分1020上的漏斗末端配对布置的楔形末端。旋转驱动轴1042可包括中空远侧部分，所述中空远侧部分朝远侧沿中心轴线延伸穿过旋转驱动头1044并且终止在其远侧开口处。当将外科端部执行器1001附接到轴组件1003时，中空远侧部分可接收旋转驱动构件1040的近侧部分。旋转驱动构件1040可在旋转驱动轴1042的中空远侧部分中自由地旋转。如图110所示，简单地通过将旋转驱动构件1040的近侧部分插入到旋转驱动轴1042的中空部分中并且将外科端部执行器1001的近侧轴部分1022的楔形末端引导成与轴组件1003的远侧轴部分1020的漏斗末端配对布置来将外科端部执行器1001附接到轴组件1003。如图111所示，一旦外科端部执行器1001附接到轴组件1003，就可推进旋转驱动轴1042，以使旋转驱动头1044与致动联接器1046可操作地接合以将旋转运动传输到旋转驱动螺母1038。用于将外科端部执行器1001可释放地附接到轴组件1003的其他附接装置和技术被设想在本公开的范围内。
如图108-110所示，外科端部执行器1001的近侧轴部分1022以及轴组件1003的远侧轴部分1020可具有对准特征以确保外科端部执行器1001和轴组件1003在附接时正确地对准。在示例实施例中，如图108所示，外科端部执行器1001的近侧轴部分1022包括键特征结构1048，并且轴组件1003的远侧轴部分1020可包括用于接收键特征结构的狭槽1050。用于将外科端部执行器1001与轴组件1003对准的其他对准装置和技术被设想在本公开的范围内。
参见图114，外科端部执行器1001可包括致动机构，其中击发和闭合单独地执行。这种致动机构和其他合适的致动机构例如结合图83-91和92-96进行描述。在示例实施例中，如图114所示，外科端部执行器1001包括独立驱动的闭合机构1052和击发机构1054。闭合机构1052包括闭合驱动器1056，并且击发机构1054包括击发驱动器1058。如上所述，外科端部执行器1001可释放地附接到轴组件1003。如图114所示，外科端部执行器1001的近侧轴部分1022可从轴组件1003的远侧轴部分1020脱离。一旦外科端部执行器1001的近侧轴部分1022附接到轴组件1003的远侧轴部分1020，轴驱动器1042就可朝远侧延伸到第一离散位置以与闭合驱动器1056可操作地接合。另选地，轴驱动器可朝远侧延伸到第一离散位置远侧的第二离散位置以与击发驱动器1058可操作地接合。
如图115所示，外科工具1000可包括关节运动接头1060，所述关节运动接头用于使外科端部执行器1001围绕纵向工具轴线“LT”进行关节运动。在此示例实施例中，关节运动接头1060被设置在轴组件1003的远侧部分1020的近侧。关节运动接头1060使轴组件1003的远侧部分1020进行关节运动。当外科端部执行器1001的近侧部分1022附接到轴组件1003的远侧部分1020时，轴组件1003的远侧部分1020的关节运动将导致外科端部执行器1003进行关节运动。
在示例实施例中，如图115所示，关节运动接头1060包括附接到轴组件1003并在其中限定近侧球承窝的近侧承窝管1062。参见图115。近侧球构件1064可运动地安置在近侧球承窝内。如在图115中可见，近侧球构件1064具有使旋转驱动轴1042能够延伸穿过其中的中央驱动通道。此外，近侧球构件1064在其中具有四个关节运动通道，所述关节运动通道有利于四个远侧缆线1066从中穿过。如在图115中进一步可见，关节运动接头1060还包括中间关节运动管段1068，所述中间关节运动管段具有形成于其中的中间球承窝。中间球承窝能够在其中可运动地支撑形成于远侧连接器管1072上的远侧球构件1070。缆线1066延伸穿过形成于远侧球构件1070中的缆线通道并且通过凸耳1074附接到远侧球构件。适于将缆线附接到端部执行器球1070的其他附接装置被设想在本公开的范围内。
参见图116-120，外科工具900可包括从轴组件903延伸的外科端部执行器。外科端部执行器901能够响应于对其施加的驱动运动来执行外科行为。外科端部执行器901可包括第一钳口构件902和第二钳口构件904。第一钳口构件902可相对于第二钳口构件904在第一位置和第二位置之间运动。另选地，第一钳口构件902和第二钳口构件904对可相于彼此在第一位置和第二位置之间运动。第一位置可为打开位置并且第二位置可为闭合位置。
参见图116-120，第一钳口构件902可相对于第二钳口构件904在打开位置和闭合位置之间枢转地运动。如图120所示，第一钳口构件902可包括安装孔906，并且第二钳口构件904可包括安装孔908。第一钳口构件902可相对于第二钳口构件904进行布置，使得枢轴或耳轴销(未示出)穿过第一钳口构件902的安装孔906和第二钳口构件904的安装孔908插入，以将第一钳口构件902枢转地联接到第二钳口构件904。用于联接第一钳口构件902和第二钳口构件904的其他合适装置被设想在本公开的范围内。
参见图116-120，外科端部执行器901可适于执行多个功能。例如，外科端部执行器901可包括用于横断组织的成角度的组织接合表面910。合适的组织接合表面910例如结合图132-142进行描述。第一钳口构件902可包括内表面912并且第二钳口904构件可包括内表面914。第一内表面912和第二内表面914能够夹持、传送和/或操纵组织和/或外科工具，诸如用于缝合组织的针915。这种夹持、传送、和/或操纵功能例如结合图153-168进行描述。
参见图116-120，外科端部执行器901还可包括用于在外科手术期间密封血管的电极916和/或另一个电活性表面。电极916能够在第一钳口构件902和第二钳口构件904处于闭合位置时将射频(RF)能量递送到夹持在第一钳口构件902和第二钳口构件904之间的组织，以焊接/熔合组织，所述组织可通过平移切割构件来进行横断。合适的电极916例如结合图6-10和图153-168进行描述。外科端部执行器901可释放地附接到轴组件903。操作者或外科医生可将外科端部执行器901附接到轴组件903来执行外科手术。用于将外科端部执行器901可释放地附接到轴组件903的合适技术和机构例如结合图106-115进行描述。
参见图116-120，外科端部执行器901可包括致动机构。致动机构可包括用于使第一钳口构件相对于第二钳口构件运动的闭合机构。致动机构可包括击发机构，所述击发机构用于横断抓持在第一钳口构件和第二钳口构件之间的组织。闭合和击发可通过独立的机构来实现，所述独立的机构可为独立驱动的或同时驱动的。另选地，闭合和击发可通过单个机构来实现。合适的闭合机构和合适的击发机构例如结合图64-82，83-91和92-96进行描述。
如图117所示，示出了示例致动机构920。致动机构920可包括类似于上文所述的可轴向运动的构件3016的往复式构件918。往复式构件918或其凸轮销924可被接收在凸轮狭槽922内。往复式构件918的远侧和近侧运动可导致凸轮销924在凸轮狭槽922内平移，这继而导致第一钳口构件902从打开位置(例如，往复式构件918的近侧位置)枢转到闭合位置(例如，往复式构件918的远侧位置)。在其中第一钳口构件902和第二钳口构件904可运动的实施例中，两个钳口构件可包括凸轮狭槽922，并且往复式构件918可限定一对凸轮销。往复式构件918可包括I型横梁构件，所述I型横梁构件适于在第一钳口构件902和第二钳口构件904上滑动，以闭合第一钳口构件902和第二钳口构件904和/或提供趋于将第一钳口构件902和第二钳口构件904推动到一起的夹持力。往复式构件918可包括切割刀片926。切割刀片926可附接到往复式构件918和可被设置成使其可与往复式构件918一起延伸和回缩。切割刀片926可进行延伸以横断存在于第一钳口构件902和第二钳口构件904之间的组织或材料。
参见图116-120，第一钳口构件902可包括外表面928。第一钳口构件902的外表面可包括第一组织夹持部分930。第二钳口构件904也可包括外表面932。第二钳口构件904的外表面932可包括第二组织夹持部分934。第一组织夹持部分930和第二组织夹持部分934可通过接触并且暂时地粘附到组织来夹持组织。当第一钳口构件902和第二钳口构件904相对于彼此正从闭合位置运动到打开位置时，第一夹持部分930和第二夹持部分934可接触并且钝切组织。
在示例实施例中，外科端部执行器901可用于在外科手术期间切开组织。例如，第一夹持部分930和第二夹持部分934可分别接触并且暂时粘附到第一组织部分和第二组织部分(未示出)，使得当第一钳口构件902相对于第二钳口构件904从闭合位置运动到打开位置时，第一组织部分与第二组织部分沿面平面分开，同时基本上保持血管和神经的局部构造和结构完整性。在外科手术期间，第一夹持部分930和第二夹持部分934能够在第一钳口构件902相对于第二钳口构件904运动时通过钝切分离(切开)组织层来产生操作空间。
如图121所示，第一夹持部分930和第二夹持部分934可通过施加涂层来形成在第一钳口构件902和第二钳口构件904的外表面928和932的远侧部分上。在一个实施例中，第一夹持部分930和第二夹持部分934通过粘合剂附接到其相应钳口构件的外表面928和932上。在一个实施例中，第一夹持部分930和第二夹持部分934被压力配合到外表面928和932的远侧部分上。本公开可设想到适于将夹持部分附接到或形成在外表面上的其他技术和附接装置。
第一夹持部分930和第二夹持部分934可包括具有高摩擦系数的材料，以在第一钳口构件和第二钳口构件902和904相对于彼此运动到打开位置时如果组织相对于第一钳口构件902和第二钳口构件904滑动则夹持组织，从而沿筋膜平面分离(切开)组织层，同时基本上保持血管和神经的局部构造和结构完整性。可用于形成第一夹持部分930和第二夹持部分934的具有高摩擦系数的材料的实例包括但不限于有机硅基弹性体、苯乙烯基热塑性弹性体(TPE)、聚异戊二烯、低密度聚乙烯、聚丙烯、sanoprene、有机硅、聚氨酯、天然橡胶、isoplast、液晶聚合物(LCP)等。
第一夹持部分930和第二夹持部分934可包括半刚性材料，所述半刚性材料为足够柔性的，以在接触组织时形成轮廓而不剪切。第一夹持部分930和第二夹持部分934可包括非过敏性生物相容性材料。在一个实施例中，第一夹持部分930和第二夹持部分934可包括具有低杨氏模量和高屈服应变的材料，诸如弹性体。合适弹性体的实例包括但不限于有机硅基弹性体、苯乙烯基热塑性弹性体(TPE)、聚异戊二烯、低密度聚乙烯、聚丙烯、sanoprene、有机硅、聚氨酯、天然橡胶、isoplast、液晶聚合物(LCP)等。
参见图116-120，第一夹持部分930和第二夹持部分934可包括夹持特征结构936。夹持特征结构936可为足够柔性的，以在接触组织时形成轮廓而不剪切。夹持特征结构936可呈突起938的形式。在至少一个实施例中，夹持特征结构936可呈凹陷940的形式。
参见图121-126，夹持特征结构936可在空间上布置成夹持图案942。夹持图案942可包括多个突起938。夹持图案可包括多个凹陷940。在至少一个实施例中，如图127所示，夹持图案942可包括多个交替的突起938和凹陷940。在一个实施例中，如图123所示，夹持图案942可包括四个突起938。
如图128所示，夹持图案942可包括在空间上布置成圆的多个突起940。其他布置方式也是可以的并且在本公开的范围内。如图122所示，夹持图案942可包括在空间上布置成多行的多个突起938，其中每行包括沿行的长度对齐的若干突起938。每行可包括交替的突起938和凹陷940。
参见图123-128，夹持图案942可包括在夹持部分930上水平延伸的竖直突起938。如图所示，竖直突起938可沿相反方向延伸。在某些实施例中，如图124所示，突起938可沿平行行延伸。在至少一个实施例中，如图125所示，夹持图案942包括第一多个平行突起938a和第二多个平行突起938b，其中第一多个平行突起938a与第二多个平行突起938b呈倾斜布置方式。在至少一个实施例中，如图125所示，夹持部分930可包括交叉缝式图案。
参见图129-131，夹持图案942可限定在夹持部分930上以非线性方式水平延伸的竖直突起938。例如，如图129所示，非线性突起938可以Z字形方式延伸。在某些实施例中，如图130和131所示，非线性突起938可沿平行行延伸。在某些实施例中，如图130和131所示，非线性突起938可沿相反方向延伸。
参见图132至137，端部执行器500包括第一钳口构件502A和第二钳口构件502B。第一钳口构件502A可相对于第二钳口构件502B在打开位置(图132和136)和闭合位置(图133、134和137)之间运动，以夹持第一钳口构件502A和第二钳口构件502B之间的组织。第一钳口构件502A包括成角度的组织接触表面504A和506A。第二钳口构件502B包括成角度的组织接触表面504B和506B。第一钳口构件502A包括第一成正角度的组织接触表面504A和第一成负角度的组织接触表面506A。第二钳口构件502B包括第二成正角度的组织接触表面504B和第二成负角度的组织接触表面506B。
如本文所用，术语“成正角度的”和“成负角度的”是指组织接触表面相对于钳口构件的主体成角度的方向，所述钳口构件的主体包括钳口构件的组织接触表面和夹持平面。参见图138，第一钳口构件502A'和第二钳口构件502B'被示为处于闭合位置，以便夹持相对的钳口构件502A'和502B'之间的组织。此闭合位置类似于图133、134、135、137和142中所示的闭合位置。第一钳口构件502A'包括第一钳口主体503A'、第一组织夹持元件507A'、和第一夹持平面505A。第二钳口构件502B'包括第二钳口主体503B'、第二组织夹持元件507B'、和第二夹持平面505B。通常，当钳口构件处于闭合位置例如以夹持相对的钳口构件之间的组织时，端部执行器的钳口构件的组织夹持元件和夹持平面呈相对取向。
第一钳口构件502A'包括第一成正角度的组织接触表面504A'，所述第一成正角度的组织接触表面相对于第一夹持平面505A并且在第一钳口构件502A'的第一组织夹持元件507A'的周边处远离第一钳口主体503A'成一角度(α)。第一钳口构件502A'包括第一成负角度的组织接触表面506A'，所述第一成负角度的组织接触表面506A'相对于第一夹持平面505A并且在钳口构件502A'的第一组织夹持元件507A'的周边处朝第一钳口主体503A'成一角度(α)。
因此，如本文所用，术语“成正角度的”用于规定如下组织接触表面，所述组织接触表面远离夹持平面成角度并且在包括成正角度的组织接触表面的钳口构件的组织夹持元件周边处远离钳口主体成角度。同样，如本文所用，术语“成负角度的”用于规定如下组织接触表面，所述组织接触表面远离夹持平面成角度并且在包括成负角度的组织接触表面的钳口构件的组织夹持元件的周边处朝钳口主体成角度。
因此，第二钳口构件502B'包括第二成正角度的组织接触表面504B'，所述第二成正角度的组织接触表面504B'相对于第二夹持平面505B并且在第二钳口构件502B'的第二组织夹持元件507B'的周边处远离第二钳口主体503B'成一角度(α)。第二钳口构件502B'包括第二成负角度的组织接触表面506A'，所述第二成负角度的组织接触表面506A'相对于第二夹持平面505B并且在第二钳口构件502B'的第二组织夹持元件507B'的周边处朝第二钳口主体503B'成一角度(α)。
再次参见图132-134，第一钳口构件502A包括第一钳口主体503A和第一组织夹持元件507A，并且第二钳口构件502B包括第二钳口主体503B和第二组织夹持元件507B。第一钳口构件502A的第一成正角度的组织接触表面504A在第一组织夹持元件507A的周边处远离第一钳口主体503A成角度。第一钳口构件502A的第一成负角度的组织接触表面506A在第一组织夹持元件507A的周边处朝第一钳口主体503A成角度。第二钳口构件502B的第二成正角度的组织接触表面504B在第二组织夹持元件507B的周边处远离第二钳口主体503B成角度。第二钳口构件502B的第二成负角度的组织接触表面506B在第二组织夹持元件507B的周边处朝第二钳口主体503B成角度。
当第一钳口构件502A和第二钳口构件502B处于闭合位置例如以夹持第一钳口构件和第二钳口构件之间的组织时，第一成正角度的组织接触表面504A与第二成负角度的组织接触表面506B相对。当第一钳口构件502A和第二钳口构件502B处于闭合位置例如以夹持第一钳口构件和第二钳口构件之间的组织时，第一成负角度的组织接触表面506A与第二成正角度的组织接触表面504B相对。
如图132-133和图136-137所示，第一成正角度的组织接触表面504A和第一成负角度的组织接触表面506A沿第一钳口构件502A的基本上整个长度进行设置。第二成正角度的组织接触表面504B和第二成负角度的组织接触表面506B沿第二钳口构件502B的基本上整个长度进行设置。
端部执行器500包括在一些实施例中可用作闭合构件和/或组织切割构件的“I型横梁”构件508。I型横梁构件508可按照类似于上文相对于上述可轴向运动的构件3016描述的方式操作。I型横梁构件508的尺寸可设定成并可被配置成至少部分地贴合在第一钳口构件502A和第二钳口构件502B中的通道内。I型横梁构件508可沿第一钳口构件502A和第二钳口构件502B中的通道例如在第一近侧回缩位置(与处于打开位置的钳口构件502A和502B相关)和第二远侧推进位置(与处于闭合位置的钳口构件502A和502B相关)之间可操作地平移。这样，例如，I型横梁构件508能够在第一钳口构件502A和第二钳口构件502B中的通道内可操作地平移，以利用凸轮动作来闭合钳口构件并且/或者将切割构件推进穿过第一组织夹持元件507A和第二组织夹持元件507B来横断夹持在第一钳口构件502A和第二钳口构件502B之间的组织。
第一钳口构件502A相对于第二钳口构件502B在打开位置(图132和136)和闭合位置(图133、134和137)之间以夹持第一钳口构件502A和第二钳口构件502B之间的组织的运动可利用合适的闭合致动机构来致动。I型横梁构件在回缩位置和推进位置之间的平移可利用合适的平移致动机构来致动。合适的闭合致动机构和合适的平移致动机构例如结合图64-82、83-91和92-96进行描述。
参见图139和140，端部执行器510包括第一钳口构件512A和第二钳口构件512B。第一钳口构件512A可相对于第二钳口构件512B在打开位置(图139和140)和闭合位置(未示出)之间运动，以夹持第一钳口构件512A和第二钳口构件512B之间的组织。第一钳口构件512A包括成角度的组织接触表面514A和516A。第二钳口构件512B包括成角度的组织接触表面514B和516B。第一钳口构件512A包括第一成正角度的组织接触表面514A和第一成负角度的组织接触表面516A。第二钳口构件512B包括第二成正角度的组织接触表面514B和第二成负角度的组织接触表面516B。
第一钳口构件512A包括第一钳口主体513A和第一组织夹持元件517A，并且第二钳口构件512B包括第二钳口主体513B和第二组织夹持元件517B。第一钳口构件512A的第一成正角度的组织接触表面514A在第一组织夹持元件517A的周边处远离第一钳口主体513A成角度。第一钳口构件512A的第一成负角度的组织接触表面516A在第一组织夹持元件517A的周边处朝第一钳口主体513A成角度。第二钳口构件512B的第二成正角度的组织接触表面514B在第二组织夹持元件517B的周边处远离第二钳口主体513B成角度。第二钳口构件512B的第二成负角度的组织接触表面516B在第二组织夹持元件517B的周边处朝第二钳口主体513B成角度。
当第一钳口构件512A和第二钳口构件512B处于闭合位置例如以夹持第一钳口构件和第二钳口构件之间的组织时，第一成正角度的组织接触表面514A与第二成负角度的组织接触表面516B相对。当第一钳口构件512A和第二钳口构件512B处于闭合位置例如以夹持第一钳口构件和第二钳口构件之间的组织时，第一成负角度的组织接触表面516A与第二成正角度的组织接触表面514B相对。
第一成正角度的组织接触表面514A沿第一钳口构件512A的长度的近侧部分进行设置。第二成正角度的组织接触表面514B沿第二钳口构件512B的长度的近侧部分进行设置。第一成负角度的组织接触表面516A沿第一钳口构件512A的基本上整个长度进行设置。第二成负角度的组织接触表面516B沿第二钳口构件502B的基本上整个长度进行设置。
端部执行器510包括在一些实施例中可用作闭合构件和/或组织切割构件的“I型横梁”构件518。I型横梁构件518的尺寸可设定成并可被配置成至少部分地贴合在第一钳口构件512A和第二钳口构件512B中的通道内。I型横梁构件518可沿第一钳口构件512A和第二钳口构件512B中的通道例如在第一近侧回缩位置(与处于打开位置的钳口构件512A和512B相关)和第二远侧推进位置(与处于闭合位置的钳口构件512A和512B相关)之间可操作地平移。这样，例如，I型横梁构件518能够在第一钳口构件512A和第二钳口构件512B中的通道内可操作地平移，以利用凸轮动作来闭合钳口构件并且/或者将切割构件推进穿过第一组织夹持元件517A和第二组织夹持元件517B来横断夹持在第一钳口构件512A和第二钳口构件512B之间的组织。
第一钳口构件512A相对于第二钳口构件512B在打开位置(图139和140)和闭合位置(未示出)之间以夹持第一钳口构件512A和第二钳口构件512B之间的组织的运动可利用合适的闭合致动机构来致动。I型横梁构件在回缩位置和推进位置之间的平移可利用合适的平移致动机构来致动。合适的闭合致动机构和合适的平移致动机构例如结合图64-82、83-91和92-96进行描述。
第一钳口构件512A和第二钳口构件512B分别包括第一远侧纹理化部分519A和第二远侧纹理化部分519B。第一钳口构件512A的第一远侧纹理化部分519A设置在第一钳口构件512A的近侧组织夹持元件517A的远侧并与其直接相邻，所述第一钳口构件包括第一成正角度的组织接触表面514A。第一成正角度的组织接触表面514A不沿第一钳口构件512A的长度朝远侧延伸到第一远侧纹理化部分519A中。第二钳口构件512B的第二远侧纹理化部分519B设置在第二钳口构件512B的近侧组织夹持元件517B的远侧并与其直接相邻，所述第二钳口构件包括第二成正角度的组织接触表面514B的。第二成正角度的组织接触表面514B不沿第二钳口构件512B的长度朝远侧延伸到第二远侧纹理化部分519B中。第一钳口构件512A和第二钳口构件512B的第一远侧纹理化部分519A和第二远侧纹理化部分519B可为相对的，并且可允许端部执行器510除了例如在切开操作期间夹持组织之外还夹持、传送和/或操纵外科工具，诸如用于缝合组织的针。这种夹持、传送、和/或操纵功能例如结合图116-131和154-164进行描述。
第一钳口构件512A和第二钳口构件512B分别包括第一夹持部分521A和第二夹持部分521B。第一夹持部分521A设置在第一钳口构件512A的面向外的表面上，并且第二夹持部分521B设置在第二钳口构件512B的面向外的表面上。夹持部分521A和521B可用于辅助组织切开，如例如结合图116-131和图154-164所述。
图141为类似于图139和140所示的端部执行器510的端部执行器510'的透视图，不同的是包括电极522，所述电极位于第二钳口构件516B的第二组织夹持元件517B中并且位于第二成正角度的组织接触表面514B和第二成负角度的组织接触表面516B之间。电极522能够在第一钳口构件512A和第二钳口构件512B处于闭合位置时将射频(RF)能量递送到夹持在第一钳口构件512A和第二钳口构件512B之间的组织，以焊接/熔合组织，所述组织可通过平移包括切割构件的I型横梁构件518来进行横断。尽管图141示出了两个电极522，但应当理解，根据本说明书中所述的实施例的端部执行器可包括至少一个或多个电极，所述电极包括任何合适的形状和取向，如例如本说明书所述。第二钳口构件516B还包括位于远侧末端525处的偏置电极524，所述偏置电极524能够例如在切开操作期间将RF能量递送到组织。在一些实施例中，第一远侧纹理化部分519A和第二远侧纹理化部分519B还可为例如能够在切开操作期间将RF能量递送到组织的电极。这种电极功能例如结合图164-154进行描述。
参见图142，端部执行器530包括被示为处于闭合位置的夹持钳口构件之间的组织545的第一钳口构件532A和第二钳口构件532B。第一钳口构件532A包括第一成正角度的组织接触表面534A和第一成负角度的组织接触表面536A。第二钳口构件532B包括第二成正角度的组织接触表面534B和第二成负角度的组织接触表面536B。组织545物理接触成角度的组织接触表面534A、534B、536A和536B。组织545与成角度的组织接触表面534A、534B、536A和536B之间的物理接触压缩第一钳口构件532A和第二钳口构件532B之间的组织545。如图142所示，组织在第一钳口构件532A和第二钳口构件532B之间的夹持使得组织545在互相相对的组织接触表面536A和534B之间以及还在互相相对的组织接触表面534A和536B之间进行压缩，从而实现被压缩组织545的曲折变形。曲折变形可改善端部执行器530对组织545的夹持动作，继而可改善组织545的焊接/熔合和/或组织545的横断。例如，通过经由电极542施加的RF能量可焊接/熔合组织545，所述电极位于第二钳口构件532B的组织夹持元件中并且位于第二成正角度的组织接触表面534B和第二成负角度的组织接触表面536B之间。可例如通过平移I型横梁构件538，继而平移切割构件541穿过所夹持的组织545来横断组织545。
在一些实施例中，端部执行器可包括第一钳口构件和第二钳口构件，所述第一钳口构件包括第一成正角度的组织接触表面和第一成负角度的组织接触表面，所述第二钳口构件包括第二成正角度的组织接触表面和第二成负角度的组织接触表面。成角度的组织接触表面可相对于夹持平面形成角度(α)，如例如结合图138所述。组织接触表面和夹持平面之间的角度(α)的量值可在5度至85度的范围内或者涵盖在其中的任何子范围内，例如，10度至80度、20度至70度、30度至60度、40度至50度、25度至50度、或30度至45度。
在一些实施例中，成角度的组织接触表面可相对于相应的夹持平面独立地形成角度。由成角度的组织接触表面形成的角度在给定的端部执行器中可为基本上相同的或不同的。例如，两个相对的成角度的组织接触表面(例如，第一成正角度的组织接触表面和相对的第二成负角度的组织接触表面)均可相对于相应的夹持平面形成公共角(α1)，并且两个其他的相对的成角度的组织接触表面(例如，第一成负角度的组织接触表面和相对的第二成正角度的组织接触表面)均可相对于相应的夹持平面形成公共角(α2)，其中|α1|≠|α2|。
在一些实施例中，成角度的组织接触表面可垂直于与钳口构件的水平组织接触部分一致的相应夹持平面延伸预定距离。例如，参见图138，第一成正角度的组织接触表面504A'垂直于第一夹持平面505A延伸一定距离，并且第二成正角度的组织接触表面504B'垂直于第二夹持平面505B延伸一定距离。同样，第一成负角度的组织接触表面506A'垂直于第一夹持平面505A延伸一定距离，并且第二成负角度的组织接触表面506B'垂直于第二夹持平面505B延伸一定距离。在一些实施例中，成角度的组织接触表面可垂直于相应夹持平面延伸0.025英寸至0.25英寸的距离，或者涵盖在其中的任何子范围，例如，0.025英寸至0.01英寸或0.025英寸至0.05英寸。
尽管图132至142所示的成角度的组织接触表面被示为平坦表面时，但应当理解，在一些实施例中，成角度的组织接触表面可为弯曲表面或者平坦表面与弯曲表面的组合。
在一些实施例中，包括成角度的组织接触表面的端部执行器能够可操作地联接到机器人外科系统，例如，结合例如图1-45所述的机器人外科系统。在一些实施例中，具有成角度的组织接触表面的端部执行器能够可操作地联接到手持式外科装置，例如，结合图46-63所述的手持式外科装置。
结合图132至142所述的成角度的组织接触表面为端部执行器提供多个优点，所述端部执行器能够夹持/夹紧组织、焊接/熔合组织、横断组织、或这些操作的任何组合。例如，在一些实施例中，如图132至142所示，成正角度的组织接触表面与钳口构件的外表面形成一体(即，由单块材料形成)。由此，成正角度的组织接触表面在厚度维度上(图141和142中的标记为维度T)提供较厚的钳口构件。较厚的钳口构件结构增加钳口构件的强度和刚度，从而为组织提供增大的夹持/夹紧负荷。在一些实施例中，例如，相对于包括共面的组织接触表面的钳口构件而言，由成正角度的组织接触表面提供的较厚钳口构件结构可使钳口构件的惯性矩增加20-30％。增加的惯性矩可通过提供用于使RF能量进入并熔合组织的更聚焦的区域来提供改善的焊接区域，所述焊接区域用于熔合和烧灼夹持在包括成角度的组织接触表面的端部执行器中的组织。
本文所述的电外科工具中的任何一者可利用电流/能量路径来供能，所述电流/能量路径从发生器或其他信号源(诸如发生器3002)、穿过导体(诸如供电导体3012和返回导体3014(参见图6))、穿过轴组件延伸到一个或多个电极。在轴组件内，可通过延伸穿过轴组件的导线来提供电流路径。然而，导线必须能够避免工具的各种关节运动和旋转接头处(包括本文所述的关节运动接头3500)的扭结、缠绕或其他变形。在例示的实施例中，电外科工具可将轴组件的部件用作对电外科电极供能的电流路径。这可不需要导线并且简化外科工具的关节运动和旋转。
在例示的实施例中，旋转连接器组件可用于允许轴组件的旋转驱动轴或其他内部件提供发生器与端部执行器和/或其电极之间的供能电流路径。无论轴和/或端部执行器的旋转如何，旋转连接器均能够保持供能电流路径与端部执行器之间的连接。在双极构型中，返回路径可由轴和端部执行器的导电部件来形成，例如，轴的表层、I型横梁构件或其他刀具、各个钳口构件的部分等，如本文所述。
图143-146示出了旋转连接器组件1100的一个实施例，所述旋转连接器组件被安装在如本文相对于图64-81所述的端部执行器550和轴组件560中。图143为端部执行器550和轴组件560的一个实施例的剖视图，其中示出了旋转电极组件1100的示例安装。图144为端部执行器550和轴组件560的一个实施例的分解图，其中示出了安装在旋转驱动轴630的旋转电极组件1100(由参考数字1100'、1102'、1104'指示)及其分解件(由数字1100、1102、1104指示)。图145为端部执行器550和轴组件560的一个实施例的剖视图，其中示出了旋转电极组件1100以及处于近侧位置的旋转驱动头632。图146为端部执行器550和轴组件560的一个实施例的剖视图，其中示出了旋转电极组件1100以及处于远侧位置的旋转驱动头632。
旋转电极组件1100可定位在端部执行器驱动外壳608内并且可包括外部接触件1102和内部接触件1103。外部接触件1102可围绕端部执行器驱动外壳608的内壁进行定位。在例示的实施例中并且在功能类似的实施例中，外部接触件1102可呈圆柱体形状或其他旋转体形状。外部接触件1102可通过一个或多个引线(诸如引线1110)与端部执行器550中的一个或多个电极1112电连通。引线1110可与外部接触件1102物理接触并且可穿过下钳口构件602B延伸到电极1112，如图所示。引线1110可以任何合适的方式(包括例如利用焊料或其他类似的接头)紧固到电极1112。例如，多个供能电极可与引导到每个电极的一根引线1110一起使用。在例示的实施例中，引线1110可为绝缘的，以便避免与端部执行器550和轴组件560的其他部分的电连通。
内部接触件1103可例如从六角连接部分634的近侧物理地联接到旋转驱动轴630，如图所示。内部接触件1103可与外部接触件1102电接触。例如，内部接触件1103可与外部接触件1102物理接触。在例示的实施例中和在功能类似的实施例中，当旋转驱动轴630和/或端部执行器560旋转时，内部接触件1103可保持与外部接触件1102的电接触。例如，外部接触件1102可具有旋转体形状，使得当旋转驱动轴630旋转时，内部接触件1103与接触件1102物理接触。
在例示的实施例中和在功能类似的实施例中，内部接触件1103也可具有旋转体形状。例如，如图所示，内部接触件1103可包括环状刷1104和沟槽状导体1106。沟槽状导体1106可围绕六角联接部分634近侧的旋转驱动轴630进行定位。沟槽状导体1106可限定沟槽1107以接收环状刷1104。环状刷1104可具有大于沟槽1107的直径的直径。在例示的实施例中和在功能类似的实施例中，环状刷1104可限定狭槽1105。例如，狭槽1105可允许环状刷1104的直径伸展和收缩。例如，环状刷1104的直径可伸展，以便将其布置在沟槽状导体1106的剩余部分上并布置到狭槽1107中。另外，当内部接触件1103被布置在外部接触件1102内时，其直径可收缩。这样，环状刷1104恢复其初始直径的趋势可导致环状刷1104对外部接触件1102施加向外力，所述向外力趋于保持环状刷1104和外部接触件1102彼此的物理接触和电接触。
内部接触件1103可与合适的轴部件电连通，从而使从电极1112到发生器(诸如，上文相对于图6所述的发生器3002和/或内部发生器)的电流路径完整。在例示的实施例中，内部接触件1103并且具体地讲沟槽状导体1106与缠绕在旋转驱动轴630周围的盘绕线部件1114物理接触并且电接触。盘绕线部件1114可朝近侧延伸穿过轴，其中盘绕线部件1114可直接地或间接地联接到发生器。如本文所述，盘绕线部件1114还可充当弹簧，从而为围绕关节运动接头的旋转驱动轴630提供刚度，例如，如本文相对于图31-31和弹簧3612所述。在一些实施例中，旋转驱动轴630可包括外部绝缘套管。内部接触件1103可与外部绝缘套管(除了或替代盘绕线部件1114)电接触。示例的绝缘套管1166相对于图151进行描述。可能的绝缘套管的另一个实例为上文相对于图45所述的约束构件3660。
在例示的实施例中，电极1112的电流返回路径可由端部执行器550和轴组件560的各种部件来提供，所述部件包括例如钳口构件602A、602B、端部执行器驱动外壳608、以及朝近侧延伸的其他轴构件。因此，供能电流路径的部分可与端部执行器550和轴组件560的其他部件电隔离。例如，如上所述，外部接触件1102和电极1112之间的引线1110可由电绝缘件1111包围，如图所示。另外，外部接触件1102和内部接触件1103可与端部执行器550和轴组件560的其他部件隔离。例如，绝缘件1118可被定位成使外部接触件1102与端部执行器驱动外壳608电隔离。绝缘件1116可被定位成使外部接触件1102和内部接触件1103与旋转驱动轴630隔离。绝缘件1118可为附加部件，或者在一些实施例中可被提供为特氟隆或其他绝缘涂层。如图145-146所示，绝缘件1116可朝近侧延伸，从而另外使得盘绕线部件1114与旋转驱动轴630以及轴组件560的其他部件(例如端部执行器驱动外壳608)均隔离。
在图145-146所示的实施例中，外部接触件1102可朝近侧和朝远侧延伸，使得在旋转驱动轴630和旋转驱动头632位于不同的近侧和远侧位置的情况下保持外部接触件1102和内部接触件1103之间的电接触。例如，在图145中，旋转驱动轴630和旋转驱动头632朝近侧牵拉，使得驱动轴头部632的凸型六角联接部分636被端部执行器驱动外壳608的六角轴联接部分609接收。在此位置中，旋转驱动轴630的旋转可导致端部执行器驱动外壳608和端部执行器550的旋转，如本文所述。另外，如图145所示，内部接触件1103可与外部接触件1102物理接触并且电接触。在图146中，旋转驱动轴630和旋转驱动头632朝远侧进行推动，使得旋转驱动头632的六角联接部分634接收螺纹旋转驱动螺母606。在此位置中，旋转驱动轴630的旋转可导致螺纹旋转驱动螺母606的旋转，这继而导致螺纹旋转驱动构件604的旋转以及I型横梁构件620的远侧和/或近侧平移。另外，如图146所示，内部接触件1103可与外部接触件1102物理接触并且电接触。
图147-148为端部执行器550和轴组件560的一个实施例的剖视图，其中外部接触件1108的纵向长度被选择为使得旋转连接器组件1100交替地产生和中断由内部接触件1103的纵向位置限制的电连接。例如，在图147中，旋转驱动轴630和旋转驱动头632在近侧定位，使得凸型六角联接部分636被接收到远侧轴部分608的六角轴联接部分609中。如图所示，内部接触件1103(并且具体地讲环状刷1104)可不接触接触件1102，但相反可接触绝缘件1108。这样，当旋转驱动轴630和旋转驱动头632处于图147所示的近侧位置时，电极1112和发生器之间可不存在的完整的电连接。当旋转驱动轴630和旋转驱动头632在远侧定位以接触螺纹驱动螺母606时，如图148所示，内部接触件1103可与接触件1102电接触(并且物理接触)，从而使电极1112和发生器之间的电流路径完整。如图147-148所示的构型可用于各种不同的环境中。例如，当钳口构件602A、602B打开时，对电极1112供能可为不可取的。在例示的实施例中，当轴630在远侧定位时(图148)而非当轴630在近侧定位时(图147)，钳口构件602A、602B可由旋转驱动轴630来闭合。因此，在图147-148的构型中，从发生器到电极1112的电流路径仅在旋转驱动轴630和旋转驱动头632在远侧定位时才是完整的。
在本文所述的一些实施例中，端部执行器550可从端部执行器驱动外壳608移除，并且例如可与其他端部执行器(未示出)互换。本文相对于图106-115提供了用于实现可互换电极的机构的实例。在此类具体实施中，引线1110可包括通过连接器组件连接的端部执行器部分和轴部分。图149-150示出了端部执行器550和轴组件560的一个实施例，其中示出了包括引线部分1130、1132和连接器组件1120的构型。例如，如图149-150所示并且如本文所述，钳口构件602B的近侧部分603可被接收在端部执行器驱动外壳608内。钳口构件602B的近侧部分603在图149被示为位于端部执行器驱动外壳608内，并且在图150中被示为与端部执行器驱动外壳608分开。连接器组件1120可包括端部执行器侧引线1122和轴侧引线1124。当近侧部分603被接收到远侧轴部分608中时，相应的引线可彼此物理接触并且电接触，如图149所示。在各种实施例中，连接器组件1120可被配置成便于保持供能电流路径与端部执行器550和轴560的其他部件的电隔离。例如，绝缘件1126、1128可电隔离连接器引线1122、1124。在例示的实施例中和在功能类似的实施例中，绝缘件1126、1128可采用定位在引线1122、1124的全部或部分上的塑料或者其他绝缘收缩管的形式。在一些实施例中，绝缘件1126、1128可包括施加到引线1122、1124的部分和/或周围材料的特氟隆或其他绝缘涂层。
图151示出了端部执行器1140和轴组件1142的另选实施例的剖视图，其中示出了可使用旋转连接器组件1147的另一个环境。端部执行器1140可包括可类似于上文所述的钳口构件3008A、3008B、602A、602B等来操作的钳口构件1146A、1146B。例如，钳口构件1146A、1146B可由I型横梁构件1156致动，所述I型横梁构件在例示的实施例中可包括用于切断钳口构件1146A、1146B之间的组织的切割刃1148。I型横梁构件1156可通过螺纹I型横梁构件轴1154的旋转来朝远侧以及朝近侧驱动。I型横梁构件轴1154可通过主驱动轴1149进行旋转。例如，主驱动轴1149可联接到齿轮1150。齿轮1150可与联接到I型横梁构件轴1154的齿轮1152机械连通，如图所示。
端部执行器1140可包括可按照类似于上文所述的电极1112等的方式来操作的电极1158。绝缘引线1160可电联接到电极1158并且可朝近侧延伸到外部接触件1162。外部接触件1162可以类似于接触件1102联接到端部执行器驱动外壳608的内壁1108的方式来定位在轴构件1141的内壁上。内部接触件1164(例如，刷)可围绕主驱动轴1149进行定位，使得刷1164与接触件1162电接触。刷1164还可与围绕主驱动轴1149定位的导电套管1166电接触。套管1166可例如通过绝缘件1168、1170来与主驱动轴1149和轴1142的剩余部分电隔离。
应当理解，旋转电极组件1100可与本文所述的端部执行器和/或轴组件实施例中的任何一者一起使用。例如，图152示出了图83-91的端部执行器和轴组件的一个实施例的剖视图，其中示出了如本文所述的包括外部接触件1102和内部接触件1103的旋转电极组件1100的另一个示例安装。
图153-168示出了包括近侧组织处理区域706和远侧组织处理区域708的电外科端部执行器700的各种实施例。近侧组织处理区域706利用各种电极和切割刃来处理组织，例如，如上文相对于图6-10所示的端部执行器3000所述。由近侧组织处理区域706提供的处理可包括例如夹持、抓持、横断、凝结、焊接等。远侧组织处理区域708还可包括一个或多个电极742并且可用于对组织施加处理，并且在一些实施例中，可用于执行其他外科任务，诸如，抓持和操纵缝合针和/或其他外科工具。
图153示出了端部执行器700的一个实施例。端部执行器700可与各种外科工具一起使用，包括本文所述的那些。如图所示，端部执行器700包括第一钳口构件720和第二钳口构件710。第一钳口构件720可相对于第二钳口构件1004在打开位置(图153-156中所示)和闭合位置(图166和165中所示)之间运动。例如，钳口构件720、710可在枢转点702处枢转地联接。钳口构件710、720相对于纵向工具轴线“LT”可为弯曲的，如图所示。在一些实施例中，钳口构件710、720可改为直的，如相对于示于图6-8中的钳口构件3008A、3008B所示。在使用中，端部执行器700可从打开位置转变到闭合位置以捕获钳口构件720、710之间的组织。捕获在钳口构件720、710之间的组织可沿钳口构件710、720的部分进行夹持或抓持，以用于施用一种或多种组织处理，诸如横断、焊接、切开和电烧灼。
端部执行器700的近侧组织处理区域706可按照类似于上文相对于端部执行器3000所述的方式来处理组织。钳口构件720、710之间的处于近侧处理区中的组织可例如通过齿状物734a、734b来固定就位。参见例如图154-159。在近侧组织处理区域706中，钳口构件720、710可各自限定相应的纵向通道812、810。I型横梁构件820(图155和159)可在纵向通道812、810内朝远侧和朝近侧穿过，例如，如上文相对于端部执行器3000和可轴向运动的构件3016所述。在一些实施例中，I型横梁构件820的远侧和近侧平移还可使钳口构件720、710在打开位置和闭合位置之间转换。例如，I型横梁构件820可包括凸缘，所述凸缘被定位成接触相应钳口构件720、710的凸轮表面，与相对于图6-10所述的实施例中凸缘3016A、3016B接触凸轮表面3026A、3026B的方式类似。I型横梁构件820还可限定朝远侧定向的切割元件822，所述切割元件可在I型横梁构件820朝远侧推进时横断钳口构件720、710之间的组织。在一些实施例中，钳口构件720、710可包括类似于上文相对于图132-137所述的组织接触表面504A、504B、506A、506B的组织接触表面730a、730b、732a、732b。
近侧组织处理区域706可另外包括各种电极和/或电流路径，以用于向组织提供电外科(RF)能量和/或其他能量。第二钳口构件710可包括围绕通道810定位的供电电极848。参见例如图153-155和157。供电电极848可与用于提供RF能量的发生器(诸如，上文所述的发生器3002)电连通。例如，供电电极848可联接到一个或多个供电连接器引线846。供电连接器引线846可朝远侧穿过轴组件延伸到工具接口302和/或柄部2500，并且最终延伸到发生器，诸如，如本文所述的发生器3002或内部发生器。供电电极848可与端部执行器700的其他元件电绝缘。例如，参见图10，供电电极(由通道810任一侧的848A和848b指示)可被定位在绝缘层844上(同样由通道810任一侧的844A和844b指示)。绝缘层844可由任何合适的绝缘材料(诸如陶瓷、特氟隆等)制成。在一些实施例中，绝缘层844可作为涂层施加到钳口构件810。供电电极848可结合返回路径来操作，以将双极性RF能量施加到组织，诸如图159所示的组织762。经由供电电极848提供的电流可流过组织762并且经由返回路径返回到发生器。返回路径可包括端部执行器700的各种导电部件。例如，在一些实施例中，返回路径可包括第一和第二钳口720、710的主体、I型横梁构件820、组织接触表面730a、730b、732a、732b等。
在例示的实施例中，供电电极848与返回路径偏置。例如，供电电极848被定位成使得当钳口构件720、710处于如图159所示的闭合位置时，电极848不与端部执行器700的导电部分电接触(例如，物理接触)，所述导电部分可用作RF电流的返回路径。例如，第一钳口构件720可包括被定位成与电极848相对的相对的构件878(如在图159中由通道812任一侧的878A和878b指示)，使得在钳口构件720、710闭合时，电极848与相对的构件878直接接触并且不与端部执行器700的任何其他部分直接接触。相对的构件878可为电绝缘的。这样，可以闭合钳口构件720、710而不会使供电电极848与返回路径短路。在一些实施例中，相对的构件878可为选择性地电绝缘的。例如，相对的构件878可包括正温度系数(PTC)主体，如上所述，所述正温度系数(PTC)主体在低于温度阈值(例如，约100℃)时为导电的并且在较高温度下为绝缘的。这样，相对的构件878可形成返回路径的部分，除非其温度超过温度阈值。例如，如果供电电极848与包括PTC或相似材料的相对的构件878电短路，则短路将快速地驱动相对的构件878的温度接近阈值，从而解除短路。
远侧组织处理区域708可限定分别定位在钳口构件710、720上的远侧抓持表面790a、790b。远侧抓持表面790a、790b可从近侧处理区706在远侧定位。远侧抓持表面790a、790b可在一些实施例中能够抓持和保持组织。例如，远侧抓持表面790a、790b可包括夹持元件741以用于增加抓持表面790a、790b与组织和/或外科工具之间的摩擦，如下文所述。夹持元件741可包括由表面790a、790b限定的任何合适纹理、施用到表面790a、790b的摩擦增强涂层等等。
在一些实施例中，远侧组织处理区域708还能够施加单极性和/或双极性电外科(例如，RF)能量。例如，表面790a可为和/或包括远侧供电电极742。例如，表面790a本身可由导电材料制成并且因此可为远侧供电电极742。在一些实施例中，如本文所述，导电电极742可包括联接到绝缘层845的导电材料。绝缘层845可为施用到钳口构件710的电介质层和/或涂层。远侧供电电极742可与发生器(诸如，上文所述的发生器3002和/或内部发生器)电接触。在一些实施例中，远侧供电电极742可与近侧组织处理区域706的供电电极848电接触。这样，当对近侧供电电极848供能时，远侧供电电极742可被供能。在一些实施例中，远侧供电电极742可独立于近侧供电电极848而被供能。例如，远侧供电电极742可通过专用供电线(未示出)联接到发生器。
用于由远侧供电电极742提供的电能的返回路径还可包括端部执行器的任何合适的导电部分，所述导电部分包括例如钳口构件710、钳口构件720、I型横梁构件820等。在一些实施例中，远侧抓持表面790b还可形成远侧返回电极748，所述远侧返回电极可为远侧供电电极742的返回路径的部分。例如，远侧返回电极748可与钳口构件720电接触，所述钳口构件可继而与发生器(诸如发生器3000)电接触。可以任何合适的方式来形成远侧返回电极748。例如，表面790b可为导电的，从而形成电极748。在一些实施例中，导电材料可被施加到表面790b，其中导电材料构成电极748。
在例示的实施例中，远侧供电电极742为不偏置的。例如，远侧供电电极742与返回电极748对准。因此，端部执行器700能够在钳口构件720、710处于闭合位置时使远侧供电电极742不与返回电极748接触。例如，当钳口构件720、710处于闭合位置时，远侧供电电极742和远侧返回电极748之间可存在间隙780。间隙780可见于图160、161、162、163、164和165中。
在各种实施例中，间隙780可因近侧组织处理区域706的各种部件的维度(例如厚度)而产生。例如，当相对的构件878和近侧供电电极848可朝轴线LT延伸，以使得当电极848和构件878彼此物理接触时(例如，当钳口构件720、710处于闭合位置时)，远侧抓持表面790a、b彼此并不物理接触。可利用相对的构件878、供电电极848和绝缘层844的任何合适的组合来产生这种结果。
现在参见图160、163和164，绝缘层844和绝缘层845可为连续的(例如，形成连续绝缘层)。类似地，近侧供电电极848和远侧供电电极742可为连续的(形成连续电极)。还示出了相对的构件878。如图所示，电极848(例如，近侧区706中的连续电极的部分)比电极742更厚。因此，当电极848接触相对的构件878时，电极848的厚度可阻止远侧抓持表面790a、b彼此接触，从而形成间隙780。图161示出了端部执行器700的另选的实施例，其中电极742和电极848具有相同的厚度。然而，相对的构件878的厚度被选择为使得当电极848接触相对的构件878时，远侧抓持表面790a、b彼此不接触，从而形成间隙780。图162示出了另一个实施例，其中绝缘层844比绝缘层845更厚，从而阻止远侧抓持表面790a、b之间的接触并且形成间隙780。
在一些实施例中，远侧供电电极742可朝远侧延伸到钳口构件710的远侧边缘886的一部分。例如，图153示出了远侧电极部分744。临床医生可利用远侧电极部分744来将电外科能量施加到组织，所述组织不必位于钳口构件720、710之间。在一些实施例中，远侧电极部分744可用于提供双极性和/或单极性烧灼。在双极性实施例中，远侧电极部分744可利用与本文所述的返回路径相似的返回路径。在一些实施例中，相应的钳口构件可包括与相对于图116-131所述的突起相似的外部凹陷和/或突起800、802。凹陷和/或突起800、802可为导电的并且可为经由远侧电极部分744传送的电流提供可能的返回路径。在存在远侧电极部分744的一些实施例中，绝缘层845可在远侧电极部分下朝远侧延伸，如图164所示。
应当理解，相应的组织处理区域706、708的长度可随不同的具体实施而有所改变。例如，图165示出了其中远侧组织处理区域708比其他附图所示的区708相对地较短的实施例。例如，在图165中，远侧组织处理区域708与在其他所示的区708相比从端部执行器700的远侧末端朝近侧延伸较短的距离。
在一些实施例中，远侧组织处理区域708可用作一般外科抓紧器。例如，远侧抓持表面790a、b可用于抓持和操纵组织。另外，在一些实施例中，远侧抓持表面790a、b可用于抓持和操纵人工外科工具，诸如针、夹、钉等。例如，图160、161、162和163示出了固定在远侧抓持表面790a、b之间的外科工具896。在图160、161和162中，外科工具896具有圆形横截面(例如，缝合针)。在图163中，外科工具896具有非圆形横截面(例如，缝合针的后端、夹等)。当用作抓紧器时，远侧处理区708可或不可将电外科能量施加到组织表面790a、b之间的物体。例如，将电外科能量施加到针或其他外科工具可为不可取的。
应当理解，如上所述，近侧组织处理区域706的一些部件与远侧组织处理区域708的一些部件可为公共的和/或连续的。例如，图167示出了钳口构件710的一个实施例，其中电极878、742被移除以示出绝缘层845、844。如图所示，绝缘层845、844限定公共、连续层899。连续层899的远侧部分可构成绝缘层845，同时绝缘层899的近侧部分可构成绝缘层844。如图所示的绝缘层844限定对应于通道810的凹口897(如图所示)，使得I型横梁构件820可穿过通道810而不接触连续层899。另外，如图所示，绝缘层845限定在钳口构件710的远侧端部886的一部分上延伸的远侧部分843。远侧部分843例如可定位在远侧电极部分744下。
图166示出了安装有电极742、848的如图167所示的钳口构件710的实施例。如图所示，近侧供电电极可包括区域850a、850b、850c。区域850A和850b定位在通道810的任一侧。区域850c定位在通道810的最远侧部分的远侧。图168示出了在省略第三区域850c情况下的另选实施例。因此，电极848的第一和第二区域850a、850b朝远侧延伸到远侧供电电极742。
非限制性实例
在各种实施例中，外科器械可包括端部执行器和在端部执行器的近侧联接的轴组件。端部执行器包括第一钳口构件、第二钳口构件和闭合机构，所述闭合机构能够使第一钳口构件相对于第二钳口构件在打开位置和闭合位置之间运动。轴组件包括关节运动接头，所述关节运动接头能够独立地使端部执行器在竖直方向和水平方向上进行关节运动。外科器械还包括至少一个有源电极，所述有源电极设置在第一钳口构件和第二钳口构件的至少一者上。所述至少一个有源电极能够在第一钳口构件和第二钳口构件处于闭合位置时将RF能量递送到位于第一钳口构件和第二钳口构件之间的组织。
在各种实施例中，外科器械可包括端部执行器和在端部执行器的近侧联接的轴组件。端部执行器包括第一钳口构件、第二钳口构件和闭合机构，所述闭合机构能够使第一钳口构件相对于第二钳口构件在打开位置和闭合位置之间运动。轴组件包括能够独立地使端部执行器旋转的头部旋转接头。外科器械还包括至少一个有源电极，所述有源电极设置在第一钳口构件和第二钳口构件的至少一者上。所述至少一个有源电极能够在第一钳口构件和第二钳口构件处于闭合位置时将RF能量递送到位于第一钳口构件和第二钳口构件之间的组织。
外科工具可包括端部执行器，所述端部执行器包括第一钳口构件、第二钳口构件和闭合机构，所述闭合机构能够使第一钳口构件相对于第二钳口构件在打开位置和闭合位置之间运动。外科工具还包括位于外科端部执行器近侧的轴组件和能够传输旋转运动的旋转驱动轴，其中外科端部执行器能够相对于轴组件旋转。旋转驱动轴能够相对于轴组件在第一位置和第二位置之间选择性地轴向运动，其中旋转驱动轴能够在处于第一轴向位置时将旋转运动施加到闭合机构，并且其中旋转驱动轴能够在处于第二轴向位置时将旋转运动施加到端部执行器。此外，外科工具的闭合机构包括I型横梁构件，所述I型横梁构件能够沿轴向平移以使第一钳口构件朝第二钳口构件进行凸轮运动。I型横梁构件连接到螺纹旋转驱动构件，所述螺纹旋转驱动构件联接到旋转驱动螺母，其中旋转驱动轴能够与旋转驱动螺母接合以将旋转运动传输到旋转驱动螺母。旋转驱动螺母的旋转运动致动螺纹旋转驱动构件和I型横梁沿轴向的平移。此外，第一钳口构件和第二钳口构件包括能够与I型横梁构件滑动地接合的通道，其中旋转驱动螺母的旋转运动致动I型横梁在通道中在近侧回缩位置和远侧推进位置之间的平移。
外科工具可包括端部执行器，所述端部执行器包括第一钳口构件、第二钳口构件和第一致动机构，所述第一致动机构能够使第一钳口构件相对于第二钳口构件在打开位置和闭合位置之间运动。外科工具还包括位于外科端部执行器近侧的轴组件和能够传输旋转运动的旋转驱动轴。旋转驱动轴能够在第一位置和第二位置之间相对于轴组件选择性地运动，其中旋转驱动轴能够在处于在第一位置时接合第一致动机构以及将旋转运动选择性地传输到第一致动机构，并且其中旋转驱动轴能够在处于第二位置时从致动机构脱离。此外，第一致动机构包括I型横梁构件，所述I型横梁构件能够沿轴向平移以使第一钳口构件朝第二钳口构件进行凸轮运动，所述I型横梁构件连接到螺纹旋转驱动构件，所述螺纹旋转驱动构件联接到旋转驱动螺母，其中旋转驱动轴能够与旋转驱动螺母接合以将旋转运动传输到旋转驱动螺母，并且其中旋转驱动螺母的旋转运动致动螺纹旋转驱动构件和I型横梁沿轴向的平移。此外，第一钳口构件和第二钳口构件包括能够与I型横梁构件滑动地接合的通道，并且其中旋转驱动螺母的旋转运动致动I型横梁在通道中在近侧回缩位置和远侧推进位置之间的平移。
外科工具可包括端部执行器，所述端部执行器包括第一钳口构件和第二钳口构件，其中第一钳口构件能够相对于第二钳口构件在打开位置和闭合位置之间运动。外科工具还包括第一致动机构和第二致动机构、以及离合构件，所述离合构件能够选择性地接合第一致动机构或第二致动机构中的任一者以及将旋转运动传输到第一致动机构或第二致动机构中的任一者。此外，第一致动机构包括I型横梁构件，所述I型横梁构件能够沿轴向平移以使第一钳口构件相对于第二钳口构件进行凸轮运动，所述I型横梁构件连接到螺纹旋转驱动构件，所述螺纹旋转驱动构件联接到旋转驱动螺母，其中离合构件能够与旋转驱动螺母接合以将旋转运动传输到旋转驱动螺母，并且其中旋转驱动螺母的旋转运动致动螺纹旋转驱动构件和I型横梁沿轴向的平移。此外，第一钳口构件和第二钳口构件包括能够与I型横梁构件滑动地接合的通道，并且其中旋转驱动螺母的旋转运动致动I型横梁在通道中在近侧回缩位置和远侧推进位置之间的平移。
外科工具可包括柄部组件、轴组件、和可互换的端部执行器。可互换的端部执行器包括具有第一电极的第一钳口构件和具有第二电极的第二钳口构件。第一钳口构件能够相对于第二钳口构件在第一位置和第二位置之间运动。柄部组件位于所述外科端部执行器的近侧。轴组件在柄部组件和可互换的端部执行器之间延伸。轴组件包括能够传输旋转运动的旋转驱动轴。旋转驱动轴可相对于轴组件在多个离散位置之间选择性地轴向运动。联接结构能够将可互换的端部执行器可释放地附接到轴组件。
外科工具可包括轴组件和可互换的端部执行器。可互换的端部执行器可包括具有第一电极的第一钳口构件、具有第二电极的第二钳口构件、能够使第一钳口构件相对于第二钳口构件在第一位置和第二位置之间运动的闭合机构、以及能够驱动闭合机构的致动驱动器。轴组件在可互换的端部执行器近侧延伸并且包括旋转驱动轴，所述旋转驱动轴能够将旋转运动传输到致动驱动器。联接结构能够将可互换的端部执行器可释放地附接到轴组件。
外科工具可包括轴组件和可互换的端部执行器。端部执行器包括具有第一电极的第一钳口构件、具有第二电极的第二钳口构件、能够使第一钳口构件相对于第二钳口构件在第一位置和第二位置之间运动的闭合机构、以及能够驱动闭合机构的致动驱动器。轴组件在可互换的端部执行器近侧延伸并且包括能够传输旋转运动的旋转驱动轴。可互换的端部执行器可释放地附接到轴组件。旋转驱动轴可选择性地轴向延伸，以可操作地接合致动驱动器并且将旋转运动传输到致动驱动器。
外科端部执行器可包括第一钳口构件和第二钳口构件。第一钳口构件在其远侧部分上限定外表面。第二钳口构件在其远侧部分上限定外表面。第一钳口构件能够相对于第二钳口构件在第一位置和第二位置之间运动。第一钳口构件和第二钳口构件的外表面中的至少一者包括组织夹持部分。
外科工具可包括外科端部执行器、柄部组件和驱动轴。外科端部执行器包括第一钳口构件和第二钳口构件，所述第一钳口构件在其远侧部分上限定外表面并且第二钳口构件在其远侧部分上限定外表面。第一钳口构件能够相对于第二钳口构件在第一位置和第二位置之间运动。第一钳口构件和第二钳口构件的外表面中的至少一者包括组织夹持部分。柄部组件位于所述外科端部执行器的近侧。驱动轴在所述外科端部执行器和所述柄部组件之间延伸，并且能够响应于柄部中的致动运动使第一钳口构件相对于第二钳口构件在第一位置和第二位置之间运动。
外科工具可包括致动系统、外科端部执行器和轴组件。致动系统用于选择性地产生多种控制运动。外科端部执行器可操作地联接到所述致动系统，并且包括第一钳口构件和第二钳口构件。第一钳口构件在其远侧部分上限定外表面。第二钳口构件在其远侧部分上限定外表面。第一钳口构件响应于由所述致动系统产生的闭合运动而相对于第二钳口构件可被运动地支撑在打开位置和闭合位置之间。第一钳口构件和第二钳口构件的外表面中的至少一者包括组织粘附部分。轴组件用于将所述多个控制运动传输到外科端部执行器。
端部执行器可包括第一钳口构件和第二钳口构件。第一钳口构件能够相对于第二钳口构件在打开位置和闭合位置之间运动。第一钳口构件包括第一成正角度的组织接触表面。第二钳口构件包括第二成正角度的组织接触表面。第一钳口构件和第二钳口构件中的至少一者包括至少一个有源电极，所述括至少一个有源电极设置在邻近成正角度的组织接触表面的钳口构件上。所述至少一个有源电极能够在第一钳口构件和第二钳口构件处于闭合位置时将RF能量递送到位于第一钳口构件和第二钳口构件之间的组织。
端部执行器可包括第一钳口构件和第二钳口构件。第一钳口构件能够相对于第二钳口构件在打开位置和闭合位置之间运动。第一钳口构件包括第一成正角度的组织接触表面和第一成负角度的组织接触表面。第二钳口构件包括第二成正角度的组织接触表面和第二成负角度的组织接触表面。当第一钳口构件和第二钳口构件处于闭合位置时，第一成正角度的组织接触表面与第二成负角度的组织接触表面相对。当第一钳口构件和第二钳口构件处于闭合位置时，第一成负角度的组织接触表面与第二成正角度的组织接触表面相对。
端部执行器可包括第一钳口构件和第二钳口构件。第一钳口构件能够相对于第二钳口构件在打开位置和闭合位置之间运动。第一钳口构件包括第一近侧组织接触部分、邻近第一近侧组织接触部分的第一远侧纹理化部分、沿第一近侧组织接触部分设置的第一成正角度的组织接触表面、和位于邻近第一成正角度的组织接触表面的第一近侧组织接触部分中的至少一个第一电极。第二钳口构件包括第二近侧组织接触部分、邻近第二近侧组织接触部分的第二远侧纹理化部分、沿第二近侧组织接触部分设置的第二成正角度的组织接触表面、和位于邻近第二成正角度的组织接触表面的第二近侧组织接触部分中的至少一个第二电极。所述至少一个第一电极和所述至少一个第二电极呈双极构型，以在第一钳口构件和第二钳口构件处于闭合位置时将RF能量递送到位于第一钳口构件和第二钳口构件之间的组织。
外科工具可包括端部执行器。端部执行器可包括第一钳口构件和第二钳口构件、轴组件、可旋转的驱动轴、第一电接触件、以及第二电接触件。第一钳口构件和第二钳口构件能够相对于彼此从打开位置枢转到闭合位置。电极定位在第一钳口构件上。轴组件从端部执行器朝近侧延伸，为至少部分中空的，并且限定内壁。可旋转的驱动轴在轴组件内朝近侧延伸。第一电接触件联接到轴组件的内壁并且定位成围绕驱动轴的至少一部分。第二电接触件联接到驱动轴并且可与驱动轴一起旋转。第二电接触件被定位成在驱动轴旋转时电连接到第一电接触件。
与外科工具一起使用的外科端部执行器可包括第一钳口构件和第二钳口构件。第二钳口构件能够相对于第一钳口构件从第一打开位置枢转到闭合位置，其中第一钳口构件和第二钳口构件在闭合位置中为基本上平行的。第二钳口构件包括远侧供电电极和偏置的近侧供电电极。偏置的近侧供电电极被定位成在第一钳口构件和第二钳口构件处于闭合位置时接触第一钳口构件的相对的构件。远侧供电电极被定位在偏置的近侧电极的远侧并且在第一钳口构件和第二钳口构件处于闭合位置时与第一钳口构件的导电表面对齐。当第一钳口构件和第二钳口构件处于闭合位置时，近侧供电电极与相对的构件接触并且远侧供电电极不与第一钳口构件的导电表面接触。
与外科工具一起使用的外科端部执行器可包括能够从第一打开位置枢转到闭合位置的第一钳口构件和第二钳口构件。第一钳口构件和第二钳口构件限定近侧组织处理区域和远侧组织处理区域。第二钳口构件在近侧组织处理区域中包括偏置的近侧供电电极，所述偏置的近侧供电电极被定位成使得当钳口构件处于闭合位置时，近侧供电电极与第一钳口构件物理接触并且不与第一钳口构件电接触。第二钳口构件还在远侧组织处理区域中包括远侧供电电极，所述远侧供电电极被定位成使得当钳口构件处于闭合位置时，远侧供电电极与第一钳口构件的导电表面对齐。当钳口构件处于闭合位置时，钳口构件在远侧供电电极和第一钳口构件的导电表面之间限定物理间隙。
*   *   *
可将本发明所公开的装置设计为单次使用后即进行处理，或者可将它们设计为可多次使用。然而，在任一种情况下，所述装置均可被修复，以在至少一次使用后再次使用。修复可包括如下步骤的任意组合：拆卸所述装置、然后清洗或置换特定部件以及随后重新装配。特别是，所述装置可被拆卸，而且可以任意组合选择性地置换或取出所述装置的任意数目的特定部件或部分。清洗和/或置换特定部件之后，所述装置可以在修复设施处、或者在即将进行外科手术前由手术团队重新装配以便随后使用。本领域的技术人员将了解到，装置的修复可利用多种用于拆卸、清洗/置换和重新装配的技术。此类技术的使用和所得修复装置全都在本申请的范围内。
尽管本文已经结合某些公开的示例实施例描述了本发明，但是可对那些示例实施例进行多种修改和变型。例如，可采用不同类型的端部执行器。另外，在公开了用于某些部件的材料的情况下，可使用其他材料。上述描述和以下权利要求旨在涵盖所有此类修改和变型。
以引用方式全文或部分地并入本文的任何专利、专利公开或其他公开材料均仅在所并入的材料不与本发明所述的现有定义、陈述或其他公开材料相冲突的范围内并入本文。由此，在必要程度下，本文所明确阐述的公开内容将会取代以引用方式并入本文中的任何相冲突的材料。如果据述以引用方式并入本文但与本文所述现有定义、陈述或者其他公开材料相冲突的任何材料或其部分，仅在所并入的材料与现有公开材料之间不产生冲突的程度下并入本文。

Claims (20)

1.一种外科工具，包括：
可互换的端部执行器，所述可互换的端部执行器包括：
第一钳口构件，所述第一钳口构件包括第一电极；和
第二钳口构件，所述第二钳口构件包括第二电极，其中所述第一钳口构件能够相对于所述第二钳口构件在第一位置和第二位置之间运动；
柄部组件，所述柄部组件位于所述外科端部执行器的近侧；
轴组件，所述轴组件在所述柄部组件和所述可互换的端部执行器之间延伸，所述轴组件包括：
旋转驱动轴，所述旋转驱动轴能够传输旋转运动，其中所述旋转驱动轴能够相对于所述轴组件在多个离散位置之间选择性地轴向运动；和
联接结构，所述联接结构用于将所述可互换的端部执行器可释放地附接到所述轴组件。
2.根据权利要求1所述的外科工具，其中所述联接结构包括用于将电能传输到所述第一电极的电联接件，其中所述电联接件包括从所述第一电极延伸的第一接触件和从所述柄部组件延伸的第二接触件，其中当所述可互换的端部执行器附接到所述轴组件时，所述第一接触件与所述第二接触件接触。
3.根据权利要求1所述的外科工具，其中所述联接结构包括位于所述旋转驱动轴的远侧部分处的第一旋转联接件和位于所述可互换的端部执行器的近侧部分处的第二旋转联接件，其中所述第一旋转联接件能够可释放地接合所述第二旋转联接件并将旋转运动传输到所述第二旋转联接件。
4.根据权利要求1所述的外科工具，其中所述轴组件包括位于其远侧部分处的关节运动接头。
5.根据权利要求4所述的外科工具，其中所述关节运动接头在所述联接结构的近侧定位。
6.根据权利要求1所述的外科工具，其中所述联接结构包括位于所述可互换的端部执行器的近侧端部处的渐缩部分和位于所述轴组件的远侧端部处的漏斗形部分，其中所述渐缩部分能够被所述漏斗形部分接收。
7.根据权利要求6所述的外科工具，其中所述联接结构包括用于将所述可互换的端部执行器与所述轴组件对准的对准机构。
8.根据权利要求7所述的外科工具，其中所述对准机构包括位于所述轴组件的远侧部分处的狭槽和位于所述可互换的端部执行器的近侧部分处的键，其中所述狭槽能够接收所述键。
9.根据权利要求1所述的外科工具，还包括由所述柄部可操作地支撑的驱动马达，其中所述驱动马达在所述柄部中生成所述旋转运动，并且其中所述驱动轴能够与所述驱动马达可操作地交接。
10.一种外科工具，包括：
可互换的端部，所述可互换的端部包括：
第一钳口构件，所述第一钳口构件包括第一电极；
第二钳口构件，所述第二钳口构件包括第二电极；
闭合机构，所述闭合机构能够使所述第一钳口构件相对于所述第二钳口构件在第一位置和第二位置之间运动；和
致动驱动器，所述致动驱动器能够驱动所述闭合机构；
轴组件，所述轴组件在所述可互换的端部执行器的近侧延伸，所述轴组件包括：
旋转驱动轴，所述旋转驱动轴能够将旋转运动传输到所述致动驱动器；和
联接结构，所述联接结构用于将所述可互换的端部执行器可释放地附接到所述轴组件。
11.根据权利要求10所述的外科工具，其中所述联接结构包括用于将电能传输到所述第一电极的电联接件，其中所述电联接件包括从所述第一电极延伸的第一接触件和从所述柄部组件延伸的第二接触件，其中当所述可互换的端部执行器附接到所述轴组件时，所述第一接触件与所述第二接触件接触。
12.根据权利要求10所述的外科工具，其中所述联接结构包括位于所述旋转驱动轴的远侧部分处的第一旋转联接件和位于所述可互换的端部执行器的近侧部分处的第二旋转联接件，其中所述第一旋转联接件能够可释放地接合所述第二旋转联接件并将旋转运动传输到所述第二旋转联接件。
13.根据权利要求10所述的外科工具，其中所述轴组件包括位于其远侧部分处的关节运动接头。
14.根据权利要求13所述的外科工具，其中所述关节运动接头在所述联接结构的近侧定位。
15.根据权利要求10所述的外科工具，其中所述联接结构包括位于所述可互换的端部执行器的近侧端部处的渐缩部分和位于所述轴组件的远侧端部处的漏斗形部分，其中所述渐缩部分能够被所述漏斗形部分接收。
16.根据权利要求15所述的外科工具，其中所述联接结构包括用于将所述可互换的端部执行器与所述轴组件对准的对准机构。
17.根据权利要求16所述的外科工具，其中所述对准机构包括位于所述轴组件的远侧部分处的狭槽和位于所述可互换的端部执行器的近侧部分处的键，其中所述狭槽能够接收所述键。
18.一种外科工具，包括：
可互换的端部执行器，所述可互换的端部执行器包括：
第一钳口构件，所述第一钳口构件包括第一电极；
第二钳口构件，所述第二钳口构件包括第二电极；
闭合机构，所述闭合机构能够使所述第一钳口构件相对于所述第二钳口构件在第一位置和第二位置之间运动；和
致动驱动器，所述致动驱动器能够驱动所述闭合机构；
轴组件，所述轴组件在所述可互换的端部执行器的近侧延伸，所述轴组件包括：
旋转驱动轴，所述旋转驱动轴能够传输旋转运动；并且
其中所述可互换的端部执行器可释放地附接到所述轴组件，并且其中所述旋转驱动轴能够选择性地轴向延伸，以可操作地接合所述致动驱动器并将所述旋转运动传输到所述致动驱动器。
19.根据权利要求18所述的外科工具，还包括用于将电能传输到所述第一电极的电联接件，其中所述电联接件包括从所述第一电极延伸的第一引线和从所述轴组件延伸的第二引线，其中当所述可互换的端部执行器附接到所述轴组件时，所述第一引线与所述第二引线接触。
20.根据权利要求18所述的外科工具，其中所述可互换的端部执行器包括位于其近侧端部处的渐缩部分，并且其中所述轴组件包括位于其远侧端部处的漏斗形部分，其中当所述可互换的端部执行器附接到所述轴组件时，所述渐缩部分能够被所述漏斗形部分接收。
CN201380045645.0A 2012-06-28 2013-06-20 可互换的端部执行器联接结构 Active CN104602636B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US13/536,303 2012-06-28
US13/536,303 US9028494B2 (en) 2012-06-28 2012-06-28 Interchangeable end effector coupling arrangement
PCT/US2013/046768 WO2014004248A1 (en) 2012-06-28 2013-06-20 Interchangebale end effector coupling arrangement

Publications (2)

Publication Number Publication Date
CN104602636A true CN104602636A (zh) 2015-05-06
CN104602636B CN104602636B (zh) 2017-12-26

Family

ID=48771722

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380045645.0A Active CN104602636B (zh) 2012-06-28 2013-06-20 可互换的端部执行器联接结构

Country Status (7)

Country Link
US (1) US9028494B2 (zh)
EP (1) EP2866712B8 (zh)
JP (1) JP6219385B2 (zh)
CN (1) CN104602636B (zh)
BR (1) BR112014032640B1 (zh)
RU (1) RU2636182C2 (zh)
WO (1) WO2014004248A1 (zh)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107635598A (zh) * 2015-05-13 2018-01-26 迈奎特心肺有限公司 用于心肺机的具有闩锁机构的设备对接接口
CN108463185A (zh) * 2015-12-29 2018-08-28 柯惠Lp公司 机器人手术系统和器械驱动组件
CN109688948A (zh) * 2016-09-09 2019-04-26 直观外科手术操作公司 腕部架构
CN109788952A (zh) * 2016-09-09 2019-05-21 直观外科手术操作公司 缝合器梁结构
CN109996504A (zh) * 2017-10-26 2019-07-09 爱惜康有限责任公司 用于机器人外科工具的手动释放组件
CN110891510A (zh) * 2017-06-28 2020-03-17 爱惜康有限责任公司 用于在不同时间段将电外科能量施加到不同电极的外科端部执行器
EP3845166A1 (en) * 2019-12-30 2021-07-07 Ethicon LLC Electrosurgical instrument with variable control mechanisms

Families Citing this family (868)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10835307B2 (en) 2001-06-12 2020-11-17 Ethicon Llc Modular battery powered handheld surgical instrument containing elongated multi-layered shaft
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US8182501B2 (en) 2004-02-27 2012-05-22 Ethicon Endo-Surgery, Inc. Ultrasonic surgical shears and method for sealing a blood vessel using same
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US8215531B2 (en) 2004-07-28 2012-07-10 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
US11998198B2 (en) 2004-07-28 2024-06-04 Cilag Gmbh International Surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US11890012B2 (en) 2004-07-28 2024-02-06 Cilag Gmbh International Staple cartridge comprising cartridge body and attached support
US7846155B2 (en) 2004-10-08 2010-12-07 Ethicon Endo-Surgery, Inc. Handle assembly having hand activation for use with an ultrasonic surgical instrument
US8496647B2 (en) 2007-12-18 2013-07-30 Intuitive Surgical Operations, Inc. Ribbed force sensor
US8465474B2 (en) 2009-05-19 2013-06-18 Intuitive Surgical Operations, Inc. Cleaning of a surgical instrument force sensor
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US9237891B2 (en) 2005-08-31 2016-01-19 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US7673781B2 (en) 2005-08-31 2010-03-09 Ethicon Endo-Surgery, Inc. Surgical stapling device with staple driver that supports multiple wire diameter staples
US7669746B2 (en) 2005-08-31 2010-03-02 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
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US20070191713A1 (en) 2005-10-14 2007-08-16 Eichmann Stephen E Ultrasonic device for cutting and coagulating
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US8628518B2 (en) 2005-12-30 2014-01-14 Intuitive Surgical Operations, Inc. Wireless force sensor on a distal portion of a surgical instrument and method
US7621930B2 (en) 2006-01-20 2009-11-24 Ethicon Endo-Surgery, Inc. Ultrasound medical instrument having a medical ultrasonic blade
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US20110290856A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument with force-feedback capabilities
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US20110024477A1 (en) 2009-02-06 2011-02-03 Hall Steven G Driven Surgical Stapler Improvements
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US11278279B2 (en) 2006-01-31 2022-03-22 Cilag Gmbh International Surgical instrument assembly
US11224427B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Surgical stapling system including a console and retraction assembly
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
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US20110006101A1 (en) 2009-02-06 2011-01-13 EthiconEndo-Surgery, Inc. Motor driven surgical fastener device with cutting member lockout arrangements
US9861359B2 (en) 2006-01-31 2018-01-09 Ethicon Llc Powered surgical instruments with firing system lockout arrangements
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US20070225562A1 (en) 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Articulating endoscopic accessory channel
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US8322455B2 (en) 2006-06-27 2012-12-04 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
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
US10130359B2 (en) 2006-09-29 2018-11-20 Ethicon Llc Method for forming a staple
US8485412B2 (en) 2006-09-29 2013-07-16 Ethicon Endo-Surgery, Inc. Surgical staples having attached drivers and stapling instruments for deploying the same
US11980366B2 (en) 2006-10-03 2024-05-14 Cilag Gmbh International Surgical instrument
US8632535B2 (en) 2007-01-10 2014-01-21 Ethicon Endo-Surgery, Inc. Interlock and surgical instrument including same
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
US8540128B2 (en) 2007-01-11 2013-09-24 Ethicon Endo-Surgery, Inc. Surgical stapling device with a curved end effector
US11039836B2 (en) 2007-01-11 2021-06-22 Cilag Gmbh International Staple cartridge for use with a surgical stapling instrument
US7438209B1 (en) 2007-03-15 2008-10-21 Ethicon Endo-Surgery, Inc. Surgical stapling instruments having a releasable staple-forming pocket
US8142461B2 (en) 2007-03-22 2012-03-27 Ethicon Endo-Surgery, Inc. Surgical instruments
US8057498B2 (en) 2007-11-30 2011-11-15 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instrument blades
US8226675B2 (en) 2007-03-22 2012-07-24 Ethicon Endo-Surgery, Inc. Surgical instruments
US8911460B2 (en) 2007-03-22 2014-12-16 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments
US8893946B2 (en) 2007-03-28 2014-11-25 Ethicon Endo-Surgery, Inc. Laparoscopic tissue thickness and clamp load measuring devices
US11564682B2 (en) 2007-06-04 2023-01-31 Cilag Gmbh International Surgical stapler device
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US8408439B2 (en) 2007-06-22 2013-04-02 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
US8882791B2 (en) 2007-07-27 2014-11-11 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments
US8523889B2 (en) 2007-07-27 2013-09-03 Ethicon Endo-Surgery, Inc. Ultrasonic end effectors with increased active length
US8808319B2 (en) 2007-07-27 2014-08-19 Ethicon Endo-Surgery, Inc. Surgical instruments
US8512365B2 (en) 2007-07-31 2013-08-20 Ethicon Endo-Surgery, Inc. Surgical instruments
US8430898B2 (en) 2007-07-31 2013-04-30 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments
US9044261B2 (en) 2007-07-31 2015-06-02 Ethicon Endo-Surgery, Inc. Temperature controlled ultrasonic surgical instruments
EP2796102B1 (en) 2007-10-05 2018-03-14 Ethicon LLC Ergonomic surgical instruments
US10010339B2 (en) 2007-11-30 2018-07-03 Ethicon Llc Ultrasonic surgical blades
US8561473B2 (en) 2007-12-18 2013-10-22 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
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
US8657174B2 (en) 2008-02-14 2014-02-25 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument having handle based power source
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
US8573465B2 (en) 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
RU2493788C2 (ru) 2008-02-14 2013-09-27 Этикон Эндо-Серджери, Инк. Хирургический режущий и крепежный инструмент, имеющий радиочастотные электроды
US11986183B2 (en) 2008-02-14 2024-05-21 Cilag Gmbh International Surgical cutting and fastening instrument comprising a plurality of sensors to measure an electrical parameter
US8758391B2 (en) 2008-02-14 2014-06-24 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US9615826B2 (en) 2010-09-30 2017-04-11 Ethicon Endo-Surgery, Llc Multiple thickness implantable layers for surgical stapling devices
US11272927B2 (en) 2008-02-15 2022-03-15 Cilag Gmbh International Layer arrangements for surgical staple cartridges
US20090206131A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. End effector coupling arrangements for a surgical cutting and stapling instrument
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US9089360B2 (en) 2008-08-06 2015-07-28 Ethicon Endo-Surgery, Inc. Devices and techniques for cutting and coagulating tissue
US8058771B2 (en) 2008-08-06 2011-11-15 Ethicon Endo-Surgery, Inc. Ultrasonic device for cutting and coagulating with stepped output
US7857186B2 (en) 2008-09-19 2010-12-28 Ethicon Endo-Surgery, Inc. Surgical stapler having an intermediate closing position
PL3476312T3 (pl) 2008-09-19 2024-03-11 Ethicon Llc Stapler chirurgiczny z urządzeniem do dopasowania wysokości zszywek
US9005230B2 (en) 2008-09-23 2015-04-14 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
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
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
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
EP2393430A1 (en) 2009-02-06 2011-12-14 Ethicon Endo-Surgery, Inc. Driven surgical stapler improvements
US9700339B2 (en) 2009-05-20 2017-07-11 Ethicon Endo-Surgery, Inc. Coupling arrangements and methods for attaching tools to ultrasonic surgical instruments
US8319400B2 (en) 2009-06-24 2012-11-27 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments
US8663220B2 (en) 2009-07-15 2014-03-04 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments
US9168054B2 (en) 2009-10-09 2015-10-27 Ethicon Endo-Surgery, Inc. Surgical generator for ultrasonic and electrosurgical devices
US11090104B2 (en) 2009-10-09 2021-08-17 Cilag Gmbh International Surgical generator for ultrasonic and electrosurgical devices
US10441345B2 (en) 2009-10-09 2019-10-15 Ethicon Llc Surgical generator for ultrasonic and electrosurgical devices
USRE47996E1 (en) 2009-10-09 2020-05-19 Ethicon Llc Surgical generator for ultrasonic and electrosurgical devices
US9060775B2 (en) 2009-10-09 2015-06-23 Ethicon Endo-Surgery, Inc. Surgical generator for ultrasonic and electrosurgical devices
US10172669B2 (en) 2009-10-09 2019-01-08 Ethicon Llc Surgical instrument comprising an energy trigger lockout
US8220688B2 (en) 2009-12-24 2012-07-17 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument with electric actuator directional control assembly
US8851354B2 (en) 2009-12-24 2014-10-07 Ethicon Endo-Surgery, Inc. Surgical cutting instrument that analyzes tissue thickness
US8608046B2 (en) 2010-01-07 2013-12-17 Ethicon Endo-Surgery, Inc. Test device for a surgical tool
US9339341B2 (en) 2010-02-08 2016-05-17 Intuitive Surgical Operations, Inc. Direct pull surgical gripper
US8579928B2 (en) 2010-02-11 2013-11-12 Ethicon Endo-Surgery, Inc. Outer sheath and blade arrangements for ultrasonic surgical instruments
US8486096B2 (en) 2010-02-11 2013-07-16 Ethicon Endo-Surgery, Inc. Dual purpose surgical instrument for cutting and coagulating tissue
US8469981B2 (en) 2010-02-11 2013-06-25 Ethicon Endo-Surgery, Inc. Rotatable cutting implement arrangements for ultrasonic surgical instruments
US8951272B2 (en) 2010-02-11 2015-02-10 Ethicon Endo-Surgery, Inc. Seal arrangements for ultrasonically powered surgical instruments
US8961547B2 (en) 2010-02-11 2015-02-24 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments with moving cutting implement
US8834518B2 (en) 2010-04-12 2014-09-16 Ethicon Endo-Surgery, Inc. Electrosurgical cutting and sealing instruments with cam-actuated jaws
US8685020B2 (en) 2010-05-17 2014-04-01 Ethicon Endo-Surgery, Inc. Surgical instruments and end effectors therefor
GB2480498A (en) 2010-05-21 2011-11-23 Ethicon Endo Surgery Inc Medical device comprising RF circuitry
US8795327B2 (en) 2010-07-22 2014-08-05 Ethicon Endo-Surgery, Inc. Electrosurgical instrument with separate closure and cutting members
US9192431B2 (en) 2010-07-23 2015-11-24 Ethicon Endo-Surgery, Inc. Electrosurgical cutting and sealing instrument
US8783543B2 (en) 2010-07-30 2014-07-22 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
US8360296B2 (en) 2010-09-09 2013-01-29 Ethicon Endo-Surgery, Inc. Surgical stapling head assembly with firing lockout for a surgical stapler
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
US8733613B2 (en) 2010-09-29 2014-05-27 Ethicon Endo-Surgery, Inc. Staple cartridge
US9314246B2 (en) 2010-09-30 2016-04-19 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent
US9055941B2 (en) 2011-09-23 2015-06-16 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US9364233B2 (en) 2010-09-30 2016-06-14 Ethicon Endo-Surgery, Llc Tissue thickness compensators for circular surgical staplers
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US9839420B2 (en) 2010-09-30 2017-12-12 Ethicon Llc Tissue thickness compensator comprising at least one medicament
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
US9386988B2 (en) 2010-09-30 2016-07-12 Ethicon End-Surgery, LLC Retainer assembly including a tissue thickness compensator
US9517063B2 (en) 2012-03-28 2016-12-13 Ethicon Endo-Surgery, Llc Movable member for use with a tissue thickness compensator
US8893949B2 (en) 2010-09-30 2014-11-25 Ethicon Endo-Surgery, Inc. Surgical stapler with floating anvil
US9301755B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Compressible staple cartridge assembly
US9220501B2 (en) 2010-09-30 2015-12-29 Ethicon Endo-Surgery, Inc. Tissue thickness compensators
US9307989B2 (en) 2012-03-28 2016-04-12 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorportating a hydrophobic agent
US9204880B2 (en) 2012-03-28 2015-12-08 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising capsules defining a low pressure environment
US11925354B2 (en) 2010-09-30 2024-03-12 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
BR112013007717B1 (pt) 2010-09-30 2020-09-24 Ethicon Endo-Surgery, Inc. Sistema de grampeamento cirúrgico
US9277919B2 (en) 2010-09-30 2016-03-08 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising fibers to produce a resilient load
US9788834B2 (en) 2010-09-30 2017-10-17 Ethicon Llc Layer comprising deployable attachment members
US9301752B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising a plurality of capsules
US11298125B2 (en) 2010-09-30 2022-04-12 Cilag Gmbh International Tissue stapler having a thickness compensator
US12213666B2 (en) 2010-09-30 2025-02-04 Cilag Gmbh International Tissue thickness compensator comprising layers
US9332974B2 (en) 2010-09-30 2016-05-10 Ethicon Endo-Surgery, Llc Layered tissue thickness compensator
US8979890B2 (en) 2010-10-01 2015-03-17 Ethicon Endo-Surgery, Inc. Surgical instrument with jaw member
US8695866B2 (en) 2010-10-01 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
US8632462B2 (en) 2011-03-14 2014-01-21 Ethicon Endo-Surgery, Inc. Trans-rectum universal ports
AU2012250197B2 (en) 2011-04-29 2017-08-10 Ethicon Endo-Surgery, Inc. Staple cartridge comprising staples positioned within a compressible portion thereof
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
US9259265B2 (en) 2011-07-22 2016-02-16 Ethicon Endo-Surgery, Llc Surgical instruments for tensioning tissue
US9044243B2 (en) 2011-08-30 2015-06-02 Ethcon Endo-Surgery, Inc. Surgical cutting and fastening device with descendible second trigger arrangement
US8833632B2 (en) 2011-09-06 2014-09-16 Ethicon Endo-Surgery, Inc. Firing member displacement system for a stapling instrument
US9050084B2 (en) 2011-09-23 2015-06-09 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck arrangement
US9314292B2 (en) 2011-10-24 2016-04-19 Ethicon Endo-Surgery, Llc Trigger lockout mechanism
EP2811932B1 (en) 2012-02-10 2019-06-26 Ethicon LLC Robotically controlled surgical instrument
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
US9078653B2 (en) 2012-03-26 2015-07-14 Ethicon Endo-Surgery, Inc. Surgical stapling device with lockout system for preventing actuation in the absence of an installed staple cartridge
RU2639857C2 (ru) 2012-03-28 2017-12-22 Этикон Эндо-Серджери, Инк. Компенсатор толщины ткани, содержащий капсулу для среды с низким давлением
MX358135B (es) 2012-03-28 2018-08-06 Ethicon Endo Surgery Inc Compensador de grosor de tejido que comprende una pluralidad de capas.
JP6224070B2 (ja) 2012-03-28 2017-11-01 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． 組織厚さコンペンセータを含む保持具アセンブリ
US9198662B2 (en) 2012-03-28 2015-12-01 Ethicon Endo-Surgery, Inc. Tissue thickness compensator having improved visibility
US9439668B2 (en) 2012-04-09 2016-09-13 Ethicon Endo-Surgery, Llc Switch arrangements for ultrasonic surgical instruments
US9226766B2 (en) 2012-04-09 2016-01-05 Ethicon Endo-Surgery, Inc. Serial communication protocol for medical device
US9237921B2 (en) 2012-04-09 2016-01-19 Ethicon Endo-Surgery, Inc. Devices and techniques for cutting and coagulating tissue
US9724118B2 (en) 2012-04-09 2017-08-08 Ethicon Endo-Surgery, Llc Techniques for cutting and coagulating tissue for ultrasonic surgical instruments
US9241731B2 (en) 2012-04-09 2016-01-26 Ethicon Endo-Surgery, Inc. Rotatable electrical connection for ultrasonic surgical instruments
US11871901B2 (en) 2012-05-20 2024-01-16 Cilag Gmbh International Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
US20140005640A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Surgical end effector jaw and electrode configurations
US9119657B2 (en) 2012-06-28 2015-09-01 Ethicon Endo-Surgery, Inc. Rotary actuatable closure arrangement for surgical end effector
US20140001231A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Firing system lockout 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
US9226751B2 (en) 2012-06-28 2016-01-05 Ethicon Endo-Surgery, Inc. Surgical instrument system including replaceable end effectors
BR112014032740A2 (pt) 2012-06-28 2020-02-27 Ethicon Endo Surgery Inc bloqueio de cartucho de clipes vazio
BR112014032776B1 (pt) 2012-06-28 2021-09-08 Ethicon Endo-Surgery, Inc Sistema de instrumento cirúrgico e kit cirúrgico para uso com um sistema de instrumento cirúrgico
US11278284B2 (en) 2012-06-28 2022-03-22 Cilag Gmbh International Rotary drive arrangements for surgical instruments
US9125662B2 (en) 2012-06-28 2015-09-08 Ethicon Endo-Surgery, Inc. Multi-axis articulating and rotating surgical tools
US20140005705A1 (en) 2012-06-29 2014-01-02 Ethicon Endo-Surgery, Inc. Surgical instruments with articulating shafts
US9649111B2 (en) 2012-06-28 2017-05-16 Ethicon Endo-Surgery, Llc Replaceable clip cartridge for a clip applier
US9101385B2 (en) 2012-06-28 2015-08-11 Ethicon Endo-Surgery, Inc. Electrode connections for rotary driven surgical tools
US20140005718A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Multi-functional powered surgical device with external dissection features
US9561038B2 (en) 2012-06-28 2017-02-07 Ethicon Endo-Surgery, Llc Interchangeable clip applier
US9351754B2 (en) 2012-06-29 2016-05-31 Ethicon Endo-Surgery, Llc Ultrasonic surgical instruments with distally positioned jaw assemblies
US20140005702A1 (en) 2012-06-29 2014-01-02 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments with distally positioned transducers
US9283045B2 (en) 2012-06-29 2016-03-15 Ethicon Endo-Surgery, Llc Surgical instruments with fluid management system
US9226767B2 (en) 2012-06-29 2016-01-05 Ethicon Endo-Surgery, Inc. Closed feedback control for electrosurgical device
US9326788B2 (en) 2012-06-29 2016-05-03 Ethicon Endo-Surgery, Llc Lockout mechanism for use with robotic electrosurgical device
US9408622B2 (en) 2012-06-29 2016-08-09 Ethicon Endo-Surgery, Llc Surgical instruments with articulating shafts
US9820768B2 (en) 2012-06-29 2017-11-21 Ethicon Llc Ultrasonic surgical instruments with control mechanisms
US9198714B2 (en) 2012-06-29 2015-12-01 Ethicon Endo-Surgery, Inc. Haptic feedback devices for surgical robot
US9393037B2 (en) 2012-06-29 2016-07-19 Ethicon Endo-Surgery, Llc Surgical instruments with articulating shafts
CN104853688B (zh) 2012-09-28 2017-11-28 伊西康内外科公司 多功能双极镊子
US9386985B2 (en) 2012-10-15 2016-07-12 Ethicon Endo-Surgery, Llc Surgical cutting instrument
US10201365B2 (en) 2012-10-22 2019-02-12 Ethicon Llc Surgeon feedback sensing and display methods
US9095367B2 (en) 2012-10-22 2015-08-04 Ethicon Endo-Surgery, Inc. Flexible harmonic waveguides/blades for surgical instruments
US20140135804A1 (en) 2012-11-15 2014-05-15 Ethicon Endo-Surgery, Inc. Ultrasonic and electrosurgical devices
US9386984B2 (en) 2013-02-08 2016-07-12 Ethicon Endo-Surgery, Llc Staple cartridge comprising a releasable cover
US9782169B2 (en) 2013-03-01 2017-10-10 Ethicon Llc Rotary powered articulation joints for surgical instruments
RU2669463C2 (ru) 2013-03-01 2018-10-11 Этикон Эндо-Серджери, Инк. Хирургический инструмент с мягким упором
JP6382235B2 (ja) 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． 信号通信用の導電路を備えた関節運動可能な外科用器具
US20140263552A1 (en) * 2013-03-13 2014-09-18 Ethicon Endo-Surgery, Inc. Staple cartridge tissue thickness sensor system
US9883860B2 (en) 2013-03-14 2018-02-06 Ethicon Llc Interchangeable shaft assemblies for use with a surgical instrument
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
US10226273B2 (en) 2013-03-14 2019-03-12 Ethicon Llc Mechanical fasteners for use with surgical energy devices
US9241728B2 (en) 2013-03-15 2016-01-26 Ethicon Endo-Surgery, Inc. Surgical instrument with multiple clamping mechanisms
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 (pt) 2013-04-16 2022-02-22 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
US9814460B2 (en) 2013-04-16 2017-11-14 Ethicon Llc Modular motor driven surgical instruments with status indication arrangements
US9574644B2 (en) 2013-05-30 2017-02-21 Ethicon Endo-Surgery, Llc Power module for use with a surgical instrument
KR102312950B1 (ko) 2013-08-15 2021-10-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 가변형 기구 예압 기구 컨트롤러
EP3730087A1 (en) * 2013-08-15 2020-10-28 Intuitive Surgical Operations, Inc. Robotic instrument driven element
WO2015023834A1 (en) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
CN105611893B (zh) 2013-08-15 2018-09-28 直观外科手术操作公司 预加载外科手术器械接口
JP6674377B2 (ja) 2013-08-15 2020-04-01 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 近位駆動ディスクおよび遠位被駆動ディスクを有する装置
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
KR102421621B1 (ko) 2013-08-15 2022-07-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 일회용 팁 및 일체형 팁 커버를 가진 재사용가능한 수술 기구
JP6416260B2 (ja) 2013-08-23 2018-10-31 エシコン エルエルシー 動力付き外科用器具のための発射部材後退装置
US9445813B2 (en) 2013-08-23 2016-09-20 Ethicon Endo-Surgery, Llc Closure indicator systems for surgical instruments
US9814514B2 (en) 2013-09-13 2017-11-14 Ethicon Llc Electrosurgical (RF) medical instruments for cutting and coagulating tissue
US9265926B2 (en) 2013-11-08 2016-02-23 Ethicon Endo-Surgery, Llc Electrosurgical devices
GB2521229A (en) 2013-12-16 2015-06-17 Ethicon Endo Surgery Inc Medical device
GB2521228A (en) 2013-12-16 2015-06-17 Ethicon Endo Surgery Inc Medical device
US9724120B2 (en) 2013-12-17 2017-08-08 Ethicon Endo-Surgery, Llc Clamp arm features for ultrasonic surgical instrument
US9687232B2 (en) 2013-12-23 2017-06-27 Ethicon Llc Surgical staples
US9642620B2 (en) 2013-12-23 2017-05-09 Ethicon Endo-Surgery, Llc Surgical cutting and stapling instruments with articulatable end effectors
US9681870B2 (en) 2013-12-23 2017-06-20 Ethicon Llc Articulatable surgical instruments with separate and distinct closing and firing systems
US20150173756A1 (en) 2013-12-23 2015-06-25 Ethicon Endo-Surgery, Inc. Surgical cutting and stapling methods
US9839428B2 (en) 2013-12-23 2017-12-12 Ethicon Llc Surgical cutting and stapling instruments with independent jaw control features
US9724092B2 (en) 2013-12-23 2017-08-08 Ethicon Llc Modular surgical instruments
US9795436B2 (en) 2014-01-07 2017-10-24 Ethicon Llc Harvesting energy from a surgical generator
US9962161B2 (en) 2014-02-12 2018-05-08 Ethicon Llc Deliverable surgical instrument
JP6462004B2 (ja) 2014-02-24 2019-01-30 エシコン エルエルシー 発射部材ロックアウトを備える締結システム
US9839422B2 (en) 2014-02-24 2017-12-12 Ethicon Llc Implantable layers and methods for altering implantable layers for use with surgical fastening instruments
US9554854B2 (en) 2014-03-18 2017-01-31 Ethicon Endo-Surgery, Llc Detecting short circuits in electrosurgical medical devices
BR112016021943B1 (pt) 2014-03-26 2022-06-14 Ethicon Endo-Surgery, Llc Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico
US20150272582A1 (en) 2014-03-26 2015-10-01 Ethicon Endo-Surgery, Inc. Power management control systems for surgical instruments
US9913642B2 (en) 2014-03-26 2018-03-13 Ethicon Llc Surgical instrument comprising a sensor system
US12232723B2 (en) 2014-03-26 2025-02-25 Cilag Gmbh International Systems and methods for controlling a segmented circuit
US9826977B2 (en) 2014-03-26 2017-11-28 Ethicon Llc Sterilization verification circuit
US9820738B2 (en) 2014-03-26 2017-11-21 Ethicon Llc Surgical instrument comprising interactive systems
US10092310B2 (en) 2014-03-27 2018-10-09 Ethicon Llc Electrosurgical devices
US10463421B2 (en) 2014-03-27 2019-11-05 Ethicon Llc Two stage trigger, clamp and cut bipolar vessel sealer
US10524852B1 (en) 2014-03-28 2020-01-07 Ethicon Llc Distal sealing end effector with spacers
US9737355B2 (en) 2014-03-31 2017-08-22 Ethicon Llc Controlling impedance rise in electrosurgical medical devices
US9913680B2 (en) 2014-04-15 2018-03-13 Ethicon Llc Software algorithms for electrosurgical instruments
US11185330B2 (en) 2014-04-16 2021-11-30 Cilag Gmbh International Fastener cartridge assemblies and staple retainer cover arrangements
CN106456159B (zh) 2014-04-16 2019-03-08 伊西康内外科有限责任公司 紧固件仓组件和钉保持器盖布置结构
US20150297223A1 (en) 2014-04-16 2015-10-22 Ethicon Endo-Surgery, Inc. Fastener cartridges including extensions having different configurations
US10327764B2 (en) 2014-09-26 2019-06-25 Ethicon Llc Method for creating a flexible staple line
BR112016023698B1 (pt) 2014-04-16 2022-07-26 Ethicon Endo-Surgery, Llc Cartucho de prendedores para uso com um instrumento cirúrgico
JP6612256B2 (ja) 2014-04-16 2019-11-27 エシコン エルエルシー 不均一な締結具を備える締結具カートリッジ
US9757186B2 (en) 2014-04-17 2017-09-12 Ethicon Llc Device status feedback for bipolar tissue spacer
CN106456145B (zh) 2014-05-05 2020-08-18 维卡瑞斯外科手术股份有限公司 虚拟现实手术装置
US10045781B2 (en) 2014-06-13 2018-08-14 Ethicon Llc Closure lockout systems for surgical instruments
US9700333B2 (en) 2014-06-30 2017-07-11 Ethicon Llc Surgical instrument with variable tissue compression
US9730694B2 (en) * 2014-07-01 2017-08-15 Covidien Lp Loading unit including shipping assembly
US10285724B2 (en) 2014-07-31 2019-05-14 Ethicon Llc Actuation mechanisms and load adjustment assemblies for surgical instruments
US10011018B2 (en) 2014-08-15 2018-07-03 Intuitive Surgical Operations, Inc. Entry guide manipulator with a roll system and an instrument manipulator positioning system
US9877776B2 (en) 2014-08-25 2018-01-30 Ethicon Llc Simultaneous I-beam and spring driven cam jaw closure mechanism
US10194976B2 (en) 2014-08-25 2019-02-05 Ethicon Llc Lockout disabling mechanism
US10194972B2 (en) 2014-08-26 2019-02-05 Ethicon Llc Managing tissue treatment
BR112017004361B1 (pt) 2014-09-05 2023-04-11 Ethicon Llc Sistema eletrônico para um instrumento cirúrgico
US10135242B2 (en) 2014-09-05 2018-11-20 Ethicon Llc Smart cartridge wake up operation and data retention
US11311294B2 (en) 2014-09-05 2022-04-26 Cilag Gmbh International Powered medical device including measurement of closure state of jaws
US10105142B2 (en) 2014-09-18 2018-10-23 Ethicon Llc Surgical stapler with plurality of cutting elements
US11523821B2 (en) 2014-09-26 2022-12-13 Cilag Gmbh International Method for creating a flexible staple line
CN107427300B (zh) 2014-09-26 2020-12-04 伊西康有限责任公司 外科缝合支撑物和辅助材料
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
US11504192B2 (en) 2014-10-30 2022-11-22 Cilag Gmbh International Method of hub communication with surgical instrument systems
US9844376B2 (en) 2014-11-06 2017-12-19 Ethicon Llc Staple cartridge comprising a releasable adjunct material
US10639092B2 (en) 2014-12-08 2020-05-05 Ethicon Llc Electrode configurations for surgical instruments
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
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
US10245027B2 (en) 2014-12-18 2019-04-02 Ethicon Llc Surgical instrument with an anvil that is selectively movable about a discrete non-movable axis relative to a staple cartridge
US10188385B2 (en) 2014-12-18 2019-01-29 Ethicon Llc Surgical instrument system comprising lockable systems
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
US10117649B2 (en) 2014-12-18 2018-11-06 Ethicon Llc Surgical instrument assembly comprising a lockable articulation system
MX389118B (es) 2014-12-18 2025-03-20 Ethicon Llc Instrumento quirurgico con un yunque que puede moverse de manera selectiva sobre un eje discreto no movil con relacion a un cartucho de grapas.
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
US10111699B2 (en) 2014-12-22 2018-10-30 Ethicon Llc RF tissue sealer, shear grip, trigger lock mechanism and energy activation
US9848937B2 (en) 2014-12-22 2017-12-26 Ethicon Llc End effector with detectable configurations
US10159524B2 (en) 2014-12-22 2018-12-25 Ethicon Llc High power battery powered RF amplifier topology
US10092348B2 (en) 2014-12-22 2018-10-09 Ethicon Llc RF tissue sealer, shear grip, trigger lock mechanism and energy activation
US10245095B2 (en) 2015-02-06 2019-04-02 Ethicon Llc Electrosurgical instrument with rotation and articulation mechanisms
US9993258B2 (en) 2015-02-27 2018-06-12 Ethicon Llc Adaptable surgical instrument handle
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
US20160249910A1 (en) 2015-02-27 2016-09-01 Ethicon Endo-Surgery, Llc Surgical charging system that charges and/or conditions one or more batteries
US9901342B2 (en) 2015-03-06 2018-02-27 Ethicon Endo-Surgery, Llc Signal and power communication system positioned on a rotatable shaft
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
JP2020121162A (ja) 2015-03-06 2020-08-13 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価
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
US10245033B2 (en) 2015-03-06 2019-04-02 Ethicon Llc Surgical instrument comprising a lockable battery housing
US10548504B2 (en) 2015-03-06 2020-02-04 Ethicon Llc Overlaid multi sensor radio frequency (RF) electrode system to measure tissue compression
US10441279B2 (en) 2015-03-06 2019-10-15 Ethicon Llc Multiple level thresholds to modify operation of powered surgical instruments
US9808246B2 (en) 2015-03-06 2017-11-07 Ethicon Endo-Surgery, Llc Method of operating a powered surgical instrument
US9924961B2 (en) 2015-03-06 2018-03-27 Ethicon Endo-Surgery, Llc Interactive feedback system for powered surgical instruments
US10617412B2 (en) 2015-03-06 2020-04-14 Ethicon Llc System for detecting the mis-insertion of a staple cartridge into a surgical stapler
US10687806B2 (en) 2015-03-06 2020-06-23 Ethicon Llc Adaptive tissue compression techniques to adjust closure rates for multiple tissue types
US9895148B2 (en) 2015-03-06 2018-02-20 Ethicon Endo-Surgery, Llc Monitoring speed control and precision incrementing of motor for powered surgical instruments
US10342602B2 (en) 2015-03-17 2019-07-09 Ethicon Llc Managing tissue treatment
US10321950B2 (en) 2015-03-17 2019-06-18 Ethicon Llc Managing tissue treatment
US10595929B2 (en) 2015-03-24 2020-03-24 Ethicon Llc Surgical instruments with firing system overload protection mechanisms
US10390825B2 (en) 2015-03-31 2019-08-27 Ethicon Llc Surgical instrument with progressive rotary drive systems
US10314638B2 (en) 2015-04-07 2019-06-11 Ethicon Llc Articulating radio frequency (RF) tissue seal with articulating state sensing
US10117702B2 (en) 2015-04-10 2018-11-06 Ethicon Llc Surgical generator systems and related methods
US10130410B2 (en) 2015-04-17 2018-11-20 Ethicon Llc Electrosurgical instrument including a cutting member decouplable from a cutting member trigger
US9872725B2 (en) 2015-04-29 2018-01-23 Ethicon Llc RF tissue sealer with mode selection
US10034684B2 (en) 2015-06-15 2018-07-31 Ethicon Llc Apparatus and method for dissecting and coagulating tissue
US11020140B2 (en) 2015-06-17 2021-06-01 Cilag Gmbh International Ultrasonic surgical blade for use with ultrasonic surgical instruments
US10368861B2 (en) 2015-06-18 2019-08-06 Ethicon Llc Dual articulation drive system arrangements for articulatable surgical instruments
US10034704B2 (en) 2015-06-30 2018-07-31 Ethicon Llc Surgical instrument with user adaptable algorithms
US11141213B2 (en) 2015-06-30 2021-10-12 Cilag Gmbh International Surgical instrument with user adaptable techniques
US11051873B2 (en) 2015-06-30 2021-07-06 Cilag Gmbh International Surgical system with user adaptable techniques employing multiple energy modalities based on tissue parameters
US10898256B2 (en) 2015-06-30 2021-01-26 Ethicon Llc Surgical system with user adaptable techniques based on tissue impedance
US10357303B2 (en) 2015-06-30 2019-07-23 Ethicon Llc Translatable outer tube for sealing using shielded lap chole dissector
US11129669B2 (en) 2015-06-30 2021-09-28 Cilag Gmbh International Surgical system with user adaptable techniques based on tissue type
US10154852B2 (en) 2015-07-01 2018-12-18 Ethicon Llc Ultrasonic surgical blade with improved cutting and coagulation features
WO2017008142A1 (en) * 2015-07-13 2017-01-19 Titan Medical Inc. Bipolar end effector apparatus for a surgical instrument
US10321963B2 (en) * 2015-08-04 2019-06-18 Vanderbilt University Apparatus and method for moving an elongate rod
US11058425B2 (en) 2015-08-17 2021-07-13 Ethicon Llc Implantable layers for a surgical instrument
JP6828018B2 (ja) 2015-08-26 2021-02-10 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ ステープルの特性変更を可能にし、カートリッジへの充填を容易にする外科用ステープルストリップ
MX2022009705A (es) 2015-08-26 2022-11-07 Ethicon Llc Metodo para formar una grapa contra un yunque de un instrumento de engrapado quirurgico.
RU2725747C2 (ru) 2015-08-26 2020-07-03 ЭТИКОН ЭлЭлСи Узел кассеты со скобами, содержащий различные зазоры для сжатия ткани и зазоры для формирования скоб
US10980538B2 (en) 2015-08-26 2021-04-20 Ethicon Llc Surgical stapling configurations for curved and circular stapling instruments
US10172619B2 (en) 2015-09-02 2019-01-08 Ethicon Llc Surgical staple driver arrays
MX2022006191A (es) 2015-09-02 2022-06-16 Ethicon Llc Configuraciones de grapas quirurgicas con superficies de leva situadas entre porciones que soportan grapas quirurgicas.
US10363036B2 (en) 2015-09-23 2019-07-30 Ethicon Llc Surgical stapler having force-based motor control
US10327769B2 (en) 2015-09-23 2019-06-25 Ethicon Llc Surgical stapler having motor control based on a drive system component
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10085751B2 (en) 2015-09-23 2018-10-02 Ethicon Llc Surgical stapler having temperature-based motor control
US10076326B2 (en) 2015-09-23 2018-09-18 Ethicon Llc Surgical stapler having current mirror-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
CA2994438C (en) * 2015-09-25 2023-11-14 Brock KOPP Surgical robotic assemblies and instrument adapters thereof
US10299878B2 (en) 2015-09-25 2019-05-28 Ethicon Llc Implantable adjunct systems for determining adjunct skew
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10433846B2 (en) 2015-09-30 2019-10-08 Ethicon Llc Compressible adjunct with crossing spacer fibers
US10478188B2 (en) 2015-09-30 2019-11-19 Ethicon Llc Implantable layer comprising a constricted configuration
US10687884B2 (en) 2015-09-30 2020-06-23 Ethicon Llc Circuits for supplying isolated direct current (DC) voltage to surgical instruments
US10980539B2 (en) 2015-09-30 2021-04-20 Ethicon Llc Implantable adjunct comprising bonded layers
US10595930B2 (en) 2015-10-16 2020-03-24 Ethicon Llc Electrode wiping surgical device
US10959771B2 (en) 2015-10-16 2021-03-30 Ethicon Llc Suction and irrigation sealing grasper
US10939952B2 (en) * 2015-11-06 2021-03-09 Covidien Lp Adapter, extension, and connector assemblies for surgical devices
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
US10959806B2 (en) 2015-12-30 2021-03-30 Ethicon Llc Energized medical device with reusable handle
US10265068B2 (en) 2015-12-30 2019-04-23 Ethicon Llc Surgical instruments with separable motors and motor control circuits
US10179022B2 (en) 2015-12-30 2019-01-15 Ethicon Llc Jaw position impedance limiter for electrosurgical instrument
US10368865B2 (en) 2015-12-30 2019-08-06 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10575892B2 (en) 2015-12-31 2020-03-03 Ethicon Llc Adapter for electrical surgical instruments
US11229471B2 (en) 2016-01-15 2022-01-25 Cilag Gmbh International Modular battery powered handheld surgical instrument with selective application of energy based on tissue characterization
US10716615B2 (en) 2016-01-15 2020-07-21 Ethicon Llc Modular battery powered handheld surgical instrument with curved end effectors having asymmetric engagement between jaw and blade
US10537351B2 (en) 2016-01-15 2020-01-21 Ethicon Llc Modular battery powered handheld surgical instrument with variable motor control limits
US12193698B2 (en) 2016-01-15 2025-01-14 Cilag Gmbh International Method for self-diagnosing operation of a control switch in a surgical instrument system
US11129670B2 (en) 2016-01-15 2021-09-28 Cilag Gmbh International Modular battery powered handheld surgical instrument with selective application of energy based on button displacement, intensity, or local tissue characterization
US10653413B2 (en) 2016-02-09 2020-05-19 Ethicon Llc Surgical instruments with an end effector that is highly articulatable relative to an elongate shaft assembly
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
JP6911054B2 (ja) 2016-02-09 2021-07-28 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 非対称の関節構成を備えた外科用器具
US11224426B2 (en) 2016-02-12 2022-01-18 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
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
WO2017141324A1 (ja) * 2016-02-15 2017-08-24 オリンパス株式会社 エネルギー手術機器
JP6177484B1 (ja) * 2016-02-15 2017-08-09 オリンパス株式会社 エネルギー手術機器
US10555769B2 (en) 2016-02-22 2020-02-11 Ethicon Llc Flexible circuits for electrosurgical instrument
US11064997B2 (en) 2016-04-01 2021-07-20 Cilag Gmbh International Surgical stapling instrument
US11284890B2 (en) 2016-04-01 2022-03-29 Cilag Gmbh International Circular stapling system comprising an incisable tissue support
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
US10531874B2 (en) 2016-04-01 2020-01-14 Ethicon Llc Surgical cutting and stapling end effector with anvil concentric drive member
US10542991B2 (en) 2016-04-01 2020-01-28 Ethicon Llc Surgical stapling system comprising a jaw attachment lockout
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
US10828028B2 (en) 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
US11179150B2 (en) 2016-04-15 2021-11-23 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10335145B2 (en) 2016-04-15 2019-07-02 Ethicon Llc Modular surgical instrument with configurable operating mode
US10405859B2 (en) 2016-04-15 2019-09-10 Ethicon Llc Surgical instrument with adjustable stop/start control 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
US20170296173A1 (en) 2016-04-18 2017-10-19 Ethicon Endo-Surgery, Llc Method for operating a surgical instrument
US11317917B2 (en) 2016-04-18 2022-05-03 Cilag Gmbh International Surgical stapling system comprising a lockable firing assembly
US10433840B2 (en) 2016-04-18 2019-10-08 Ethicon Llc Surgical instrument comprising a replaceable cartridge jaw
US10856934B2 (en) 2016-04-29 2020-12-08 Ethicon Llc Electrosurgical instrument with electrically conductive gap setting and tissue engaging members
US10646269B2 (en) 2016-04-29 2020-05-12 Ethicon Llc Non-linear jaw gap for electrosurgical instruments
US10987156B2 (en) 2016-04-29 2021-04-27 Ethicon Llc Electrosurgical instrument with electrically conductive gap setting member and electrically insulative tissue engaging members
US10485607B2 (en) 2016-04-29 2019-11-26 Ethicon Llc Jaw structure with distal closure for electrosurgical instruments
US10702329B2 (en) 2016-04-29 2020-07-07 Ethicon Llc Jaw structure with distal post for electrosurgical instruments
US10456193B2 (en) 2016-05-03 2019-10-29 Ethicon Llc Medical device with a bilateral jaw configuration for nerve stimulation
US10888428B2 (en) 2016-05-12 2021-01-12 University Of Notre Dame Du Lac Additive manufacturing device for biomaterials
USD847989S1 (en) 2016-06-24 2019-05-07 Ethicon Llc Surgical fastener cartridge
USD822206S1 (en) 2016-06-24 2018-07-03 Ethicon Llc Surgical fastener
USD826405S1 (en) 2016-06-24 2018-08-21 Ethicon Llc Surgical fastener
USD850617S1 (en) 2016-06-24 2019-06-04 Ethicon Llc Surgical fastener cartridge
US10893863B2 (en) 2016-06-24 2021-01-19 Ethicon Llc Staple cartridge comprising offset longitudinal staple rows
CN109310431B (zh) 2016-06-24 2022-03-04 伊西康有限责任公司 包括线材钉和冲压钉的钉仓
US10245064B2 (en) 2016-07-12 2019-04-02 Ethicon Llc Ultrasonic surgical instrument with piezoelectric central lumen transducer
US10893883B2 (en) 2016-07-13 2021-01-19 Ethicon Llc Ultrasonic assembly for use with ultrasonic surgical instruments
CN119302760A (zh) 2016-07-14 2025-01-14 直观外科手术操作公司 器械冲洗系统
US20190231451A1 (en) 2016-07-14 2019-08-01 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
US11007024B2 (en) 2016-07-14 2021-05-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
CN114587609B (zh) 2016-07-14 2025-01-28 直观外科手术操作公司 多线缆医疗器械
US10842522B2 (en) 2016-07-15 2020-11-24 Ethicon Llc Ultrasonic surgical instruments having offset blades
US10376305B2 (en) 2016-08-05 2019-08-13 Ethicon Llc Methods and systems for advanced harmonic energy
US10285723B2 (en) 2016-08-09 2019-05-14 Ethicon Llc Ultrasonic surgical blade with improved heel portion
US10500000B2 (en) 2016-08-16 2019-12-10 Ethicon Llc Surgical tool with manual control of end effector jaws
USD847990S1 (en) 2016-08-16 2019-05-07 Ethicon Llc Surgical instrument
US10828056B2 (en) 2016-08-25 2020-11-10 Ethicon Llc Ultrasonic transducer to waveguide acoustic coupling, connections, and configurations
US10952759B2 (en) 2016-08-25 2021-03-23 Ethicon Llc Tissue loading of a surgical instrument
CN106175850B (zh) * 2016-08-31 2019-03-19 北京术锐技术有限公司 一种直线驱动机构驱动的柔性手术工具系统
US10751117B2 (en) 2016-09-23 2020-08-25 Ethicon Llc Electrosurgical instrument with fluid diverter
CN110198681B (zh) 2016-11-21 2022-09-13 直观外科手术操作公司 线缆长度持恒的医疗器械
US10603064B2 (en) 2016-11-28 2020-03-31 Ethicon Llc Ultrasonic transducer
US11266430B2 (en) 2016-11-29 2022-03-08 Cilag Gmbh International End effector control and calibration
CN106388875B (zh) * 2016-11-30 2023-07-04 重庆西山科技股份有限公司 旋切操作组件
US10537325B2 (en) 2016-12-21 2020-01-21 Ethicon Llc Staple forming pocket arrangement to accommodate different types of staples
US10813638B2 (en) 2016-12-21 2020-10-27 Ethicon Llc Surgical end effectors with expandable tissue stop arrangements
JP7010957B2 (ja) 2016-12-21 2022-01-26 エシコン エルエルシー ロックアウトを備えるシャフトアセンブリ
US11134942B2 (en) 2016-12-21 2021-10-05 Cilag Gmbh International Surgical stapling instruments and staple-forming anvils
JP7010956B2 (ja) 2016-12-21 2022-01-26 エシコン エルエルシー 組織をステープル留めする方法
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
US11191540B2 (en) 2016-12-21 2021-12-07 Cilag Gmbh International Protective cover arrangements for a joint interface between a movable jaw and actuator shaft of a surgical instrument
US20180168598A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Staple forming pocket arrangements comprising zoned forming surface grooves
US10667809B2 (en) 2016-12-21 2020-06-02 Ethicon Llc Staple cartridge and staple cartridge channel comprising windows defined therein
US10835247B2 (en) 2016-12-21 2020-11-17 Ethicon Llc Lockout arrangements for surgical end effectors
US10893864B2 (en) 2016-12-21 2021-01-19 Ethicon Staple cartridges and arrangements of staples and staple cavities therein
US10888322B2 (en) 2016-12-21 2021-01-12 Ethicon Llc Surgical instrument comprising a cutting member
US20180168625A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling instruments with smart staple cartridges
US10945727B2 (en) 2016-12-21 2021-03-16 Ethicon Llc Staple cartridge with deformable driver retention features
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
US10426471B2 (en) 2016-12-21 2019-10-01 Ethicon Llc Surgical instrument with multiple failure response modes
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
MX2019007311A (es) 2016-12-21 2019-11-18 Ethicon Llc Sistemas de engrapado quirurgico.
US10675025B2 (en) 2016-12-21 2020-06-09 Ethicon Llc Shaft assembly comprising separately actuatable and retractable systems
US10687810B2 (en) 2016-12-21 2020-06-23 Ethicon Llc Stepped staple cartridge with tissue retention and gap setting features
US11684367B2 (en) 2016-12-21 2023-06-27 Cilag Gmbh International Stepped assembly having and end-of-life indicator
JP6983893B2 (ja) 2016-12-21 2021-12-17 エシコン エルエルシーEthicon LLC 外科用エンドエフェクタ及び交換式ツールアセンブリのためのロックアウト構成
US10537324B2 (en) 2016-12-21 2020-01-21 Ethicon Llc Stepped staple cartridge with asymmetrical staples
MX2019007295A (es) 2016-12-21 2019-10-15 Ethicon Llc Sistema de instrumento quirúrgico que comprende un bloqueo del efector de extremo y un bloqueo de la unidad de disparo.
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
US10799308B2 (en) 2017-02-09 2020-10-13 Vicarious Surgical Inc. Virtual reality surgical tools system
US11033325B2 (en) 2017-02-16 2021-06-15 Cilag Gmbh International Electrosurgical instrument with telescoping suction port and debris cleaner
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
US10799284B2 (en) 2017-03-15 2020-10-13 Ethicon Llc Electrosurgical instrument with textured jaws
US11076926B2 (en) 2017-03-21 2021-08-03 Intuitive Surgical Operations, Inc. Manual release for medical device drive system
US11497546B2 (en) 2017-03-31 2022-11-15 Cilag Gmbh International Area ratios of patterned coatings on RF electrodes to reduce sticking
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
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity 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
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
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
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
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
US10624633B2 (en) 2017-06-20 2020-04-21 Ethicon Llc Systems and methods for controlling 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
USD890784S1 (en) 2017-06-20 2020-07-21 Ethicon Llc Display panel with changeable 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
US10881396B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Surgical instrument with variable duration trigger arrangement
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
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
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
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
US10368864B2 (en) 2017-06-20 2019-08-06 Ethicon Llc Systems and methods for controlling displaying motor velocity for a surgical instrument
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
US10856869B2 (en) 2017-06-27 2020-12-08 Ethicon Llc Surgical anvil arrangements
US11266405B2 (en) 2017-06-27 2022-03-08 Cilag Gmbh International Surgical anvil manufacturing methods
US10631859B2 (en) 2017-06-27 2020-04-28 Ethicon Llc Articulation systems for surgical instruments
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
US10772629B2 (en) 2017-06-27 2020-09-15 Ethicon Llc Surgical anvil arrangements
US10903685B2 (en) 2017-06-28 2021-01-26 Ethicon Llc Surgical shaft assemblies with slip ring assemblies forming capacitive channels
US11246592B2 (en) 2017-06-28 2022-02-15 Cilag Gmbh International Surgical instrument comprising an articulation system lockable to a frame
US11259805B2 (en) 2017-06-28 2022-03-01 Cilag Gmbh International Surgical instrument comprising firing member supports
US10716614B2 (en) 2017-06-28 2020-07-21 Ethicon Llc Surgical shaft assemblies with slip ring assemblies with increased contact pressure
US10211586B2 (en) 2017-06-28 2019-02-19 Ethicon Llc Surgical shaft assemblies with watertight housings
US20190000461A1 (en) 2017-06-28 2019-01-03 Ethicon Llc Surgical cutting and fastening devices with pivotable anvil with a tissue locating arrangement in close proximity to an anvil pivot axis
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
USD854151S1 (en) 2017-06-28 2019-07-16 Ethicon Llc Surgical instrument shaft
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
USD869655S1 (en) 2017-06-28 2019-12-10 Ethicon Llc Surgical fastener cartridge
US11000279B2 (en) 2017-06-28 2021-05-11 Ethicon Llc Surgical instrument comprising an articulation system ratio
US10603117B2 (en) 2017-06-28 2020-03-31 Ethicon Llc Articulation state detection mechanisms
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
EP3420947B1 (en) 2017-06-28 2022-05-25 Cilag GmbH International Surgical instrument comprising selectively actuatable rotatable couplers
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control 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
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
US10258418B2 (en) 2017-06-29 2019-04-16 Ethicon Llc System for controlling articulation forces
US11007022B2 (en) 2017-06-29 2021-05-18 Ethicon Llc Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument
US10820920B2 (en) 2017-07-05 2020-11-03 Ethicon Llc Reusable ultrasonic medical devices and methods of their use
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
US11974742B2 (en) 2017-08-03 2024-05-07 Cilag Gmbh International Surgical system comprising an articulation bailout
US11944300B2 (en) 2017-08-03 2024-04-02 Cilag Gmbh International Method for operating a surgical system bailout
EP3681368A4 (en) 2017-09-14 2021-06-23 Vicarious Surgical Inc. SURGICAL CAMERA SYSTEM WITH VIRTUAL REALITY
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
USD907647S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US11033323B2 (en) 2017-09-29 2021-06-15 Cilag Gmbh International Systems and methods for managing fluid and suction in electrosurgical systems
USD917500S1 (en) 2017-09-29 2021-04-27 Ethicon Llc Display screen or portion thereof with graphical user interface
USD907648S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US11490951B2 (en) 2017-09-29 2022-11-08 Cilag Gmbh International Saline contact with electrodes
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
US10729501B2 (en) 2017-09-29 2020-08-04 Ethicon Llc Systems and methods for language selection 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
US11484358B2 (en) 2017-09-29 2022-11-01 Cilag Gmbh International Flexible electrosurgical instrument
US10796471B2 (en) 2017-09-29 2020-10-06 Ethicon Llc Systems and methods of displaying a knife position for a surgical instrument
US11364067B2 (en) * 2017-10-06 2022-06-21 Cilag Gmbh International Electrical isolation of electrosurgical instruments
US11291510B2 (en) 2017-10-30 2022-04-05 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11510741B2 (en) 2017-10-30 2022-11-29 Cilag Gmbh International Method for producing a surgical instrument comprising a smart electrical system
US11090075B2 (en) 2017-10-30 2021-08-17 Cilag Gmbh International Articulation features for surgical end effector
US11793537B2 (en) 2017-10-30 2023-10-24 Cilag Gmbh International Surgical instrument comprising an adaptive electrical system
US10932804B2 (en) 2017-10-30 2021-03-02 Ethicon Llc Surgical instrument with sensor and/or control systems
US10736616B2 (en) 2017-10-30 2020-08-11 Ethicon Llc Surgical instrument with remote release
US11801098B2 (en) 2017-10-30 2023-10-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11129634B2 (en) 2017-10-30 2021-09-28 Cilag Gmbh International Surgical instrument with rotary drive selectively actuating multiple end effector functions
US11911045B2 (en) 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
US11311342B2 (en) 2017-10-30 2022-04-26 Cilag Gmbh International Method for communicating with surgical instrument systems
US11317919B2 (en) 2017-10-30 2022-05-03 Cilag Gmbh International Clip applier comprising a clip crimping system
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
JP7286638B2 (ja) * 2017-10-30 2023-06-05 エシコン エルエルシー 外科用システムの反応アルゴリズム
US11413042B2 (en) 2017-10-30 2022-08-16 Cilag Gmbh International Clip applier comprising a reciprocating clip advancing member
US11229436B2 (en) 2017-10-30 2022-01-25 Cilag Gmbh International Surgical system comprising a surgical tool and a surgical hub
EP3476348B1 (en) * 2017-10-30 2024-07-03 Ethicon LLC Surgical dissectors configured to apply mechanical and electrical energy
US11564756B2 (en) 2017-10-30 2023-01-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
US10779903B2 (en) 2017-10-31 2020-09-22 Ethicon Llc Positive shaft rotation lock activated by jaw closure
US11460360B2 (en) 2017-11-14 2022-10-04 Intuitive Surgical Operations, Inc. Split bridge circuit force sensor
US10675107B2 (en) 2017-11-15 2020-06-09 Intuitive Surgical Operations, Inc. Surgical instrument end effector with integral FBG
WO2019118336A1 (en) 2017-12-14 2019-06-20 Intuitive Surgical Operations, Inc. Medical tools having tension bands
US11033267B2 (en) 2017-12-15 2021-06-15 Ethicon Llc Systems and methods of controlling a clamping member firing rate of a surgical instrument
US10743874B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Sealed adapters for use with electromechanical surgical instruments
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
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
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
US10743875B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member
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
US10687813B2 (en) 2017-12-15 2020-06-23 Ethicon Llc Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments
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
US11071543B2 (en) 2017-12-15 2021-07-27 Cilag Gmbh International Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges
US10869666B2 (en) 2017-12-15 2020-12-22 Ethicon Llc Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument
US10716565B2 (en) 2017-12-19 2020-07-21 Ethicon Llc Surgical instruments with dual articulation drivers
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
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
USD910847S1 (en) 2017-12-19 2021-02-16 Ethicon Llc Surgical instrument assembly
US11045270B2 (en) 2017-12-19 2021-06-29 Cilag Gmbh International Robotic attachment comprising exterior drive actuator
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
US11583274B2 (en) 2017-12-21 2023-02-21 Cilag Gmbh International Self-guiding stapling instrument
US11129680B2 (en) 2017-12-21 2021-09-28 Cilag Gmbh International Surgical instrument comprising a projector
US11311290B2 (en) 2017-12-21 2022-04-26 Cilag Gmbh International Surgical instrument comprising an end effector dampener
US20190206569A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Method of cloud based data analytics for use with the hub
US11602393B2 (en) 2017-12-28 2023-03-14 Cilag Gmbh International Surgical evacuation sensing and generator control
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11576677B2 (en) 2017-12-28 2023-02-14 Cilag Gmbh International Method of hub communication, processing, display, and cloud analytics
US11253315B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Increasing radio frequency to create pad-less monopolar loop
US11257589B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes
US11559307B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method of robotic hub communication, detection, and control
US10695081B2 (en) 2017-12-28 2020-06-30 Ethicon Llc Controlling a surgical instrument according to sensed closure parameters
US11304763B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use
US11304720B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Activation of energy devices
US11896322B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub
US20190201090A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Capacitive coupled return path pad with separable array elements
US12127729B2 (en) 2017-12-28 2024-10-29 Cilag Gmbh International Method for smoke evacuation for surgical hub
US11234756B2 (en) 2017-12-28 2022-02-01 Cilag Gmbh International Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter
US11311306B2 (en) 2017-12-28 2022-04-26 Cilag Gmbh International Surgical systems for detecting end effector tissue distribution irregularities
US11612444B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Adjustment of a surgical device function based on situational awareness
US11559308B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method for smart energy device infrastructure
US11464559B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Estimating state of ultrasonic end effector and control system therefor
US11132462B2 (en) 2017-12-28 2021-09-28 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11109866B2 (en) 2017-12-28 2021-09-07 Cilag Gmbh International Method for circular stapler control algorithm adjustment based on situational awareness
US10987178B2 (en) 2017-12-28 2021-04-27 Ethicon Llc Surgical hub control arrangements
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
US11273001B2 (en) 2017-12-28 2022-03-15 Cilag Gmbh International Surgical hub and modular device response adjustment based on situational awareness
US11278281B2 (en) 2017-12-28 2022-03-22 Cilag Gmbh International Interactive surgical system
US11969142B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws
US12062442B2 (en) 2017-12-28 2024-08-13 Cilag Gmbh International Method for operating surgical instrument systems
US10966791B2 (en) 2017-12-28 2021-04-06 Ethicon Llc Cloud-based medical analytics for medical facility segmented individualization of instrument function
US11213359B2 (en) 2017-12-28 2022-01-04 Cilag Gmbh International Controllers for robot-assisted surgical platforms
US11056244B2 (en) 2017-12-28 2021-07-06 Cilag Gmbh International Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks
US11076921B2 (en) 2017-12-28 2021-08-03 Cilag Gmbh International Adaptive control program updates for surgical hubs
US20190201039A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Situational awareness of electrosurgical systems
US11529187B2 (en) 2017-12-28 2022-12-20 Cilag Gmbh International Surgical evacuation sensor arrangements
US11633237B2 (en) 2017-12-28 2023-04-25 Cilag Gmbh International Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures
US11678881B2 (en) 2017-12-28 2023-06-20 Cilag Gmbh International Spatial awareness of surgical hubs in operating rooms
US12207817B2 (en) 2017-12-28 2025-01-28 Cilag Gmbh International Safety systems for smart powered surgical stapling
US11317937B2 (en) 2018-03-08 2022-05-03 Cilag Gmbh International Determining the state of an ultrasonic end effector
US11666331B2 (en) 2017-12-28 2023-06-06 Cilag Gmbh International Systems for detecting proximity of surgical end effector to cancerous tissue
US12096916B2 (en) 2017-12-28 2024-09-24 Cilag Gmbh International Method of sensing particulate from smoke evacuated from a patient, adjusting the pump speed based on the sensed information, and communicating the functional parameters of the system to the hub
US10892899B2 (en) 2017-12-28 2021-01-12 Ethicon Llc Self describing data packets generated at an issuing instrument
US11160605B2 (en) 2017-12-28 2021-11-02 Cilag Gmbh International Surgical evacuation sensing and motor control
US11446052B2 (en) 2017-12-28 2022-09-20 Cilag Gmbh International Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue
US11364075B2 (en) 2017-12-28 2022-06-21 Cilag Gmbh International Radio frequency energy device for delivering combined electrical signals
US10758310B2 (en) 2017-12-28 2020-09-01 Ethicon Llc Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US11389164B2 (en) 2017-12-28 2022-07-19 Cilag Gmbh International Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US11376002B2 (en) 2017-12-28 2022-07-05 Cilag Gmbh International Surgical instrument cartridge sensor assemblies
US11100631B2 (en) 2017-12-28 2021-08-24 Cilag Gmbh International Use of laser light and red-green-blue coloration to determine properties of back scattered light
US11096693B2 (en) 2017-12-28 2021-08-24 Cilag Gmbh International Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing
US11937769B2 (en) 2017-12-28 2024-03-26 Cilag Gmbh International Method of hub communication, processing, storage and display
US10892995B2 (en) 2017-12-28 2021-01-12 Ethicon Llc Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11166772B2 (en) 2017-12-28 2021-11-09 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11324557B2 (en) 2017-12-28 2022-05-10 Cilag Gmbh International Surgical instrument with a sensing array
US11659023B2 (en) 2017-12-28 2023-05-23 Cilag Gmbh International Method of hub communication
US11202570B2 (en) 2017-12-28 2021-12-21 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US11284936B2 (en) 2017-12-28 2022-03-29 Cilag Gmbh International Surgical instrument having a flexible electrode
US10944728B2 (en) 2017-12-28 2021-03-09 Ethicon Llc Interactive surgical systems with encrypted communication capabilities
US10898622B2 (en) 2017-12-28 2021-01-26 Ethicon Llc Surgical evacuation system with a communication circuit for communication between a filter and a smoke evacuation device
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US11051876B2 (en) 2017-12-28 2021-07-06 Cilag Gmbh International Surgical evacuation flow paths
US11540855B2 (en) 2017-12-28 2023-01-03 Cilag Gmbh International Controlling activation of an ultrasonic surgical instrument according to the presence of tissue
US11179208B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Cloud-based medical analytics for security and authentication trends and reactive measures
US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
US11818052B2 (en) 2017-12-28 2023-11-14 Cilag Gmbh International Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11069012B2 (en) 2017-12-28 2021-07-20 Cilag Gmbh International Interactive surgical systems with condition handling of devices and data capabilities
US11464535B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Detection of end effector emersion in liquid
US11832840B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical instrument having a flexible circuit
WO2019133144A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Detection and escalation of security responses of surgical instruments to increasing severity threats
US11013563B2 (en) 2017-12-28 2021-05-25 Ethicon Llc Drive arrangements for robot-assisted surgical platforms
US11998193B2 (en) 2017-12-28 2024-06-04 Cilag Gmbh International Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation
US11410259B2 (en) 2017-12-28 2022-08-09 Cilag Gmbh International Adaptive control program updates for surgical devices
US11589888B2 (en) 2017-12-28 2023-02-28 Cilag Gmbh International Method for controlling smart energy devices
US11432885B2 (en) 2017-12-28 2022-09-06 Cilag Gmbh International Sensing arrangements for robot-assisted surgical platforms
US11304745B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Surgical evacuation sensing and display
US11571234B2 (en) 2017-12-28 2023-02-07 Cilag Gmbh International Temperature control of ultrasonic end effector and control system therefor
US11266468B2 (en) 2017-12-28 2022-03-08 Cilag Gmbh International Cooperative utilization of data derived from secondary sources by intelligent surgical hubs
US11147607B2 (en) * 2017-12-28 2021-10-19 Cilag Gmbh International Bipolar combination device that automatically adjusts pressure based on energy modality
US11304699B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US10849697B2 (en) 2017-12-28 2020-12-01 Ethicon Llc Cloud interface for coupled surgical devices
US11419630B2 (en) * 2017-12-28 2022-08-23 Cilag Gmbh International Surgical system distributed processing
US11672605B2 (en) 2017-12-28 2023-06-13 Cilag Gmbh International Sterile field interactive control displays
US11969216B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution
US11419667B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location
US10943454B2 (en) 2017-12-28 2021-03-09 Ethicon Llc Detection and escalation of security responses of surgical instruments to increasing severity threats
US11612408B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Determining tissue composition via an ultrasonic system
US11291495B2 (en) 2017-12-28 2022-04-05 Cilag Gmbh International Interruption of energy due to inadvertent capacitive coupling
US11786245B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Surgical systems with prioritized data transmission capabilities
US11423007B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Adjustment of device control programs based on stratified contextual data in addition to the data
US10932872B2 (en) 2017-12-28 2021-03-02 Ethicon Llc Cloud-based medical analytics for linking of local usage trends with the resource acquisition behaviors of larger data set
US10755813B2 (en) 2017-12-28 2020-08-25 Ethicon Llc Communication of smoke evacuation system parameters to hub or cloud in smoke evacuation module for interactive surgical platform
US11308075B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity
US11424027B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Method for operating surgical instrument systems
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
CN111970985B (zh) 2018-03-07 2024-12-03 直观外科手术操作公司 具有易组装构件的低摩擦小型医疗工具
WO2019173267A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US11992286B2 (en) 2018-03-07 2024-05-28 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
US11701162B2 (en) 2018-03-08 2023-07-18 Cilag Gmbh International Smart blade application for reusable and disposable devices
US11259830B2 (en) 2018-03-08 2022-03-01 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
US11534196B2 (en) 2018-03-08 2022-12-27 Cilag Gmbh International Using spectroscopy to determine device use state in combo instrument
DE102018112346A1 (de) 2018-05-23 2019-11-28 Storz Am Mark Gmbh Medizinisches Instrument
US11219453B2 (en) 2018-03-28 2022-01-11 Cilag Gmbh International Surgical stapling devices with cartridge compatible closure and firing lockout arrangements
US11096688B2 (en) 2018-03-28 2021-08-24 Cilag Gmbh International Rotary driven firing members with different anvil and channel engagement features
US11207067B2 (en) 2018-03-28 2021-12-28 Cilag Gmbh International Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing
US11278280B2 (en) 2018-03-28 2022-03-22 Cilag Gmbh International Surgical instrument comprising a jaw closure lockout
US11406382B2 (en) 2018-03-28 2022-08-09 Cilag Gmbh International Staple cartridge comprising a lockout key configured to lift a firing member
US11471156B2 (en) 2018-03-28 2022-10-18 Cilag Gmbh International Surgical stapling devices with improved rotary driven closure systems
US10973520B2 (en) 2018-03-28 2021-04-13 Ethicon Llc Surgical staple cartridge with firing member driven camming assembly that has an onboard tissue cutting feature
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
US11589865B2 (en) 2018-03-28 2023-02-28 Cilag Gmbh International Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems
CN111936072B (zh) 2018-04-10 2024-08-02 直观外科手术操作公司 具有柔线布设的可关节运动的医疗装置
US11553938B2 (en) * 2018-05-03 2023-01-17 Covidien Lp Surgical instruments, control assemblies, and surgical systems facilitating manipulation and visualization
WO2019227032A1 (en) 2018-05-25 2019-11-28 Intuitive Surgical Operations, Inc. Fiber bragg grating end effector force sensor
US11259798B2 (en) 2018-07-16 2022-03-01 Intuitive Surgical Operations, Inc. Medical devices having tissue grasping surfaces and features for manipulating surgical needles
US11612447B2 (en) 2018-07-19 2023-03-28 Intuitive Surgical Operations, Inc. Medical devices having three tool members
US10779821B2 (en) 2018-08-20 2020-09-22 Ethicon Llc Surgical stapler anvils with tissue stop features configured to avoid tissue pinch
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
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
US11324501B2 (en) 2018-08-20 2022-05-10 Cilag Gmbh International Surgical stapling devices with improved closure members
US20200054321A1 (en) 2018-08-20 2020-02-20 Ethicon Llc Surgical instruments with progressive jaw closure arrangements
US10856870B2 (en) 2018-08-20 2020-12-08 Ethicon Llc Switching arrangements for motor powered articulatable surgical instruments
USD914878S1 (en) 2018-08-20 2021-03-30 Ethicon Llc Surgical instrument anvil
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
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
US10912559B2 (en) 2018-08-20 2021-02-09 Ethicon Llc Reinforced deformable anvil tip for surgical stapler anvil
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
US12048504B2 (en) 2018-11-15 2024-07-30 Intuitive Surgical Operations, Inc. Cable drive limited slip capstan and shaft
WO2020102778A1 (en) 2018-11-15 2020-05-22 Intuitive Surgical Operations, Inc. Strain sensor with contoured deflection surface
US11291514B2 (en) 2018-11-15 2022-04-05 Intuitive Surgical Operations, Inc. Medical devices having multiple blades and methods of use
US11213287B2 (en) 2018-11-15 2022-01-04 Intuitive Surgical Operations, Inc. Support apparatus for a medical retractor device
US11317915B2 (en) 2019-02-19 2022-05-03 Cilag Gmbh International Universal cartridge based key feature that unlocks multiple lockout arrangements in different surgical staplers
US11517309B2 (en) 2019-02-19 2022-12-06 Cilag Gmbh International Staple cartridge retainer with retractable authentication key
US11751872B2 (en) 2019-02-19 2023-09-12 Cilag Gmbh International Insertable deactivator element for surgical stapler lockouts
US11369377B2 (en) 2019-02-19 2022-06-28 Cilag Gmbh International Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout
US11357503B2 (en) 2019-02-19 2022-06-14 Cilag Gmbh International Staple cartridge retainers with frangible retention features and methods of using same
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
US11147553B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
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
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
US11253254B2 (en) 2019-04-30 2022-02-22 Cilag Gmbh International Shaft rotation actuator on a surgical instrument
EP3982864A1 (en) 2019-06-13 2022-04-20 Intuitive Surgical Operations, Inc. Medical tool with length conservation mechanism for actuating tension bands
USD950728S1 (en) 2019-06-25 2022-05-03 Cilag Gmbh International Surgical staple cartridge
USD964564S1 (en) 2019-06-25 2022-09-20 Cilag Gmbh International Surgical staple cartridge retainer with a closure system authentication key
USD952144S1 (en) 2019-06-25 2022-05-17 Cilag Gmbh International Surgical staple cartridge retainer with firing system authentication key
US11413102B2 (en) 2019-06-27 2022-08-16 Cilag Gmbh International Multi-access port for surgical robotic systems
US11547468B2 (en) 2019-06-27 2023-01-10 Cilag Gmbh International Robotic surgical system with safety and cooperative sensing control
US11612445B2 (en) 2019-06-27 2023-03-28 Cilag Gmbh International Cooperative operation of robotic arms
US11607278B2 (en) 2019-06-27 2023-03-21 Cilag Gmbh International Cooperative robotic surgical systems
US11376082B2 (en) 2019-06-27 2022-07-05 Cilag Gmbh International Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs
US11723729B2 (en) 2019-06-27 2023-08-15 Cilag Gmbh International Robotic surgical assembly coupling safety mechanisms
US11399837B2 (en) 2019-06-28 2022-08-02 Cilag Gmbh International Mechanisms for motor control adjustments of a motorized surgical instrument
US11051807B2 (en) 2019-06-28 2021-07-06 Cilag Gmbh International Packaging assembly including a particulate trap
US11638587B2 (en) 2019-06-28 2023-05-02 Cilag Gmbh International RFID identification systems for surgical instruments
US11291451B2 (en) 2019-06-28 2022-04-05 Cilag Gmbh International Surgical instrument with battery compatibility verification functionality
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US11219455B2 (en) 2019-06-28 2022-01-11 Cilag Gmbh International Surgical instrument including a lockout key
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11259803B2 (en) 2019-06-28 2022-03-01 Cilag Gmbh International Surgical stapling system having an information encryption protocol
US11298127B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Interational Surgical stapling system having a lockout mechanism for an incompatible cartridge
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
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
US11224497B2 (en) 2019-06-28 2022-01-18 Cilag Gmbh International Surgical systems with multiple RFID tags
US11229437B2 (en) 2019-06-28 2022-01-25 Cilag Gmbh International Method for authenticating the compatibility of a staple cartridge with a surgical instrument
US11246678B2 (en) 2019-06-28 2022-02-15 Cilag Gmbh International Surgical stapling system having a frangible RFID tag
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
US11298132B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Inlernational Staple cartridge including a honeycomb extension
US12004740B2 (en) 2019-06-28 2024-06-11 Cilag Gmbh International Surgical stapling system having an information decryption protocol
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
CN114375183A (zh) 2019-07-15 2022-04-19 史赛克公司 机器人手持式外科器械系统和方法
WO2021055509A2 (en) 2019-09-17 2021-03-25 Intuitive Surgical Operations, Inc. Symmetric trimming of strain gauges
CN114423373B (zh) 2019-09-17 2025-03-14 直观外科手术操作公司 紧凑型差分同轴感应力传感器
WO2021076765A1 (en) 2019-10-17 2021-04-22 Intuitive Surgical Operations, Inc. Surgical tool with nested shaft tubes
US11872026B2 (en) 2019-12-04 2024-01-16 Biosense Webster (Israel) Ltd. Catheter contact force sensor
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
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
US12035913B2 (en) 2019-12-19 2024-07-16 Cilag Gmbh International Staple cartridge comprising a deployable knife
US11559304B2 (en) 2019-12-19 2023-01-24 Cilag Gmbh International Surgical instrument comprising a rapid closure mechanism
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11234698B2 (en) 2019-12-19 2022-02-01 Cilag Gmbh International Stapling system comprising a clamp lockout and a firing lockout
US11504122B2 (en) 2019-12-19 2022-11-22 Cilag Gmbh International Surgical instrument comprising a nested firing member
US11931033B2 (en) 2019-12-19 2024-03-19 Cilag Gmbh International Staple cartridge comprising a latch lockout
US11291447B2 (en) 2019-12-19 2022-04-05 Cilag Gmbh International Stapling instrument comprising independent jaw closing and staple firing systems
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
US11304696B2 (en) 2019-12-19 2022-04-19 Cilag Gmbh International Surgical instrument comprising a powered articulation system
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11529139B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Motor driven surgical instrument
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
US20210187254A1 (en) * 2019-12-24 2021-06-24 Biosense Webster (Israel) Ltd. Contact Force Spring with Mechanical Stops
US12064109B2 (en) 2019-12-30 2024-08-20 Cilag Gmbh International Surgical instrument comprising a feedback control circuit
US11660089B2 (en) 2019-12-30 2023-05-30 Cilag Gmbh International Surgical instrument comprising a sensing system
US11911063B2 (en) 2019-12-30 2024-02-27 Cilag Gmbh International Techniques for detecting ultrasonic blade to electrode contact and reducing power to ultrasonic blade
US12114912B2 (en) 2019-12-30 2024-10-15 Cilag Gmbh International Non-biased deflectable electrode to minimize contact between ultrasonic blade and electrode
US11986234B2 (en) 2019-12-30 2024-05-21 Cilag Gmbh International Surgical system communication pathways
US12082808B2 (en) 2019-12-30 2024-09-10 Cilag Gmbh International Surgical instrument comprising a control system responsive to software configurations
US11937863B2 (en) 2019-12-30 2024-03-26 Cilag Gmbh International Deflectable electrode with variable compression bias along the length of the deflectable electrode
US11707318B2 (en) 2019-12-30 2023-07-25 Cilag Gmbh International Surgical instrument with jaw alignment features
US12053224B2 (en) 2019-12-30 2024-08-06 Cilag Gmbh International Variation in electrode parameters and deflectable electrode to modify energy density and tissue interaction
US11944366B2 (en) 2019-12-30 2024-04-02 Cilag Gmbh International Asymmetric segmented ultrasonic support pad for cooperative engagement with a movable RF electrode
US11986201B2 (en) 2019-12-30 2024-05-21 Cilag Gmbh International Method for operating a surgical instrument
US11950797B2 (en) 2019-12-30 2024-04-09 Cilag Gmbh International Deflectable electrode with higher distal bias relative to proximal bias
US11696776B2 (en) 2019-12-30 2023-07-11 Cilag Gmbh International Articulatable surgical instrument
US12076006B2 (en) 2019-12-30 2024-09-03 Cilag Gmbh International Surgical instrument comprising an orientation detection system
US12262937B2 (en) 2019-12-30 2025-04-01 Cilag Gmbh International User interface for surgical instrument with combination energy modality end-effector
US11786291B2 (en) 2019-12-30 2023-10-17 Cilag Gmbh International Deflectable support of RF energy electrode with respect to opposing ultrasonic blade
US12023086B2 (en) 2019-12-30 2024-07-02 Cilag Gmbh International Electrosurgical instrument for delivering blended energy modalities to tissue
US11779329B2 (en) 2019-12-30 2023-10-10 Cilag Gmbh International Surgical instrument comprising a flex circuit including a sensor system
US11812957B2 (en) 2019-12-30 2023-11-14 Cilag Gmbh International Surgical instrument comprising a signal interference resolution system
US11452525B2 (en) 2019-12-30 2022-09-27 Cilag Gmbh International Surgical instrument comprising an adjustment system
US11779387B2 (en) 2019-12-30 2023-10-10 Cilag Gmbh International Clamp arm jaw to minimize tissue sticking and improve tissue control
US20210196362A1 (en) 2019-12-30 2021-07-01 Ethicon Llc Electrosurgical end effectors with thermally insulative and thermally conductive portions
US20210196363A1 (en) 2019-12-30 2021-07-01 Ethicon Llc Electrosurgical instrument with electrodes operable in bipolar and monopolar modes
US12239393B2 (en) 2020-05-18 2025-03-04 Intuitive Surgical Operations, Inc. Hard stop that produces a reactive moment upon engagement for cantilever-based force sensing
USD976401S1 (en) 2020-06-02 2023-01-24 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
USD967421S1 (en) 2020-06-02 2022-10-18 Cilag Gmbh International Staple cartridge
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD975278S1 (en) 2020-06-02 2023-01-10 Cilag Gmbh International Staple cartridge
USD975851S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
US11883024B2 (en) 2020-07-28 2024-01-30 Cilag Gmbh International Method of operating a surgical instrument
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US12053175B2 (en) 2020-10-29 2024-08-06 Cilag Gmbh International Surgical instrument comprising a stowed closure actuator stop
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
US11452526B2 (en) 2020-10-29 2022-09-27 Cilag Gmbh International Surgical instrument comprising a staged voltage regulation start-up system
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
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
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
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
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
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
US11944296B2 (en) 2020-12-02 2024-04-02 Cilag Gmbh International Powered surgical instruments with external connectors
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
US11678882B2 (en) 2020-12-02 2023-06-20 Cilag Gmbh International Surgical instruments with interactive features to remedy incidental sled movements
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US12239404B2 (en) * 2020-12-30 2025-03-04 Cilag Gmbh International Torque-based transition between operating gears
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US12108951B2 (en) 2021-02-26 2024-10-08 Cilag Gmbh International Staple cartridge comprising a sensing array and a temperature control system
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US11950777B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Staple cartridge comprising an information access control system
US11980362B2 (en) 2021-02-26 2024-05-14 Cilag Gmbh International Surgical instrument system comprising a power transfer coil
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US11950779B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
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
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
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
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
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
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
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
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
US12102323B2 (en) 2021-03-24 2024-10-01 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising a floatable component
US11918217B2 (en) 2021-05-28 2024-03-05 Cilag Gmbh International Stapling instrument comprising a staple cartridge insertion stop
US12257014B2 (en) 2021-06-22 2025-03-25 Intuitive Surgical Operations, Inc. Devices and methods for crimp interface for cable tension sensor
US11931026B2 (en) 2021-06-30 2024-03-19 Cilag Gmbh International Staple cartridge replacement
US11974829B2 (en) 2021-06-30 2024-05-07 Cilag Gmbh International Link-driven articulation device for a surgical device
US11957337B2 (en) 2021-10-18 2024-04-16 Cilag Gmbh International Surgical stapling assembly with offset ramped drive surfaces
US11877745B2 (en) 2021-10-18 2024-01-23 Cilag Gmbh International Surgical stapling assembly having longitudinally-repeating staple leg clusters
US11980363B2 (en) 2021-10-18 2024-05-14 Cilag Gmbh International Row-to-row staple array variations
US12239317B2 (en) 2021-10-18 2025-03-04 Cilag Gmbh International Anvil comprising an arrangement of forming pockets proximal to tissue stop
US12251105B2 (en) 2021-10-20 2025-03-18 Cilag Gmbh International Lockout arrangements for surgical instruments
US12089841B2 (en) 2021-10-28 2024-09-17 Cilag CmbH International Staple cartridge identification systems
US11937816B2 (en) 2021-10-28 2024-03-26 Cilag Gmbh International Electrical lead arrangements for surgical instruments
US11957342B2 (en) 2021-11-01 2024-04-16 Cilag Gmbh International Devices, systems, and methods for detecting tissue and foreign objects during a surgical operation

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1163558A (zh) * 1994-10-11 1997-10-29 查尔斯·H·克利曼 具有可拆卸的端部操作装置的内窥镜仪器
EP1230899A1 (en) * 2001-02-07 2002-08-14 Karl Storz Imaging Inc. Deployable surgical clamp with delivery/retrieval device and actuator
WO2002085218A2 (en) * 2001-04-20 2002-10-31 Power Medical Interventions, Inc. Bipolar or ultrasonic surgical device
US20070244477A1 (en) * 2000-02-10 2007-10-18 Santilli Albert N Surgical Clamp Assembly with Electrodes
EP2036505A1 (en) * 2007-09-11 2009-03-18 Tyco Healthcare Group LP Articulating joint for surgical instruments
CN101686850A (zh) * 2007-06-29 2010-03-31 Kls马丁有限及两合公司 外科用器械
CN102028509A (zh) * 2009-10-05 2011-04-27 Tyco医疗健康集团 用于手术器械的内部骨架结构底盘
EP2399538A2 (en) * 2010-06-23 2011-12-28 Tyco Healthcare Group, LP Surgical instrument with a separable coaxial joint

Family Cites Families (2205)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1306107A (en) 1919-06-10 Assigotob to amebxcak
US66052A (en) 1867-06-25 smith
DE273689C (zh) 1913-08-07 1914-05-08
US1314601A (en) 1919-09-02 Flexible shaft
US662587A (en) 1900-05-18 1900-11-27 Charles Chandler Blake Insulated support for electric conductors.
US670748A (en) 1900-10-25 1901-03-26 Paul Weddeler Flexible shafting.
US951393A (en) 1909-04-06 1910-03-08 John N Hahn Staple.
FR459743A (fr) 1912-09-14 1913-11-12 Bariquant Et Marre Des Atel Transmission flexible
US1677337A (en) 1924-09-27 1928-07-17 Thomas E Grove Antrum drill
US2037727A (en) 1934-12-27 1936-04-21 United Shoe Machinery Corp Fastening
US2132295A (en) 1937-05-05 1938-10-04 Hawkins Earl Stapling device
US2211117A (en) 1937-09-06 1940-08-13 Rieter Joh Jacob & Cie Ag Device for drawing rovings in speeders and spinning machines
US2161632A (en) 1937-12-20 1939-06-06 Martin L Nattenheimer Fastening device
US2214870A (en) 1938-08-10 1940-09-17 William J West Siding cutter
US2441096A (en) 1944-09-04 1948-05-04 Singer Mfg Co Control means for portable electric tools
US2526902A (en) 1947-07-31 1950-10-24 Norman C Rublee Insulating staple
FR999646A (fr) 1949-11-16 1952-02-04 Dispositif serre-câble
US2674149A (en) 1952-03-01 1954-04-06 Jerry S Benson Multiple pronged fastener device with spreading means
US2804848A (en) 1954-09-30 1957-09-03 Chicago Pneumatic Tool Co Drilling apparatus
FR1112936A (fr) 1954-10-20 1956-03-20 Moteur électrique et commande à trois vitesses enfermés dans une gaine
US2808482A (en) 1956-04-12 1957-10-01 Miniature Switch Corp Toggle switch construction
US2853074A (en) 1956-06-15 1958-09-23 Edward A Olson Stapling instrument for surgical purposes
US2959974A (en) 1958-05-28 1960-11-15 Melvin H Emrick Forward and reverse friction drive tapping attachment
DE1775926U (de) 1958-06-11 1958-10-16 Rudolf W Dipl Ing Ihmig Kugelschreibermine.
US3032769A (en) 1959-08-18 1962-05-08 John R Palmer Method of making a bracket
US3078465A (en) 1959-09-09 1963-02-26 Bobrov Boris Sergueevitch Instrument for stitching gastric stump
GB939929A (en) 1959-10-30 1963-10-16 Vasilii Fedotovich Goodov Instrument for stitching blood vessels, intestines, bronchi and other soft tissues
US3079606A (en) 1960-01-04 1963-03-05 Bobrov Boris Sergeevich Instrument for placing lateral gastrointestinal anastomoses
US3075062A (en) 1960-02-02 1963-01-22 J B T Instr Inc Toggle switch
US3196869A (en) 1962-06-13 1965-07-27 William M Scholl Buttress pad and method of making the same
US3166072A (en) 1962-10-22 1965-01-19 Jr John T Sullivan Barbed clips
US3266494A (en) 1963-08-26 1966-08-16 Possis Machine Corp Powered forceps
US3317105A (en) 1964-03-25 1967-05-02 Niiex Khirurgicheskoi Apparatu Instrument for placing lateral intestinal anastomoses
US3269630A (en) 1964-04-30 1966-08-30 Fleischer Harry Stapling instrument
US3317103A (en) 1965-05-03 1967-05-02 Cullen Apparatus for handling hose or similar elongate members
US3275211A (en) 1965-05-10 1966-09-27 United States Surgical Corp Surgical stapler with replaceable cartridge
US3357296A (en) 1965-05-14 1967-12-12 Keuneth W Lefever Staple fastener
US3494533A (en) 1966-10-10 1970-02-10 United States Surgical Corp Surgical stapler for stitching body organs
GB1210522A (en) 1966-10-10 1970-10-28 United States Surgical Corp Instrument for placing lateral gastro-intestinal anastomoses
US3490675A (en) 1966-10-10 1970-01-20 United States Surgical Corp Instrument for placing lateral gastrointestinal anastomoses
US3499591A (en) 1967-06-23 1970-03-10 United States Surgical Corp Instrument for placing lateral gastro-intestinal anastomoses
GB1217159A (en) 1967-12-05 1970-12-31 Coventry Gauge & Tool Co Ltd Torque limiting device
US3551987A (en) 1968-09-12 1971-01-05 Jack E Wilkinson Stapling clamp for gastrointestinal surgery
US3572159A (en) 1969-06-12 1971-03-23 Teleflex Inc Motion transmitting remote control assembly
US3643851A (en) 1969-08-25 1972-02-22 United States Surgical Corp Skin stapler
US3598943A (en) 1969-12-01 1971-08-10 Illinois Tool Works Actuator assembly for toggle switch
US3744495A (en) 1970-01-02 1973-07-10 M Johnson Method of securing prolapsed vagina in cattle
US3662939A (en) 1970-02-26 1972-05-16 United States Surgical Corp Surgical stapler for skin and fascia
FR2084475A5 (zh) 1970-03-16 1971-12-17 Brumlik George
US3740994A (en) 1970-10-13 1973-06-26 Surgical Corp Three stage medical instrument
US3717294A (en) 1970-12-14 1973-02-20 Surgical Corp Cartridge and powering instrument for stapling skin and fascia
US3746002A (en) 1971-04-29 1973-07-17 J Haller Atraumatic surgical clamp
CA960189A (en) 1971-07-12 1974-12-31 Hilti Aktiengesellschaft Nail holder assembly
US3851196A (en) 1971-09-08 1974-11-26 Xynetics Inc Plural axis linear motor structure
US3734207A (en) 1971-12-27 1973-05-22 M Fishbein Battery powered orthopedic cutting tool
US3751902A (en) 1972-02-22 1973-08-14 Emhart Corp Apparatus for installing insulation on a staple
US3940844A (en) 1972-02-22 1976-03-02 Pci Group, Inc. Method of installing an insulating sleeve on a staple
US4198734A (en) 1972-04-04 1980-04-22 Brumlik George C Self-gripping devices with flexible self-gripping means and method
GB1339394A (en) 1972-04-06 1973-12-05 Vnii Khirurgicheskoi Apparatur Dies for surgical stapling instruments
US3819100A (en) 1972-09-29 1974-06-25 United States Surgical Corp Surgical stapling instrument
USRE28932E (en) 1972-09-29 1976-08-17 United States Surgical Corporation Surgical stapling instrument
US3892228A (en) 1972-10-06 1975-07-01 Olympus Optical Co Apparatus for adjusting the flexing of the bending section of an endoscope
US3821919A (en) 1972-11-10 1974-07-02 Illinois Tool Works Staple
JPS5033988U (zh) 1973-07-21 1975-04-11
US3885491A (en) 1973-12-21 1975-05-27 Illinois Tool Works Locking staple
JPS543B2 (zh) 1974-02-28 1979-01-05
US4169990A (en) 1974-06-24 1979-10-02 General Electric Company Electronically commutated motor
US3894174A (en) 1974-07-03 1975-07-08 Emhart Corp Insulated staple and method of making the same
US3955581A (en) 1974-10-18 1976-05-11 United States Surgical Corporation Three-stage surgical instrument
US4129059A (en) 1974-11-07 1978-12-12 Eck William F Van Staple-type fastener
SU566574A1 (ru) 1975-05-04 1977-07-30 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Аппарат дл наложени линейного скобочного шва на органы и ткани
US4060089A (en) 1975-09-03 1977-11-29 United States Surgical Corporation Surgical fastening method and device therefor
US4054108A (en) 1976-08-02 1977-10-18 General Motors Corporation Internal combustion engine
US4226242A (en) 1977-09-13 1980-10-07 United States Surgical Corporation Repeating hemostatic clip applying instruments and multi-clip cartridges therefor
SU674747A1 (ru) 1976-11-24 1979-07-25 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Аппарат дл механического сшивани тканей
FR2446509A1 (fr) 1977-04-29 1980-08-08 Garret Roger Programmateur
US4573468A (en) 1977-05-26 1986-03-04 United States Surgical Corporation Hollow body organ stapling instrument and disposable cartridge employing relief vents
CA1124605A (en) 1977-08-05 1982-06-01 Charles H. Klieman Surgical stapler
US4207898A (en) 1978-03-27 1980-06-17 Senco Products, Inc. Intralumenal anastomosis surgical stapling instrument
US4321002A (en) 1978-03-27 1982-03-23 Minnesota Mining And Manufacturing Company Medical stapling device
US4198982A (en) 1978-03-31 1980-04-22 Memorial Hospital For Cancer And Allied Diseases Surgical stapling instrument and method
SU1036324A1 (ru) 1978-03-31 1983-08-23 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Хирургический сшивающий аппарат
GB2024012B (en) 1978-04-10 1982-07-28 Johnson & Johnson Oxygen-generating surgical dressing
DE2839990C2 (de) 1978-09-14 1980-05-14 Audi Nsu Auto Union Ag, 7107 Neckarsulm Verfahren zum Umschmelzhärten der Oberfläche eines um seine Drehachse rotierenden Werkstücks, welche Oberfläche unterschiedlichen Abstand von der Drehachse hat
SE419421B (sv) 1979-03-16 1981-08-03 Ove Larson Bojlig arm i synnerhet robotarm
US4340331A (en) 1979-03-26 1982-07-20 Savino Dominick J Staple and anviless stapling apparatus therefor
SU886900A1 (ru) 1979-03-26 1981-12-07 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Хирургический сшивающий аппарат дл наложени линейных швов
US4261244A (en) 1979-05-14 1981-04-14 Senco Products, Inc. Surgical staple
US4272662A (en) 1979-05-21 1981-06-09 C & K Components, Inc. Toggle switch with shaped wire spring contact
US4275813A (en) 1979-06-04 1981-06-30 United States Surgical Corporation Coherent surgical staple array
US4272002A (en) 1979-07-23 1981-06-09 Lawrence M. Smith Internal surgical stapler
US4250436A (en) 1979-09-24 1981-02-10 The Singer Company Motor braking arrangement and method
SU1022703A1 (ru) 1979-12-20 1983-06-15 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Хирургический аппарат дл наложени компрессионных швов
US4429695A (en) 1980-02-05 1984-02-07 United States Surgical Corporation Surgical instruments
AU534210B2 (en) 1980-02-05 1984-01-12 United States Surgical Corporation Surgical staples
US4396139A (en) 1980-02-15 1983-08-02 Technalytics, Inc. Surgical stapling system, apparatus and staple
US4317451A (en) 1980-02-19 1982-03-02 Ethicon, Inc. Plastic surgical staple
US4289133A (en) 1980-02-28 1981-09-15 Senco Products, Inc. Cut-through backup washer for the scalpel of an intraluminal surgical stapling instrument
US4428376A (en) 1980-05-02 1984-01-31 Ethicon Inc. Plastic surgical staple
US4331277A (en) 1980-05-23 1982-05-25 United States Surgical Corporation Self-contained gas powered surgical stapler
US4380312A (en) 1980-07-17 1983-04-19 Minnesota Mining And Manufacturing Company Stapling tool
US4606343A (en) 1980-08-18 1986-08-19 United States Surgical Corporation Self-powered surgical fastening instrument
US4328839A (en) 1980-09-19 1982-05-11 Drilling Development, Inc. Flexible drill pipe
US4353371A (en) 1980-09-24 1982-10-12 Cosman Eric R Longitudinally, side-biting, bipolar coagulating, surgical instrument
DE3036217C2 (de) 1980-09-25 1986-12-18 Siemens AG, 1000 Berlin und 8000 München Fernbedienbares medizinisches Gerät
US4349028A (en) 1980-10-03 1982-09-14 United States Surgical Corporation Surgical stapling apparatus having self-contained pneumatic system for completing manually initiated motion sequence
AU542936B2 (en) 1980-10-17 1985-03-28 United States Surgical Corporation Self centering staple
US4500024A (en) 1980-11-19 1985-02-19 Ethicon, Inc. Multiple clip applier
US4347450A (en) 1980-12-10 1982-08-31 Colligan Wallace M Portable power tool
US4451743A (en) 1980-12-29 1984-05-29 Citizen Watch Company Limited DC-to-DC Voltage converter
US4382326A (en) 1981-01-19 1983-05-10 Minnesota Mining & Manufacturing Company Staple supporting and staple removing strip
US4409057A (en) 1981-01-19 1983-10-11 Minnesota Mining & Manufacturing Company Staple supporting and removing strip
US4379457A (en) 1981-02-17 1983-04-12 United States Surgical Corporation Indicator for surgical stapler
SU1009439A1 (ru) 1981-03-24 1983-04-07 Предприятие П/Я Р-6094 Хирургический сшивающий аппарат дл наложени анастомозов на пищеварительном тракте
US4526174A (en) 1981-03-27 1985-07-02 Minnesota Mining And Manufacturing Company Staple and cartridge for use in a tissue stapling device and a tissue closing method
SU982676A1 (ru) 1981-04-07 1982-12-23 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Хирургическа скобка
DE3115192C2 (de) 1981-04-15 1983-05-19 Christian Prof. Dr.med. 2400 Lübeck Krüger Medizinisches Instrument
US4383634A (en) 1981-05-26 1983-05-17 United States Surgical Corporation Surgical stapler apparatus with pivotally mounted actuator assemblies
US4485816A (en) 1981-06-25 1984-12-04 Alchemia Shape-memory surgical staple apparatus and method for use in surgical suturing
FR2509490B1 (fr) 1981-07-09 1985-02-22 Tractel Sa Mecanisme de debrayage pour appareil de traction agissant sur un cable qui le traverse
US4486928A (en) 1981-07-09 1984-12-11 Magnavox Government And Industrial Electronics Company Apparatus for tool storage and selection
US4475679A (en) 1981-08-07 1984-10-09 Fleury Jr George J Multi-staple cartridge for surgical staplers
US4632290A (en) 1981-08-17 1986-12-30 United States Surgical Corporation Surgical stapler apparatus
US4576167A (en) 1981-09-03 1986-03-18 United States Surgical Corporation Surgical stapler apparatus with curved shaft
JPS5844033A (ja) 1981-09-11 1983-03-14 富士写真光機株式会社 内視鏡用アダプタ−型処置具導入装置
US4402445A (en) 1981-10-09 1983-09-06 United States Surgical Corporation Surgical fastener and means for applying same
JPS5861747A (ja) 1981-10-08 1983-04-12 馬渕　健一 美容具
US4809695A (en) 1981-10-21 1989-03-07 Owen M. Gwathmey Suturing assembly and method
US4416276A (en) 1981-10-26 1983-11-22 Valleylab, Inc. Adaptive, return electrode monitoring system
US4415112A (en) 1981-10-27 1983-11-15 United States Surgical Corporation Surgical stapling assembly having resiliently mounted anvil
US4442964A (en) 1981-12-07 1984-04-17 Senco Products, Inc. Pressure sensitive and working-gap controlled surgical stapling instrument
DE3204532C2 (de) 1982-02-10 1983-12-08 B. Braun Melsungen Ag, 3508 Melsungen Chirurgische Hautklammer
SU1114405A1 (ru) 1982-02-23 1984-09-23 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Хирургический сшивающий аппарат дл наложени компрессионных анастомозов на органы пищеварительного тракта
DE3210466A1 (de) 1982-03-22 1983-09-29 Peter Dipl.-Kfm. Dr. 6230 Frankfurt Gschaider Verfahren und vorrichtung zur durchfuehrung von handhabungsprozessen
US4408692A (en) 1982-04-12 1983-10-11 The Kendall Company Sterile cover for instrument
US4664305A (en) 1982-05-04 1987-05-12 Blake Joseph W Iii Surgical stapler
US4473077A (en) 1982-05-28 1984-09-25 United States Surgical Corporation Surgical stapler apparatus with flexible shaft
US4467805A (en) 1982-08-25 1984-08-28 Mamoru Fukuda Skin closure stapling device for surgical procedures
US4488523A (en) 1982-09-24 1984-12-18 United States Surgical Corporation Flexible, hydraulically actuated device for applying surgical fasteners
US4604786A (en) 1982-11-05 1986-08-12 The Grigoleit Company Method of making a composite article including a body having a decorative metal plate attached thereto
US4790225A (en) 1982-11-24 1988-12-13 Panduit Corp. Dispenser of discrete cable ties provided on a continuous ribbon of cable ties
US4676245A (en) 1983-02-09 1987-06-30 Mamoru Fukuda Interlocking surgical staple assembly
JPS59168848A (ja) 1983-03-11 1984-09-22 エチコン・インコ−ポレ−テツド 非金属製の生物に適合性の無菌の外科装置
US4506671A (en) 1983-03-30 1985-03-26 United States Surgical Corporation Apparatus for applying two-part surgical fasteners
US4522327A (en) 1983-05-18 1985-06-11 United States Surgical Corporation Surgical fastener applying apparatus
US4527724A (en) 1983-06-10 1985-07-09 Senmed, Inc. Disposable linear surgical stapling instrument
US4532927A (en) 1983-06-20 1985-08-06 Ethicon, Inc. Two-piece tissue fastener with non-reentry bent leg staple and retaining receiver
US4573469A (en) 1983-06-20 1986-03-04 Ethicon, Inc. Two-piece tissue fastener with coinable leg staple and retaining receiver and method and instrument for applying same
US4548202A (en) 1983-06-20 1985-10-22 Ethicon, Inc. Mesh tissue fasteners
GR81919B (zh) 1983-06-20 1984-12-12 Ethicon Inc
US4693248A (en) 1983-06-20 1987-09-15 Ethicon, Inc. Two-piece tissue fastener with deformable retaining receiver
US4531522A (en) 1983-06-20 1985-07-30 Ethicon, Inc. Two-piece tissue fastener with locking top and method for applying same
SU1175891A1 (ru) 1983-08-16 1985-08-30 Предприятие П/Я А-7840 Устройство дл формовани изделий
US4944443A (en) 1988-04-22 1990-07-31 Innovative Surgical Devices, Inc. Surgical suturing instrument and method
US4669647A (en) 1983-08-26 1987-06-02 Technalytics, Inc. Surgical stapler
US4589416A (en) 1983-10-04 1986-05-20 United States Surgical Corporation Surgical fastener retainer member assembly
US4530453A (en) 1983-10-04 1985-07-23 United States Surgical Corporation Surgical fastener applying apparatus
US4667674A (en) 1983-10-04 1987-05-26 United States Surgical Corporation Surgical fastener exhibiting improved hemostasis
US4505414A (en) 1983-10-12 1985-03-19 Filipi Charles J Expandable anvil surgical stapler
US4610383A (en) 1983-10-14 1986-09-09 Senmed, Inc. Disposable linear surgical stapler
US4571213A (en) 1983-11-17 1986-02-18 Nikko Co., Ltd. Direction-converting device for a toy car
US4565109A (en) 1983-12-27 1986-01-21 Tsay Chi Chour Instantaneous direction changing rotation mechanism
JPS60137406U (ja) 1984-02-24 1985-09-11 シ−アイ化成株式会社 マグネツトシ−ト
US4600037A (en) 1984-03-19 1986-07-15 Texas Eastern Drilling Systems, Inc. Flexible drill pipe
US4612933A (en) 1984-03-30 1986-09-23 Senmed, Inc. Multiple-load cartridge assembly for a linear surgical stapling instrument
US4619391A (en) 1984-04-18 1986-10-28 Acme United Corporation Surgical stapling instrument
US4607638A (en) 1984-04-20 1986-08-26 Design Standards Corporation Surgical staples
US5002553A (en) 1984-05-14 1991-03-26 Surgical Systems & Instruments, Inc. Atherectomy system with a clutch
US5464013A (en) 1984-05-25 1995-11-07 Lemelson; Jerome H. Medical scanning and treatment system and method
GB8417562D0 (en) 1984-07-10 1984-08-15 Surgical Design Services Fasteners
IN165375B (zh) 1984-07-16 1989-10-07 Ethicon Inc
US4585153A (en) 1984-07-16 1986-04-29 Ethicon, Inc. Surgical instrument for applying two-piece fasteners comprising frictionally held U-shaped staples and receivers (Case III)
US4605004A (en) 1984-07-16 1986-08-12 Ethicon, Inc. Surgical instrument for applying fasteners said instrument including force supporting means (case IV)
US4591085A (en) 1984-07-16 1986-05-27 Ethicon, Inc. Surgical instrument for applying fasteners, said instrument having an improved trigger interlocking mechanism (Case VI)
US4741336A (en) 1984-07-16 1988-05-03 Ethicon, Inc. Shaped staples and slotted receivers (case VII)
US4655222A (en) 1984-07-30 1987-04-07 Ethicon, Inc. Coated surgical staple
US4754909A (en) 1984-08-09 1988-07-05 Barker John M Flexible stapler
US4671445A (en) 1984-08-09 1987-06-09 Baxter Travenol Laboratories, Inc. Flexible surgical stapler assembly
US4605001A (en) 1984-10-19 1986-08-12 Senmed, Inc. Surgical stapling instrument with dual staple height mechanism
US4573622A (en) 1984-10-19 1986-03-04 United States Surgical Corporation Surgical fastener applying apparatus with variable fastener arrays
US4633874A (en) 1984-10-19 1987-01-06 Senmed, Inc. Surgical stapling instrument with jaw latching mechanism and disposable staple cartridge
US4608981A (en) 1984-10-19 1986-09-02 Senmed, Inc. Surgical stapling instrument with staple height adjusting mechanism
US4566620A (en) 1984-10-19 1986-01-28 United States Surgical Corporation Articulated surgical fastener applying apparatus
US4767044A (en) 1984-10-19 1988-08-30 United States Surgical Corporation Surgical fastener applying apparatus
US4580712A (en) 1984-10-19 1986-04-08 United States Surgical Corporation Surgical fastener applying apparatus with progressive application of fastener
US4787387A (en) 1984-11-08 1988-11-29 American Cyanamid Company Surgical closure element
US4646722A (en) 1984-12-10 1987-03-03 Opielab, Inc. Protective endoscope sheath and method of installing same
US4641076A (en) 1985-01-23 1987-02-03 Hall Surgical-Division Of Zimmer, Inc. Method and apparatus for sterilizing and charging batteries
JPS635697Y2 (zh) 1985-04-04 1988-02-17
US4665916A (en) 1985-08-09 1987-05-19 United States Surgical Corporation Surgical stapler apparatus
JPS6244386A (ja) * 1985-08-19 1987-02-26 株式会社東芝 作業用ハンド
US4750488A (en) 1986-05-19 1988-06-14 Sonomed Technology, Inc. Vibration apparatus preferably for endoscopic ultrasonic aspirator
US4750902A (en) 1985-08-28 1988-06-14 Sonomed Technology, Inc. Endoscopic ultrasonic aspirators
US4728020A (en) 1985-08-30 1988-03-01 United States Surgical Corporation Articulated surgical fastener applying apparatus
CH670753A5 (zh) 1985-09-10 1989-07-14 Vnii Ispytatel Med Tech
SU1377053A1 (ru) 1985-10-02 1988-02-28 В. Г. Сахаутдинов, Р. А. Талипов, Р. М. Халиков и 3. X. Гарифуллин Хирургический сшивающий аппарат
US4610250A (en) 1985-10-08 1986-09-09 United States Surgical Corporation Two-part surgical fastener for fascia wound approximation
US4715520A (en) 1985-10-10 1987-12-29 United States Surgical Corporation Surgical fastener applying apparatus with tissue edge control
EP0226426B1 (en) 1985-12-06 1990-05-16 Desoutter, Limited Two speed gearbox
SU1333319A2 (ru) 1985-12-10 1987-08-30 Петрозаводский государственный университет им.О.В.Куусинена Ушиватель полых органов
US4634419A (en) 1985-12-13 1987-01-06 Cooper Lasersonics, Inc. Angulated ultrasonic surgical handpieces and method for their production
US4728876A (en) 1986-02-19 1988-03-01 Minnesota Mining And Manufacturing Company Orthopedic drive assembly
US4662555A (en) 1986-03-11 1987-05-05 Edward Weck & Company, Inc. Surgical stapler
US4903697A (en) 1986-03-27 1990-02-27 Semion Resnick Cartridge assembly for a surgical stapling instrument
US4827911A (en) 1986-04-02 1989-05-09 Cooper Lasersonics, Inc. Method and apparatus for ultrasonic surgical fragmentation and removal of tissue
US4988334A (en) 1986-04-09 1991-01-29 Valleylab, Inc. Ultrasonic surgical system with aspiration tubulation connector
US4747820A (en) 1986-04-09 1988-05-31 Cooper Lasersonics, Inc. Irrigation/aspiration manifold and fittings for ultrasonic surgical aspiration system
WO1987006448A1 (fr) 1986-04-21 1987-11-05 Finanzaktiengesellschaft Globe Control Procede et dispositif d'anastomose
SU1561964A1 (ru) 1986-04-24 1990-05-07 Благовещенский государственный медицинский институт Хирургический сшивающий аппарат
FR2598905B1 (fr) 1986-05-22 1993-08-13 Chevalier Jean Michel Dispositif d'interruption de la circulation d'un fluide dans un conduit a paroi souple, notamment un viscere creux et ensemble de pince comportant ce dispositif
US4709120A (en) 1986-06-06 1987-11-24 Pearson Dean C Underground utility equipment vault
US4727308A (en) 1986-08-28 1988-02-23 International Business Machines Corporation FET power converter with reduced switching loss
US4743214A (en) 1986-09-03 1988-05-10 Tai Cheng Yang Steering control for toy electric vehicles
US4890613A (en) 1986-09-19 1990-01-02 Ethicon, Inc. Two piece internal organ fastener
US4752024A (en) 1986-10-17 1988-06-21 Green David T Surgical fastener and surgical stapling apparatus
US4893622A (en) 1986-10-17 1990-01-16 United States Surgical Corporation Method of stapling tubular body organs
JPH0755222B2 (ja) 1986-12-12 1995-06-14 オリンパス光学工業株式会社 処置具
US4865030A (en) 1987-01-21 1989-09-12 American Medical Systems, Inc. Apparatus for removal of objects from body passages
JP2553390B2 (ja) 1987-02-10 1996-11-13 ヴァーソ プロダクツ オーストラリア ピーティワイ．リミテッド 静脈用カフ装着器
US4873977A (en) 1987-02-11 1989-10-17 Odis L. Avant Stapling method and apparatus for vesicle-urethral re-anastomosis following retropubic prostatectomy and other tubular anastomosis
SU1416112A1 (ru) * 1987-02-16 1988-08-15 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Сшивающий аппарат
US4719917A (en) 1987-02-17 1988-01-19 Minnesota Mining And Manufacturing Company Surgical staple
US5217478A (en) 1987-02-18 1993-06-08 Linvatec Corporation Arthroscopic surgical instrument drive system
DE3709067A1 (de) 1987-03-19 1988-09-29 Ewald Hensler Medizinisches, insbesondere chirurgisches instrument
US4777780A (en) 1987-04-21 1988-10-18 United States Surgical Corporation Method for forming a sealed sterile package
US4730726A (en) 1987-04-21 1988-03-15 United States Surgical Corporation Sealed sterile package
US4941623A (en) 1987-05-12 1990-07-17 United States Surgical Corporation Stapling process and device for use on the mesentery of the abdomen
US5542949A (en) 1987-05-14 1996-08-06 Yoon; Inbae Multifunctional clip applier instrument
US5285944A (en) 1987-05-26 1994-02-15 United States Surgical Corporation Surgical stapler apparatus
US4844068A (en) 1987-06-05 1989-07-04 Ethicon, Inc. Bariatric surgical instrument
US4930503A (en) 1987-06-11 1990-06-05 Pruitt J Crayton Stapling process and device for use on the mesenteries of the abdomen
US4848637A (en) 1987-06-11 1989-07-18 Pruitt J Crayton Staple device for use on the mesenteries of the abdomen
US5027834A (en) 1987-06-11 1991-07-02 United States Surgical Corporation Stapling process for use on the mesenteries of the abdomen
US4773420A (en) 1987-06-22 1988-09-27 U.S. Surgical Corporation Purse string applicator
JPS6440292A (en) * 1987-08-04 1989-02-10 Toshiba Corp Robot arm device
US5158567A (en) 1987-09-02 1992-10-27 United States Surgical Corporation One-piece surgical staple
US4821939A (en) 1987-09-02 1989-04-18 United States Surgical Corporation Staple cartridge and an anvilless surgical stapler
SU1509051A1 (ru) 1987-09-14 1989-09-23 Институт прикладной физики АН СССР Ушиватель органов
US4931047A (en) 1987-09-30 1990-06-05 Cavitron, Inc. Method and apparatus for providing enhanced tissue fragmentation and/or hemostasis
US5015227A (en) 1987-09-30 1991-05-14 Valleylab Inc. Apparatus for providing enhanced tissue fragmentation and/or hemostasis
US4805617A (en) 1987-11-05 1989-02-21 Ethicon, Inc. Surgical fastening systems made from polymeric materials
US5106627A (en) 1987-11-17 1992-04-21 Brown University Research Foundation Neurological therapy devices
US4834720A (en) 1987-12-24 1989-05-30 Becton, Dickinson And Company Implantable port septum
US4819853A (en) 1987-12-31 1989-04-11 United States Surgical Corporation Surgical fastener cartridge
US5383881A (en) 1989-07-18 1995-01-24 United States Surgical Corporation Safety device for use with endoscopic instrumentation
US5084057A (en) 1989-07-18 1992-01-28 United States Surgical Corporation Apparatus and method for applying surgical clips in laparoscopic or endoscopic procedures
GB8800909D0 (en) 1988-01-15 1988-02-17 Ethicon Inc Gas powered surgical stapler
US5100420A (en) 1989-07-18 1992-03-31 United States Surgical Corporation Apparatus and method for applying surgical clips in laparoscopic or endoscopic procedures
JPH01182196A (ja) 1988-01-18 1989-07-20 Sanshin Ind Co Ltd シフト補助装置
US4805823A (en) 1988-03-18 1989-02-21 Ethicon, Inc. Pocket configuration for internal organ staplers
US4880015A (en) 1988-06-03 1989-11-14 Nierman David M Biopsy forceps
US5024671A (en) 1988-09-19 1991-06-18 Baxter International Inc. Microporous vascular graft
US5071052A (en) 1988-09-22 1991-12-10 United States Surgical Corporation Surgical fastening apparatus with activation lockout
US4869415A (en) 1988-09-26 1989-09-26 Ethicon, Inc. Energy storage means for a surgical stapler
CA1308782C (en) 1988-10-13 1992-10-13 Gyrus Medical Limited Screening and monitoring instrument
US4892244A (en) 1988-11-07 1990-01-09 Ethicon, Inc. Surgical stapler cartridge lockout device
DE68924692T2 (de) 1988-11-11 1996-04-25 United States Surgical Corp Chirurgisches Instrument.
US5197648A (en) 1988-11-29 1993-03-30 Gingold Bruce S Surgical stapling apparatus
US4915100A (en) 1988-12-19 1990-04-10 United States Surgical Corporation Surgical stapler apparatus with tissue shield
US4986808A (en) 1988-12-20 1991-01-22 Valleylab, Inc. Magnetostrictive transducer
US4978333A (en) 1988-12-20 1990-12-18 Valleylab, Inc. Resonator for surgical handpiece
US5111987A (en) 1989-01-23 1992-05-12 Moeinzadeh Manssour H Semi-disposable surgical stapler
US5061269A (en) 1989-02-07 1991-10-29 Joseph J. Berke Surgical rongeur power grip structure and method
US4930674A (en) 1989-02-24 1990-06-05 Abiomed, Inc. Surgical stapler
US5186711A (en) 1989-03-07 1993-02-16 Albert Einstein College Of Medicine Of Yeshiva University Hemostasis apparatus and method
US5522817A (en) 1989-03-31 1996-06-04 United States Surgical Corporation Absorbable surgical fastener with bone penetrating elements
US5062563A (en) 1989-04-10 1991-11-05 United States Surgical Corporation Fascia stapler
US5104397A (en) 1989-04-14 1992-04-14 Codman & Shurtleff, Inc. Multi-position latching mechanism for forceps
US5009661A (en) 1989-04-24 1991-04-23 Michelson Gary K Protective mechanism for surgical rongeurs
SU1708312A1 (ru) 1989-05-16 1992-01-30 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Хирургический аппарат дл сшивани костной ткани
US5222976A (en) 1989-05-16 1993-06-29 Inbae Yoon Suture devices particularly useful in endoscopic surgery
US5106008A (en) 1989-05-26 1992-04-21 United States Surgical Corporation Locking mechanism for a surgical fastening apparatus
US5318221A (en) 1989-05-26 1994-06-07 United States Surgical Corporation Apparatus and method for placing staples in laparoscopic or endoscopic procedures
US4955959A (en) 1989-05-26 1990-09-11 United States Surgical Corporation Locking mechanism for a surgical fastening apparatus
US5413268A (en) 1989-05-26 1995-05-09 United States Surgical Corporation Apparatus and method for placing stables in laparoscopic or endoscopic procedures
US5505363A (en) 1989-05-26 1996-04-09 United States Surgical Corporation Surgical staples with plated anvils
US4978049A (en) 1989-05-26 1990-12-18 United States Surgical Corporation Three staple drive member
US5040715B1 (en) 1989-05-26 1994-04-05 United States Surgical Corp Apparatus and method for placing staples in laparoscopic or endoscopic procedures
US5031814A (en) 1989-05-26 1991-07-16 United States Surgical Corporation Locking mechanism for surgical fastening apparatus
US4932960A (en) 1989-09-01 1990-06-12 United States Surgical Corporation Absorbable surgical fastener
US5155941A (en) 1989-09-18 1992-10-20 Olympus Optical Co., Ltd. Industrial endoscope system having a rotary treatment member
US4965709A (en) 1989-09-25 1990-10-23 General Electric Company Switching converter with pseudo-resonant DC link
CH677728A5 (zh) 1989-10-17 1991-06-28 Bieffe Medital Sa
US5239981A (en) 1989-11-16 1993-08-31 Effner Biomet Gmbh Film covering to protect a surgical instrument and an endoscope to be used with the film covering
US5156609A (en) 1989-12-26 1992-10-20 Nakao Naomi L Endoscopic stapling device and method
US6033378A (en) 1990-02-02 2000-03-07 Ep Technologies, Inc. Catheter steering mechanism
US5195968A (en) 1990-02-02 1993-03-23 Ingemar Lundquist Catheter steering mechanism
US5100042A (en) 1990-03-05 1992-03-31 United States Surgical Corporation Surgical fastener apparatus
US5088997A (en) 1990-03-15 1992-02-18 Valleylab, Inc. Gas coagulation device
US5244462A (en) 1990-03-15 1993-09-14 Valleylab Inc. Electrosurgical apparatus
US5217457A (en) 1990-03-15 1993-06-08 Valleylab Inc. Enhanced electrosurgical apparatus
US5014899A (en) 1990-03-30 1991-05-14 United States Surgical Corporation Surgical stapling apparatus
SU1722476A1 (ru) 1990-04-02 1992-03-30 Свердловский Филиал Научно-Производственного Объединения "Фтизиопульмонология" Устройство дл временной окклюзии трубчатых органов
US5002543A (en) 1990-04-09 1991-03-26 Bradshaw Anthony J Steerable intramedullary fracture reduction device
US5454378A (en) 1993-02-11 1995-10-03 Symbiosis Corporation Biopsy forceps having a detachable proximal handle and distal jaws
US5116349A (en) 1990-05-23 1992-05-26 United States Surgical Corporation Surgical fastener apparatus
US5074454A (en) 1990-06-04 1991-12-24 Peters Ronald L Surgical stapler
US5342395A (en) 1990-07-06 1994-08-30 American Cyanamid Co. Absorbable surgical repair devices
SU1752361A1 (ru) 1990-07-10 1992-08-07 Производственное Объединение "Челябинский Тракторный Завод Им.В.И.Ленина" Хирургический сшивающий аппарат
RU2008830C1 (ru) 1990-07-13 1994-03-15 Константин Алексеевич Додонов Электрохирургический аппарат
US5163598A (en) 1990-07-23 1992-11-17 Rudolph Peters Sternum stapling apparatus
US5234447A (en) 1990-08-28 1993-08-10 Robert L. Kaster Side-to-end vascular anastomotic staple apparatus
US5094247A (en) 1990-08-31 1992-03-10 Cordis Corporation Biopsy forceps with handle having a flexible coupling
US5156315A (en) 1990-09-17 1992-10-20 United States Surgical Corporation Arcuate apparatus for applying two-part surgical fasteners
US5156614A (en) 1990-09-17 1992-10-20 United States Surgical Corporation Apparatus for applying two-part surgical fasteners
US5653373A (en) 1990-09-17 1997-08-05 United States Surgical Corporation Arcuate apparatus for applying two-part surgical fasteners
US5253793A (en) 1990-09-17 1993-10-19 United States Surgical Corporation Apparatus for applying two-part surgical fasteners
US5104025A (en) 1990-09-28 1992-04-14 Ethicon, Inc. Intraluminal anastomotic surgical stapler with detached anvil
US5080556A (en) 1990-09-28 1992-01-14 General Electric Company Thermal seal for a gas turbine spacer disc
DE9117288U1 (de) 1990-10-05 1999-10-21 United States Surgical Corp. (N.D.Ges.D.Staates Delaware), Norwalk, Conn. Chirurgisches Klammerinstrument
US5088979A (en) 1990-10-11 1992-02-18 Wilson-Cook Medical Inc. Method for esophageal invagination and devices useful therein
US5042707A (en) 1990-10-16 1991-08-27 Taheri Syde A Intravascular stapler, and method of operating same
USD330699S (en) 1990-10-19 1992-11-03 W. W. Cross, Inc. Insulated staple
FR2668361A1 (fr) 1990-10-30 1992-04-30 Mai Christian Agrafe et plaque d'osteosynthese a compression dynamique auto-retentive.
US5658307A (en) 1990-11-07 1997-08-19 Exconde; Primo D. Method of using a surgical dissector instrument
US5129570A (en) 1990-11-30 1992-07-14 Ethicon, Inc. Surgical stapler
US5470009A (en) 1990-12-06 1995-11-28 United States Surgical Corporation Surgical fastening apparatus with locking mechanism
CA2055943C (en) 1990-12-06 2003-09-23 Daniel P. Rodak Surgical fastening apparatus with locking mechanism
USRE36720E (en) 1990-12-13 2000-05-30 United States Surgical Corporation Apparatus and method for applying latchless surgical clips
US5209747A (en) 1990-12-13 1993-05-11 Knoepfler Dennis J Adjustable angle medical forceps
US5122156A (en) 1990-12-14 1992-06-16 United States Surgical Corporation Apparatus for securement and attachment of body organs
US5083695A (en) 1990-12-18 1992-01-28 Minnesota Mining And Manufacturing Company Stapler and firing device
ATE137944T1 (de) 1990-12-18 1996-06-15 United States Surgical Corp Sicherheitsvorrichtung für chirurgische klammersetzgeräte
US5141144A (en) 1990-12-18 1992-08-25 Minnesota Mining And Manufacturing Company Stapler and firing device
CA2055985A1 (en) 1990-12-20 1992-06-21 Daniel Shichman Fascia clip
US5354303A (en) 1991-01-09 1994-10-11 Endomedix Corporation Devices for enclosing, manipulating, debulking and removing tissue through minimal incisions
US5222963A (en) 1991-01-17 1993-06-29 Ethicon, Inc. Pull-through circular anastomosic intraluminal stapler with absorbable fastener means
US5188111A (en) 1991-01-18 1993-02-23 Catheter Research, Inc. Device for seeking an area of interest within a body
CA2060635A1 (en) 1991-02-12 1992-08-13 Keith D'alessio Bioabsorbable medical implants
DE4104755A1 (de) 1991-02-15 1992-08-20 Heidmueller Harald Chirurgisches instrument
AU1102192A (en) 1991-02-19 1992-08-27 Ethicon Inc. Surgical staple for insertion into tissue
US5571285A (en) 1991-02-19 1996-11-05 Ethicon, Inc. Surgical staple for insertion into tissue
US5219111A (en) 1991-03-11 1993-06-15 Ethicon, Inc. Pneumatically actuated linear stapling device
US5445155A (en) 1991-03-13 1995-08-29 Scimed Life Systems Incorporated Intravascular imaging apparatus and methods for use and manufacture
CA2061885A1 (en) 1991-03-14 1992-09-15 David T. Green Approximating apparatus for surgical jaw structure
US5336232A (en) 1991-03-14 1994-08-09 United States Surgical Corporation Approximating apparatus for surgical jaw structure and method of using the same
US5217453A (en) 1991-03-18 1993-06-08 Wilk Peter J Automated surgical system and apparatus
SU1814161A1 (en) 1991-03-19 1993-05-07 Penzen Nii Elektronno Mekh Pri Electric motor
US5171253A (en) 1991-03-22 1992-12-15 Klieman Charles H Velcro-like closure system with absorbable suture materials for absorbable hemostatic clips and surgical strips
US5065929A (en) 1991-04-01 1991-11-19 Ethicon, Inc. Surgical stapler with locking means
US5470010A (en) 1991-04-04 1995-11-28 Ethicon, Inc. Multiple fire endoscopic stapling mechanism
US5171247A (en) 1991-04-04 1992-12-15 Ethicon, Inc. Endoscopic multiple ligating clip applier with rotating shaft
US5246156A (en) 1991-09-12 1993-09-21 Ethicon, Inc. Multiple fire endoscopic stapling mechanism
US5171249A (en) 1991-04-04 1992-12-15 Ethicon, Inc. Endoscopic multiple ligating clip applier
US5297714A (en) 1991-04-17 1994-03-29 Ethicon, Inc. Surgical staple with modified "B" shaped configuration
US5339799A (en) 1991-04-23 1994-08-23 Olympus Optical Co., Ltd. Medical system for reproducing a state of contact of the treatment section in the operation unit
US5257713A (en) 1991-05-07 1993-11-02 United States Surgical Corporation Surgical fastening device
US5413267A (en) 1991-05-14 1995-05-09 United States Surgical Corporation Surgical stapler with spent cartridge sensing and lockout means
US5137198A (en) 1991-05-16 1992-08-11 Ethicon, Inc. Fast closure device for linear surgical stapling instrument
DE4116343A1 (de) 1991-05-18 1992-11-19 Bosch Gmbh Robert Handgefuehrtes elektrowerkzeug, insbesondere bohrmaschine
FI93607C (fi) 1991-05-24 1995-05-10 John Koivukangas Leikkaustoimenpidelaite
US5190517A (en) 1991-06-06 1993-03-02 Valleylab Inc. Electrosurgical and ultrasonic surgical system
US5221036A (en) 1991-06-11 1993-06-22 Haruo Takase Surgical stapler
US5262678A (en) 1991-06-21 1993-11-16 Lutron Electronics Co., Inc. Wallbox-mountable switch and dimmer
US5207697A (en) 1991-06-27 1993-05-04 Stryker Corporation Battery powered surgical handpiece
US5268622A (en) 1991-06-27 1993-12-07 Stryker Corporation DC powered surgical handpiece having a motor control circuit
US5383888A (en) 1992-02-12 1995-01-24 United States Surgical Corporation Articulating endoscopic surgical apparatus
US5391180A (en) 1991-08-05 1995-02-21 United States Surgical Corporation Articulating endoscopic surgical apparatus
US5282829A (en) 1991-08-15 1994-02-01 United States Surgical Corporation Hollow body implants
US5350104A (en) 1991-08-23 1994-09-27 Ethicon, Inc. Sealing means for endoscopic surgical anastomosis stapling instrument
GR920100358A (el) 1991-08-23 1993-06-07 Ethicon Inc Οργανο συρραφής χειρουργικής αναστομώσεως.
US5263973A (en) 1991-08-30 1993-11-23 Cook Melvin S Surgical stapling method
US5142932A (en) 1991-09-04 1992-09-01 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Flexible robotic arm
US5200280A (en) 1991-09-05 1993-04-06 Black & Decker Inc. Terminal cover for a battery pack
IT1251206B (it) 1991-09-18 1995-05-04 Magneti Marelli Spa Impianto elettrico di un autoveicolo, comprendente almeno un supercondensatore.
US5476479A (en) 1991-09-26 1995-12-19 United States Surgical Corporation Handle for endoscopic surgical instruments and jaw structure
US5431654A (en) 1991-09-30 1995-07-11 Stryker Corporation Bone cement injector
US5275608A (en) 1991-10-16 1994-01-04 Implemed, Inc. Generic endoscopic instrument
CA2075141C (en) 1991-10-17 1998-06-30 Donald A. Morin Anvil for surgical staplers
US5478003A (en) 1991-10-18 1995-12-26 United States Surgical Corporation Surgical apparatus
US6250532B1 (en) 1991-10-18 2001-06-26 United States Surgical Corporation Surgical stapling apparatus
US5395312A (en) 1991-10-18 1995-03-07 Desai; Ashvin Surgical tool
US5397046A (en) 1991-10-18 1995-03-14 United States Surgical Corporation Lockout mechanism for surgical apparatus
AU657364B2 (en) 1991-10-18 1995-03-09 United States Surgical Corporation Self contained gas powered surgical apparatus
US5579978A (en) 1991-10-18 1996-12-03 United States Surgical Corporation Apparatus for applying surgical fasteners
AU660712B2 (en) 1991-10-18 1995-07-06 United States Surgical Corporation Apparatus for applying surgical fasteners
US5312023A (en) 1991-10-18 1994-05-17 United States Surgical Corporation Self contained gas powered surgical apparatus
US5326013A (en) 1991-10-18 1994-07-05 United States Surgical Corporation Self contained gas powered surgical apparatus
EP0537571B1 (en) 1991-10-18 1997-03-05 United States Surgical Corporation Apparatus for applying surgical fasteners
US5332142A (en) 1991-10-18 1994-07-26 Ethicon, Inc. Linear stapling mechanism with cutting means
US5289963A (en) 1991-10-18 1994-03-01 United States Surgical Corporation Apparatus and method for applying surgical staples to attach an object to body tissue
US5364001A (en) 1991-10-18 1994-11-15 United States Surgical Corporation Self contained gas powered surgical apparatus
US5366134A (en) 1991-10-18 1994-11-22 United States Surgical Corporation Surgical fastening apparatus
US5307976A (en) 1991-10-18 1994-05-03 Ethicon, Inc. Linear stapling mechanism with cutting means
US5497933A (en) 1991-10-18 1996-03-12 United States Surgical Corporation Apparatus and method for applying surgical staples to attach an object to body tissue
US5711472A (en) 1991-10-18 1998-01-27 United States Surgical Corporation Self contained gas powered surgical apparatus
CA2078794C (en) 1991-10-18 1998-10-06 Frank J. Viola Locking device for an apparatus for applying surgical fasteners
US5443198A (en) 1991-10-18 1995-08-22 United States Surgical Corporation Surgical fastener applying apparatus
US5431322A (en) 1991-10-18 1995-07-11 United States Surgical Corporation Self contained gas powered surgical apparatus
US5197649A (en) 1991-10-29 1993-03-30 The Trustees Of Columbia University In The City Of New York Gastrointestinal endoscoptic stapler
EP0540461A1 (de) 1991-10-29 1993-05-05 SULZER Medizinaltechnik AG Steriles Punktiergerät für Blutgefässe mit nichtsteriler Ultraschallsonde und Vorrichtung zum Vorbereiten des Geräts
US5350400A (en) 1991-10-30 1994-09-27 American Cyanamid Company Malleable, bioabsorbable, plastic staple; and method and apparatus for deforming such staple
US5240163A (en) 1991-10-30 1993-08-31 American Cyanamid Company Linear surgical stapling instrument
US5713896A (en) 1991-11-01 1998-02-03 Medical Scientific, Inc. Impedance feedback electrosurgical system
US5665085A (en) 1991-11-01 1997-09-09 Medical Scientific, Inc. Electrosurgical cutting tool
US5531744A (en) 1991-11-01 1996-07-02 Medical Scientific, Inc. Alternative current pathways for bipolar surgical cutting tool
US5395034A (en) 1991-11-07 1995-03-07 American Cyanamid Co. Linear surgical stapling instrument
ES2201051T3 (es) 1991-11-08 2004-03-16 Boston Scientific Limited Electrodo para ablacion que comprende detectores de temperatura aislados.
US5439467A (en) 1991-12-03 1995-08-08 Vesica Medical, Inc. Suture passer
US5458579A (en) 1991-12-31 1995-10-17 Technalytics, Inc. Mechanical trocar insertion apparatus
WO1993013704A1 (en) 1992-01-09 1993-07-22 Endomedix Corporation Bi-directional miniscope
US5433721A (en) 1992-01-17 1995-07-18 Ethicon, Inc. Endoscopic instrument having a torsionally stiff drive shaft for applying fasteners to tissue
US5383880A (en) 1992-01-17 1995-01-24 Ethicon, Inc. Endoscopic surgical system with sensing means
WO1993013718A1 (en) 1992-01-21 1993-07-22 Valleylab, Inc. Electrosurgical control for a trocar
US5284128A (en) 1992-01-24 1994-02-08 Applied Medical Resources Corporation Surgical manipulator
AU3610693A (en) 1992-02-07 1993-09-03 Nakao, Naomi Endoscope with disposable insertion member
EP0625077B1 (en) 1992-02-07 1997-07-09 Valleylab, Inc. Ultrasonic surgical apparatus
US5271543A (en) 1992-02-07 1993-12-21 Ethicon, Inc. Surgical anastomosis stapling instrument with flexible support shaft and anvil adjusting mechanism
US5348259A (en) 1992-02-10 1994-09-20 Massachusetts Institute Of Technology Flexible, articulable column
US5514157A (en) 1992-02-12 1996-05-07 United States Surgical Corporation Articulating endoscopic surgical apparatus
US5626595A (en) 1992-02-14 1997-05-06 Automated Medical Instruments, Inc. Automated surgical instrument
US5282806A (en) 1992-08-21 1994-02-01 Habley Medical Technology Corporation Endoscopic surgical instrument having a removable, rotatable, end effector assembly
CA2089999A1 (en) 1992-02-24 1993-08-25 H. Jonathan Tovey Resilient arm mesh deployer
US5352235A (en) 1992-03-16 1994-10-04 Tibor Koros Laparoscopic grasper and cutter
US5484095A (en) 1992-03-31 1996-01-16 United States Surgical Corporation Apparatus for endoscopically applying staples individually to body tissue
US5281216A (en) 1992-03-31 1994-01-25 Valleylab, Inc. Electrosurgical bipolar treating apparatus
US5223675A (en) 1992-04-02 1993-06-29 Taft Anthony W Cable fastener
US5314424A (en) 1992-04-06 1994-05-24 United States Surgical Corporation Surgical instrument locking mechanism
WO1993020886A1 (en) 1992-04-13 1993-10-28 Ep Technologies, Inc. Articulated systems for cardiac ablation
US5236440A (en) 1992-04-14 1993-08-17 American Cyanamid Company Surgical fastener
US5355897A (en) 1992-04-16 1994-10-18 Ethicon, Inc. Method of performing a pyloroplasty/pylorectomy using a stapler having a shield
US5417203A (en) 1992-04-23 1995-05-23 United States Surgical Corporation Articulating endoscopic surgical apparatus
AU662407B2 (en) 1992-05-06 1995-08-31 Ethicon Inc. Endoscopic ligation and division instrument
US5211655A (en) 1992-05-08 1993-05-18 Hasson Harrith M Multiple use forceps for endoscopy
US5484451A (en) 1992-05-08 1996-01-16 Ethicon, Inc. Endoscopic surgical instrument and staples for applying purse string sutures
US5242457A (en) 1992-05-08 1993-09-07 Ethicon, Inc. Surgical instrument and staples for applying purse string sutures
US5389098A (en) 1992-05-19 1995-02-14 Olympus Optical Co., Ltd. Surgical device for stapling and/or fastening body tissues
US5344059A (en) 1992-05-19 1994-09-06 United States Surgical Corporation Surgical apparatus and anvil delivery system therefor
US5192288A (en) 1992-05-26 1993-03-09 Origin Medsystems, Inc. Surgical clip applier
JPH0647050A (ja) 1992-06-04 1994-02-22 Olympus Optical Co Ltd 組織縫合結紮器
US5906625A (en) 1992-06-04 1999-05-25 Olympus Optical Co., Ltd. Tissue-fixing surgical instrument, tissue-fixing device, and method of fixing tissue
US5658300A (en) 1992-06-04 1997-08-19 Olympus Optical Co., Ltd. Tissue fixing surgical instrument, tissue-fixing device, and method of fixing tissues
US5279416A (en) 1992-06-05 1994-01-18 Edward Weck Incorporated Ligating device cartridge with separable retainer
US5263629A (en) 1992-06-29 1993-11-23 Ethicon, Inc. Method and apparatus for achieving hemostasis along a staple line
US5258012A (en) 1992-06-30 1993-11-02 Ethicon, Inc. Surgical fasteners
US5258009A (en) 1992-06-30 1993-11-02 American Cyanamid Company Malleable, bioabsorbable,plastic staple having a knotted configuration; and method and apparatus for deforming such staple
US5221281A (en) 1992-06-30 1993-06-22 Valleylab Inc. Electrosurgical tubular trocar
US5368606A (en) 1992-07-02 1994-11-29 Marlow Surgical Technologies, Inc. Endoscopic instrument system
US5222975A (en) 1992-07-13 1993-06-29 Lawrence Crainich Surgical staples
US5360428A (en) 1992-07-22 1994-11-01 Hutchinson Jr William B Laparoscopic instrument with electrical cutting wires
US5511564A (en) 1992-07-29 1996-04-30 Valleylab Inc. Laparoscopic stretching instrument and associated method
JPH0654801A (ja) * 1992-08-04 1994-03-01 Olympus Optical Co Ltd 多機能処置具付内視鏡
US5762458A (en) 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5657429A (en) 1992-08-10 1997-08-12 Computer Motion, Inc. Automated endoscope system optimal positioning
JP3421038B2 (ja) 1992-09-01 2003-06-30 エドウィン エル アデアー， 分離可能の使い捨て管組立体を有する滅菌可能の内視鏡
US5630782A (en) 1992-09-01 1997-05-20 Adair; Edwin L. Sterilizable endoscope with separable auxiliary assembly
CA2104345A1 (en) 1992-09-02 1994-03-03 David T. Green Surgical clamp apparatus
US5368215A (en) 1992-09-08 1994-11-29 United States Surgical Corporation Surgical apparatus and detachable anvil rod therefor
US5485952A (en) 1992-09-23 1996-01-23 United States Surgical Corporation Apparatus for applying surgical fasteners
US5423471A (en) 1992-10-02 1995-06-13 United States Surgical Corporation Apparatus for applying two-part surgical fasteners in laparoscopic or endoscopic procedures
US5569161A (en) 1992-10-08 1996-10-29 Wendell V. Ebling Endoscope with sterile sleeve
US5662662A (en) 1992-10-09 1997-09-02 Ethicon Endo-Surgery, Inc. Surgical instrument and method
US5330502A (en) 1992-10-09 1994-07-19 Ethicon, Inc. Rotational endoscopic mechanism with jointed drive mechanism
US5374277A (en) 1992-10-09 1994-12-20 Ethicon, Inc. Surgical instrument
US5626587A (en) 1992-10-09 1997-05-06 Ethicon Endo-Surgery, Inc. Method for operating a surgical instrument
US5601224A (en) 1992-10-09 1997-02-11 Ethicon, Inc. Surgical instrument
US5381943A (en) 1992-10-09 1995-01-17 Ethicon, Inc. Endoscopic surgical stapling instrument with pivotable and rotatable staple cartridge
US5431323A (en) 1992-10-09 1995-07-11 Ethicon, Inc. Endoscopic surgical instrument with pivotable and rotatable staple cartridge
US5350391A (en) 1992-10-19 1994-09-27 Benedetto Iacovelli Laparoscopic instruments
US5718548A (en) 1992-10-20 1998-02-17 Clipmaster Corporation Pty Ltd Staple assembly
CA2108605A1 (en) 1992-10-21 1994-04-22 Nagabhushanam Totakura Bioabsorbable foam pledget
US5309927A (en) 1992-10-22 1994-05-10 Ethicon, Inc. Circular stapler tissue retention spring method
US5259366A (en) 1992-11-03 1993-11-09 Boris Reydel Method of using a catheter-sleeve assembly for an endoscope
US5409498A (en) 1992-11-05 1995-04-25 Ethicon, Inc. Rotatable articulating endoscopic fastening instrument
GB2272159A (en) 1992-11-10 1994-05-11 Andreas G Constantinides Surgical/diagnostic aid
IL103737A (en) 1992-11-13 1997-02-18 Technion Res & Dev Foundation Stapler device particularly useful in medical suturing
US5441483A (en) 1992-11-16 1995-08-15 Avitall; Boaz Catheter deflection control
US5389104A (en) 1992-11-18 1995-02-14 Symbiosis Corporation Arthroscopic surgical instruments
US5346504A (en) 1992-11-19 1994-09-13 Ethicon, Inc. Intraluminal manipulator with a head having articulating links
US5372602A (en) 1992-11-30 1994-12-13 Device For Vascular Intervention, Inc. Method of removing plaque using catheter cutter with torque control
DE69331343T2 (de) 1992-11-30 2002-08-22 Sherwood Services Ag, Schaffhausen Schaltung für ein ultraschallchirurgisches instrument mit einem energieinitiator zur aufrechterhaltung der vibrationen und der lineardynamik
US5333422A (en) 1992-12-02 1994-08-02 The United States Of America As Represented By The United States Department Of Energy Lightweight extendable and retractable pole
US5356006A (en) 1992-12-16 1994-10-18 Ethicon, Inc. Sterile package for surgical devices
US5330487A (en) 1992-12-17 1994-07-19 Tfi Acquistion Corp. Drive mechanism for surgical instruments
US5403312A (en) 1993-07-22 1995-04-04 Ethicon, Inc. Electrosurgical hemostatic device
US5807393A (en) 1992-12-22 1998-09-15 Ethicon Endo-Surgery, Inc. Surgical tissue treating device with locking mechanism
US5558671A (en) 1993-07-22 1996-09-24 Yates; David C. Impedance feedback monitor for electrosurgical instrument
FR2699806B1 (fr) 1992-12-30 1995-03-24 Duthoit Francois Instrument, destiné notamment à permettre l'extraction de tronçons veineux pathologiques tels que des varices.
US5468253A (en) 1993-01-21 1995-11-21 Ethicon, Inc. Elastomeric medical device
US5358510A (en) 1993-01-26 1994-10-25 Ethicon, Inc. Two part surgical fastener
CA2114282A1 (en) 1993-01-28 1994-07-29 Lothar Schilder Multi-layered implant
US5304204A (en) 1993-02-09 1994-04-19 Ethicon, Inc. Receiverless surgical fasteners
US5383895A (en) 1993-02-10 1995-01-24 Unisurge, Inc. Endoscopic surgical grasper and method
US5342381A (en) 1993-02-11 1994-08-30 Everest Medical Corporation Combination bipolar scissors and forceps instrument
JPH06237937A (ja) 1993-02-12 1994-08-30 Olympus Optical Co Ltd 外科用縫合器
AU6236794A (en) 1993-02-22 1994-09-14 Valleylab, Inc. A laparoscopic dissection tension retractor device and method
EP0689400A4 (en) 1993-03-02 1996-08-28 Melvin S Cook IMPROVED STAPLES
US5342396A (en) 1993-03-02 1994-08-30 Cook Melvin S Staples
DE4306786C1 (de) 1993-03-04 1994-02-10 Wolfgang Daum Chirurgischer Manipulator
US5397324A (en) 1993-03-10 1995-03-14 Carroll; Brendan J. Surgical stapler instrument and method for vascular hemostasis
US5312329A (en) 1993-04-07 1994-05-17 Valleylab Inc. Piezo ultrasonic and electrosurgical handpiece
US5370645A (en) 1993-04-19 1994-12-06 Valleylab Inc. Electrosurgical processor and method of use
USD352780S (en) 1993-04-19 1994-11-22 Valleylab Inc. Combined suction, irrigation and electrosurgical handle
ES2109539T3 (es) 1993-04-20 1998-01-16 United States Surgical Corp Grapadora quirurgica.
US5540375A (en) 1993-04-20 1996-07-30 United States Surgical Corporation Endoscopic stapler
EP0622048B1 (en) 1993-04-27 1997-05-21 American Cyanamid Company Automatic laparoscopic ligation clip applicator
US5467911A (en) 1993-04-27 1995-11-21 Olympus Optical Co., Ltd. Surgical device for stapling and fastening body tissues
US5431668A (en) 1993-04-29 1995-07-11 Ethicon, Inc. Ligating clip applier
US5407293A (en) 1993-04-29 1995-04-18 Crainich; Lawrence Coupling apparatus for medical instrument
US5464300A (en) 1993-04-29 1995-11-07 Crainich; Lawrence Medical instrument and coupling apparatus for same
US6716232B1 (en) 1993-04-30 2004-04-06 United States Surgical Corporation Surgical instrument having an articulated jaw structure and a detachable knife
US5447265A (en) 1993-04-30 1995-09-05 Minnesota Mining And Manufacturing Company Laparoscopic surgical instrument with a mechanism for preventing its entry into the abdominal cavity once it is depleted and removed from the abdominal cavity
DE69414244T2 (de) 1993-04-30 1999-04-22 United States Surgical Corp., Norwalk, Conn. Chirurgisches instrument mit einer schwenkbaren backenstruktur
GB9309142D0 (en) 1993-05-04 1993-06-16 Gyrus Medical Ltd Laparoscopic instrument
US5364003A (en) 1993-05-05 1994-11-15 Ethicon Endo-Surgery Staple cartridge for a surgical stapler
US5415334A (en) 1993-05-05 1995-05-16 Ethicon Endo-Surgery Surgical stapler and staple cartridge
US5352229A (en) 1993-05-12 1994-10-04 Marlowe Goble E Arbor press staple and washer and method for its use
US5449370A (en) 1993-05-12 1995-09-12 Ethicon, Inc. Blunt tipped ultrasonic trocar
US5549621A (en) 1993-05-14 1996-08-27 Byron C. Sutherland Apparatus and method for performing vertical banded gastroplasty
JP2665052B2 (ja) 1993-05-14 1997-10-22 エスアールアイ インターナショナル 遠隔中心位置決め装置
CA2124109A1 (en) 1993-05-24 1994-11-25 Mark T. Byrne Endoscopic surgical instrument with electromagnetic sensor
US5341724A (en) 1993-06-28 1994-08-30 Bronislav Vatel Pneumatic telescoping cylinder and method
GB9314391D0 (en) 1993-07-12 1993-08-25 Gyrus Medical Ltd A radio frequency oscillator and an electrosurgical generator incorporating such an oscillator
US5478354A (en) 1993-07-14 1995-12-26 United States Surgical Corporation Wound closing apparatus and method
DE9310601U1 (de) 1993-07-15 1993-09-02 Siemens AG, 80333 München Kassette zur Aufnahme ärztlicher, insbesondere zahnärztlicher Instrumente
US5582617A (en) 1993-07-21 1996-12-10 Charles H. Klieman Surgical instrument for endoscopic and general surgery
ATE209875T1 (de) 1993-07-21 2001-12-15 Charles H Klieman Chirurgisches instrument für endoskopische und generelle operationen
US5792165A (en) 1993-07-21 1998-08-11 Charles H. Klieman Endoscopic instrument with detachable end effector
GR940100335A (el) 1993-07-22 1996-05-22 Ethicon Inc. Ηλεκτροχειρουργικη συσκευη τοποθετησης συρραπτικων αγκυλων.
US5688270A (en) 1993-07-22 1997-11-18 Ethicon Endo-Surgery,Inc. Electrosurgical hemostatic device with recessed and/or offset electrodes
US5709680A (en) 1993-07-22 1998-01-20 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic device
US5693051A (en) 1993-07-22 1997-12-02 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic device with adaptive electrodes
US5810811A (en) 1993-07-22 1998-09-22 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic device
US5817093A (en) 1993-07-22 1998-10-06 Ethicon Endo-Surgery, Inc. Impedance feedback monitor with query electrode for electrosurgical instrument
US5372596A (en) 1993-07-27 1994-12-13 Valleylab Inc. Apparatus for leakage control and method for its use
US5441494A (en) 1993-07-29 1995-08-15 Ethicon, Inc. Manipulable hand for laparoscopy
US5503320A (en) 1993-08-19 1996-04-02 United States Surgical Corporation Surgical apparatus with indicator
US5447417A (en) 1993-08-31 1995-09-05 Valleylab Inc. Self-adjusting pump head and safety manifold cartridge for a peristaltic pump
US5441193A (en) 1993-09-23 1995-08-15 United States Surgical Corporation Surgical fastener applying apparatus with resilient film
US5405344A (en) 1993-09-30 1995-04-11 Ethicon, Inc. Articulable socket joint assembly for an endoscopic instrument for surgical fastner track therefor
CA2133159A1 (en) 1993-09-30 1995-03-31 Eric J. Butterfield Surgical instrument having improved manipulating means
US5542594A (en) 1993-10-06 1996-08-06 United States Surgical Corporation Surgical stapling apparatus with biocompatible surgical fabric
US5439155A (en) 1993-10-07 1995-08-08 United States Surgical Corporation Cartridge for surgical fastener applying apparatus
CA2132917C (en) 1993-10-07 2004-12-14 John Charles Robertson Circular anastomosis device
US5496312A (en) 1993-10-07 1996-03-05 Valleylab Inc. Impedance and temperature generator control
US6210403B1 (en) 1993-10-07 2001-04-03 Sherwood Services Ag Automatic control for energy from an electrosurgical generator
US5562682A (en) 1993-10-08 1996-10-08 Richard-Allan Medical Industries, Inc. Surgical Instrument with adjustable arms
US5560532A (en) 1993-10-08 1996-10-01 United States Surgical Corporation Apparatus and method for applying surgical staples to body tissue
US5725554A (en) 1993-10-08 1998-03-10 Richard-Allan Medical Industries, Inc. Surgical staple and stapler
US5487499A (en) 1993-10-08 1996-01-30 United States Surgical Corporation Surgical apparatus for applying surgical fasteners including a counter
RU2098025C1 (ru) 1993-10-11 1997-12-10 Аркадий Вениаминович Дубровский Поворотное устройство
US5556416A (en) 1993-10-12 1996-09-17 Valleylab, Inc. Endoscopic instrument
US5571100B1 (en) 1993-11-01 1998-01-06 Gyrus Medical Ltd Electrosurgical apparatus
GB9322464D0 (en) 1993-11-01 1993-12-22 Gyrus Medical Ltd Electrosurgical apparatus
JP3414455B2 (ja) 1993-11-02 2003-06-09 オリンパス光学工業株式会社 縫合装置
US5376095A (en) 1993-11-04 1994-12-27 Ethicon Endo-Surgery Endoscopic multi-fire flat stapler with low profile
US5503635A (en) 1993-11-12 1996-04-02 United States Surgical Corporation Apparatus and method for performing compressional anastomoses
US5562690A (en) 1993-11-12 1996-10-08 United States Surgical Corporation Apparatus and method for performing compressional anastomoses
US5449355A (en) 1993-11-24 1995-09-12 Valleylab Inc. Retrograde tissue splitter and method
DE4340707C2 (de) 1993-11-30 1997-03-27 Wolf Gmbh Richard Manipulator
US5514129A (en) 1993-12-03 1996-05-07 Valleylab Inc. Automatic bipolar control for an electrosurgical generator
US5465894A (en) 1993-12-06 1995-11-14 Ethicon, Inc. Surgical stapling instrument with articulated stapling head assembly on rotatable and flexible support shaft
US5405073A (en) 1993-12-06 1995-04-11 Ethicon, Inc. Flexible support shaft assembly
US5743456A (en) 1993-12-16 1998-04-28 Stryker Corporation Hand actuable surgical handpiece
US5422567A (en) 1993-12-27 1995-06-06 Valleylab Inc. High frequency power measurement
US5441191A (en) 1993-12-30 1995-08-15 Linden; Gerald E. Indicating "staples low" in a paper stapler
WO1995017855A1 (en) 1993-12-30 1995-07-06 Valleylab, Inc. Bipolar ultrasonic surgery
WO1995018572A1 (en) 1994-01-04 1995-07-13 Alpha Surgical Technologies, Inc. Stapling device
US5437681A (en) 1994-01-13 1995-08-01 Suturtek Inc. Suturing instrument with thread management
US5452837A (en) 1994-01-21 1995-09-26 Ethicon Endo-Surgery, Inc. Surgical stapler with tissue gripping ridge
US5382247A (en) 1994-01-21 1995-01-17 Valleylab Inc. Technique for electrosurgical tips and method of manufacture and use
WO1995020360A1 (en) 1994-01-31 1995-08-03 Valleylab, Inc. Telescoping bipolar electrode for non-invasive medical procedures
US5465895A (en) 1994-02-03 1995-11-14 Ethicon Endo-Surgery, Inc. Surgical stapler instrument
US5597107A (en) 1994-02-03 1997-01-28 Ethicon Endo-Surgery, Inc. Surgical stapler instrument
US5487500A (en) 1994-02-03 1996-01-30 Ethicon Endo-Surgery, Inc. Surgical stapler instrument
US5452836A (en) 1994-02-07 1995-09-26 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved jaw closure and staple firing actuator mechanism
US5503638A (en) 1994-02-10 1996-04-02 Bio-Vascular, Inc. Soft tissue stapling buttress
US5527320A (en) 1994-02-10 1996-06-18 Pilling Weck Inc. Surgical clip applying instrument
US5507773A (en) 1994-02-18 1996-04-16 Ethicon Endo-Surgery Cable-actuated jaw assembly for surgical instruments
JPH0833642A (ja) 1994-02-25 1996-02-06 Ethicon Endo Surgery Inc 外科用ステープラのための改良アンビル承口
WO1995023557A1 (en) 1994-03-01 1995-09-08 United States Surgical Corporation Surgical stapler with anvil sensor and lockout
DE9404459U1 (de) 1994-03-16 1994-07-14 Chr. Renz GmbH & Co, 73540 Heubach Vorrichtung zum Verpacken von Bindeelementen
US5484398A (en) 1994-03-17 1996-01-16 Valleylab Inc. Methods of making and using ultrasonic handpiece
JP3421117B2 (ja) 1994-03-17 2003-06-30 テルモ株式会社 外科用器具
RU2052979C1 (ru) 1994-03-22 1996-01-27 Товарищество с ограниченной ответственностью "Дипы" ЛТД Аппарат для наложения зажимающих скрепок и магазин для прошивающих скобок или зажимающих скрепок
US5472442A (en) 1994-03-23 1995-12-05 Valleylab Inc. Moveable switchable electrosurgical handpiece
US5860581A (en) 1994-03-24 1999-01-19 United States Surgical Corporation Anvil for circular stapler
US5541376A (en) 1994-03-28 1996-07-30 Valleylab Inc Switch and connector
CA2145723A1 (en) 1994-03-30 1995-10-01 Steven W. Hamblin Surgical stapling instrument with remotely articulated stapling head assembly on rotatable support shaft
US5715987A (en) 1994-04-05 1998-02-10 Tracor Incorporated Constant width, adjustable grip, staple apparatus and method
US5695524A (en) 1994-04-05 1997-12-09 Tracor Aerospace, Inc. Constant width, adjustable grip, staple apparatus and method
CA2144818C (en) 1994-04-07 2006-07-11 Henry Bolanos Graduated anvil for surgical stapling instruments
US5415335A (en) 1994-04-07 1995-05-16 Ethicon Endo-Surgery Surgical stapler cartridge containing lockout mechanism
US5653677A (en) 1994-04-12 1997-08-05 Fuji Photo Optical Co. Ltd Electronic endoscope apparatus with imaging unit separable therefrom
US5529235A (en) 1994-04-28 1996-06-25 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
US5470007A (en) 1994-05-02 1995-11-28 Minnesota Mining And Manufacturing Company Laparoscopic stapler with overload sensor and interlock
US5489058A (en) 1994-05-02 1996-02-06 Minnesota Mining And Manufacturing Company Surgical stapler with mechanisms for reducing the firing force
US5474566A (en) 1994-05-05 1995-12-12 United States Surgical Corporation Self-contained powered surgical apparatus
US5628446A (en) 1994-05-05 1997-05-13 United States Surgical Corporation Self-contained powered surgical apparatus
CA2148667A1 (en) 1994-05-05 1995-11-06 Carlo A. Mililli Self-contained powered surgical apparatus
US5843021A (en) 1994-05-09 1998-12-01 Somnus Medical Technologies, Inc. Cell necrosis apparatus
US5782749A (en) 1994-05-10 1998-07-21 Riza; Erol D. Laparoscopic surgical instrument with adjustable grip
US5480409A (en) 1994-05-10 1996-01-02 Riza; Erol D. Laparoscopic surgical instrument
US6704210B1 (en) 1994-05-20 2004-03-09 Medtronic, Inc. Bioprothesis film strip for surgical stapler and method of attaching the same
USRE38335E1 (en) 1994-05-24 2003-11-25 Endius Incorporated Surgical instrument
US5454827A (en) 1994-05-24 1995-10-03 Aust; Gilbert M. Surgical instrument
KR100243830B1 (ko) 1994-05-30 2000-02-01 미다라이 후지오 재충전식 배터리
US5814057A (en) 1994-06-03 1998-09-29 Gunze Limited Supporting element for staple region
US5553675A (en) 1994-06-10 1996-09-10 Minnesota Mining And Manufacturing Company Orthopedic surgical device
US5473204A (en) 1994-06-16 1995-12-05 Temple; Thomas D. Time delay switch
US5732872A (en) 1994-06-17 1998-03-31 Heartport, Inc. Surgical stapling instrument
US5800429A (en) 1994-06-24 1998-09-01 Somnus Medical Technologies, Inc. Noninvasive apparatus for ablating turbinates
US5558665A (en) 1994-06-24 1996-09-24 Archimedes Surgical, Inc. Surgical instrument and method for intraluminal retraction of an anatomic structure
US5807376A (en) 1994-06-24 1998-09-15 United States Surgical Corporation Apparatus and method for performing surgical tasks during laparoscopic procedures
DE4422621C1 (de) 1994-06-28 1995-08-31 Aesculap Ag Chirurgisches Instrument
GB9413070D0 (en) 1994-06-29 1994-08-17 Gyrus Medical Ltd Electrosurgical apparatus
US5833695A (en) 1994-07-13 1998-11-10 Yoon; Inbae Surgical stapling system and method of applying staples from multiple staple cartridges
US5551622A (en) 1994-07-13 1996-09-03 Yoon; Inbae Surgical stapler
US5629577A (en) 1994-07-15 1997-05-13 Micro Medical Devices Miniature linear motion actuator
US5533521A (en) 1994-07-15 1996-07-09 United States Surgical Corporation Interchangeable tissue measuring device
DE9412228U1 (de) 1994-07-28 1994-09-22 Loctite Europa E.E.I.G. (E.W.I.V.), 85748 Garching Schlauchpumpe zur genauen Dosierung kleiner Flüssigkeitsmengen
US5507426A (en) 1994-08-05 1996-04-16 United States Surgical Corporation Apparatus for applying surgical fasteners
US5779130A (en) 1994-08-05 1998-07-14 United States Surgical Corporation Self-contained powered surgical apparatus
EP0699418A1 (en) 1994-08-05 1996-03-06 United States Surgical Corporation Self-contained powered surgical apparatus
US5509916A (en) 1994-08-12 1996-04-23 Valleylab Inc. Laser-assisted electrosurgery system
US5480089A (en) 1994-08-19 1996-01-02 United States Surgical Corporation Surgical stapler apparatus with improved staple pockets
CA2146508C (en) 1994-08-25 2006-11-14 Robert H. Schnut Anvil for circular stapler
US6120433A (en) 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5609601A (en) 1994-09-23 1997-03-11 United States Surgical Corporation Endoscopic surgical apparatus with rotation lock
US5569284A (en) 1994-09-23 1996-10-29 United States Surgical Corporation Morcellator
DE4434864C2 (de) 1994-09-29 1997-06-19 United States Surgical Corp Chirurgischer Klammerapplikator mit auswechselbarem Klammermagazin
US5571116A (en) 1994-10-02 1996-11-05 United States Surgical Corporation Non-invasive treatment of gastroesophageal reflux disease
US5685474A (en) 1994-10-04 1997-11-11 United States Surgical Corporation Tactile indicator for surgical instrument
US5797538A (en) 1994-10-05 1998-08-25 United States Surgical Corporation Articulating apparatus for applying surgical fasteners to body tissue
US5901895A (en) 1994-10-05 1999-05-11 United States Surgical Corporation Articulating apparatus for applying surgical fasteners to body tissue
US5540374A (en) 1994-10-06 1996-07-30 Minnesota Mining And Manufacturing Company Bone stapler cartridge
US5575805A (en) 1994-10-07 1996-11-19 Li Medical Technologies, Inc. Variable tip-pressure surgical grasper
US5571090A (en) 1994-10-07 1996-11-05 United States Surgical Corporation Vascular suturing apparatus
EP0705571A1 (en) 1994-10-07 1996-04-10 United States Surgical Corporation Self-contained powered surgical apparatus
US5591170A (en) 1994-10-14 1997-01-07 Genesis Orthopedics Intramedullary bone cutting saw
US5575789A (en) 1994-10-27 1996-11-19 Valleylab Inc. Energizable surgical tool safety device and method
US5549637A (en) 1994-11-10 1996-08-27 Crainich; Lawrence Articulated medical instrument
US6206897B1 (en) 1994-12-02 2001-03-27 Ethicon, Inc. Enhanced visualization of the latching mechanism of latching surgical devices
US7235089B1 (en) 1994-12-07 2007-06-26 Boston Scientific Corporation Surgical apparatus and method
US5868760A (en) 1994-12-07 1999-02-09 Mcguckin, Jr.; James F. Method and apparatus for endolumenally resectioning tissue
JPH08164141A (ja) 1994-12-13 1996-06-25 Olympus Optical Co Ltd 処置具
US5988479A (en) 1994-12-13 1999-11-23 United States Surgical Corporation Apparatus for applying surgical fasteners
US5636779A (en) 1994-12-13 1997-06-10 United States Surgical Corporation Apparatus for applying surgical fasteners
US5569270A (en) 1994-12-13 1996-10-29 Weng; Edward E. Laparoscopic surgical instrument
US5713505A (en) 1996-05-13 1998-02-03 Ethicon Endo-Surgery, Inc. Articulation transmission mechanism for surgical instruments
US5632432A (en) 1994-12-19 1997-05-27 Ethicon Endo-Surgery, Inc. Surgical instrument
US5704534A (en) 1994-12-19 1998-01-06 Ethicon Endo-Surgery, Inc. Articulation assembly for surgical instruments
US5628743A (en) 1994-12-21 1997-05-13 Valleylab Inc. Dual mode ultrasonic surgical apparatus
GB9425781D0 (en) 1994-12-21 1995-02-22 Gyrus Medical Ltd Electrosurgical instrument
US5613966A (en) 1994-12-21 1997-03-25 Valleylab Inc System and method for accessory rate control
US5620452A (en) 1994-12-22 1997-04-15 Yoon; Inbae Surgical clip with ductile tissue penetrating members
US5695494A (en) 1994-12-22 1997-12-09 Valleylab Inc Rem output stage topology
AU701320B2 (en) 1994-12-22 1999-01-28 Ethicon Endo-Surgery, Inc. Impedance feedback monitor with query electrode for electrosurgical instrument
US5713895A (en) 1994-12-30 1998-02-03 Valleylab Inc Partially coated electrodes
US5466020A (en) 1994-12-30 1995-11-14 Valleylab Inc. Bayonet connector for surgical handpiece
CA2210517A1 (en) 1995-02-03 1996-08-08 Valleylab, Inc. Electrosurgical aspirator combined with a pencil
USD372086S (en) 1995-02-03 1996-07-23 Valleylab Inc. Aspirator attachment for a surgical device
US5669907A (en) 1995-02-10 1997-09-23 Valleylab Inc. Plasma enhanced bipolar electrosurgical system
US5695504A (en) 1995-02-24 1997-12-09 Heartport, Inc. Devices and methods for performing a vascular anastomosis
US5669904A (en) 1995-03-07 1997-09-23 Valleylab Inc. Surgical gas plasma ignition apparatus and method
US6213999B1 (en) 1995-03-07 2001-04-10 Sherwood Services Ag Surgical gas plasma ignition apparatus and method
US5735445A (en) 1995-03-07 1998-04-07 United States Surgical Corporation Surgical stapler
DE19509115C2 (de) 1995-03-16 1997-11-27 Deutsche Forsch Luft Raumfahrt Chirurgisches Gerät zum Vorbereiten einer Anastomose in minimal invasiver Operationstechnik
DE19509116C2 (de) 1995-03-16 2000-01-05 Deutsch Zentr Luft & Raumfahrt Flexible Struktur
US5575799A (en) 1995-03-30 1996-11-19 United States Surgical Corporation Articulating surgical apparatus
US5618307A (en) 1995-04-03 1997-04-08 Heartport, Inc. Clamp assembly and method of use
US5599350A (en) 1995-04-03 1997-02-04 Ethicon Endo-Surgery, Inc. Electrosurgical clamping device with coagulation feedback
US5619992A (en) 1995-04-06 1997-04-15 Guthrie; Robert B. Methods and apparatus for inhibiting contamination of reusable pulse oximetry sensors
US6056735A (en) 1996-04-04 2000-05-02 Olympus Optical Co., Ltd. Ultrasound treatment system
US5624452A (en) 1995-04-07 1997-04-29 Ethicon Endo-Surgery, Inc. Hemostatic surgical cutting or stapling instrument
DE69625660T2 (de) 1995-04-21 2003-11-06 W.L. Gore & Associates, Inc. Spendevorrichtung für chirurgische befestigungsplättchen
US5553765A (en) 1995-04-28 1996-09-10 Ethicon Endo-Surgery, Inc. Surgical stapler with improved operating lever mounting arrangement
JP3795100B2 (ja) 1995-05-08 2006-07-12 株式会社伊垣医療設計 医療用縫合材
JP3526487B2 (ja) 1995-05-08 2004-05-17 株式会社伊垣医療設計 医療用縫合材
AU5741296A (en) 1995-05-12 1996-11-29 Rodney C. Perkins Translumenal circumferential injector
US6123241A (en) 1995-05-23 2000-09-26 Applied Tool Development Corporation Internal combustion powered tool
US5630540A (en) 1995-05-24 1997-05-20 United States Surgical Corporation Surgical staple and staple drive member
US5678748A (en) 1995-05-24 1997-10-21 Vir Engineering Surgical stapler with improved safety mechanism
WO1996039088A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. Digital waveform generation for electrosurgical generators
US5599344A (en) 1995-06-06 1997-02-04 Valleylab Inc. Control apparatus for electrosurgical generator power output
US5628745A (en) 1995-06-06 1997-05-13 Bek; Robin B. Exit spark control for an electrosurgical generator
US5720744A (en) 1995-06-06 1998-02-24 Valleylab Inc Control system for neurosurgery
WO1996039086A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. Power control for an electrosurgical generator
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
FR2735350B1 (fr) 1995-06-15 1997-12-26 Maurice Lanzoni Dispositif developpeur d'efforts d'une pince coupante
US5849011A (en) 1995-06-19 1998-12-15 Vidamed, Inc. Medical device with trigger actuation assembly
CN1095641C (zh) 1995-06-23 2002-12-11 盖拉斯医疗有限公司 电手术器械
GB9604770D0 (en) 1995-06-23 1996-05-08 Gyrus Medical Ltd An electrosurgical generator and system
US6015406A (en) 1996-01-09 2000-01-18 Gyrus Medical Limited Electrosurgical instrument
GB9600377D0 (en) 1996-01-09 1996-03-13 Gyrus Medical Ltd Electrosurgical instrument
GB9526627D0 (en) 1995-12-29 1996-02-28 Gyrus Medical Ltd An electrosurgical instrument and an electrosurgical electrode assembly
ES2154824T5 (es) 1995-06-23 2005-04-01 Gyrus Medical Limited Instrumento electroquirurgico.
US6293942B1 (en) 1995-06-23 2001-09-25 Gyrus Medical Limited Electrosurgical generator method
US6780180B1 (en) 1995-06-23 2004-08-24 Gyrus Medical Limited Electrosurgical instrument
WO1997001989A1 (en) 1995-07-03 1997-01-23 Frater Dirk A System for mounting bolster material on tissue staplers
USRE38708E1 (en) 1995-07-11 2005-03-01 United States Surgical Corporation Disposable loading unit for surgical stapler
US5752644A (en) 1995-07-11 1998-05-19 United States Surgical Corporation Disposable loading unit for surgical stapler
US5591187A (en) 1995-07-14 1997-01-07 Dekel; Moshe Laparoscopic tissue retrieval device and method
US5706998A (en) 1995-07-17 1998-01-13 United States Surgical Corporation Surgical stapler with alignment pin locking mechanism
US6447518B1 (en) 1995-07-18 2002-09-10 William R. Krause Flexible shaft components
JPH11509752A (ja) 1995-07-18 1999-08-31 エドワーズ，ガーランド，ユー． 可撓性の軸
US5810855A (en) 1995-07-21 1998-09-22 Gore Enterprise Holdings, Inc. Endoscopic device and method for reinforcing surgical staples
US5702409A (en) 1995-07-21 1997-12-30 W. L. Gore & Associates, Inc. Device and method for reinforcing surgical staples
US6023638A (en) 1995-07-28 2000-02-08 Scimed Life Systems, Inc. System and method for conducting electrophysiological testing using high-voltage energy pulses to stun tissue
US5810846A (en) 1995-08-03 1998-09-22 United States Surgical Corporation Vascular hole closure
US5611709A (en) 1995-08-10 1997-03-18 Valleylab Inc Method and assembly of member and terminal
US5715988A (en) 1995-08-14 1998-02-10 United States Surgical Corporation Surgical stapler with lockout mechanism
US5718359A (en) 1995-08-14 1998-02-17 United States Of America Surgical Corporation Surgical stapler with lockout mechanism
US5839639A (en) 1995-08-17 1998-11-24 Lasersurge, Inc. Collapsible anvil assembly and applicator instrument
US5931853A (en) 1995-08-25 1999-08-03 Mcewen; James A. Physiologic tourniquet with safety circuit
US5782396A (en) 1995-08-28 1998-07-21 United States Surgical Corporation Surgical stapler
US5762256A (en) 1995-08-28 1998-06-09 United States Surgical Corporation Surgical stapler
US6032849A (en) 1995-08-28 2000-03-07 United States Surgical Surgical stapler
US5574431A (en) 1995-08-29 1996-11-12 Checkpoint Systems, Inc. Deactivateable security tag
US5667526A (en) 1995-09-07 1997-09-16 Levin; John M. Tissue retaining clamp
DE19534112A1 (de) 1995-09-14 1997-03-20 Wolf Gmbh Richard Endoskopisches Instrument
US5814055A (en) 1995-09-19 1998-09-29 Ethicon Endo-Surgery, Inc. Surgical clamping mechanism
US5827271A (en) 1995-09-19 1998-10-27 Valleylab Energy delivery system for vessel sealing
US5776130A (en) 1995-09-19 1998-07-07 Valleylab, Inc. Vascular tissue sealing pressure control
US5704087A (en) 1995-09-19 1998-01-06 Strub; Richard Dental care apparatus and technique
US5797959A (en) 1995-09-21 1998-08-25 United States Surgical Corporation Surgical apparatus with articulating jaw structure
US5772659A (en) 1995-09-26 1998-06-30 Valleylab Inc. Electrosurgical generator power control circuit and method
US5702387A (en) 1995-09-27 1997-12-30 Valleylab Inc Coated electrosurgical electrode
US5732821A (en) 1995-09-28 1998-03-31 Biomet, Inc. System for sterilizing medical devices
US5707392A (en) 1995-09-29 1998-01-13 Symbiosis Corporation Hermaphroditic stamped forceps jaw for disposable endoscopic biopsy forceps and method of making the same
US5796188A (en) 1995-10-05 1998-08-18 Xomed Surgical Products, Inc. Battery-powered medical instrument with power booster
US5653721A (en) 1995-10-19 1997-08-05 Ethicon Endo-Surgery, Inc. Override mechanism for an actuator on a surgical instrument
US5697542A (en) 1995-10-19 1997-12-16 Ethicon Endo-Surgery, Inc. Endoscopic surgical stapler with compact profile
US5809441A (en) 1995-10-19 1998-09-15 Case Corporation Apparatus and method of neutral start control of a power transmission
US5700270A (en) 1995-10-20 1997-12-23 United States Surgical Corporation Surgical clip applier
US5997552A (en) 1995-10-20 1999-12-07 United States Surgical Corporation Meniscal fastener applying device
GB9521772D0 (en) 1995-10-24 1996-01-03 Gyrus Medical Ltd An electrosurgical instrument
US5651491A (en) 1995-10-27 1997-07-29 United States Surgical Corporation Surgical stapler having interchangeable loading units
US5941442A (en) 1995-10-27 1999-08-24 United States Surgical Surgical stapler
CA2188738A1 (en) 1995-10-27 1997-04-28 Lisa W. Heaton Surgical stapler having interchangeable loading units
US5827298A (en) 1995-11-17 1998-10-27 Innovasive Devices, Inc. Surgical fastening system and method for using the same
US5860953A (en) 1995-11-21 1999-01-19 Catheter Imaging Systems, Inc. Steerable catheter having disposable module and sterilizable handle and method of connecting same
US5658281A (en) 1995-12-04 1997-08-19 Valleylab Inc Bipolar electrosurgical scissors and method of manufacture
US5971916A (en) 1995-12-27 1999-10-26 Koren; Arie Video camera cover
BR9612395A (pt) 1995-12-29 1999-07-13 Gyrus Medical Ltd Instrumento eletrocirúrgico e um conjunto de eltrodo eletrocirúrgico
US6090106A (en) 1996-01-09 2000-07-18 Gyrus Medical Limited Electrosurgical instrument
GB9600354D0 (en) 1996-01-09 1996-03-13 Gyrus Medical Ltd Electrosurgical instrument
US6013076A (en) 1996-01-09 2000-01-11 Gyrus Medical Limited Electrosurgical instrument
US5755717A (en) 1996-01-16 1998-05-26 Ethicon Endo-Surgery, Inc. Electrosurgical clamping device with improved coagulation feedback
US5738648A (en) 1996-01-23 1998-04-14 Valleylab Inc Method and apparatus for a valve and irrigator
US5620289A (en) 1996-02-09 1997-04-15 Curry; Rinda M. Colored staples
US5749889A (en) 1996-02-13 1998-05-12 Imagyn Medical, Inc. Method and apparatus for performing biopsy
DE69734439T2 (de) 1996-02-13 2006-07-13 Conmed Corp. Chirurgische zugangsvorrichtung
US5713128A (en) 1996-02-16 1998-02-03 Valleylab Inc Electrosurgical pad apparatus and method of manufacture
US6010054A (en) 1996-02-20 2000-01-04 Imagyn Medical Technologies Linear stapling instrument with improved staple cartridge
US5894843A (en) 1996-02-20 1999-04-20 Cardiothoracic Systems, Inc. Surgical method for stabilizing the beating heart during coronary artery bypass graft surgery
US5797537A (en) 1996-02-20 1998-08-25 Richard-Allan Medical Industries, Inc. Articulated surgical instrument with improved firing mechanism
US5820009A (en) 1996-02-20 1998-10-13 Richard-Allan Medical Industries, Inc. Articulated surgical instrument with improved jaw closure mechanism
US5762255A (en) 1996-02-20 1998-06-09 Richard-Allan Medical Industries, Inc. Surgical instrument with improvement safety lockout mechanisms
US6436107B1 (en) 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5725536A (en) 1996-02-20 1998-03-10 Richard-Allen Medical Industries, Inc. Articulated surgical instrument with improved articulation control mechanism
US5800379A (en) 1996-02-23 1998-09-01 Sommus Medical Technologies, Inc. Method for ablating interior sections of the tongue
US5891160A (en) 1996-02-23 1999-04-06 Cardiovascular Technologies, Llc Fastener delivery and deployment mechanism and method for placing the fastener in minimally invasive surgery
US6099537A (en) 1996-02-26 2000-08-08 Olympus Optical Co., Ltd. Medical treatment instrument
US5810721A (en) 1996-03-04 1998-09-22 Heartport, Inc. Soft tissue retractor and method for providing surgical access
US5673842A (en) 1996-03-05 1997-10-07 Ethicon Endo-Surgery Surgical stapler with locking mechanism
US5605272A (en) 1996-03-12 1997-02-25 Ethicon Endo-Surgery, Inc. Trigger mechanism for surgical instruments
US5697543A (en) 1996-03-12 1997-12-16 Ethicon Endo-Surgery, Inc. Linear stapler with improved firing stroke
IL117607A0 (en) 1996-03-21 1996-07-23 Dev Of Advanced Medical Produc Surgical stapler and method of surgical fastening
WO1997035533A1 (en) 1996-03-25 1997-10-02 Enrico Nicolo Surgical mesh prosthetic material and methods of use
US5747953A (en) 1996-03-29 1998-05-05 Stryker Corporation Cordless, battery operated surical tool
US5785232A (en) 1996-04-17 1998-07-28 Vir Engineering Surgical stapler
US5728121A (en) 1996-04-17 1998-03-17 Teleflex Medical, Inc. Surgical grasper devices
US5836503A (en) 1996-04-22 1998-11-17 United States Surgical Corporation Insertion device for surgical apparatus
US6149660A (en) 1996-04-22 2000-11-21 Vnus Medical Technologies, Inc. Method and apparatus for delivery of an appliance in a vessel
US6050472A (en) 1996-04-26 2000-04-18 Olympus Optical Co., Ltd. Surgical anastomosis stapler
DE19618291A1 (de) 1996-05-07 1998-01-29 Storz Karl Gmbh & Co Instrument mit einem abwinkelbaren Handgriff
US5823066A (en) 1996-05-13 1998-10-20 Ethicon Endo-Surgery, Inc. Articulation transmission mechanism for surgical instruments
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5772379A (en) 1996-05-24 1998-06-30 Evensen; Kenneth Self-filling staple fastener
US6119913A (en) 1996-06-14 2000-09-19 Boston Scientific Corporation Endoscopic stapler
GB2314274A (en) 1996-06-20 1997-12-24 Gyrus Medical Ltd Electrode construction for an electrosurgical instrument
US5735874A (en) 1996-06-21 1998-04-07 Ethicon Endo-Surgery, Inc. Variable position handle locking mechanism
US5782748A (en) 1996-07-10 1998-07-21 Symbiosis Corporation Endoscopic surgical instruments having detachable proximal and distal portions
US5702408A (en) 1996-07-17 1997-12-30 Ethicon Endo-Surgery, Inc. Articulating surgical instrument
US6083234A (en) 1996-07-23 2000-07-04 Surgical Dynamics, Inc. Anastomosis instrument and method
US6024748A (en) 1996-07-23 2000-02-15 United States Surgical Corporation Singleshot anastomosis instrument with detachable loading unit and method
US6440146B2 (en) 1996-07-23 2002-08-27 United States Surgical Corporation Anastomosis instrument and method
US5785647A (en) 1996-07-31 1998-07-28 United States Surgical Corporation Surgical instruments useful for spinal surgery
US6017354A (en) 1996-08-15 2000-01-25 Stryker Corporation Integrated system for powered surgical tools
US5830598A (en) 1996-08-15 1998-11-03 Ericsson Inc. Battery pack incorporating battery pack contact assembly and method
USD393067S (en) 1996-08-27 1998-03-31 Valleylab Inc. Electrosurgical pencil
US5873885A (en) 1996-08-29 1999-02-23 Storz Instrument Company Surgical handpiece
US5997528A (en) 1996-08-29 1999-12-07 Bausch & Lomb Surgical, Inc. Surgical system providing automatic reconfiguration
US6364888B1 (en) 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
US5730758A (en) 1996-09-12 1998-03-24 Allgeyer; Dean O. Staple and staple applicator for use in skin fixation of catheters
US20050143769A1 (en) 2002-08-19 2005-06-30 White Jeffrey S. Ultrasonic dissector
US5833696A (en) 1996-10-03 1998-11-10 United States Surgical Corporation Apparatus for applying surgical clips
US6109500A (en) 1996-10-04 2000-08-29 United States Surgical Corporation Lockout mechanism for a surgical stapler
US5843132A (en) 1996-10-07 1998-12-01 Ilvento; Joseph P. Self-contained, self-powered temporary intravenous pacing catheter assembly
JP3091420B2 (ja) 1996-10-18 2000-09-25 株式会社貝印刃物開発センター 内視鏡用処置具
US5752965A (en) 1996-10-21 1998-05-19 Bio-Vascular, Inc. Apparatus and method for producing a reinforced surgical fastener suture line
US5769892A (en) 1996-10-22 1998-06-23 Mitroflow International Inc. Surgical stapler sleeve for reinforcing staple lines
US6165184A (en) 1996-11-18 2000-12-26 Smith & Nephew, Inc. Systems methods and instruments for minimally invasive surgery
ES2264172T3 (es) 1996-11-18 2006-12-16 University Of Massachusetts Sistemas e instrumentos para la cirugia de minimo acceso.
US5899915A (en) 1996-12-02 1999-05-04 Angiotrax, Inc. Apparatus and method for intraoperatively performing surgery
US6165188A (en) 1996-12-02 2000-12-26 Angiotrax, Inc. Apparatus for percutaneously performing myocardial revascularization having controlled cutting depth and methods of use
US6162211A (en) 1996-12-05 2000-12-19 Thermolase Corporation Skin enhancement using laser light
CA2224366C (en) 1996-12-11 2006-10-31 Ethicon, Inc. Meniscal repair device
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
GB9626512D0 (en) 1996-12-20 1997-02-05 Gyrus Medical Ltd An improved electrosurgical generator and system
US6063098A (en) 1996-12-23 2000-05-16 Houser; Kevin Articulable ultrasonic surgical apparatus
US6074401A (en) 1997-01-09 2000-06-13 Coalescent Surgical, Inc. Pinned retainer surgical fasteners, instruments and methods for minimally invasive vascular and endoscopic surgery
US5931847A (en) 1997-01-09 1999-08-03 Ethicon Endo-Surgery, Inc. Surgical cutting instrument with improved cutting edge
US6485667B1 (en) 1997-01-17 2002-11-26 Rayonier Products And Financial Services Company Process for making a soft, strong, absorbent material for use in absorbent articles
US5784934A (en) 1997-01-30 1998-07-28 Shinano Pneumatic Industries, Inc. Ratchet wrench with pivotable head
US5908402A (en) 1997-02-03 1999-06-01 Valleylab Method and apparatus for detecting tube occlusion in argon electrosurgery system
US6545384B1 (en) 1997-02-07 2003-04-08 Sri International Electroactive polymer devices
US6376971B1 (en) 1997-02-07 2002-04-23 Sri International Electroactive polymer electrodes
DE69836817T2 (de) 1997-03-05 2007-10-11 The Trustees Of Columbia University In The City Of New York Elektrothermisches gerät zum verschweissen und zusammenfügen oder zum schneiden von gewebe
US5810821A (en) 1997-03-28 1998-09-22 Biomet Inc. Bone fixation screw system
ATE375755T1 (de) 1997-03-31 2007-11-15 Igaki Iryo Sekkei Kk Nähfadenhaltevorrichtung für ärztliche behandlung
US6050172A (en) 1997-04-04 2000-04-18 Emhart Glass S.A. Pneumatically operated mechanism
US5846254A (en) 1997-04-08 1998-12-08 Ethicon Endo-Surgery, Inc. Surgical instrument for forming a knot
US6033399A (en) 1997-04-09 2000-03-07 Valleylab, Inc. Electrosurgical generator with adaptive power control
RU2144791C1 (ru) 1997-04-14 2000-01-27 Дубровский Аркадий Вениаминович Пологое поворотное устройство
US5919198A (en) 1997-04-17 1999-07-06 Ethicon Endo-Surgery, Inc. Disposable cartridge with drivers
GB9708268D0 (en) 1997-04-24 1997-06-18 Gyrus Medical Ltd An electrosurgical instrument
US6017358A (en) 1997-05-01 2000-01-25 Inbae Yoon Surgical instrument with multiple rotatably mounted offset end effectors
USH2037H1 (en) 1997-05-14 2002-07-02 David C. Yates Electrosurgical hemostatic device including an anvil
USH1904H (en) 1997-05-14 2000-10-03 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic method and device
DE19721076A1 (de) 1997-05-20 1998-11-26 Trw Repa Gmbh Verfahren zum Herstellen eines Seilabschnittes mit einem Befestigungselement für ein Fahrzeuginsassen-Rückhaltesystem sowie mit diesem Verfahren hergestellter Seilabschnitt
US5817091A (en) 1997-05-20 1998-10-06 Medical Scientific, Inc. Electrosurgical device having a visible indicator
US5899914A (en) 1997-06-11 1999-05-04 Endius Incorporated Surgical instrument
US6231565B1 (en) 1997-06-18 2001-05-15 United States Surgical Corporation Robotic arm DLUs for performing surgical tasks
US5951552A (en) 1997-06-30 1999-09-14 Ethicon Endo-Surgery, Inc. Capacitively coupled cordless electrosurgical instrument
US7021878B1 (en) 1997-07-03 2006-04-04 Trackers Company Categorizing fasteners and construction connectors using visual identifiers
FR2765794B1 (fr) 1997-07-11 1999-09-03 Joel Bardeau Dispositif d'eveinage notamment pour endoeveinage
US6338737B1 (en) 1997-07-17 2002-01-15 Haviv Toledano Flexible annular stapler for closed surgery of hollow organs
EP0996378B1 (en) 1997-07-18 2004-06-30 Gyrus Medical Limited An electrosurgical instrument
GB9900964D0 (en) 1999-01-15 1999-03-10 Gyrus Medical Ltd An electrosurgical system
US5937951A (en) 1997-07-18 1999-08-17 Ethicon Endo-Surgery, Inc. Skin stapler with rack and pinion staple feed mechanism
US6923803B2 (en) 1999-01-15 2005-08-02 Gyrus Medical Limited Electrosurgical system and method
US7278994B2 (en) 1997-07-18 2007-10-09 Gyrus Medical Limited Electrosurgical instrument
GB2327352A (en) 1997-07-18 1999-01-27 Gyrus Medical Ltd Electrosurgical instrument
WO1999003408A1 (en) 1997-07-18 1999-01-28 Gyrus Medical Limited An electrosurgical instrument
JP2001510066A (ja) 1997-07-18 2001-07-31 ガイラス・メディカル・リミテッド 電気外科用器具
AU8586298A (en) 1997-07-25 1999-02-16 University Of Massachusetts Designed protein pores as components for biosensors
US5948030A (en) 1997-07-25 1999-09-07 General Motors Corporation Steering angle determaination method and apparatus
ES2223134T3 (es) 1997-07-29 2005-02-16 Thomas & Betts International, Inc. Aparato distribuidor mejorado para suministrar tirantes de cable.
JP3811291B2 (ja) 1998-07-02 2006-08-16 オリンパス株式会社 内視鏡システム
US5878938A (en) 1997-08-11 1999-03-09 Ethicon Endo-Surgery, Inc. Surgical stapler with improved locking mechanism
US6267761B1 (en) 1997-09-09 2001-07-31 Sherwood Services Ag Apparatus and method for sealing and cutting tissue
CA2303194C (en) 1997-09-10 2006-04-11 James Gilbert Chandler Bipolar instrument for vessel fusion
WO1999012483A1 (en) 1997-09-11 1999-03-18 Genzyme Corporation Articulating endoscopic implant rotator surgical apparatus and method for using same
US6017356A (en) 1997-09-19 2000-01-25 Ethicon Endo-Surgery Inc. Method for using a trocar for penetration and skin incision
EP1015944B1 (en) 1997-09-19 2013-02-27 Massachusetts Institute Of Technology Surgical robotic apparatus
US20040236352A1 (en) 1997-09-22 2004-11-25 Yulun Wang Method and apparatus for performing minimally invasive cardiac procedures
US5865361A (en) 1997-09-23 1999-02-02 United States Surgical Corporation Surgical stapling apparatus
US5921956A (en) 1997-09-24 1999-07-13 Smith & Nephew, Inc. Surgical instrument
GB2329840C (en) 1997-10-03 2007-10-05 Johnson & Johnson Medical Biopolymer sponge tubes
US6165173A (en) 1997-10-06 2000-12-26 Somnus Medical Technologies, Inc. Memory for regulating device utilization and behavior
US5944172A (en) 1997-10-06 1999-08-31 Allen-Bradley Company, Llc Biasing assembly for a switching device
US5984949A (en) 1997-10-06 1999-11-16 Levin; John M. Tissue hooks and tools for applying same
US5893835A (en) 1997-10-10 1999-04-13 Ethicon Endo-Surgery, Inc. Ultrasonic clamp coagulator apparatus having dual rotational positioning
US5947984A (en) 1997-10-10 1999-09-07 Ethicon Endo-Surger, Inc. Ultrasonic clamp coagulator apparatus having force limiting clamping mechanism
US6171316B1 (en) 1997-10-10 2001-01-09 Origin Medsystems, Inc. Endoscopic surgical instrument for rotational manipulation
US6241723B1 (en) 1997-10-15 2001-06-05 Team Medical Llc Electrosurgical system
US6511468B1 (en) 1997-10-17 2003-01-28 Micro Therapeutics, Inc. Device and method for controlling injection of liquid embolic composition
US6224617B1 (en) 1997-10-17 2001-05-01 Angiotrax, Inc. Methods and apparatus for defibrillating a heart refractory to electrical stimuli
US6117148A (en) 1997-10-17 2000-09-12 Ravo; Biagio Intraluminal anastomotic device
JP4121615B2 (ja) 1997-10-31 2008-07-23 オリンパス株式会社 内視鏡
US6086600A (en) 1997-11-03 2000-07-11 Symbiosis Corporation Flexible endoscopic surgical instrument for invagination and fundoplication
US6050996A (en) 1997-11-12 2000-04-18 Sherwood Services Ag Bipolar electrosurgical instrument with replaceable electrodes
US6187003B1 (en) 1997-11-12 2001-02-13 Sherwood Services Ag Bipolar electrosurgical instrument for sealing vessels
US6228083B1 (en) 1997-11-14 2001-05-08 Sherwood Services Ag Laparoscopic bipolar electrosurgical instrument
US6010513A (en) 1997-11-26 2000-01-04 Bionx Implants Oy Device for installing a tissue fastener
US6273876B1 (en) 1997-12-05 2001-08-14 Intratherapeutics, Inc. Catheter segments having circumferential supports with axial projection
US6068627A (en) 1997-12-10 2000-05-30 Valleylab, Inc. Smart recognition apparatus and method
US6171330B1 (en) 1997-12-15 2001-01-09 Sofradim Production Pneumatic surgical instrument for the distribution and placement of connecting or fastening means
US6472784B2 (en) 1997-12-16 2002-10-29 Fred N. Miekka Methods and apparatus for increasing power of permanent magnet motors
EP0923907A1 (en) 1997-12-19 1999-06-23 Gyrus Medical Limited An electrosurgical instrument
US6033427A (en) 1998-01-07 2000-03-07 Lee; Benjamin I. Method and device for percutaneous sealing of internal puncture sites
US6156056A (en) 1998-01-09 2000-12-05 Ethicon, Inc. Suture buttress
US6245081B1 (en) 1998-01-09 2001-06-12 Steven M. Bowman Suture buttress
US6620166B1 (en) 1998-01-09 2003-09-16 Ethicon, Inc. Suture buttress system
GB2336214A (en) 1998-01-16 1999-10-13 David William Taylor Preventionof multiple use of limited use devices
US6096074A (en) 1998-01-27 2000-08-01 United States Surgical Stapling apparatus and method for heart valve replacement
US6296640B1 (en) 1998-02-06 2001-10-02 Ethicon Endo-Surgery, Inc. RF bipolar end effector for use in electrosurgical instruments
US6165175A (en) 1999-02-02 2000-12-26 Ethicon Endo-Surgery, Inc. RF bipolar mesentery takedown device including improved bipolar end effector
US6645201B1 (en) 1998-02-19 2003-11-11 Curon Medical, Inc. Systems and methods for treating dysfunctions in the intestines and rectum
US7090683B2 (en) 1998-02-24 2006-08-15 Hansen Medical, Inc. Flexible instrument
US7789875B2 (en) 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
US20020095175A1 (en) 1998-02-24 2002-07-18 Brock David L. Flexible instrument
RU2141279C1 (ru) 1998-03-11 1999-11-20 Кондратюк Георгий Константинович Универсальная насадка
US6099551A (en) 1998-03-12 2000-08-08 Shelhigh, Inc. Pericardial strip and stapler assembly for dividing and sealing visceral tissues and method of use thereof
US6042601A (en) 1998-03-18 2000-03-28 United States Surgical Corporation Apparatus for vascular hole closure
US6592538B1 (en) 1998-03-20 2003-07-15 New York Society For The Ruptured And Crippled Maintaining The Hospital For Special Surgery Dynamic orthopedic braces
GB9807303D0 (en) 1998-04-03 1998-06-03 Gyrus Medical Ltd An electrode assembly for an electrosurgical instrument
AU3157599A (en) 1998-03-26 1999-10-18 Gyrus Medical Limited An electrosurgical instrument
GB2335858A (en) 1998-04-03 1999-10-06 Gyrus Medical Ltd Resectoscope having pivoting electrode assembly
US6249076B1 (en) 1998-04-14 2001-06-19 Massachusetts Institute Of Technology Conducting polymer actuator
US6047861A (en) 1998-04-15 2000-04-11 Vir Engineering, Inc. Two component fluid dispenser
US6450989B2 (en) 1998-04-27 2002-09-17 Artemis Medical, Inc. Dilating and support apparatus with disease inhibitors and methods for use
US6003517A (en) 1998-04-30 1999-12-21 Ethicon Endo-Surgery, Inc. Method for using an electrosurgical device on lung tissue
US6517566B1 (en) 1998-05-11 2003-02-11 Surgical Connections, Inc. Devices and methods for treating e.g. urinary stress incontinence
US6062360A (en) 1998-05-13 2000-05-16 Brunswick Corporation Synchronizer for a gear shift mechanism for a marine propulsion system
US6165929A (en) 1998-05-18 2000-12-26 Phillips Petroleum Company Compositions that can produce polymers
US20050283188A1 (en) 1998-05-29 2005-12-22 By-Pass, Inc. Vascular closure device
US6309403B1 (en) 1998-06-01 2001-10-30 Board Of Trustees Operating Michigan State University Dexterous articulated linkage for surgical applications
US6126058A (en) 1998-06-19 2000-10-03 Scimed Life Systems, Inc. Method and device for full thickness resectioning of an organ
US6601749B2 (en) 1998-06-19 2003-08-05 Scimed Life Systems, Inc. Multi fire full thickness resectioning device
US6478210B2 (en) 2000-10-25 2002-11-12 Scimed Life Systems, Inc. Method and device for full thickness resectioning of an organ
US6585144B2 (en) 1998-06-19 2003-07-01 Acimed Life Systems, Inc. Integrated surgical staple retainer for a full thickness resectioning device
US6629630B2 (en) 1998-06-19 2003-10-07 Scimed Life Systems, Inc. Non-circular resection device and endoscope
US6018227A (en) 1998-06-22 2000-01-25 Stryker Corporation Battery charger especially useful with sterilizable, rechargeable battery packs
US6066132A (en) 1998-06-30 2000-05-23 Ethicon, Inc. Articulating endometrial ablation device
US6228098B1 (en) 1998-07-10 2001-05-08 General Surgical Innovations, Inc. Apparatus and method for surgical fastening
JP3806518B2 (ja) 1998-07-17 2006-08-09 オリンパス株式会社 内視鏡治療装置
US6352503B1 (en) 1998-07-17 2002-03-05 Olympus Optical Co., Ltd. Endoscopic surgery apparatus
US6818018B1 (en) 1998-08-14 2004-11-16 Incept Llc In situ polymerizable hydrogels
DE19836950B4 (de) 1998-08-17 2004-09-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgisches Instrument in Form eines Nahtklammergerätes
US6554798B1 (en) 1998-08-18 2003-04-29 Medtronic Minimed, Inc. External infusion device with remote programming, bolus estimator and/or vibration alarm capabilities
US6131790A (en) 1998-09-02 2000-10-17 Piraka; Hadi A. Surgical stapler and cartridge
FR2783429B1 (fr) 1998-09-18 2002-04-12 Imedex Biomateriaux Materiau collagenique bicomposite,son procede d'obtention et ses applications therapeutiques
JP3766552B2 (ja) 1998-10-01 2006-04-12 富士写真フイルム株式会社 データ写し込み装置付きレンズ付きフイルムユニット
AU757278B2 (en) 1998-10-23 2003-02-13 Covidien Ag Endoscopic bipolar electrosurgical forceps
WO2000024330A1 (en) 1998-10-23 2000-05-04 Sherwood Services Ag Open vessel sealing forceps with disposable electrodes
US5951574A (en) 1998-10-23 1999-09-14 Ethicon Endo-Surgery, Inc. Multiple clip applier having a split feeding mechanism
JP2002528161A (ja) 1998-10-23 2002-09-03 アプライド メディカル リソーシーズ コーポレイション 挿入体を用いた外科手術用把持装置および同装置の使用方法
US6270508B1 (en) 1998-10-26 2001-08-07 Charles H. Klieman End effector and instrument for endoscopic and general surgery needle control
DE19851291A1 (de) 1998-11-06 2000-01-05 Siemens Ag Operationsarbeitsplatztaugliches Dateneingabegerät
US6459926B1 (en) 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US6200330B1 (en) 1998-11-23 2001-03-13 Theodore V. Benderev Systems for securing sutures, grafts and soft tissue to bone and periosteum
US6102271A (en) 1998-11-23 2000-08-15 Ethicon Endo-Surgery, Inc. Circular stapler for hemorrhoidal surgery
JP2000171730A (ja) 1998-12-08 2000-06-23 Olympus Optical Co Ltd バッテリ式携帯内視鏡装置
JP4233656B2 (ja) 1998-12-11 2009-03-04 ジョンソン・エンド・ジョンソン株式会社 自動吻合器及び該吻合器に装着可能な案内バルーン
US6828902B2 (en) 1998-12-14 2004-12-07 Soundcraft, Inc. Wireless data input to RFID reader
US6126670A (en) 1998-12-16 2000-10-03 Medtronic, Inc. Cordless surgical handpiece with disposable battery; and method
DE19858512C1 (de) 1998-12-18 2000-05-25 Storz Karl Gmbh & Co Kg Bipolares medizinisches Instrument
US7001380B2 (en) 1999-01-15 2006-02-21 Gyrus Medical Limited Electrosurgical system and method
US20040030333A1 (en) 1999-01-15 2004-02-12 Gyrus Medical Ltd. Electrosurgical system and method
US6554861B2 (en) 1999-01-19 2003-04-29 Gyrus Ent L.L.C. Otologic prosthesis
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US8529588B2 (en) 1999-01-25 2013-09-10 Applied Medical Resources Corporation Multiple clip applier apparatus and method
DE19905085A1 (de) 1999-01-29 2000-08-03 Black & Decker Inc N D Ges D S Batteriegetriebenes, handgeführtes Elektrowerkzeug
US6387113B1 (en) 1999-02-02 2002-05-14 Biomet, Inc. Method and apparatus for repairing a torn meniscus
US6174309B1 (en) 1999-02-11 2001-01-16 Medical Scientific, Inc. Seal & cut electrosurgical instrument
DE19906191A1 (de) 1999-02-15 2000-08-17 Ingo F Herrmann Endoskop
US6295888B1 (en) 1999-02-16 2001-10-02 Shimano Inc. Gear indicator for a bicycle
US6083242A (en) 1999-02-17 2000-07-04 Holobeam, Inc. Surgical staples with deformation zones of non-uniform cross section
US6065919A (en) 1999-02-18 2000-05-23 Peck; Philip D. Self-tapping screw with an improved thread design
US6806808B1 (en) 1999-02-26 2004-10-19 Sri International Wireless event-recording device with identification codes
GB9905210D0 (en) 1999-03-05 1999-04-28 Gyrus Medical Ltd Electrosurgical system
US6582427B1 (en) 1999-03-05 2003-06-24 Gyrus Medical Limited Electrosurgery system
US6398781B1 (en) 1999-03-05 2002-06-04 Gyrus Medical Limited Electrosurgery system
US20020022836A1 (en) 1999-03-05 2002-02-21 Gyrus Medical Limited Electrosurgery system
US6666875B1 (en) 1999-03-05 2003-12-23 Olympus Optical Co., Ltd. Surgical apparatus permitting recharge of battery-driven surgical instrument in noncontact state
GB9905209D0 (en) 1999-03-05 1999-04-28 Gyrus Medical Ltd Electrosurgery system
GB9905211D0 (en) 1999-03-05 1999-04-28 Gyrus Medical Ltd Electrosurgery system and instrument
US6190386B1 (en) 1999-03-09 2001-02-20 Everest Medical Corporation Electrosurgical forceps with needle electrodes
US6159146A (en) 1999-03-12 2000-12-12 El Gazayerli; Mohamed Mounir Method and apparatus for minimally-invasive fundoplication
US6179776B1 (en) 1999-03-12 2001-01-30 Scimed Life Systems, Inc. Controllable endoscopic sheath apparatus and related method of use
DE19912038C1 (de) 1999-03-17 2001-01-25 Storz Karl Gmbh & Co Kg Handgriff für ein medizinisches Instrument
US6416486B1 (en) 1999-03-31 2002-07-09 Ethicon Endo-Surgery, Inc. Ultrasonic surgical device having an embedding surface and a coagulating surface
WO2000057796A1 (en) 1999-03-31 2000-10-05 Rosenblatt Peter L Systems and methods for soft tissue reconstruction
JP2000287987A (ja) 1999-04-01 2000-10-17 Olympus Optical Co Ltd 充電式医療装置
US6228084B1 (en) 1999-04-06 2001-05-08 Kirwan Surgical Products, Inc. Electro-surgical forceps having recessed irrigation channel
US6182673B1 (en) 1999-04-12 2001-02-06 Mike Kindermann Marketing/Vertriebs Gmbh Dump facility for cassette sewage tanks
US6308089B1 (en) 1999-04-14 2001-10-23 O.B. Scientific, Inc. Limited use medical probe
US6248117B1 (en) 1999-04-16 2001-06-19 Vital Access Corp Anastomosis apparatus for use in intraluminally directed vascular anastomosis
US6689153B1 (en) 1999-04-16 2004-02-10 Orthopaedic Biosystems Ltd, Inc. Methods and apparatus for a coated anchoring device and/or suture
US6325805B1 (en) 1999-04-23 2001-12-04 Sdgi Holdings, Inc. Shape memory alloy staple
US6181105B1 (en) 1999-04-26 2001-01-30 Exonix Corporation Self contained transportable power source maintenance and charge
US6383201B1 (en) 1999-05-14 2002-05-07 Tennison S. Dong Surgical prosthesis for repairing a hernia
JP4503725B2 (ja) 1999-05-17 2010-07-14 オリンパス株式会社 内視鏡治療装置
US6921412B1 (en) 1999-05-18 2005-07-26 Cryolife, Inc. Self-supporting, shaped, three-dimensional biopolymeric materials and methods
GB9911956D0 (en) 1999-05-21 1999-07-21 Gyrus Medical Ltd Electrosurgery system and method
GB9911954D0 (en) 1999-05-21 1999-07-21 Gyrus Medical Ltd Electrosurgery system and instrument
US6547786B1 (en) 1999-05-21 2003-04-15 Gyrus Medical Electrosurgery system and instrument
US6454781B1 (en) 1999-05-26 2002-09-24 Ethicon Endo-Surgery, Inc. Feedback control in an ultrasonic surgical instrument for improved tissue effects
DE19924311A1 (de) 1999-05-27 2000-11-30 Walter A Rau Klammerschneidegerät und Zusatzvorrichtung für ein solches
GB9912625D0 (en) 1999-05-28 1999-07-28 Gyrus Medical Ltd An electrosurgical generator and system
GB9912627D0 (en) 1999-05-28 1999-07-28 Gyrus Medical Ltd An electrosurgical instrument
US6409724B1 (en) 1999-05-28 2002-06-25 Gyrus Medical Limited Electrosurgical instrument
US8241322B2 (en) 2005-07-27 2012-08-14 Tyco Healthcare Group Lp Surgical device
US8025199B2 (en) 2004-02-23 2011-09-27 Tyco Healthcare Group Lp Surgical cutting and stapling device
US6793652B1 (en) 1999-06-02 2004-09-21 Power Medical Interventions, Inc. Electro-mechanical surgical device
US7695485B2 (en) 2001-11-30 2010-04-13 Power Medical Interventions, Llc Surgical device
US6981941B2 (en) 1999-06-02 2006-01-03 Power Medical Interventions Electro-mechanical surgical device
US7032798B2 (en) 1999-06-02 2006-04-25 Power Medical Interventions, Inc. Electro-mechanical surgical device
US6315184B1 (en) 1999-06-02 2001-11-13 Powermed, Inc. Stapling device for use with an electromechanical driver device for use with anastomosing, stapling, and resecting instruments
US6443973B1 (en) 1999-06-02 2002-09-03 Power Medical Interventions, Inc. Electromechanical driver device for use with anastomosing, stapling, and resecting instruments
US6716233B1 (en) 1999-06-02 2004-04-06 Power Medical Interventions, Inc. Electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
US6491201B1 (en) 2000-02-22 2002-12-10 Power Medical Interventions, Inc. Fluid delivery mechanism for use with anastomosing, stapling, and resecting instruments
US6517565B1 (en) 1999-06-02 2003-02-11 Power Medical Interventions, Inc. Carriage assembly for controlling a steering wire steering mechanism within a flexible shaft
US6264087B1 (en) 1999-07-12 2001-07-24 Powermed, Inc. Expanding parallel jaw device for use with an electromechanical driver device
US7951071B2 (en) 1999-06-02 2011-05-31 Tyco Healthcare Group Lp Moisture-detecting shaft for use with an electro-mechanical surgical device
US6223833B1 (en) 1999-06-03 2001-05-01 One World Technologies, Inc. Spindle lock and chipping mechanism for hammer drill
GB9913652D0 (en) 1999-06-11 1999-08-11 Gyrus Medical Ltd An electrosurgical generator
FR2795301B1 (fr) 1999-06-25 2001-08-31 Prec Instrument de chirurgie endoscopique
US7128708B2 (en) 2002-06-13 2006-10-31 Usgi Medical Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US7637905B2 (en) 2003-01-15 2009-12-29 Usgi Medical, Inc. Endoluminal tool deployment system
US6257351B1 (en) 1999-06-29 2001-07-10 Microaire Surgical Instruments, Inc. Powered surgical instrument having locking systems and a clutch mechanism
US6488196B1 (en) 1999-06-30 2002-12-03 Axya Medical, Inc. Surgical stapler and method of applying plastic staples to body tissue
US6325810B1 (en) 1999-06-30 2001-12-04 Ethicon, Inc. Foam buttress for stapling apparatus
US6333029B1 (en) 1999-06-30 2001-12-25 Ethicon, Inc. Porous tissue scaffoldings for the repair of regeneration of tissue
JP3293802B2 (ja) 1999-07-07 2002-06-17 エスエムシー株式会社 位置検出機能付きチャック
US6117158A (en) 1999-07-07 2000-09-12 Ethicon Endo-Surgery, Inc. Ratchet release mechanism for hand held instruments
US6168605B1 (en) 1999-07-08 2001-01-02 Ethicon Endo-Surgery, Inc. Curved laparoscopic scissor having arcs of curvature
JP2001035827A (ja) 1999-07-16 2001-02-09 Memc Kk 高濃度オゾン水、同オゾン水の調製方法、および同オゾン水を使用した洗浄方法
US6436110B2 (en) 1999-07-23 2002-08-20 Ethicon, Inc. Method of securing a graft using a graft fixation device
US6402766B2 (en) 1999-07-23 2002-06-11 Ethicon, Inc. Graft fixation device combination
US7285131B1 (en) 1999-07-28 2007-10-23 Cardica, Inc. System for performing anastomosis
US7766924B1 (en) 1999-07-28 2010-08-03 Cardica, Inc. System for performing anastomosis
US20050154406A1 (en) 1999-07-28 2005-07-14 Cardica, Inc. Method for anastomosing vessels
US7682368B1 (en) 1999-07-28 2010-03-23 Cardica, Inc. Anastomosis tool actuated with stored energy
US7063712B2 (en) 2001-04-27 2006-06-20 Cardica, Inc. Anastomosis method
US6391038B2 (en) 1999-07-28 2002-05-21 Cardica, Inc. Anastomosis system and method for controlling a tissue site
DE19935904C1 (de) 1999-07-30 2001-07-12 Karlsruhe Forschzent Applikatorspitze eines chirurgischen Applikators zum Setzen von Clips/Klammern für die Verbindung von Gewebe
JP2003508185A (ja) 1999-08-03 2003-03-04 スミス アンド ネフュー インコーポレーテッド 埋め込み型制御放出装置
AU6519100A (en) 1999-08-05 2001-03-05 Biocardia, Inc. A system and method for delivering thermally sensitive and reverse-thermal gelation matrials
IT1307263B1 (it) 1999-08-05 2001-10-30 Sorin Biomedica Cardio Spa Stent per angioplastica con azione antagonista della restenosi,relativo corredo e componenti.
WO2001010421A1 (en) 1999-08-06 2001-02-15 Board Of Regents, The University Of Texas System Drug releasing biodegradable fiber implant
EP1235522B1 (de) 1999-09-09 2007-05-30 Tuebingen Scientific Medical GmbH Chirurgisches instrument für minimal invasive eingriffe
US7267679B2 (en) 1999-09-13 2007-09-11 Rex Medical, L.P Vascular hole closure device
US7662161B2 (en) 1999-09-13 2010-02-16 Rex Medical, L.P Vascular hole closure device
US7075770B1 (en) 1999-09-17 2006-07-11 Taser International, Inc. Less lethal weapons and methods for halting locomotion
US6636412B2 (en) 1999-09-17 2003-10-21 Taser International, Inc. Hand-held stun gun for incapacitating a human target
JP2001087272A (ja) 1999-09-24 2001-04-03 Motoko Iwabuchi 生体組織切除用自動縫合器
US6358224B1 (en) 1999-09-24 2002-03-19 Tyco Healthcare Group Lp Irrigation system for endoscopic surgery
CA2322061A1 (en) 1999-10-05 2001-04-05 Anil K. Nalagatla Stapling instrument having two staple forming surfaces
US7887535B2 (en) 1999-10-18 2011-02-15 Covidien Ag Vessel sealing wave jaw
US6320123B1 (en) 1999-10-20 2001-11-20 Steven S. Reimers System and method for shielding electrical components from electromagnetic waves
US6749560B1 (en) 1999-10-26 2004-06-15 Circon Corporation Endoscope shaft with slotted tube
US6780151B2 (en) 1999-10-26 2004-08-24 Acmi Corporation Flexible ureteropyeloscope
EP1095627A1 (en) 1999-10-27 2001-05-02 Everest Medical Corporation Electrosurgical probe for surface treatment
DE19951940C2 (de) 1999-10-28 2001-11-29 Karlsruhe Forschzent Endoskopisch einsetzbares Klammernahtgerät
DE19954497C1 (de) 1999-11-11 2001-04-19 Norbert Lemke Vorrichtung zum Ansteuern eines elektrischen Gerätes für den Einsatz im Sterilbereich bei medizinischen Operationen
US6666846B1 (en) 1999-11-12 2003-12-23 Edwards Lifesciences Corporation Medical device introducer and obturator and methods of use
GB9927338D0 (en) 1999-11-18 2000-01-12 Gyrus Medical Ltd Electrosurgical system
US6324339B1 (en) 1999-11-29 2001-11-27 Eveready Battery Company, Inc. Battery pack including input and output waveform modification capability
US6494896B1 (en) 1999-11-30 2002-12-17 Closure Medical Corporation Applicator for laparoscopic or endoscopic surgery
US6184655B1 (en) 1999-12-10 2001-02-06 Stryker Corporation Battery charging system with internal power manager
US6736825B2 (en) 1999-12-14 2004-05-18 Integrated Vascular Interventional Technologies, L C (Ivit Lc) Paired expandable anastomosis devices and related methods
US6352532B1 (en) 1999-12-14 2002-03-05 Ethicon Endo-Surgery, Inc. Active load control of ultrasonic surgical instruments
US6428487B1 (en) 1999-12-17 2002-08-06 Ethicon Endo-Surgery, Inc. Surgical biopsy system with remote control for selecting an operational mode
TW429637B (en) 1999-12-17 2001-04-11 Synergy Scientech Corp Electrical energy storage device
US6197042B1 (en) 2000-01-05 2001-03-06 Medical Technology Group, Inc. Vascular sheath with puncture site closure apparatus and methods of use
RU2181566C2 (ru) 2000-01-10 2002-04-27 Дубровский Аркадий Вениаминович Управляемый поворотный механизм
US20030205029A1 (en) 2000-01-20 2003-11-06 Chapolini Robert J. Method and apparatus for introducing a non-sterile component into a sterile device
HU225908B1 (en) 2000-01-24 2007-12-28 Ethicon Endo Surgery Europe Surgical circular stapling head
US6193129B1 (en) 2000-01-24 2001-02-27 Ethicon Endo-Surgery, Inc. Cutting blade for a surgical anastomosis stapling instrument
US6429611B1 (en) 2000-01-28 2002-08-06 Hui Li Rotary and linear motor
DE10004264C2 (de) 2000-02-01 2002-06-13 Storz Karl Gmbh & Co Kg Vorrichtung zur intrakorporalen, minimal-invasiven Behandlung eines Patienten
GB0002849D0 (en) 2000-02-08 2000-03-29 Gyrus Medical Ltd An electrosurgical instrument and an electosurgery system including such an instrument
US20040068307A1 (en) 2000-02-08 2004-04-08 Gyrus Medical Limited Surgical instrument
GB0223348D0 (en) 2002-10-08 2002-11-13 Gyrus Medical Ltd A surgical instrument
US20040181219A1 (en) 2000-02-08 2004-09-16 Gyrus Medical Limited Electrosurgical instrument and an electrosugery system including such an instrument
US6758846B2 (en) 2000-02-08 2004-07-06 Gyrus Medical Limited Electrosurgical instrument and an electrosurgery system including such an instrument
US6911033B2 (en) 2001-08-21 2005-06-28 Microline Pentax Inc. Medical clip applying device
US6569171B2 (en) 2001-02-28 2003-05-27 Microline, Inc. Safety locking mechanism for a medical clip device
US6306149B1 (en) 2000-02-15 2001-10-23 Microline, Inc. Medical clip device with cyclical pusher mechanism
US6589164B1 (en) 2000-02-15 2003-07-08 Transvascular, Inc. Sterility barriers for insertion of non-sterile apparatus into catheters or other medical devices
DE10007919C2 (de) 2000-02-21 2003-07-17 Wolf Gmbh Richard Zange zum Freipräparieren von Gewebe in einer Körperhöhle
US6533157B1 (en) 2000-02-22 2003-03-18 Power Medical Interventions, Inc. Tissue stapling attachment for use with an electromechanical driver device
EP3146914A1 (en) 2000-02-22 2017-03-29 Covidien LP An electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
US6488197B1 (en) 2000-02-22 2002-12-03 Power Medical Interventions, Inc. Fluid delivery device for use with anastomosing resecting and stapling instruments
GB0004179D0 (en) 2000-02-22 2000-04-12 Gyrus Medical Ltd Tissue resurfacing
US6723091B2 (en) 2000-02-22 2004-04-20 Gyrus Medical Limited Tissue resurfacing
US7770773B2 (en) 2005-07-27 2010-08-10 Power Medical Interventions, Llc Surgical device
US6629974B2 (en) 2000-02-22 2003-10-07 Gyrus Medical Limited Tissue treatment method
US7335199B2 (en) 2000-02-22 2008-02-26 Rhytec Limited Tissue resurfacing
US8016855B2 (en) 2002-01-08 2011-09-13 Tyco Healthcare Group Lp Surgical device
WO2001062173A2 (en) 2000-02-25 2001-08-30 The Board Of Trustees Of The Leland Stanford Junior University Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body
US6273897B1 (en) 2000-02-29 2001-08-14 Ethicon, Inc. Surgical bettress and surgical stapling apparatus
WO2001066020A2 (en) 2000-03-06 2001-09-13 United States Surgical Apparatus and method for performing a bypass procedure in a digestive system
CA2403013C (en) 2000-03-16 2010-02-02 Medigus Ltd. Fundoplication apparatus and method
IL139788A (en) 2000-11-20 2006-10-05 Minelu Zonnenschein Stapler for endoscopes
US6510854B2 (en) 2000-03-16 2003-01-28 Gyrus Medical Limited Method of treatment of prostatic adenoma
US6984203B2 (en) 2000-04-03 2006-01-10 Neoguide Systems, Inc. Endoscope with adjacently positioned guiding apparatus
EP1662972A4 (en) 2000-04-03 2010-08-25 Intuitive Surgical Inc ACTIVATED POLYMER GENTLE INSTRUMENTS AND INTRODUCTION METHOD
US6858005B2 (en) 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
US6837846B2 (en) 2000-04-03 2005-01-04 Neo Guide Systems, Inc. Endoscope having a guide tube
US6517528B1 (en) 2000-04-13 2003-02-11 Scimed Life Systems, Inc. Magnetic catheter drive shaft clutch
RU2187249C2 (ru) 2000-04-27 2002-08-20 Общество с ограниченной ответственностью "ЭНДОМЕДИУМ+" Хирургический инструмент
EP1278471B1 (en) 2000-04-27 2005-06-15 Medtronic, Inc. Vibration sensitive ablation apparatus
US6387114B2 (en) 2000-04-28 2002-05-14 Scimed Life Systems, Inc. Gastrointestinal compression clips
US6305891B1 (en) 2000-05-15 2001-10-23 Mark S. Burlingame Fastening device and a spacer, and a method of using the same
US7510566B2 (en) 2000-05-19 2009-03-31 Coapt Systems, Inc. Multi-point tissue tension distribution device and method, a chin lift variation
US6485503B2 (en) 2000-05-19 2002-11-26 Coapt Systems, Inc. Multi-point tissue tension distribution device, a brow and face lift variation, and a method of tissue approximation using the device
US6419695B1 (en) 2000-05-22 2002-07-16 Shlomo Gabbay Cardiac prosthesis for helping improve operation of a heart valve
DE10026683C2 (de) 2000-05-30 2003-07-10 Ethicon Endo Surgery Europe Chirurgisches Klammersetzgerät
US6805273B2 (en) 2002-11-04 2004-10-19 Federico Bilotti Surgical stapling instrument
US6602262B2 (en) 2000-06-02 2003-08-05 Scimed Life Systems, Inc. Medical device having linear to rotation control
US6492785B1 (en) 2000-06-27 2002-12-10 Deere & Company Variable current limit control for vehicle electric drive system
DE10031436A1 (de) 2000-06-28 2002-01-10 Alexander Von Fuchs Gleitschutz für einen Gehäusekopf medizinischer Instrumente
US6863694B1 (en) 2000-07-03 2005-03-08 Osteotech, Inc. Osteogenic implants derived from bone
AU2001280635B2 (en) 2000-07-20 2006-09-21 Kinetic Surgical Llc Hand-actuated articulating surgical tool
AU2002224520A1 (en) 2000-07-21 2002-02-05 Atropos Limited A cannula
US6494882B1 (en) 2000-07-25 2002-12-17 Verimetra, Inc. Cutting instrument having integrated sensors
US8366787B2 (en) 2000-08-04 2013-02-05 Depuy Products, Inc. Hybrid biologic-synthetic bioabsorbable scaffolds
JP2002051974A (ja) 2000-08-14 2002-02-19 Fuji Photo Optical Co Ltd 内視鏡処置具
WO2002017799A1 (en) 2000-08-30 2002-03-07 Cerebral Vascular Applications Inc. Medical instrument
US6767356B2 (en) 2000-09-01 2004-07-27 Angiolink Corporation Advanced wound site management systems and methods
US20040093024A1 (en) 2000-09-01 2004-05-13 James Lousararian Advanced wound site management systems and methods
GB0021799D0 (en) 2000-09-05 2000-10-18 Gyrus Medical Ltd Electrosurgery system
WO2002019920A1 (en) 2000-09-08 2002-03-14 Coleman James E Surgical staple
JP2002078674A (ja) 2000-09-08 2002-03-19 Fuji Photo Optical Co Ltd 内視鏡の湾曲部構造
US6712773B1 (en) 2000-09-11 2004-03-30 Tyco Healthcare Group Lp Biopsy system
WO2002026143A1 (en) 2000-09-27 2002-04-04 Applied Medical Resources Surgical apparatus with detachable handle assembly
JP4014792B2 (ja) 2000-09-29 2007-11-28 株式会社東芝 マニピュレータ
JP2004509726A (ja) 2000-10-04 2004-04-02 ジンテーズ　アクチエンゲゼルシャフト　クール 電子ペンに電気エネルギーを供給するための装置
US6817508B1 (en) 2000-10-13 2004-11-16 Tyco Healthcare Group, Lp Surgical stapling device
US7334717B2 (en) 2001-10-05 2008-02-26 Tyco Healthcare Group Lp Surgical fastener applying apparatus
WO2003030742A2 (en) 2001-10-05 2003-04-17 Tyco Healthcare Group, Lp Surgical stapling apparatus and method
WO2003079909A2 (en) 2002-03-19 2003-10-02 Tyco Healthcare Group, Lp Surgical fastener applying apparatus
US7407076B2 (en) 2000-10-13 2008-08-05 Tyco Healthcare Group Lp Surgical stapling device
CA2664958C (en) 2000-10-13 2011-09-13 Tyco Healthcare Group Lp Surgical fastener applying apparatus
US6773438B1 (en) 2000-10-19 2004-08-10 Ethicon Endo-Surgery Surgical instrument having a rotary lockout mechanism
US6551333B2 (en) 2000-10-19 2003-04-22 Ethicon Endo-Surgery, Inc. Method for attaching hernia mesh
US7273483B2 (en) 2000-10-20 2007-09-25 Ethicon Endo-Surgery, Inc. Apparatus and method for alerting generator functions in an ultrasonic surgical system
WO2002034122A2 (en) 2000-10-20 2002-05-02 Onux Medical, Inc. Surgical suturing instrument and method of use
US20040267310A1 (en) 2000-10-20 2004-12-30 Racenet David C Directionally biased staple and anvil assembly for forming the staple
US6908472B2 (en) 2000-10-20 2005-06-21 Ethicon Endo-Surgery, Inc. Apparatus and method for altering generator functions in an ultrasonic surgical system
US6945981B2 (en) 2000-10-20 2005-09-20 Ethicon-Endo Surgery, Inc. Finger operated switch for controlling a surgical handpiece
US6656177B2 (en) 2000-10-23 2003-12-02 Csaba Truckai Electrosurgical systems and techniques for sealing tissue
US6913608B2 (en) 2000-10-23 2005-07-05 Viacor, Inc. Automated annular plication for mitral valve repair
US6500176B1 (en) 2000-10-23 2002-12-31 Csaba Truckai Electrosurgical systems and techniques for sealing tissue
US6793661B2 (en) 2000-10-30 2004-09-21 Vision Sciences, Inc. Endoscopic sheath assemblies having longitudinal expansion inhibiting mechanisms
GB0026586D0 (en) 2000-10-31 2000-12-13 Gyrus Medical Ltd An electrosurgical system
US6893435B2 (en) 2000-10-31 2005-05-17 Gyrus Medical Limited Electrosurgical system
US6843789B2 (en) 2000-10-31 2005-01-18 Gyrus Medical Limited Electrosurgical system
FR2815842B1 (fr) 2000-10-31 2003-05-09 Assist Publ Hopitaux De Paris Pince-agrafeuse mecanique pour chirurgie du rectum
US20030139741A1 (en) 2000-10-31 2003-07-24 Gyrus Medical Limited Surgical instrument
JP2002143078A (ja) 2000-11-08 2002-05-21 Olympus Optical Co Ltd 内視鏡用外付チューブ
US8286845B2 (en) 2000-11-27 2012-10-16 Boston Scientific Scimed, Inc. Full thickness resection device control handle
JP2002159500A (ja) 2000-11-28 2002-06-04 Koseki Ika Kk 靭帯固定システム
US7081114B2 (en) 2000-11-29 2006-07-25 St. Jude Medical, Atrial Fibrillation Division, Inc. Electrophysiology/ablation catheter having lariat configuration of variable radius
US6398795B1 (en) 2000-11-30 2002-06-04 Scimed Life Systems, Inc. Stapling and cutting in resectioning for full thickness resection devices
JP2002170622A (ja) 2000-11-30 2002-06-14 Sumitomo Wiring Syst Ltd コネクタ
US6439446B1 (en) 2000-12-01 2002-08-27 Stephen J. Perry Safety lockout for actuator shaft
US6569085B2 (en) 2001-08-16 2003-05-27 Syntheon, Llc Methods and apparatus for delivering a medical instrument over an endoscope while the endoscope is in a body lumen
DE60138643D1 (de) 2000-12-08 2009-06-18 Osteotech Inc Implantat für orthopädische anwendungen
US6406440B1 (en) 2000-12-21 2002-06-18 Ethicon Endo-Surgery, Inc. Specimen retrieval bag
US6503259B2 (en) 2000-12-27 2003-01-07 Ethicon, Inc. Expandable anastomotic device
US6840938B1 (en) 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
US7041868B2 (en) 2000-12-29 2006-05-09 Kimberly-Clark Worldwide, Inc. Bioabsorbable wound dressing
WO2002053808A1 (en) 2001-01-03 2002-07-11 Wen Lu Stable conjugated polymer electrochromic devices incorporating ionic liquids
US6482200B2 (en) 2001-01-03 2002-11-19 Ronald D. Shippert Cautery apparatus and method
US20020133131A1 (en) 2001-01-09 2002-09-19 Krishnakumar Rangachari Absorbent material incorporating synthetic fibers and process for making the material
JP2004524076A (ja) 2001-01-11 2004-08-12 ギブン・イメージング・リミテツド 生体内処置のための装置およびシステム
US6439439B1 (en) 2001-01-12 2002-08-27 Telios Orthopedic Systems, Inc. Bone cement delivery apparatus and hand-held fluent material dispensing apparatus
US7438718B2 (en) 2001-01-24 2008-10-21 Tyco Healthcare Group Lp Anastomosis instrument and method for performing same
US6626834B2 (en) 2001-01-25 2003-09-30 Shane Dunne Spiral scanner with electronic control
US20020134811A1 (en) 2001-01-29 2002-09-26 Senco Products, Inc. Multi-mode power tool utilizing attachment
US20020103494A1 (en) 2001-01-31 2002-08-01 Pacey John Allen Percutaneous cannula delvery system for hernia patch
CA2435522C (en) 2001-01-31 2010-02-23 Rex Medical, L.P. Apparatus for stapling and resectioning gastro-esophageal tissue
US8313496B2 (en) 2001-02-02 2012-11-20 Lsi Solutions, Inc. System for endoscopic suturing
US6997931B2 (en) 2001-02-02 2006-02-14 Lsi Solutions, Inc. System for endoscopic suturing
JP3939158B2 (ja) 2001-02-06 2007-07-04 オリンパス株式会社 内視鏡装置
US7699835B2 (en) 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
US7766894B2 (en) 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US6533784B2 (en) 2001-02-24 2003-03-18 Csaba Truckai Electrosurgical working end for transecting and sealing tissue
US7018357B2 (en) 2001-02-27 2006-03-28 Tyco Healthcare Group Lp External mixer assembly
US6682527B2 (en) 2001-03-13 2004-01-27 Perfect Surgical Techniques, Inc. Method and system for heating tissue with a bipolar instrument
US20030181900A1 (en) 2002-03-25 2003-09-25 Long Gary L. Endoscopic ablation system with a plurality of electrodes
US7097644B2 (en) 2001-03-30 2006-08-29 Ethicon Endo-Surgery, Inc. Medical device with improved wall construction
US6769590B2 (en) 2001-04-02 2004-08-03 Susan E. Vresh Luminal anastomotic device and method
US6605669B2 (en) 2001-04-03 2003-08-12 E. I. Du Pont De Nemours And Company Radiation-curable coating compounds
WO2002080781A2 (en) 2001-04-03 2002-10-17 Tyco Healthcare Group Lp Surgical stapling device for performing circular anastomoses
ES2262639T3 (es) 2001-04-06 2006-12-01 Sherwood Services Ag Obturador y divisor de vasos com miembros de tope n oconductivos.
US7090673B2 (en) 2001-04-06 2006-08-15 Sherwood Services Ag Vessel sealer and divider
US6638285B2 (en) 2001-04-16 2003-10-28 Shlomo Gabbay Biological tissue strip and system and method to seal tissue
US6783524B2 (en) 2001-04-19 2004-08-31 Intuitive Surgical, Inc. Robotic surgical tool with ultrasound cauterizing and cutting instrument
US6994708B2 (en) 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
US7824401B2 (en) 2004-10-08 2010-11-02 Intuitive Surgical Operations, Inc. Robotic tool with wristed monopolar electrosurgical end effectors
WO2002085254A1 (en) 2001-04-20 2002-10-31 The Research Foundation Of State University Of Newyork Apparatus and method for fixation of vascular grafts
EP1383504A1 (en) 2001-04-26 2004-01-28 Control Delivery Systems, Inc. Sustained release drug delivery system containing codrugs
US6535764B2 (en) 2001-05-01 2003-03-18 Intrapace, Inc. Gastric treatment and diagnosis device and method
US6913579B2 (en) 2001-05-01 2005-07-05 Surgrx, Inc. Electrosurgical working end and method for obtaining tissue samples for biopsy
DE10121305A1 (de) 2001-05-02 2002-12-12 Ethicon Endo Surgery Europe Chirurgisches Instrument
US6503257B2 (en) 2001-05-07 2003-01-07 Ethicon Endo-Surgery, Inc. Method for releasing buttress material attached to a surgical fastening device
US6656193B2 (en) 2001-05-07 2003-12-02 Ethicon Endo-Surgery, Inc. Device for attachment of buttress material to a surgical fastening device
US6827725B2 (en) 2001-05-10 2004-12-07 Gyrus Medical Limited Surgical instrument
US6630047B2 (en) 2001-05-21 2003-10-07 3M Innovative Properties Company Fluoropolymer bonding composition and method
WO2002098315A2 (de) 2001-06-07 2002-12-12 Kaltenbach & Voigt Gmbh & Co. Kg Dentalmedizinisches instrument, versorgungsgerät, pflegegerät und system für das dentalmedizinische instrument
IES20010547A2 (en) 2001-06-07 2002-12-11 Christy Cummins Surgical Staple
DE20121753U1 (de) 2001-06-15 2003-04-17 BEMA GmbH + Co. KG Endochirurgische Instrumente, 78576 Emmingen-Liptingen Griff für ein chirurgisches Instrument
JP2005521109A (ja) 2001-06-20 2005-07-14 パワー メディカル インターベンションズ，インコーポレイテッド 統合医療追跡のための方法及びシステム
US20060178556A1 (en) 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US20050182298A1 (en) 2002-12-06 2005-08-18 Intuitive Surgical Inc. Cardiac tissue ablation instrument with flexible wrist
US6699235B2 (en) 2001-06-29 2004-03-02 Intuitive Surgical, Inc. Platform link wrist mechanism
US20040243147A1 (en) 2001-07-03 2004-12-02 Lipow Kenneth I. Surgical robot and robotic controller
CN2488482Y (zh) 2001-07-05 2002-05-01 天津市华志计算机应用有限公司 机械臂的关节锁紧机构
US7887553B2 (en) 2001-07-09 2011-02-15 Tyco Healthcare Group Lp Right angle clip applier apparatus and method
JP4201134B2 (ja) 2001-07-16 2008-12-24 デピュイ・プロダクツ・インコーポレイテッド 軟骨修復装置および方法
EP1277548B1 (de) 2001-07-19 2006-05-17 HILTI Aktiengesellschaft Bolzensetzgerät mit Setztiefenregelung
DE20112837U1 (de) 2001-08-02 2001-10-04 Aesculap AG & Co. KG, 78532 Tuttlingen Zangen- oder pinzettenförmiges chirurgisches Instrument
US7208005B2 (en) 2001-08-06 2007-04-24 The Penn State Research Foundation Multifunctional tool and method for minimally invasive surgery
DE60216676T2 (de) 2001-08-07 2007-10-04 Universitair Medisch Centrum Utrecht Gerät zur Verbindung eines chirurgischen Geräts mit einer stabilen Basis
JP4215162B2 (ja) 2001-08-08 2009-01-28 ストライカー・コーポレーション 内部メモリを備えた外科用切断アクセサリ
US6592608B2 (en) 2001-12-07 2003-07-15 Biopsy Sciences, Llc Bioabsorbable sealant
DE10139153A1 (de) 2001-08-09 2003-02-27 Ingo F Herrmann Einweg-Endoskopmantel
IES20010748A2 (en) 2001-08-09 2003-02-19 Christy Cummins Surgical Stapling Device and Method
US6705503B1 (en) 2001-08-20 2004-03-16 Tricord Solutions, Inc. Electrical motor driven nail gun
US6692507B2 (en) 2001-08-23 2004-02-17 Scimed Life Systems, Inc. Impermanent biocompatible fastener
US7563862B2 (en) 2001-08-24 2009-07-21 Neuren Pharmaceuticals Limited Neural regeneration peptides and methods for their use in treatment of brain damage
US6929641B2 (en) 2001-08-27 2005-08-16 Gyrus Medical Limited Electrosurgical system
US7344532B2 (en) 2001-08-27 2008-03-18 Gyrus Medical Limited Electrosurgical generator and system
US6966907B2 (en) 2001-08-27 2005-11-22 Gyrus Medical Limited Electrosurgical generator and system
EP1287788B1 (en) 2001-08-27 2011-04-20 Gyrus Medical Limited Electrosurgical system
US6808525B2 (en) 2001-08-27 2004-10-26 Gyrus Medical, Inc. Bipolar electrosurgical hook probe for cutting and coagulating tissue
GB0425051D0 (en) 2004-11-12 2004-12-15 Gyrus Medical Ltd Electrosurgical generator and system
WO2004078051A2 (en) 2001-08-27 2004-09-16 Gyrus Medial Limited Electrosurgical system
US7282048B2 (en) 2001-08-27 2007-10-16 Gyrus Medical Limited Electrosurgical generator and system
US6629988B2 (en) 2001-08-28 2003-10-07 Ethicon, Inc. Composite staple for completing an anastomosis
US6755338B2 (en) 2001-08-29 2004-06-29 Cerebral Vascular Applications, Inc. Medical instrument
NL1018874C2 (nl) 2001-09-03 2003-03-05 Michel Petronella Hub Vleugels Chirurgisch instrument.
US6747121B2 (en) 2001-09-05 2004-06-08 Synthes (Usa) Poly(L-lactide-co-glycolide) copolymers, methods for making and using same, and devices containing same
JP2003070804A (ja) 2001-09-05 2003-03-11 Olympus Optical Co Ltd 遠隔医療支援システム
US6802843B2 (en) 2001-09-13 2004-10-12 Csaba Truckai Electrosurgical working end with resistive gradient electrodes
US6773409B2 (en) 2001-09-19 2004-08-10 Surgrx Llc Surgical system for applying ultrasonic energy to tissue
GB2379878B (en) 2001-09-21 2004-11-10 Gyrus Medical Ltd Electrosurgical system and method
DE10147145C2 (de) 2001-09-25 2003-12-18 Kunz Reiner Multifunktionsinstrument für die mikroinvasive Chirurgie
JP3557186B2 (ja) 2001-09-26 2004-08-25 三洋電機株式会社 Ｄｃ−ｄｃコンバータ
US6578751B2 (en) 2001-09-26 2003-06-17 Scimed Life Systems, Inc. Method of sequentially firing staples using springs and a rotary or linear shutter
US7344533B2 (en) 2001-09-28 2008-03-18 Angiodynamics, Inc. Impedance controlled tissue ablation apparatus and method
US7108701B2 (en) 2001-09-28 2006-09-19 Ethicon, Inc. Drug releasing anastomosis devices and methods for treating anastomotic sites
CA2695579C (en) 2001-10-05 2012-09-25 Tyco Healthcare Group Lp Surgical stapling device
MXPA04003162A (es) 2001-10-05 2005-01-25 Surmodics Inc Recubrimientos de particulas inmovilizadas y usos de los mismos.
US6929644B2 (en) 2001-10-22 2005-08-16 Surgrx Inc. Electrosurgical jaw structure for controlled energy delivery
US7070597B2 (en) 2001-10-18 2006-07-04 Surgrx, Inc. Electrosurgical working end for controlled energy delivery
US7464847B2 (en) 2005-06-03 2008-12-16 Tyco Healthcare Group Lp Surgical stapler with timer and feedback display
US7125409B2 (en) 2001-10-22 2006-10-24 Surgrx, Inc. Electrosurgical working end for controlled energy delivery
US7083619B2 (en) 2001-10-22 2006-08-01 Surgrx, Inc. Electrosurgical instrument and method of use
US6905497B2 (en) 2001-10-22 2005-06-14 Surgrx, Inc. Jaw structure for electrosurgical instrument
US20030216732A1 (en) 2002-05-20 2003-11-20 Csaba Truckai Medical instrument with thermochromic or piezochromic surface indicators
US7041102B2 (en) 2001-10-22 2006-05-09 Surgrx, Inc. Electrosurgical working end with replaceable cartridges
US6770072B1 (en) 2001-10-22 2004-08-03 Surgrx, Inc. Electrosurgical jaw structure for controlled energy delivery
US7011657B2 (en) 2001-10-22 2006-03-14 Surgrx, Inc. Jaw structure for electrosurgical instrument and method of use
US6926716B2 (en) 2001-11-09 2005-08-09 Surgrx Inc. Electrosurgical instrument
US20060020336A1 (en) 2001-10-23 2006-01-26 Liddicoat John R Automated annular plication for mitral valve repair
FR2831417B1 (fr) 2001-10-30 2004-08-06 Eurosurgical Instrument chirurgical
JP2003135473A (ja) 2001-11-01 2003-05-13 Mizuho Co Ltd 内視鏡手術用能動鉗子
US6716223B2 (en) 2001-11-09 2004-04-06 Micrus Corporation Reloadable sheath for catheter system for deploying vasoocclusive devices
US6471106B1 (en) 2001-11-15 2002-10-29 Intellectual Property Llc Apparatus and method for restricting the discharge of fasteners from a tool
JP2003164066A (ja) 2001-11-21 2003-06-06 Hitachi Koki Co Ltd 電池パック
US6605078B2 (en) 2001-11-26 2003-08-12 Scimed Life Systems, Inc. Full thickness resection device
US6671185B2 (en) 2001-11-28 2003-12-30 Landon Duval Intelligent fasteners
DE10158246C1 (de) 2001-11-28 2003-08-21 Ethicon Endo Surgery Europe Chirurgisches Klammersetzinstrument
DE60237559D1 (de) 2001-11-29 2010-10-14 Max Co Ltd Elektrischer Hefter
CA2466812C (en) 2001-12-04 2012-04-03 Michael P. Whitman System and method for calibrating a surgical instrument
US7331968B2 (en) 2004-06-14 2008-02-19 Ethicon Endo-Surgery, Inc. Endoscopic clip applier with threaded clip
GB2383006A (en) 2001-12-13 2003-06-18 Black & Decker Inc Mechanism for use in a power tool and a power tool including such a mechanism
US6723087B2 (en) 2001-12-14 2004-04-20 Medtronic, Inc. Apparatus and method for performing surgery on a patient
US7122028B2 (en) 2001-12-19 2006-10-17 Allegiance Corporation Reconfiguration surgical apparatus
US6974462B2 (en) 2001-12-19 2005-12-13 Boston Scientific Scimed, Inc. Surgical anchor implantation device
US6939358B2 (en) 2001-12-20 2005-09-06 Gore Enterprise Holdings, Inc. Apparatus and method for applying reinforcement material to a surgical stapler
EP1465555B1 (en) 2001-12-21 2015-05-06 QuickRing Medical Technologies Ltd. Implantation system for annuloplasty rings
RU2225170C2 (ru) 2001-12-25 2004-03-10 Дубровский Аркадий Вениаминович Инструмент с поворотным устройством
US6942662B2 (en) 2001-12-27 2005-09-13 Gyrus Group Plc Surgical Instrument
US20060264929A1 (en) 2001-12-27 2006-11-23 Gyrus Group Plc Surgical system
GB0425842D0 (en) 2004-11-24 2004-12-29 Gyrus Group Plc An electrosurgical instrument
GB0130975D0 (en) 2001-12-27 2002-02-13 Gyrus Group Plc A surgical instrument
CN100362969C (zh) 2001-12-27 2008-01-23 盖勒斯集团股份有限公司 电外科器械
US6729119B2 (en) 2001-12-28 2004-05-04 The Schnipke Family Limited Liability Company Robotic loader for surgical stapling cartridge
US6913594B2 (en) 2001-12-31 2005-07-05 Biosense Webster, Inc. Dual-function catheter handle
US6602252B2 (en) 2002-01-03 2003-08-05 Starion Instruments Corporation Combined dissecting, cauterizing, and stapling device
US6740030B2 (en) 2002-01-04 2004-05-25 Vision Sciences, Inc. Endoscope assemblies having working channels with reduced bending and stretching resistance
EP1473819B1 (en) 2002-01-16 2010-11-24 Toyota Jidosha Kabushiki Kaisha Voltage converter control apparatus, voltage conversion method, storage medium, program, drive system, and vehicle having the drive system
WO2003061724A2 (en) 2002-01-16 2003-07-31 Eva Corporation Catheter hand-piece apparatus and method of using the same
US6869435B2 (en) 2002-01-17 2005-03-22 Blake, Iii John W Repeating multi-clip applier
US6676660B2 (en) 2002-01-23 2004-01-13 Ethicon Endo-Surgery, Inc. Feedback light apparatus and method for use with an electrosurgical instrument
DE10203282A1 (de) 2002-01-29 2003-08-21 Behrens Ag Friedrich Joh Befestigungsmittel und Verfahren zu seiner Herstellung
EP1478263B1 (en) 2002-01-30 2011-03-09 Tyco Healthcare Group LP Surgical imaging device
US7530985B2 (en) 2002-01-30 2009-05-12 Olympus Corporation Endoscopic suturing system
US7501198B2 (en) 2002-02-07 2009-03-10 Linvatec Corporation Sterile transfer battery container
EP1474045B1 (en) 2002-02-13 2016-12-07 Applied Medical Resources Corporation Tissue fusion/welder apparatus
US7494499B2 (en) 2002-02-15 2009-02-24 Olympus Corporation Surgical therapeutic instrument
AU2003211376A1 (en) 2002-02-20 2003-09-09 New X-National Technology K.K. Drug administration method
US6646307B1 (en) 2002-02-21 2003-11-11 Advanced Micro Devices, Inc. MOSFET having a double gate
GB0206208D0 (en) 2002-03-15 2002-05-01 Gyrus Medical Ltd A surgical instrument
USD484595S1 (en) 2002-03-22 2003-12-30 Gyrus Ent L.L.C. Surgical tool blade holder
USD484977S1 (en) 2002-03-22 2004-01-06 Gyrus Ent L.L.C. Surgical tool blade holder
USD478986S1 (en) 2002-03-22 2003-08-26 Gyrus Ent L.L.C. Surgical tool
USD484243S1 (en) 2002-03-22 2003-12-23 Gyrus Ent L.L.C. Surgical tool blade holder
USD484596S1 (en) 2002-03-22 2003-12-30 Gyrus Ent L.L.C. Surgical tool blade holder
US7247161B2 (en) 2002-03-22 2007-07-24 Gyrus Ent L.L.C. Powered surgical apparatus, method of manufacturing powered surgical apparatus, and method of using powered surgical apparatus
USD478665S1 (en) 2002-03-22 2003-08-19 Gyrus Ent L.L.C. Disposable trigger
US7137981B2 (en) 2002-03-25 2006-11-21 Ethicon Endo-Surgery, Inc. Endoscopic ablation system with a distally mounted image sensor
JP4071642B2 (ja) 2002-03-25 2008-04-02 株式会社リコー 用紙処理装置及び画像形成システム
US7128748B2 (en) 2002-03-26 2006-10-31 Synovis Life Technologies, Inc. Circular stapler buttress combination
US7070083B2 (en) 2002-04-11 2006-07-04 Tyco Healthcare Group Lp Surgical stapling apparatus including an anvil and cartridge each having cooperating mating surfaces
WO2003088854A1 (en) 2002-04-15 2003-10-30 Tyco Healthcare Group, Lp Instrument introducer
EP1494594B1 (en) 2002-04-15 2011-07-06 Cook Biotech Incorporated Apparatus and method for producing a reinforced surgical staple line
CA2703164C (en) 2002-04-16 2013-10-08 Tyco Healthcare Group Lp Surgical stapler and method
US8241308B2 (en) 2002-04-24 2012-08-14 Boston Scientific Scimed, Inc. Tissue fastening devices and processes that promote tissue adhesion
US20050131390A1 (en) 2002-04-25 2005-06-16 Russell Heinrich Surgical instruments including mems devices
EP1501421B1 (en) 2002-05-08 2006-09-20 Radi Medical Systems Ab Dissolvable medical sealing device
AU2003239408B2 (en) 2002-05-10 2008-09-04 Covidien Lp Wound closure material applicator and stapler
US6736854B2 (en) 2002-05-10 2004-05-18 C. R. Bard, Inc. Prosthetic repair fabric with erosion resistant edge
ES2540098T3 (es) 2002-05-10 2015-07-08 Covidien Lp Aparato grapador quirúrgico que tiene un conjunto aplicador de material para cierre de heridas
JP4461008B2 (ja) 2002-05-10 2010-05-12 タイコ ヘルスケア グループ エルピー 電気手術用ステープリング装置
AU2003234551A1 (en) 2002-05-13 2003-11-11 Tyco Healthcare Group, Lp Surgical stapler and disposable loading unit having different size staples
US7967839B2 (en) 2002-05-20 2011-06-28 Rocky Mountain Biosystems, Inc. Electromagnetic treatment of tissues and cells
US6638297B1 (en) 2002-05-30 2003-10-28 Ethicon Endo-Surgery, Inc. Surgical staple
US6769594B2 (en) 2002-05-31 2004-08-03 Tyco Healthcare Group, Lp End-to-end anastomosis instrument and method for performing same
US7056330B2 (en) 2002-05-31 2006-06-06 Ethicon Endo-Surgery, Inc. Method for applying tissue fastener
US6543456B1 (en) 2002-05-31 2003-04-08 Ethicon Endo-Surgery, Inc. Method for minimally invasive surgery in the digestive system
US7004174B2 (en) 2002-05-31 2006-02-28 Neothermia Corporation Electrosurgery with infiltration anesthesia
US6861142B1 (en) 2002-06-06 2005-03-01 Hills, Inc. Controlling the dissolution of dissolvable polymer components in plural component fibers
US20050137455A1 (en) 2002-06-13 2005-06-23 Usgi Medical Corp. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
CN1665449B (zh) 2002-06-14 2010-05-12 机能医疗干预公司 用于夹紧、切割及缝合组织的器械
EP2228019B1 (en) 2002-06-17 2013-08-14 Covidien LP Annular support structures
EP1719461B1 (en) 2002-06-17 2009-06-03 Tyco Healthcare Group Lp Annular support structures
US7112214B2 (en) 2002-06-25 2006-09-26 Incisive Surgical, Inc. Dynamic bioabsorbable fastener for use in wound closure
GB2390024B (en) 2002-06-27 2005-09-21 Gyrus Medical Ltd Electrosurgical system
US7699856B2 (en) 2002-06-27 2010-04-20 Van Wyk Robert A Method, apparatus, and kit for thermal suture cutting
US7220260B2 (en) 2002-06-27 2007-05-22 Gyrus Medical Limited Electrosurgical system
US8287561B2 (en) 2002-06-28 2012-10-16 Boston Scientific Scimed, Inc. Balloon-type actuator for surgical applications
US20040006340A1 (en) 2002-07-02 2004-01-08 Gyrus Medical, Inc. Bipolar electrosurgical instrument for cutting, desiccating and sealing tissue
US7033356B2 (en) 2002-07-02 2006-04-25 Gyrus Medical, Inc. Bipolar electrosurgical instrument for cutting desiccating and sealing tissue
US6932218B2 (en) 2002-07-03 2005-08-23 Monica Rich Kosann Photography Llc Folding photo case
US20040006335A1 (en) 2002-07-08 2004-01-08 Garrison Lawrence L. Cauterizing surgical saw
EP1538966A4 (en) 2002-07-11 2009-09-16 Stryker Gi Ltd PISTON OPERATED ENDOSCOPIC CONTROL SYSTEM
US20040006860A1 (en) 2002-07-15 2004-01-15 Haytayan Harry M. Method and apparatus for attaching structural components with fasteners
IL150853A0 (en) 2002-07-22 2003-02-12 Niti Medical Technologies Ltd Imppoved intussusception and anastomosis apparatus
CA2493243A1 (en) 2002-07-22 2004-01-29 Aspen Aerogels, Inc. Polyimide aerogels, carbon aerogels, and metal carbide aerogels and methods of making same
JP4046569B2 (ja) 2002-07-30 2008-02-13 オリンパス株式会社 外科用処置具
ES2364043T3 (es) 2002-07-31 2011-08-23 Tyco Healthcare Group Lp Recubrimiento de elemento de herramienta y dispositivo de despliegue de recubrimiento.
US8016881B2 (en) 2002-07-31 2011-09-13 Icon Interventional Systems, Inc. Sutures and surgical staples for anastamoses, wound closures, and surgical closures
US7179223B2 (en) 2002-08-06 2007-02-20 Olympus Optical Co., Ltd. Endoscope apparatus having an internal channel
US9271753B2 (en) 2002-08-08 2016-03-01 Atropos Limited Surgical device
EP1531750B1 (de) 2002-08-28 2014-08-27 Heribert Schmid Zahnmedizinisches behandlungssystem
US20040044364A1 (en) 2002-08-29 2004-03-04 Devries Robert Tissue fasteners and related deployment systems and methods
US6981978B2 (en) 2002-08-30 2006-01-03 Satiety, Inc. Methods and devices for maintaining a space occupying device in a relatively fixed location within a stomach
EP1542578B1 (en) 2002-09-06 2012-03-21 C.R. Bard, Inc. External endoscopic accessory control system
GB0221707D0 (en) 2002-09-18 2002-10-30 Gyrus Medical Ltd Electrical system
US20040059362A1 (en) 2002-09-20 2004-03-25 Knodel Bryan D. Method of performing surgery using surgical device with expandable member
US7256695B2 (en) 2002-09-23 2007-08-14 Microstrain, Inc. Remotely powered and remotely interrogated wireless digital sensor telemetry system
WO2004028402A2 (en) 2002-09-26 2004-04-08 Bioaccess, Inc. Orthopedic medical device with unitary components
WO2004032783A1 (de) 2002-09-27 2004-04-22 Aesculap Ag & Co. Kg Instrumentenset für eine chirurgische operation
US7326203B2 (en) 2002-09-30 2008-02-05 Depuy Acromed, Inc. Device for advancing a functional element through tissue
CN100384364C (zh) 2002-09-30 2008-04-30 赛特莱恩技术有限公司 活塞致动的内窥工具
US7087054B2 (en) 2002-10-01 2006-08-08 Surgrx, Inc. Electrosurgical instrument and method of use
US20040068224A1 (en) 2002-10-02 2004-04-08 Couvillon Lucien Alfred Electroactive polymer actuated medication infusion pumps
JP4049217B2 (ja) 2002-10-02 2008-02-20 イーメックス株式会社 導電性高分子成形品及び積層体を用いた装置
US20040068161A1 (en) 2002-10-02 2004-04-08 Couvillon Lucien Alfred Thrombolysis catheter
JP4448449B2 (ja) 2002-10-04 2010-04-07 タイコ ヘルスケア グループ エルピー 外科用ステープリングデバイスのためのツールアセンブリ
EP2263562B2 (en) 2002-10-04 2020-04-08 Covidien LP Tool assembly for a surgical stapling device
EP3225177B1 (en) 2002-10-04 2019-09-18 Covidien LP Pneumatic powered surgical stapling device
EP3167818B1 (en) 2002-10-04 2019-08-07 Covidien LP Surgical stapler with universal articulation and tissue pre-clamp
WO2004032766A2 (en) 2002-10-04 2004-04-22 Tyco Healthcare Group Lp Surgical stapling device
US20040070369A1 (en) 2002-10-11 2004-04-15 Makita Corporation Adapters for battery chargers
US6958035B2 (en) 2002-10-15 2005-10-25 Dusa Pharmaceuticals, Inc Medical device sheath apparatus and method of making and using same
US7083620B2 (en) 2002-10-30 2006-08-01 Medtronic, Inc. Electrosurgical hemostat
US7037344B2 (en) 2002-11-01 2006-05-02 Valentx, Inc. Apparatus and methods for treatment of morbid obesity
US20090149871A9 (en) 2002-11-01 2009-06-11 Jonathan Kagan Devices and methods for treating morbid obesity
US20050256452A1 (en) 2002-11-15 2005-11-17 Demarchi Thomas Steerable vascular sheath
CN1486667A (zh) 2002-11-22 2004-04-07 带有一次性鞘套的内窥镜系统
DE10257760A1 (de) 2002-11-26 2004-06-17 Stefan Koscher Chirurgisches Instrument
US20040101822A1 (en) 2002-11-26 2004-05-27 Ulrich Wiesner Fluorescent silica-based nanoparticles
US20040102783A1 (en) 2002-11-27 2004-05-27 Sutterlin Chester E. Powered Kerrison-like Rongeur system
AU2003289246B2 (en) 2002-12-16 2007-10-04 Gunze Limited Medical film
US7343920B2 (en) 2002-12-20 2008-03-18 Toby E Bruce Connective tissue repair system
US7348763B1 (en) 2002-12-20 2008-03-25 Linvatec Corporation Method for utilizing temperature to determine a battery state
US20040147909A1 (en) 2002-12-20 2004-07-29 Gyrus Ent L.L.C. Surgical instrument
GB0230055D0 (en) 2002-12-23 2003-01-29 Gyrus Medical Ltd Electrosurgical method and apparatus
US7131445B2 (en) 2002-12-23 2006-11-07 Gyrus Medical Limited Electrosurgical method and apparatus
US6931830B2 (en) 2002-12-23 2005-08-23 Chase Liao Method of forming a wire package
US7195627B2 (en) 2003-01-09 2007-03-27 Gyrus Medical Limited Electrosurgical generator
GB0426648D0 (en) 2004-12-03 2005-01-05 Gyrus Medical Ltd An electrosurgical generator
CA2512904C (en) 2003-01-09 2011-06-14 Gyrus Medical Limited An electrosurgical generator
US6960220B2 (en) 2003-01-22 2005-11-01 Cardia, Inc. Hoop design for occlusion device
US6821284B2 (en) 2003-01-22 2004-11-23 Novare Surgical Systems, Inc. Surgical clamp inserts with micro-tractive surfaces
US20040225186A1 (en) 2003-01-29 2004-11-11 Horne Guy E. Composite flexible endoscope insertion shaft with tubular substructure
US7341591B2 (en) 2003-01-30 2008-03-11 Depuy Spine, Inc. Anterior buttress staple
JP2004229976A (ja) 2003-01-31 2004-08-19 Nippon Zeon Co Ltd 鉗子型電気処置器具
EP1442720A1 (en) 2003-01-31 2004-08-04 Tre Esse Progettazione Biomedica S.r.l Apparatus for the maneuvering of flexible catheters in the human cardiovascular system
US7067038B2 (en) 2003-02-06 2006-06-27 The Procter & Gamble Company Process for making unitary fibrous structure comprising randomly distributed cellulosic fibers and non-randomly distributed synthetic fibers
US7354502B2 (en) 2003-02-06 2008-04-08 The Procter & Gamble Company Method for making a fibrous structure comprising cellulosic and synthetic fibers
EP1598149B1 (en) 2003-02-07 2011-01-12 MAX Kabushiki Kaisha Staple refill, stapler, and cartridge
EP1593337B1 (en) 2003-02-11 2008-08-13 Olympus Corporation Overtube
US7133601B2 (en) 2003-02-18 2006-11-07 Black & Decker Inc. Amperage control for protection of battery over current in power tools
US20040167572A1 (en) 2003-02-20 2004-08-26 Roth Noah M. Coated medical devices
US7083615B2 (en) 2003-02-24 2006-08-01 Intuitive Surgical Inc Surgical tool having electrocautery energy supply conductor with inhibited current leakage
PL1599243T3 (pl) 2003-03-04 2014-07-31 Norton Healthcare Ltd Urządzenie do dozowania leku z wyświetlaczem wskazującym na stan wewnętrznego zbiornika leku
CA2514206C (en) 2003-03-05 2012-10-02 Gyrus Medical Limited Electrosurgical generator and system
IL154814A0 (en) 2003-03-09 2003-10-31 Edward G Shifrin Sternal closure system, method and apparatus therefor
US20060064086A1 (en) 2003-03-13 2006-03-23 Darren Odom Bipolar forceps with multiple electrode array end effector assembly
EP3222218A1 (en) 2003-03-17 2017-09-27 Covidien LP Endoscopic tissue removal apparatus and method
US20060041188A1 (en) 2003-03-25 2006-02-23 Dirusso Carlo A Flexible endoscope
US20040193189A1 (en) 2003-03-25 2004-09-30 Kortenbach Juergen A. Passive surgical clip
US7559449B2 (en) 2003-03-26 2009-07-14 Tyco Healthcare Group Lp Energy stored in spring with controlled release
DE10314072B4 (de) 2003-03-28 2009-01-15 Aesculap Ag Chirurgisches Instrument
DE10330604A1 (de) 2003-04-01 2004-10-28 Tuebingen Scientific Surgical Products Gmbh Chirurgisches Instrument
DE10324844A1 (de) 2003-04-01 2004-12-23 Tuebingen Scientific Surgical Products Gmbh Chirurgisches Instrument mit Instrumentengriff und Nullpunkteinstellung
US7591783B2 (en) 2003-04-01 2009-09-22 Boston Scientific Scimed, Inc. Articulation joint for video endoscope
US20040243163A1 (en) 2003-04-02 2004-12-02 Gyrus Ent L.L.C Surgical instrument
US20040199181A1 (en) 2003-04-02 2004-10-07 Knodel Bryan D. Surgical device for anastomosis
KR100999705B1 (ko) 2003-04-23 2010-12-08 가부시키가이샤 오츠까 세이야꾸 고죠 약액 충전 플라스틱 앰플 및 그의 제조 방법
JP2006525087A (ja) 2003-04-25 2006-11-09 アプライド メディカル リソーシーズ コーポレイション 操舵可能な捩れ防止鞘部材
US8714429B2 (en) 2003-04-29 2014-05-06 Covidien Lp Dissecting tip for surgical stapler
US20040243151A1 (en) 2003-04-29 2004-12-02 Demmy Todd L. Surgical stapling device with dissecting tip
RU32984U1 (ru) 2003-04-30 2003-10-10 Институт экспериментальной ветеринарии Сибири и Дальнего Востока СО РАСХН Кутиметр
US7160299B2 (en) 2003-05-01 2007-01-09 Sherwood Services Ag Method of fusing biomaterials with radiofrequency energy
US8128624B2 (en) 2003-05-01 2012-03-06 Covidien Ag Electrosurgical instrument that directs energy delivery and protects adjacent tissue
JP4391762B2 (ja) 2003-05-08 2009-12-24 オリンパス株式会社 外科用処置具
JP4297903B2 (ja) 2003-05-09 2009-07-15 タイコ ヘルスケア グループ リミテッド パートナーシップ 流体分与毛細管を備えた吻合ステープル
US7615005B2 (en) 2003-05-16 2009-11-10 Ethicon Endo-Surgery, Inc. Medical apparatus for use with an endoscope
US7815565B2 (en) 2003-05-16 2010-10-19 Ethicon Endo-Surgery, Inc. Endcap for use with an endoscope
US7615003B2 (en) 2005-05-13 2009-11-10 Ethicon Endo-Surgery, Inc. Track for medical devices
US20070010838A1 (en) 2003-05-20 2007-01-11 Shelton Frederick E Iv Surgical stapling instrument having a firing lockout for an unclosed anvil
US7140528B2 (en) 2003-05-20 2006-11-28 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated single lockout mechanism for prevention of firing
US6988649B2 (en) 2003-05-20 2006-01-24 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a spent cartridge lockout
US7143923B2 (en) 2003-05-20 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a firing lockout for an unclosed anvil
US7044352B2 (en) 2003-05-20 2006-05-16 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a single lockout mechanism for prevention of firing
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
US7000818B2 (en) 2003-05-20 2006-02-21 Ethicon, Endo-Surger, Inc. Surgical stapling instrument having separate distinct closing and firing systems
US7380696B2 (en) 2003-05-20 2008-06-03 Ethicon Endo-Surgery, Inc. Articulating surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US7380695B2 (en) 2003-05-20 2008-06-03 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a single lockout mechanism for prevention of firing
US7090637B2 (en) 2003-05-23 2006-08-15 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
US6921397B2 (en) 2003-05-27 2005-07-26 Cardia, Inc. Flexible delivery device
US7413563B2 (en) 2003-05-27 2008-08-19 Cardia, Inc. Flexible medical device
DE10325393B3 (de) 2003-05-28 2005-01-05 Karl Storz Gmbh & Co. Kg Retraktor
JP3521910B1 (ja) 2003-05-29 2004-04-26 清輝 司馬 内視鏡の外部鉗子チャンネル装置
US20040247415A1 (en) 2003-06-04 2004-12-09 Mangone Peter G. Slotted fastener and fastening method
WO2004109223A1 (ja) 2003-06-09 2004-12-16 Mitutoyo Corporation 測定器
DE10326677A1 (de) 2003-06-13 2005-01-20 Zf Friedrichshafen Ag Planetengetriebe
US20060052825A1 (en) 2003-06-16 2006-03-09 Ransick Mark H Surgical implant alloy
US7905902B2 (en) 2003-06-16 2011-03-15 Ethicon Endo-Surgery, Inc. Surgical implant with preferential corrosion zone
US20040260315A1 (en) 2003-06-17 2004-12-23 Dell Jeffrey R. Expandable tissue support member and method of forming the support member
US7159750B2 (en) 2003-06-17 2007-01-09 Tyco Healtcare Group Lp Surgical stapling device
US7494039B2 (en) 2003-06-17 2009-02-24 Tyco Healthcare Group Lp Surgical stapling device
US20070093869A1 (en) 2003-06-20 2007-04-26 Medtronic Vascular, Inc. Device, system, and method for contracting tissue in a mammalian body
US7168604B2 (en) 2003-06-20 2007-01-30 Tyco Healthcare Group Lp Surgical stapling device
SE526852C2 (sv) 2003-06-26 2005-11-08 Kongsberg Automotive Ab Metod och arrangemang för styrning av likströmsmotor
US8226715B2 (en) 2003-06-30 2012-07-24 Depuy Mitek, Inc. Scaffold for connective tissue repair
US20050010213A1 (en) 2003-07-08 2005-01-13 Depuy Spine, Inc. Attachment mechanism for surgical instrument
US7126303B2 (en) 2003-07-08 2006-10-24 Board Of Regents Of The University Of Nebraska Robot for surgical applications
US7055731B2 (en) 2003-07-09 2006-06-06 Ethicon Endo-Surgery Inc. Surgical stapling instrument incorporating a tapered firing bar for increased flexibility around the articulation joint
US6964363B2 (en) 2003-07-09 2005-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having articulation joint support plates for supporting a firing bar
US7213736B2 (en) 2003-07-09 2007-05-08 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an electroactive polymer actuated firing bar track through an articulation joint
US7111769B2 (en) 2003-07-09 2006-09-26 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an articulation mechanism having rotation about the longitudinal axis
US6981628B2 (en) 2003-07-09 2006-01-03 Ethicon Endo-Surgery, Inc. Surgical instrument with a lateral-moving articulation control
US6786382B1 (en) 2003-07-09 2004-09-07 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an articulation joint for a firing bar track
US7931695B2 (en) 2003-07-15 2011-04-26 Kensey Nash Corporation Compliant osteosynthesis fixation plate
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
JP4755983B2 (ja) 2003-07-16 2011-08-24 タイコ ヘルスケア グループ リミテッド パートナーシップ 組織テンショナーを備えた外科用ステープル留めデバイス
PT1647286E (pt) 2003-07-17 2010-11-30 Gunze Kk Material de reforço de sutura para dispositivo de sutura automática
DE102004034462A1 (de) 2003-07-17 2005-02-03 Asmo Co., Ltd. Einrichtung und Verfahren zur Motorsteuerung
US20050032511A1 (en) 2003-08-07 2005-02-10 Cardiac Pacemakers, Inc. Wireless firmware download to an external device
US7686201B2 (en) 2003-09-01 2010-03-30 Tyco Healthcare Group Lp Circular stapler for hemorrhoid operations
CA2439536A1 (en) 2003-09-04 2005-03-04 Jacek Krzyzanowski Variations of biopsy jaw and clevis and method of manufacture
US20050059997A1 (en) 2003-09-17 2005-03-17 Bauman Ann M. Circular stapler buttress
US7547312B2 (en) 2003-09-17 2009-06-16 Gore Enterprise Holdings, Inc. Circular stapler buttress
US7364061B2 (en) 2003-09-29 2008-04-29 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multistroke firing position indicator and retraction mechanism
US6959852B2 (en) 2003-09-29 2005-11-01 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with multistroke firing incorporating an anti-backup mechanism
US7000819B2 (en) 2003-09-29 2006-02-21 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having multistroke firing incorporating a traction-biased ratcheting mechanism
US7083075B2 (en) 2003-09-29 2006-08-01 Ethicon Endo-Surgery, Inc. Multi-stroke mechanism with automatic end of stroke retraction
US7303108B2 (en) 2003-09-29 2007-12-04 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multi-stroke firing mechanism with a flexible rack
US7434715B2 (en) 2003-09-29 2008-10-14 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having multistroke firing with opening lockout
US6905057B2 (en) 2003-09-29 2005-06-14 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a firing mechanism having a linked rack transmission
US7094202B2 (en) 2003-09-29 2006-08-22 Ethicon Endo-Surgery, Inc. Method of operating an endoscopic device with one hand
US20050070929A1 (en) 2003-09-30 2005-03-31 Dalessandro David A. Apparatus and method for attaching a surgical buttress to a stapling apparatus
US20050075561A1 (en) 2003-10-01 2005-04-07 Lucent Medical Systems, Inc. Method and apparatus for indicating an encountered obstacle during insertion of a medical device
US7556647B2 (en) 2003-10-08 2009-07-07 Arbor Surgical Technologies, Inc. Attachment device and methods of using the same
US7097650B2 (en) 2003-10-14 2006-08-29 Satiety, Inc. System for tissue approximation and fixation
US7914543B2 (en) 2003-10-14 2011-03-29 Satiety, Inc. Single fold device for tissue fixation
US7029435B2 (en) 2003-10-16 2006-04-18 Granit Medical Innovation, Llc Endoscope having multiple working segments
ES2387016T3 (es) 2003-10-17 2012-09-11 Tyco Healthcare Group Lp Dispositivo de grapado quirúrgico
CA2542532C (en) 2003-10-17 2012-08-14 Tyco Healthcare Group, Lp Surgical stapling device with independent tip rotation
US20090090763A1 (en) 2007-10-05 2009-04-09 Tyco Healthcare Group Lp Powered surgical stapling device
US8806973B2 (en) 2009-12-02 2014-08-19 Covidien Lp Adapters for use between surgical handle assembly and surgical end effector
US7296722B2 (en) 2003-10-17 2007-11-20 Tyco Healthcare Group Lp Surgical fastener applying apparatus with controlled beam deflection
US20050090817A1 (en) 2003-10-22 2005-04-28 Scimed Life Systems, Inc. Bendable endoscopic bipolar device
US7611712B2 (en) 2003-10-23 2009-11-03 Nelson M. Karp Immunogenic compositions capable of eliciting Th1 immune responses comprising an HIV-1 MA myristate binding site polypeptide
US7147650B2 (en) 2003-10-30 2006-12-12 Woojin Lee Surgical instrument
ATE401100T1 (de) 2003-10-30 2008-08-15 Mcneil Ppc Inc Saugfähige artikel mit metallbeladenen nanoteilchen
US7686826B2 (en) 2003-10-30 2010-03-30 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7842028B2 (en) 2005-04-14 2010-11-30 Cambridge Endoscopic Devices, Inc. Surgical instrument guide device
US7338513B2 (en) 2003-10-30 2008-03-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
JP2005131211A (ja) 2003-10-31 2005-05-26 Olympus Corp 内視鏡用の外付けチャンネル
JP2005131173A (ja) 2003-10-31 2005-05-26 Olympus Corp 内視鏡用外付けチャンネル
JP2005131163A (ja) 2003-10-31 2005-05-26 Olympus Corp 内視鏡用の外付けチャンネル
JP2005131212A (ja) 2003-10-31 2005-05-26 Olympus Corp 内視鏡用の外付けチャンネル及び内視鏡装置
JP2005131164A (ja) 2003-10-31 2005-05-26 Olympus Corp 内視鏡用の外付けチャンネル
US20050096683A1 (en) 2003-11-01 2005-05-05 Medtronic, Inc. Using thinner laminations to reduce operating temperature in a high speed hand-held surgical power tool
JP2005137423A (ja) 2003-11-04 2005-06-02 Olympus Corp 内視鏡用の外付けチャンネルおよび外付けチャンネル用分岐部材
US7397364B2 (en) 2003-11-11 2008-07-08 Biosense Webster, Inc. Digital wireless position sensor
DE10353846A1 (de) 2003-11-18 2005-06-16 Maquet Gmbh & Co. Kg Verfahren zur Vorbereitung von für die Durchführung von medizinischen oder chirurgischen Eingriffen bestimmten Geräten
JP4594612B2 (ja) 2003-11-27 2010-12-08 オリンパス株式会社 挿入補助具
GB0327904D0 (en) 2003-12-02 2004-01-07 Qinetiq Ltd Gear change mechanism
GB2408936B (en) 2003-12-09 2007-07-18 Gyrus Group Plc A surgical instrument
US7439354B2 (en) 2003-12-11 2008-10-21 E.I. Du Pont De Nemours And Company Process for preparing amide acetals
US7246719B2 (en) 2003-12-12 2007-07-24 Automated Merchandising Systems Inc. Adjustable storage rack for a vending machine
US20050131457A1 (en) 2003-12-15 2005-06-16 Ethicon, Inc. Variable stiffness shaft
US8221424B2 (en) 2004-12-20 2012-07-17 Spinascope, Inc. Surgical instrument for orthopedic surgery
JP4552435B2 (ja) 2003-12-22 2010-09-29 住友化学株式会社 オキシムの製造方法
US8590764B2 (en) 2003-12-24 2013-11-26 Boston Scientific Scimed, Inc. Circumferential full thickness resectioning device
CN1634601A (zh) 2003-12-26 2005-07-06 吉林省中立实业有限公司 一种用于医疗器械灭菌的方法
US7207472B2 (en) 2003-12-30 2007-04-24 Ethicon Endo-Surgery, Inc. Cartridge with locking knife for a curved cutter stapler
US7204404B2 (en) 2003-12-30 2007-04-17 Ethicon Endo-Surgery, Inc. Slotted pins guiding knife in a curved cutter stapler
US7147140B2 (en) 2003-12-30 2006-12-12 Ethicon Endo - Surgery, Inc. Cartridge retainer for a curved cutter stapler
US6988650B2 (en) 2003-12-30 2006-01-24 Ethicon Endo-Surgery, Inc. Retaining pin lever advancement mechanism for a curved cutter stapler
US7134587B2 (en) 2003-12-30 2006-11-14 Ethicon Endo-Surgery, Inc. Knife retraction arm for a curved cutter stapler
US7549563B2 (en) 2003-12-30 2009-06-23 Ethicon Endo-Surgery, Inc. Rotating curved cutter stapler
US7147139B2 (en) 2003-12-30 2006-12-12 Ethicon Endo-Surgery, Inc Closure plate lockout for a curved cutter stapler
US20050143759A1 (en) 2003-12-30 2005-06-30 Kelly William D. Curved cutter stapler shaped for male pelvis
US20050139636A1 (en) 2003-12-30 2005-06-30 Schwemberger Richard F. Replaceable cartridge module for a surgical stapling and cutting instrument
US6995729B2 (en) 2004-01-09 2006-02-07 Biosense Webster, Inc. Transponder with overlapping coil antennas on a common core
TWI228850B (en) 2004-01-14 2005-03-01 Asia Optical Co Inc Laser driver circuit for burst mode and making method thereof
US7219980B2 (en) 2004-01-21 2007-05-22 Silverbrook Research Pty Ltd Printhead assembly with removable cover
US20050171522A1 (en) 2004-01-30 2005-08-04 Christopherson Mark A. Transurethral needle ablation system with needle position indicator
US7204835B2 (en) 2004-02-02 2007-04-17 Gyrus Medical, Inc. Surgical instrument
DE102004005709A1 (de) 2004-02-05 2005-08-25 Polydiagnost Gmbh Endoskop mit einer flexiblen Sonde
GB0403020D0 (en) 2004-02-11 2004-03-17 Pa Consulting Services Portable charging device
ES2365547T3 (es) 2004-02-17 2011-10-06 Tyco Healthcare Group Lp Aparato quirúrgico de grapado con mecanismo de bloqueo.
ES2285587T3 (es) 2004-02-17 2007-11-16 Tyco Healthcare Group Lp Aparato quirurgico de grapado con mecanismo de bloqueo.
WO2005079675A2 (en) 2004-02-17 2005-09-01 Cook Biotech Incorporated Medical devices and methods for applying bolster material
US7886952B2 (en) 2004-02-17 2011-02-15 Tyco Healthcare Group Lp Surgical stapling apparatus with locking mechanism
EP1563793B1 (en) 2004-02-17 2007-06-13 Tyco Healthcare Group Lp Surgical stapling apparatus
EP1563794B1 (en) 2004-02-17 2007-04-25 Tyco Healthcare Group Lp Surgical stapling apparatus with locking mechanism
US6953138B1 (en) 2004-02-18 2005-10-11 Frank W. Dworak Surgical stapler anvil with nested staple forming pockets
US20050187545A1 (en) 2004-02-20 2005-08-25 Hooven Michael D. Magnetic catheter ablation device and method
US8046049B2 (en) 2004-02-23 2011-10-25 Biosense Webster, Inc. Robotically guided catheter
JP2005279253A (ja) 2004-03-02 2005-10-13 Olympus Corp 内視鏡
EP2384715B1 (en) 2004-03-05 2015-07-08 Hansen Medical, Inc. Robotic catheter system
US7850642B2 (en) 2004-03-05 2010-12-14 Hansen Medical, Inc. Methods using a robotic catheter system
JP4610934B2 (ja) 2004-06-03 2011-01-12 オリンパス株式会社 外科用処置具
WO2005084556A1 (ja) 2004-03-10 2005-09-15 Olympus Corporation 外科用処置具
US20050203550A1 (en) 2004-03-11 2005-09-15 Laufer Michael D. Surgical fastener
GB2412232A (en) 2004-03-15 2005-09-21 Ims Nanofabrication Gmbh Particle-optical projection system
AU2005226643B2 (en) 2004-03-19 2010-07-22 Covidien Lp Anvil assembly with improved cut ring
US8181840B2 (en) 2004-03-19 2012-05-22 Tyco Healthcare Group Lp Tissue tensioner assembly and approximation mechanism for surgical stapling device
JP4727158B2 (ja) 2004-03-23 2011-07-20 オリンパス株式会社 内視鏡システム
US7036680B1 (en) 2004-04-07 2006-05-02 Avery Dennison Corporation Device for dispensing plastic fasteners
JP2005296412A (ja) 2004-04-13 2005-10-27 Olympus Corp 内視鏡治療装置
US7566300B2 (en) 2004-04-15 2009-07-28 Wilson-Cook Medical, Inc. Endoscopic surgical access devices and methods of articulating an external accessory channel
US6960107B1 (en) 2004-04-16 2005-11-01 Brunswick Corporation Marine transmission with a cone clutch used for direct transfer of torque
US7758612B2 (en) 2004-04-27 2010-07-20 Tyco Healthcare Group Lp Surgery delivery device and mesh anchor
US7377918B2 (en) 2004-04-28 2008-05-27 Gyrus Medical Limited Electrosurgical method and apparatus
US7098794B2 (en) 2004-04-30 2006-08-29 Kimberly-Clark Worldwide, Inc. Deactivating a data tag for user privacy or tamper-evident packaging
BRPI0510550A (pt) 2004-05-03 2007-11-20 Ams Res Corp implante cirúrgico, kit cirúrgico, método para formar ou montar um implante cirúrgico, molde de inserção, aparelho, e, método para produzir um implante cirúrgico
US7736374B2 (en) 2004-05-07 2010-06-15 Usgi Medical, Inc. Tissue manipulation and securement system
EP1750595A4 (en) 2004-05-07 2008-10-22 Valentx Inc DEVICES AND METHOD FOR FIXING AN ENDOLUMINAL GASTROINTESTINAL IMPLANT
US8333764B2 (en) 2004-05-12 2012-12-18 Medtronic, Inc. Device and method for determining tissue thickness and creating cardiac ablation lesions
JP2005328882A (ja) 2004-05-18 2005-12-02 Olympus Corp 内視鏡用処置具及び内視鏡システム
GB2414185A (en) 2004-05-20 2005-11-23 Gyrus Medical Ltd Morcellating device using cutting electrodes on end-face of tube
US7260431B2 (en) 2004-05-20 2007-08-21 Cardiac Pacemakers, Inc. Combined remodeling control therapy and anti-remodeling therapy by implantable cardiac device
JP2005335432A (ja) 2004-05-24 2005-12-08 Nissan Motor Co Ltd 後輪転舵制御装置
IES20040368A2 (en) 2004-05-25 2005-11-30 James E Coleman Surgical stapler
US7828808B2 (en) 2004-06-07 2010-11-09 Novare Surgical Systems, Inc. Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools
DE102004027850A1 (de) 2004-06-08 2006-01-05 Henke-Sass Wolf Gmbh Biegbarer Abschnitt eines Einführtubus eines Endoskopes und Verfahren zu dessen Herstellung
GB2415140A (en) 2004-06-18 2005-12-21 Gyrus Medical Ltd A surgical instrument
US7059508B2 (en) 2004-06-30 2006-06-13 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an uneven multistroke firing mechanism having a rotary transmission
US20060008787A1 (en) 2004-07-02 2006-01-12 Robert Hayman Voice alert in dentistry
US7485133B2 (en) 2004-07-14 2009-02-03 Warsaw Orthopedic, Inc. Force diffusion spinal hook
US20060020258A1 (en) 2004-07-20 2006-01-26 Medtronic, Inc. Surgical apparatus with a manually actuatable assembly and a method of operating same
RU42750U1 (ru) 2004-07-26 2004-12-20 Альбертин Сергей Викторович Устройство для дозированной подачи веществ
US20090078736A1 (en) 2004-07-26 2009-03-26 Van Lue Stephen J Surgical stapler with magnetically secured components
US20060025812A1 (en) 2004-07-28 2006-02-02 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated pivoting articulation mechanism
US7857183B2 (en) 2004-07-28 2010-12-28 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation mechanism
US7143926B2 (en) 2005-02-07 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multi-stroke firing mechanism with return spring rotary manual retraction system
US7914551B2 (en) 2004-07-28 2011-03-29 Ethicon Endo-Surgery, Inc. Electroactive polymer-based articulation mechanism for multi-fire surgical fastening instrument
US8215531B2 (en) 2004-07-28 2012-07-10 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
US7487899B2 (en) 2004-07-28 2009-02-10 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating EAP complete firing system lockout mechanism
US7354447B2 (en) 2005-11-10 2008-04-08 Ethicon Endo-Surgery, Inc. Disposable loading unit and surgical instruments including same
US8057508B2 (en) 2004-07-28 2011-11-15 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation locking mechanism
US7407077B2 (en) 2004-07-28 2008-08-05 Ethicon Endo-Surgery, Inc. Electroactive polymer-based actuation mechanism for linear surgical stapler
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US7506790B2 (en) 2004-07-28 2009-03-24 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation mechanism
AU2005203213C1 (en) 2004-07-28 2012-07-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated medical substance dispenser
US7143925B2 (en) 2004-07-28 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating EAP blocking lockout mechanism
US8905977B2 (en) 2004-07-28 2014-12-09 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated medical substance dispenser
US7862579B2 (en) 2004-07-28 2011-01-04 Ethicon Endo-Surgery, Inc. Electroactive polymer-based articulation mechanism for grasper
US7513408B2 (en) 2004-07-28 2009-04-07 Ethicon Endo-Surgery, Inc. Multiple firing stroke surgical instrument incorporating electroactive polymer anti-backup mechanism
US7410086B2 (en) 2004-07-28 2008-08-12 Ethicon Endo-Surgery, Inc. Electroactive polymer-based actuation mechanism for circular stapler
US7147138B2 (en) 2004-07-28 2006-12-12 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated buttress deployment mechanism
US7210609B2 (en) 2004-07-30 2007-05-01 Tools For Surgery, Llc Stapling apparatus having a curved anvil and driver
ZA200701657B (en) 2004-08-06 2008-09-25 Genentech Inc Assays and methods using biomarkers
EP1791473A4 (en) 2004-08-17 2011-09-14 Tyco Healthcare STACK SUPPORT STRUCTURES
WO2006023486A1 (en) 2004-08-19 2006-03-02 Tyco Healthcare Group, Lp Water-swellable copolymers and articles and coating made therefrom
US7182239B1 (en) 2004-08-27 2007-02-27 Myers Stephan R Segmented introducer device for a circular surgical stapler
DE102004042886A1 (de) 2004-09-04 2006-03-30 Roche Diagnostics Gmbh Lanzettenvorrichtung zum Erzeugen einer Einstichwunde
US7128254B2 (en) 2004-09-07 2006-10-31 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multistroke firing mechanism having a rotary slip-clutch transmission
MX2007002841A (es) 2004-09-10 2007-04-30 Ethicon Endo Surgery Inc Instrumento de engrapado quirurgico.
KR100646762B1 (ko) 2004-09-10 2006-11-23 인하대학교 산학협력단 수술용 스테이플 및 이를 구비한 수술용 자동 문합기
JP2006081687A (ja) 2004-09-15 2006-03-30 Max Co Ltd 医療用ステープラ
US7336184B2 (en) 2004-09-24 2008-02-26 Intel Corporation Inertially controlled switch and RFID tag
FR2876020B1 (fr) 2004-10-06 2007-03-09 Sofradim Production Sa Appareil de stockage, distribution et pose d'attaches chirurgicales
US7819886B2 (en) 2004-10-08 2010-10-26 Tyco Healthcare Group Lp Endoscopic surgical clip applier
US8409222B2 (en) 2004-10-08 2013-04-02 Covidien Lp Endoscopic surgical clip applier
JP4783372B2 (ja) 2004-10-08 2011-09-28 タイコ ヘルスケア グループ エルピー 外科用クリップを付与するための装置
WO2006044581A2 (en) 2004-10-13 2006-04-27 Medtronic, Inc. Single-use transurethral needle ablation device
US8257356B2 (en) 2004-10-15 2012-09-04 Baxano, Inc. Guidewire exchange systems to treat spinal stenosis
US8372094B2 (en) 2004-10-15 2013-02-12 Covidien Lp Seal element for anastomosis
US7823592B2 (en) 2004-10-18 2010-11-02 Tyco Healthcare Group Lp Annular adhesive structure
US7845536B2 (en) 2004-10-18 2010-12-07 Tyco Healthcare Group Lp Annular adhesive structure
US7938307B2 (en) 2004-10-18 2011-05-10 Tyco Healthcare Group Lp Support structures and methods of using the same
JP5001848B2 (ja) 2004-10-18 2012-08-15 タイコ ヘルスケア グループ リミテッド パートナーシップ 創傷処置材料でコーティングされた外科用ファスナー
AU2005301150B2 (en) 2004-10-18 2011-02-03 Covidien Lp Apparatus for applying wound treatment material using tissue-penetrating needles
US7717313B2 (en) 2004-10-18 2010-05-18 Tyco Healthcare Group Lp Surgical apparatus and structure for applying sprayable wound treatment material
WO2006044799A2 (en) 2004-10-18 2006-04-27 Tyco Healthcare Group, Lp Extraluminal sealant applicator and method
US7455682B2 (en) 2004-10-18 2008-11-25 Tyco Healthcare Group Lp Structure containing wound treatment material
EP1805863B1 (en) 2004-10-18 2013-06-26 Black & Decker, Inc. Cordless power system
US7922743B2 (en) 2004-10-18 2011-04-12 Tyco Healthcare Group Lp Structure for applying sprayable wound treatment material
KR101256360B1 (ko) 2004-10-20 2013-04-30 에디컨인코포레이티드 의료 장치에 사용하기 위한 강화된 흡수성 다층 직물 및 이의 제조방법
US20060087746A1 (en) 2004-10-22 2006-04-27 Kenneth Lipow Remote augmented motor-sensory interface for surgery
US20060086032A1 (en) 2004-10-27 2006-04-27 Joseph Valencic Weapon and input device to record information
US7182763B2 (en) 2004-11-23 2007-02-27 Instrasurgical, Llc Wound closure device
GB0425843D0 (en) 2004-11-24 2004-12-29 Gyrus Group Plc An electrosurgical instrument
US7121446B2 (en) 2004-12-13 2006-10-17 Niti Medical Technologies Ltd. Palm-size surgical stapler for single hand operation
US7328829B2 (en) 2004-12-13 2008-02-12 Niti Medical Technologies Ltd. Palm size surgical stapler for single hand operation
US7568619B2 (en) 2004-12-15 2009-08-04 Alcon, Inc. System and method for identifying and controlling ophthalmic surgical devices and components
US20060142772A1 (en) 2004-12-29 2006-06-29 Ralph James D Surgical fasteners and related implant devices having bioabsorbable components
US7611474B2 (en) 2004-12-29 2009-11-03 Ethicon Endo-Surgery, Inc. Core sampling biopsy device with short coupled MRI-compatible driver
US7419321B2 (en) 2005-01-05 2008-09-02 Misha Tereschouk Hand applicator of encapsulated liquids
US20060161185A1 (en) 2005-01-14 2006-07-20 Usgi Medical Inc. Methods and apparatus for transmitting force to an end effector over an elongate member
US7770776B2 (en) 2005-01-26 2010-08-10 Suzhou Touchstone International Medical Science Co., Ltd Rotatable stapling head of a surgical stapler
WO2006081491A2 (en) 2005-01-27 2006-08-03 Vector Surgical Surgical marker
US20060173470A1 (en) 2005-01-31 2006-08-03 Oray B N Surgical fastener buttress material
EP1690638A1 (en) 2005-02-09 2006-08-16 BLACK & DECKER INC. Power tool gear-train and torque overload clutch therefor
GB2423199B (en) 2005-02-11 2009-05-13 Pa Consulting Services Power supply systems for electrical devices
US7559452B2 (en) 2005-02-18 2009-07-14 Ethicon Endo-Surgery, Inc. Surgical instrument having fluid actuated opposing jaws
US7654431B2 (en) 2005-02-18 2010-02-02 Ethicon Endo-Surgery, Inc. Surgical instrument with guided laterally moving articulation member
US7780054B2 (en) 2005-02-18 2010-08-24 Ethicon Endo-Surgery, Inc. Surgical instrument with laterally moved shaft actuator coupled to pivoting articulation joint
US7784662B2 (en) 2005-02-18 2010-08-31 Ethicon Endo-Surgery, Inc. Surgical instrument with articulating shaft with single pivot closure and double pivot frame ground
US20060289602A1 (en) 2005-06-23 2006-12-28 Ethicon Endo-Surgery, Inc. Surgical instrument with articulating shaft with double pivot closure and single pivot frame ground
US7559450B2 (en) 2005-02-18 2009-07-14 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating a fluid transfer controlled articulation mechanism
US7699846B2 (en) 2005-03-04 2010-04-20 Gyrus Ent L.L.C. Surgical instrument and method
US7674263B2 (en) 2005-03-04 2010-03-09 Gyrus Ent, L.L.C. Surgical instrument and method
US20060217729A1 (en) 2005-03-09 2006-09-28 Brasseler Usa Medical Llc Surgical apparatus and tools for same
US20060201989A1 (en) 2005-03-11 2006-09-14 Ojeda Herminio F Surgical anvil and system for deploying the same
US20070203510A1 (en) 2006-02-28 2007-08-30 Bettuchi Michael J Annular disk for reduction of anastomotic tension and methods of using the same
AU2012200178B2 (en) 2005-03-15 2013-07-11 Covidien Lp Anastomosis composite gasket
US7942890B2 (en) 2005-03-15 2011-05-17 Tyco Healthcare Group Lp Anastomosis composite gasket
US9364229B2 (en) 2005-03-15 2016-06-14 Covidien Lp Circular anastomosis structures
US7784663B2 (en) 2005-03-17 2010-08-31 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having load sensing control circuitry
EP1861022A2 (en) 2005-03-22 2007-12-05 Atropos Limited A surgical instrument
US20060252993A1 (en) 2005-03-23 2006-11-09 Freed David I Medical devices and systems
US7918848B2 (en) 2005-03-25 2011-04-05 Maquet Cardiovascular, Llc Tissue welding and cutting apparatus and method
JP4857585B2 (ja) 2005-04-04 2012-01-18 日立工機株式会社 コードレス電動工具
US7780055B2 (en) 2005-04-06 2010-08-24 Tyco Healthcare Group Lp Loading unit having drive assembly locking mechanism
US8038686B2 (en) 2005-04-14 2011-10-18 Ethicon Endo-Surgery, Inc. Clip applier configured to prevent clip fallout
US7699860B2 (en) 2005-04-14 2010-04-20 Ethicon Endo-Surgery, Inc. Surgical clip
US7731724B2 (en) 2005-04-14 2010-06-08 Ethicon Endo-Surgery, Inc. Surgical clip advancement and alignment mechanism
US7297149B2 (en) 2005-04-14 2007-11-20 Ethicon Endo-Surgery, Inc. Surgical clip applier methods
EP3095379A1 (en) 2005-04-15 2016-11-23 Surgisense Corporation Surgical instruments with sensors for detecting tissue properties, and systems using such instruments
US7837694B2 (en) 2005-04-28 2010-11-23 Warsaw Orthopedic, Inc. Method and apparatus for surgical instrument identification
US20060244460A1 (en) 2005-04-29 2006-11-02 Weaver Jeffrey S System and method for battery management
US8084001B2 (en) 2005-05-02 2011-12-27 Cornell Research Foundation, Inc. Photoluminescent silica-based sensors and methods of use
DE102005020377B4 (de) 2005-05-02 2021-08-12 Robert Bosch Gmbh Verfahren zum Betreiben einer Elektrowerkzeugmaschine
US7418078B2 (en) 2005-05-06 2008-08-26 Siemens Medical Solutions Usa, Inc. Spot-size effect reduction
US7806871B2 (en) 2005-05-09 2010-10-05 Boston Scientific Scimed, Inc. Method and device for tissue removal and for delivery of a therapeutic agent or bulking agent
US20060258904A1 (en) 2005-05-13 2006-11-16 David Stefanchik Feeding tube and track
US7648457B2 (en) 2005-05-13 2010-01-19 Ethicon Endo-Surgery, Inc. Method of positioning a device on an endoscope
US8108072B2 (en) 2007-09-30 2012-01-31 Intuitive Surgical Operations, Inc. Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information
RU2432915C2 (ru) 2005-05-17 2011-11-10 Этикон Эндо-Серджери, Инк. Хирургический сшивающий аппарат с алюминиевой головкой
US8157815B2 (en) 2005-05-20 2012-04-17 Neotract, Inc. Integrated handle assembly for anchor delivery system
WO2006125940A1 (en) 2005-05-25 2006-11-30 Gyrus Medical, Inc. A surgical instrument
US20060271042A1 (en) 2005-05-26 2006-11-30 Gyrus Medical, Inc. Cutting and coagulating electrosurgical forceps having cam controlled jaw closure
CA2838528C (en) 2005-06-02 2016-01-05 Tyco Healthcare Group Lp Multiple coil staple and staple applier
CA2549224A1 (en) 2005-06-02 2006-12-02 Tyco Healthcare Group Lp Expandable backspan staple
EP1893101A4 (en) 2005-06-03 2017-01-04 Covidien LP Battery powered surgical instrument
US7717312B2 (en) 2005-06-03 2010-05-18 Tyco Healthcare Group Lp Surgical instruments employing sensors
US7909191B2 (en) 2005-06-03 2011-03-22 Greatbatch Ltd. Connectable instrument trays for creating a modular case
CN101366168B (zh) 2005-06-06 2011-08-10 路创电子公司 用于静音可变的电机速度控制的方法和装置
US7265374B2 (en) 2005-06-10 2007-09-04 Arima Computer Corporation Light emitting semiconductor device
US7295907B2 (en) 2005-06-14 2007-11-13 Trw Automotive U.S. Llc Recovery of calibrated center steering position after loss of battery power
EP1736112B1 (en) 2005-06-20 2011-08-17 Heribert Schmid Medical device
US7638958B2 (en) 2005-06-28 2009-12-29 Stryker Corporation Powered surgical tool with control module that contains a sensor for remotely monitoring the tool power generating unit
US20070005002A1 (en) 2005-06-30 2007-01-04 Intuitive Surgical Inc. Robotic surgical instruments for irrigation, aspiration, and blowing
US7479608B2 (en) 2006-05-19 2009-01-20 Ethicon Endo-Surgery, Inc. Force switch
US7959050B2 (en) 2005-07-26 2011-06-14 Ethicon Endo-Surgery, Inc Electrically self-powered surgical instrument with manual release
US8627995B2 (en) 2006-05-19 2014-01-14 Ethicon Endo-Sugery, Inc. Electrically self-powered surgical instrument with cryptographic identification of interchangeable part
US8627993B2 (en) 2007-02-12 2014-01-14 Ethicon Endo-Surgery, Inc. Active braking electrical surgical instrument and method for braking such an instrument
US8573462B2 (en) 2006-05-19 2013-11-05 Ethicon Endo-Surgery, Inc. Electrical surgical instrument with optimized power supply and drive
US8679154B2 (en) 2007-01-12 2014-03-25 Ethicon Endo-Surgery, Inc. Adjustable compression staple and method for stapling with adjustable compression
US8579176B2 (en) 2005-07-26 2013-11-12 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting device and method for using the device
CN101495046B (zh) 2005-07-27 2012-12-12 Tyco医疗健康集团 例如用于机电手术设备的轴
WO2007014354A2 (en) 2005-07-27 2007-02-01 Power Medical Interventions, Inc. Staple pocket arrangement for surgical stapler
US20070027551A1 (en) 2005-07-29 2007-02-01 Farnsworth Ted R Composite self-cohered web materials
US20070155010A1 (en) 2005-07-29 2007-07-05 Farnsworth Ted R Highly porous self-cohered fibrous tissue engineering scaffold
US20070027468A1 (en) 2005-08-01 2007-02-01 Wales Kenneth S Surgical instrument with an articulating shaft locking mechanism
US7641092B2 (en) 2005-08-05 2010-01-05 Ethicon Endo - Surgery, Inc. Swing gate for device lockout in a curved cutter stapler
US7407075B2 (en) 2005-08-15 2008-08-05 Tyco Healthcare Group Lp Staple cartridge having multiple staple sizes for a surgical stapling instrument
US7401721B2 (en) 2005-08-15 2008-07-22 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
US7398908B2 (en) 2005-08-15 2008-07-15 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
DE102005038919A1 (de) 2005-08-17 2007-03-15 BSH Bosch und Siemens Hausgeräte GmbH Elektromotorisches Küchengerät mit elektrischer oder elektronischer Verriegelung
US8657814B2 (en) 2005-08-22 2014-02-25 Medtronic Ablation Frontiers Llc User interface for tissue ablation system
US7828794B2 (en) 2005-08-25 2010-11-09 Covidien Ag Handheld electrosurgical apparatus for controlling operating room equipment
US20070049951A1 (en) 2005-08-25 2007-03-01 Microline Pentax Inc. Apparatus alignment device
US7500979B2 (en) 2005-08-31 2009-03-10 Ethicon Endo-Surgery, Inc. Surgical stapling device with multiple stacked actuator wedge cams for driving staple drivers
US8800838B2 (en) 2005-08-31 2014-08-12 Ethicon Endo-Surgery, Inc. Robotically-controlled cable-based surgical end effectors
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
US9237891B2 (en) 2005-08-31 2016-01-19 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US7673781B2 (en) 2005-08-31 2010-03-09 Ethicon Endo-Surgery, Inc. Surgical stapling device with staple driver that supports multiple wire diameter staples
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20070051375A1 (en) 2005-09-06 2007-03-08 Milliman Keith L Instrument introducer
US7778004B2 (en) 2005-09-13 2010-08-17 Taser International, Inc. Systems and methods for modular electronic weaponry
EP1931237A2 (en) 2005-09-14 2008-06-18 Neoguide Systems, Inc. Methods and apparatus for performing transluminal and other procedures
US7407078B2 (en) 2005-09-21 2008-08-05 Ehthicon Endo-Surgery, Inc. Surgical stapling instrument having force controlled spacing end effector
US7472815B2 (en) 2005-09-21 2009-01-06 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with collapsible features for controlling staple height
EP1767163A1 (en) 2005-09-22 2007-03-28 Sherwood Services AG Bipolar forceps with multiple electrode array end effector assembly
US7451904B2 (en) 2005-09-26 2008-11-18 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having end effector gripping surfaces
US7357287B2 (en) 2005-09-29 2008-04-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having preloaded firing assistance mechanism
US7722607B2 (en) 2005-09-30 2010-05-25 Covidien Ag In-line vessel sealer and divider
AU2006222753B2 (en) 2005-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Electroactive polymer-based actuation mechanism for linear surgical stapler
US20080190989A1 (en) 2005-10-03 2008-08-14 Crews Samuel T Endoscopic plication device and method
US20070078484A1 (en) 2005-10-03 2007-04-05 Joseph Talarico Gentle touch surgical instrument and method of using same
US9055942B2 (en) 2005-10-03 2015-06-16 Boston Scienctific Scimed, Inc. Endoscopic plication devices and methods
US7635074B2 (en) 2005-10-04 2009-12-22 Tyco Healthcare Group Lp Staple drive assembly
US7641091B2 (en) 2005-10-04 2010-01-05 Tyco Healthcare Group Lp Staple drive assembly
CA2563147C (en) 2005-10-14 2014-09-23 Tyco Healthcare Group Lp Surgical stapling device
US20080086034A1 (en) 2006-08-29 2008-04-10 Baxano, Inc. Tissue Access Guidewire System and Method
US20070244471A1 (en) 2005-10-21 2007-10-18 Don Malackowski System and method for managing the operation of a battery powered surgical tool and the battery used to power the tool
EP1780825B1 (en) 2005-10-31 2018-08-29 Black & Decker, Inc. Battery pack and internal component arrangement within the battery pack for cordless power tool system
US7656131B2 (en) 2005-10-31 2010-02-02 Black & Decker Inc. Methods of charging battery packs for cordless power tool systems
EP1780937A1 (en) 2005-11-01 2007-05-02 Black & Decker, Inc. Method and system for authenticating a smart battery system
US20070102472A1 (en) 2005-11-04 2007-05-10 Ethicon Endo-Surgery, Inc. Electrosurgical stapling instrument with disposable severing / stapling unit
US7607557B2 (en) 2005-11-04 2009-10-27 Ethicon Endo-Surgery, Inc. Surgical stapling instruments structured for pump-assisted delivery of medical agents
US7673783B2 (en) 2005-11-04 2010-03-09 Ethicon Endo-Surgery, Inc. Surgical stapling instruments structured for delivery of medical agents
US7328828B2 (en) 2005-11-04 2008-02-12 Ethicon Endo-Surgery, Inc, Lockout mechanisms and surgical instruments including same
US20070106113A1 (en) 2005-11-07 2007-05-10 Biagio Ravo Combination endoscopic operative delivery system
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US7799039B2 (en) 2005-11-09 2010-09-21 Ethicon Endo-Surgery, Inc. Surgical instrument having a hydraulically actuated end effector
US7673780B2 (en) 2005-11-09 2010-03-09 Ethicon Endo-Surgery, Inc. Articulation joint with improved moment arm extension for articulating an end effector of a surgical instrument
US7651017B2 (en) 2005-11-23 2010-01-26 Ethicon Endo-Surgery, Inc. Surgical stapler with a bendable end effector
US7246734B2 (en) 2005-12-05 2007-07-24 Ethicon Endo-Surgery, Inc. Rotary hydraulic pump actuated multi-stroke surgical instrument
US20070135686A1 (en) 2005-12-14 2007-06-14 Pruitt John C Jr Tools and methods for epicardial access
RU61114U1 (ru) 2005-12-23 2007-02-27 Мирзакарим Санакулович Норбеков Аппарат для развития мозговой деятельности
US20100145146A1 (en) 2005-12-28 2010-06-10 Envisionier Medical Technologies, Inc. Endoscopic digital recording system with removable screen and storage device
US7481824B2 (en) 2005-12-30 2009-01-27 Ethicon Endo-Surgery, Inc. Surgical instrument with bending articulation controlled articulation pivot joint
US7955257B2 (en) 2006-01-05 2011-06-07 Depuy Spine, Inc. Non-rigid surgical retractor
US7670334B2 (en) 2006-01-10 2010-03-02 Ethicon Endo-Surgery, Inc. Surgical instrument having an articulating end effector
US20070173813A1 (en) 2006-01-24 2007-07-26 Sherwood Services Ag System and method for tissue sealing
CA2574934C (en) 2006-01-24 2015-12-29 Sherwood Services Ag System and method for closed loop monitoring of monopolar electrosurgical apparatus
WO2007089603A2 (en) 2006-01-27 2007-08-09 Suturtek Incorporated Apparatus and method for tissue closure
US7464846B2 (en) 2006-01-31 2008-12-16 Ethicon Endo-Surgery, Inc. Surgical instrument having a removable battery
US9861359B2 (en) 2006-01-31 2018-01-09 Ethicon Llc Powered surgical instruments with firing system lockout arrangements
US20070175955A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Surgical cutting and fastening instrument with closure trigger locking mechanism
US7766210B2 (en) 2006-01-31 2010-08-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with user feedback system
US8161977B2 (en) 2006-01-31 2012-04-24 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US7770775B2 (en) 2006-01-31 2010-08-10 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with adaptive user feedback
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US20110024477A1 (en) 2009-02-06 2011-02-03 Hall Steven G Driven Surgical Stapler Improvements
US7568603B2 (en) 2006-01-31 2009-08-04 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with articulatable end effector
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US7416101B2 (en) 2006-01-31 2008-08-26 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with loading force feedback
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
US20110290856A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument with force-feedback capabilities
US20110006101A1 (en) 2009-02-06 2011-01-13 EthiconEndo-Surgery, Inc. Motor driven surgical fastener device with cutting member lockout arrangements
US7644848B2 (en) 2006-01-31 2010-01-12 Ethicon Endo-Surgery, Inc. Electronic lockouts and surgical instrument including same
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US7575144B2 (en) 2006-01-31 2009-08-18 Ethicon Endo-Surgery, Inc. Surgical fastener and cutter with single cable actuator
US7464849B2 (en) 2006-01-31 2008-12-16 Ethicon Endo-Surgery, Inc. Electro-mechanical surgical instrument with closure system and anvil alignment components
US20070175951A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Gearing selector for a powered surgical cutting and fastening instrument
US7422139B2 (en) 2006-01-31 2008-09-09 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting fastening instrument with tactile position feedback
US8763879B2 (en) 2006-01-31 2014-07-01 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of surgical instrument
US7891531B1 (en) 2006-01-31 2011-02-22 Ward Gary L Sub-miniature surgical staple cartridge
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US20070175950A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Disposable staple cartridge having an anvil with tissue locator for use with a surgical cutting and fastening instrument and modular end effector system therefor
US9629626B2 (en) 2006-02-02 2017-04-25 Covidien Lp Mechanically tuned buttress material to assist with proper formation of surgical element in diseased tissue
EP1837041A1 (en) 2006-03-20 2007-09-26 Tissuemed Limited Tissue-adhesive materials
WO2007098220A2 (en) 2006-02-20 2007-08-30 Black & Decker Inc. Dc motor with dual commutator bar set and selectable series and parallel connected coils
US7771396B2 (en) 2006-03-22 2010-08-10 Ethicon Endo-Surgery, Inc. Intubation device for enteral feeding
US20110163146A1 (en) 2006-03-23 2011-07-07 Ortiz Mark S Surgical Stapling And Cuttting Device
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
US8721630B2 (en) 2006-03-23 2014-05-13 Ethicon Endo-Surgery, Inc. Methods and devices for controlling articulation
US9675375B2 (en) 2006-03-29 2017-06-13 Ethicon Llc Ultrasonic surgical system and method
US7836400B2 (en) 2006-03-31 2010-11-16 Research In Motion Limited Snooze support for event reminders
US20090020958A1 (en) 2006-03-31 2009-01-22 Soul David F Methods and apparatus for operating an internal combustion engine
EP2007466A4 (en) 2006-03-31 2012-01-18 Automated Medical Instr Inc SYSTEM AND METHOD FOR ADVANCING, ORIENTATION, AND IMMOBILIZATION ON AN INTERNAL BODY TISSUE OF A CATHETER OR ANY OTHER THERAPEUTIC DEVICE
JP4102409B2 (ja) 2006-04-03 2008-06-18 オリンパス株式会社 縫合・結紮具アプライヤー
US20070243227A1 (en) 2006-04-14 2007-10-18 Michael Gertner Coatings for surgical staplers
US20070246505A1 (en) 2006-04-24 2007-10-25 Medical Ventures Inc. Surgical buttress assemblies and methods of uses thereof
US7278563B1 (en) 2006-04-25 2007-10-09 Green David T Surgical instrument for progressively stapling and incising tissue
JP4566943B2 (ja) 2006-04-26 2010-10-20 株式会社マキタ 充電装置
WO2007131110A2 (en) 2006-05-03 2007-11-15 Raptor Ridge, Llc Systems and methods of tissue closure
JP4829005B2 (ja) 2006-05-12 2011-11-30 テルモ株式会社 マニピュレータ
EP2486865A3 (en) 2006-05-19 2014-04-02 Ethicon Endo-Surgery, Inc. Method of configuring a surgical instrument having a surgical tissue-compressing device
EP2018248B1 (en) 2006-05-19 2015-11-04 Applied Medical Resources Corporation Surgical stapler
US8105350B2 (en) 2006-05-23 2012-01-31 Cambridge Endoscopic Devices, Inc. Surgical instrument
US20070276409A1 (en) 2006-05-25 2007-11-29 Ethicon Endo-Surgery, Inc. Endoscopic gastric restriction methods and devices
WO2007138571A2 (en) 2006-06-01 2007-12-06 Mor Research Applications Ltd. Membrane augmentation, such as of for treatment of cardiac valves, and fastening devices for membrane augmentation
CA2608791C (en) 2006-06-02 2013-11-12 Tyco Healthcare Group Lp Surgical stapler with timer and feedback display
US7615067B2 (en) 2006-06-05 2009-11-10 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7530984B2 (en) 2006-06-05 2009-05-12 Medigus Ltd. Transgastric method for carrying out a partial fundoplication
DE202007003114U1 (de) 2006-06-13 2007-06-21 Olympus Winter & Ibe Gmbh Medizinische Zange mit Bajonettverbindung
US9561045B2 (en) 2006-06-13 2017-02-07 Intuitive Surgical Operations, Inc. Tool with rotation lock
US20070286892A1 (en) 2006-06-13 2007-12-13 Uri Herzberg Compositions and methods for preventing or reducing postoperative ileus and gastric stasis in mammals
CN104720887B (zh) 2006-06-13 2017-05-10 直观外科手术操作公司 微创手术系统
EP2040635A1 (en) 2006-06-14 2009-04-01 MacDonald Dettwiler & Associates Inc. Surgical manipulator with right-angle pulley drive mechanisms
JP2009540952A (ja) 2006-06-20 2009-11-26 エーオーテックス， インコーポレイテッド トルクシャフトおよびトルクドライブ
CA2655770C (en) 2006-06-21 2013-07-30 Rudolf Steffen Device for insertion and positioning of surgical instruments and corresponding method
US8322455B2 (en) 2006-06-27 2012-12-04 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
US7391173B2 (en) 2006-06-30 2008-06-24 Intuitive Surgical, Inc Mechanically decoupled capstan drive
US20080200835A1 (en) 2006-06-30 2008-08-21 Monson Gavin M Energy Biopsy Device for Tissue Penetration and Hemostasis
DE602006010845D1 (de) 2006-07-07 2010-01-14 Ethicon Endo Surgery Inc Chirurgische Klammersetzvorrichtung
DE102006031971A1 (de) 2006-07-11 2008-01-17 Karl Storz Gmbh & Co. Kg Medizinisches Instrument
CA2592221C (en) 2006-07-11 2014-10-07 Tyco Healthcare Group Lp Skin staples with thermal properties
US7740159B2 (en) 2006-08-02 2010-06-22 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with a variable control of the actuating rate of firing with mechanical power assist
US20080029574A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Pneumatically powered surgical cutting and fastening instrument with actuator at distal end
US20080029573A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Pneumatically powered surgical cutting and fastening instrument with replaceable power sources
US20080030170A1 (en) 2006-08-03 2008-02-07 Bruno Dacquay Safety charging system for surgical hand piece
AU2007286171A1 (en) 2006-08-09 2008-02-21 Coherex Medical, Inc. Methods, systems and devices for reducing the size of an internal tissue opening
US7708758B2 (en) 2006-08-16 2010-05-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7674253B2 (en) 2006-08-18 2010-03-09 Kensey Nash Corporation Catheter for conducting a procedure within a lumen, duct or organ of a living being
US8323789B2 (en) 2006-08-31 2012-12-04 Cambridge Enterprise Limited Nanomaterial polymer compositions and uses thereof
US8794496B2 (en) 2006-09-11 2014-08-05 Covidien Lp Rotating knob locking mechanism for surgical stapling device
US7648519B2 (en) 2006-09-13 2010-01-19 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7780663B2 (en) 2006-09-22 2010-08-24 Ethicon Endo-Surgery, Inc. End effector coatings for electrosurgical instruments
US10130359B2 (en) 2006-09-29 2018-11-20 Ethicon Llc Method for forming a staple
US20080082114A1 (en) 2006-09-29 2008-04-03 Mckenna Robert H Adhesive Mechanical Fastener for Lumen Creation Utilizing Tissue Necrosing Means
US8485412B2 (en) 2006-09-29 2013-07-16 Ethicon Endo-Surgery, Inc. Surgical staples having attached drivers and stapling instruments for deploying the same
US20110087276A1 (en) 2009-10-09 2011-04-14 Ethicon Endo-Surgery, Inc. Method for forming a staple
US20100133317A1 (en) 2006-09-29 2010-06-03 Shelton Iv Frederick E Motor-Driven Surgical Cutting And Fastening Instrument with Tactile Position Feedback
JP5409368B2 (ja) 2006-10-05 2014-02-05 コヴィディエン リミテッド パートナーシップ 可撓性の内視鏡的縫合装置
US8708210B2 (en) 2006-10-05 2014-04-29 Covidien Lp Method and force-limiting handle mechanism for a surgical instrument
US8475453B2 (en) 2006-10-06 2013-07-02 Covidien Lp Endoscopic vessel sealer and divider having a flexible articulating shaft
US7866525B2 (en) 2006-10-06 2011-01-11 Tyco Healthcare Group Lp Surgical instrument having a plastic surface
US7481348B2 (en) 2006-10-06 2009-01-27 Tyco Healthcare Group Lp Surgical instrument with articulating tool assembly
JP5143840B2 (ja) 2006-10-06 2013-02-13 タイコ ヘルスケア グループ リミテッド パートナーシップ 可撓性の関節運動シャフトを有する内視鏡血管封着器および分割器
ATE435613T1 (de) 2006-10-06 2009-07-15 Ethicon Endo Surgery Inc Verbesserungen betreffend einen applikator zum anbringen von anastomosenringen
US20080086078A1 (en) 2006-10-06 2008-04-10 Powell Darrel M Devices for reduction of post operative ileus
US20080083807A1 (en) 2006-10-06 2008-04-10 Beardsley John W Surgical instrument including a locking assembly
US20080085296A1 (en) 2006-10-06 2008-04-10 Powell Darrel M Methods for reduction of post operative ileus.
JP5085996B2 (ja) 2006-10-25 2012-11-28 テルモ株式会社 マニピュレータシステム
JP5198014B2 (ja) 2006-10-25 2013-05-15 テルモ株式会社 医療用マニピュレータ
CA2665206C (en) 2006-10-26 2015-04-14 Tyco Healthcare Group Lp Methods of using shape memory alloys for buttress attachment
US7845533B2 (en) 2007-06-22 2010-12-07 Tyco Healthcare Group Lp Detachable buttress material retention systems for use with a surgical stapling device
US20080129253A1 (en) 2006-11-03 2008-06-05 Advanced Desalination Inc. Battery energy reclamation apparatus and method thereby
US7946453B2 (en) 2006-11-09 2011-05-24 Ethicon Endo-Surgery, Inc. Surgical band fluid media dispenser
US7780685B2 (en) 2006-11-09 2010-08-24 Ethicon Endo-Surgery, Inc. Adhesive and mechanical fastener
US7708180B2 (en) 2006-11-09 2010-05-04 Ethicon Endo-Surgery, Inc. Surgical fastening device with initiator impregnation of a matrix or buttress to improve adhesive application
US7721930B2 (en) 2006-11-10 2010-05-25 Thicon Endo-Surgery, Inc. Disposable cartridge with adhesive for use with a stapling device
US8834498B2 (en) 2006-11-10 2014-09-16 Ethicon Endo-Surgery, Inc. Method and device for effecting anastomosis of hollow organ structures using adhesive and fasteners
US8114100B2 (en) 2006-12-06 2012-02-14 Ethicon Endo-Surgery, Inc. Safety fastener for tissue apposition
WO2008073362A2 (en) 2006-12-08 2008-06-19 Bovie Medical Forceps for performing endoscopic surgery
US7434716B2 (en) 2006-12-21 2008-10-14 Tyco Healthcare Group Lp Staple driver for articulating surgical stapler
US7900805B2 (en) 2007-01-10 2011-03-08 Ethicon Endo-Surgery, Inc. Surgical instrument with enhanced battery performance
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
US20110174861A1 (en) 2007-01-10 2011-07-21 Shelton Iv Frederick E Surgical Instrument With Wireless Communication Between Control Unit and Remote Sensor
US7721936B2 (en) 2007-01-10 2010-05-25 Ethicon Endo-Surgery, Inc. Interlock and surgical instrument including same
US7954682B2 (en) 2007-01-10 2011-06-07 Ethicon Endo-Surgery, Inc. Surgical instrument with elements to communicate between control unit and end effector
US7738971B2 (en) 2007-01-10 2010-06-15 Ethicon Endo-Surgery, Inc. Post-sterilization programming of surgical instruments
US8652120B2 (en) 2007-01-10 2014-02-18 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US7721931B2 (en) 2007-01-10 2010-05-25 Ethicon Endo-Surgery, Inc. Prevention of cartridge reuse in a surgical instrument
US8459520B2 (en) 2007-01-10 2013-06-11 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and remote sensor
US8632535B2 (en) 2007-01-10 2014-01-21 Ethicon Endo-Surgery, Inc. Interlock and surgical instrument including same
US8540128B2 (en) 2007-01-11 2013-09-24 Ethicon Endo-Surgery, Inc. Surgical stapling device with a curved end effector
US20080169328A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Buttress material for use with a surgical stapler
WO2008089404A2 (en) 2007-01-19 2008-07-24 Synovis Life Technologies, Inc. Circular stapler anvil introducer
US7789883B2 (en) 2007-02-14 2010-09-07 Olympus Medical Systems Corp. Curative treatment system, curative treatment device, and treatment method for living tissue using energy
US20080243064A1 (en) 2007-02-15 2008-10-02 Hansen Medical, Inc. Support structure for robotic medical instrument
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
US20080200762A1 (en) 2007-02-16 2008-08-21 Stokes Michael J Flexible endoscope shapelock
US8011550B2 (en) 2009-03-31 2011-09-06 Tyco Healthcare Group Lp Surgical stapling apparatus
US9888924B2 (en) 2007-03-06 2018-02-13 Covidien Lp Wound closure material
ES2606949T3 (es) 2007-03-06 2017-03-28 Covidien Lp Aparato de grapado quirúrgico
US20100076489A1 (en) 2007-03-06 2010-03-25 Joshua Stopek Wound closure material
US8011555B2 (en) 2007-03-06 2011-09-06 Tyco Healthcare Group Lp Surgical stapling apparatus
US7431188B1 (en) 2007-03-15 2008-10-07 Tyco Healthcare Group Lp Surgical stapling apparatus with powered articulation
US7422136B1 (en) 2007-03-15 2008-09-09 Tyco Healthcare Group Lp Powered surgical stapling device
US7438209B1 (en) 2007-03-15 2008-10-21 Ethicon Endo-Surgery, Inc. Surgical stapling instruments having a releasable staple-forming pocket
JP5394265B2 (ja) 2007-03-22 2014-01-22 コヴィディエン リミテッド パートナーシップ 可変の高さの手術用ファスナを形成する装置
US7490749B2 (en) 2007-03-28 2009-02-17 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with manually retractable firing member
US8056787B2 (en) 2007-03-28 2011-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with travel-indicating retraction member
US8893946B2 (en) 2007-03-28 2014-11-25 Ethicon Endo-Surgery, Inc. Laparoscopic tissue thickness and clamp load measuring devices
US8377044B2 (en) 2007-03-30 2013-02-19 Ethicon Endo-Surgery, Inc. Detachable end effectors
US8951274B2 (en) 2007-04-06 2015-02-10 Hologic, Inc. Methods of high rate, low profile tissue removal
WO2008124748A1 (en) 2007-04-09 2008-10-16 Adrian Edward Park Frame device
US8006885B2 (en) 2007-04-09 2011-08-30 Tyco Healthcare Group Lp Surgical stapling apparatus with powered retraction
US20080255413A1 (en) 2007-04-13 2008-10-16 Michael Zemlok Powered surgical instrument
US8800837B2 (en) 2007-04-13 2014-08-12 Covidien Lp Powered surgical instrument
US7950560B2 (en) 2007-04-13 2011-05-31 Tyco Healthcare Group Lp Powered surgical instrument
US7708182B2 (en) 2007-04-17 2010-05-04 Tyco Healthcare Group Lp Flexible endoluminal surgical instrument
US7931660B2 (en) 2007-05-10 2011-04-26 Tyco Healthcare Group Lp Powered tacker instrument
JP4348714B2 (ja) 2007-05-10 2009-10-21 シャープ株式会社 データ送信システム及びデータ送信方法
US20080294179A1 (en) 2007-05-12 2008-11-27 Balbierz Daniel J Devices and methods for stomach partitioning
US7810691B2 (en) 2007-05-16 2010-10-12 The Invention Science Fund I, Llc Gentle touch surgical stapler
US7832611B2 (en) 2007-05-16 2010-11-16 The Invention Science Fund I, Llc Steerable surgical stapler
US7823761B2 (en) 2007-05-16 2010-11-02 The Invention Science Fund I, Llc Maneuverable surgical stapler
US8038045B2 (en) 2007-05-25 2011-10-18 Tyco Healthcare Group Lp Staple buttress retention system
US7798386B2 (en) 2007-05-30 2010-09-21 Ethicon Endo-Surgery, Inc. Surgical instrument articulation joint cover
US20080297287A1 (en) 2007-05-30 2008-12-04 Magnetecs, Inc. Magnetic linear actuator for deployable catheter tools
US7810693B2 (en) 2007-05-30 2010-10-12 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with articulatable end effector
US7549564B2 (en) 2007-06-22 2009-06-23 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulating end effector
US20080296346A1 (en) 2007-05-31 2008-12-04 Shelton Iv Frederick E Pneumatically powered surgical cutting and fastening instrument with electrical control and recording mechanisms
US8157145B2 (en) 2007-05-31 2012-04-17 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with electrical feedback
US7832408B2 (en) 2007-06-04 2010-11-16 Ethicon Endo-Surgery, Inc. Surgical instrument having a directional switching mechanism
US7819299B2 (en) 2007-06-04 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical instrument having a common trigger for actuating an end effector closing system and a staple firing system
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US7905380B2 (en) 2007-06-04 2011-03-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a multiple rate directional switching mechanism
US8534528B2 (en) 2007-06-04 2013-09-17 Ethicon Endo-Surgery, Inc. Surgical instrument having a multiple rate directional switching mechanism
US7588175B2 (en) 2007-06-18 2009-09-15 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with improved firing system
US7950561B2 (en) 2007-06-18 2011-05-31 Tyco Healthcare Group Lp Structure for attachment of buttress material to anvils and cartridges of surgical staplers
US7665646B2 (en) 2007-06-18 2010-02-23 Tyco Healthcare Group Lp Interlocking buttress material retention system
US7597229B2 (en) 2007-06-22 2009-10-06 Ethicon Endo-Surgery, Inc. End effector closure system for a surgical stapling instrument
US7441685B1 (en) 2007-06-22 2008-10-28 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with a return mechanism
US7604150B2 (en) 2007-06-22 2009-10-20 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an anti-back up mechanism
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US8408439B2 (en) 2007-06-22 2013-04-02 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulatable end effector
US7658311B2 (en) 2007-06-22 2010-02-09 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with a geared return mechanism
US8062330B2 (en) 2007-06-27 2011-11-22 Tyco Healthcare Group Lp Buttress and surgical stapling apparatus
US7600663B2 (en) 2007-07-05 2009-10-13 Green David T Apparatus for stapling and incising tissue
US8758366B2 (en) 2007-07-09 2014-06-24 Neotract, Inc. Multi-actuating trigger anchor delivery system
WO2009009684A1 (en) 2007-07-10 2009-01-15 Osteotech, Inc. Delivery system
US8348972B2 (en) 2007-07-11 2013-01-08 Covidien Lp Surgical staple with augmented compression area
US8430898B2 (en) 2007-07-31 2013-04-30 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments
US20090048589A1 (en) 2007-08-14 2009-02-19 Tomoyuki Takashino Treatment device and treatment method for living tissue
US7556185B2 (en) 2007-08-15 2009-07-07 Tyco Healthcare Group Lp Surgical instrument with flexible drive mechanism
WO2009023851A1 (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
US9005238B2 (en) 2007-08-23 2015-04-14 Covidien Lp Endoscopic surgical devices
US7967181B2 (en) 2007-08-29 2011-06-28 Tyco Healthcare Group Lp Rotary knife cutting systems
US7624902B2 (en) 2007-08-31 2009-12-01 Tyco Healthcare Group Lp Surgical stapling apparatus
US7988026B2 (en) 2007-09-06 2011-08-02 Cardica, Inc. Endocutter with staple feed
US20090076506A1 (en) 2007-09-18 2009-03-19 Surgrx, Inc. Electrosurgical instrument and method
EP2039302A3 (en) 2007-09-18 2009-06-10 Ethicon Endo-Surgery, Inc. Devices for reduction of post operative ileus
EP3111854B1 (en) 2007-09-21 2021-01-20 Covidien LP Surgical device
US9597080B2 (en) 2007-09-24 2017-03-21 Covidien Lp Insertion shroud for surgical instrument
US8678263B2 (en) 2007-09-24 2014-03-25 Covidien Lp Materials delivery system for stapling device
US8721666B2 (en) 2007-09-26 2014-05-13 Ethicon, Inc. Method of facial reconstructive surgery using a self-anchoring tissue lifting device
US7703653B2 (en) 2007-09-28 2010-04-27 Tyco Healthcare Group Lp Articulation mechanism for surgical instrument
US9050120B2 (en) 2007-09-30 2015-06-09 Intuitive Surgical Operations, Inc. Apparatus and method of user interface with alternate tool mode for robotic surgical tools
US8285367B2 (en) 2007-10-05 2012-10-09 The Invention Science Fund I, Llc Vasculature and lymphatic system imaging and ablation associated with a reservoir
US8517241B2 (en) 2010-04-16 2013-08-27 Covidien Lp Hand-held surgical devices
US20110022032A1 (en) 2007-10-05 2011-01-27 Tyco Healthcare Group Lp Battery ejection design for a surgical device
US10500309B2 (en) 2007-10-05 2019-12-10 Cook Biotech Incorporated Absorbable adhesives and their formulation for use in medical applications
JP5403783B2 (ja) 2007-10-05 2014-01-29 コヴィディエン リミテッド パートナーシップ 関節運動メカニズムを有する外科ステープラ
US20120289979A1 (en) 2007-10-08 2012-11-15 Sherif Eskaros Apparatus for Supplying Surgical Staple Line Reinforcement
EP2205164B1 (en) 2007-10-08 2013-07-03 Gore Enterprise Holdings, Inc. Apparatus for supplying surgical staple line reinforcement
CA2702882C (en) 2007-10-17 2016-06-21 Davol Inc. Fixating means between a mesh and mesh deployment means especially useful for hernia repair surgeries and methods thereof
US7922063B2 (en) 2007-10-31 2011-04-12 Tyco Healthcare Group, Lp Powered surgical instrument
JP5364255B2 (ja) 2007-10-31 2013-12-11 テルモ株式会社 医療用マニピュレータ
US7954687B2 (en) 2007-11-06 2011-06-07 Tyco Healthcare Group Lp Coated surgical staples and an illuminated staple cartridge for a surgical stapling instrument
WO2009067649A2 (en) 2007-11-21 2009-05-28 Ethicon Endo-Surgery, Inc. Bipolar forceps having a cutting element
US20090143855A1 (en) 2007-11-29 2009-06-04 Boston Scientific Scimed, Inc. Medical Device Including Drug-Loaded Fibers
JP5377944B2 (ja) 2007-11-30 2013-12-25 住友ベークライト株式会社 胃瘻用シース、シース付きダイレータ、挿入補助具付き胃瘻用シース、胃瘻カテーテルキット
US7772720B2 (en) 2007-12-03 2010-08-10 Spx Corporation Supercapacitor and charger for secondary power
US20090143799A1 (en) 2007-12-03 2009-06-04 Smith Kevin W Cordless Hand-Held Ultrasonic Cautery Cutting Device
JP5235394B2 (ja) 2007-12-06 2013-07-10 株式会社ハーモニック・エイディ 切替式回転駆動装置
US8319002B2 (en) 2007-12-06 2012-11-27 Nanosys, Inc. Nanostructure-enhanced platelet binding and hemostatic structures
US8180458B2 (en) 2007-12-17 2012-05-15 Thermage, Inc. Method and apparatus for digital signal processing for radio frequency surgery measurements
US20090171147A1 (en) 2007-12-31 2009-07-02 Woojin Lee Surgical instrument
US8727199B2 (en) 2008-01-03 2014-05-20 Covidien Lp Surgical stapler
US8647258B2 (en) 2008-01-10 2014-02-11 Covidien Lp Apparatus for endoscopic procedures
WO2009091497A2 (en) 2008-01-16 2009-07-23 John Hyoung Kim Minimally invasive surgical instrument
US8006365B2 (en) 2008-01-30 2011-08-30 Easylap Ltd. Device and method for applying rotary tacks
US20090198272A1 (en) 2008-02-06 2009-08-06 Lawrence Kerver Method and apparatus for articulating the wrist of a laparoscopic grasping instrument
US7766209B2 (en) 2008-02-13 2010-08-03 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved firing trigger arrangement
US8453908B2 (en) 2008-02-13 2013-06-04 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved firing trigger arrangement
US8540133B2 (en) 2008-09-19 2013-09-24 Ethicon Endo-Surgery, Inc. Staple cartridge
US8561870B2 (en) 2008-02-13 2013-10-22 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
US7819296B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with retractable firing systems
US7857185B2 (en) 2008-02-14 2010-12-28 Ethicon Endo-Surgery, Inc. Disposable loading unit for surgical stapling apparatus
US7819297B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with reprocessible handle assembly
US8573465B2 (en) 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US7861906B2 (en) 2008-02-14 2011-01-04 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with articulatable components
US8758391B2 (en) 2008-02-14 2014-06-24 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
US8584919B2 (en) 2008-02-14 2013-11-19 Ethicon Endo-Sugery, Inc. Surgical stapling apparatus with load-sensitive firing mechanism
US8636736B2 (en) 2008-02-14 2014-01-28 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US8752749B2 (en) 2008-02-14 2014-06-17 Ethicon Endo-Surgery, Inc. Robotically-controlled disposable motor-driven loading unit
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
US8622274B2 (en) 2008-02-14 2014-01-07 Ethicon Endo-Surgery, Inc. Motorized cutting and fastening instrument having control circuit for optimizing battery usage
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US7810692B2 (en) 2008-02-14 2010-10-12 Ethicon Endo-Surgery, Inc. Disposable loading unit with firing indicator
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
US7913891B2 (en) 2008-02-14 2011-03-29 Ethicon Endo-Surgery, Inc. Disposable loading unit with user feedback features and surgical instrument for use therewith
US20090206133A1 (en) 2008-02-14 2009-08-20 Ethicon Endo-Surgery, Inc. Articulatable loading units for surgical stapling and cutting instruments
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
US8657174B2 (en) 2008-02-14 2014-02-25 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument having handle based power source
US7959051B2 (en) 2008-02-15 2011-06-14 Ethicon Endo-Surgery, Inc. Closure systems for a surgical cutting and stapling instrument
US8608044B2 (en) 2008-02-15 2013-12-17 Ethicon Endo-Surgery, Inc. Feedback and lockout mechanism for surgical instrument
US7980443B2 (en) 2008-02-15 2011-07-19 Ethicon Endo-Surgery, Inc. End effectors for a surgical cutting and stapling instrument
US20090206141A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Buttress material having an activatable adhesive
US20090206137A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Disposable loading units for a surgical cutting and stapling instrument
US20090206131A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. End effector coupling arrangements for a surgical cutting and stapling instrument
US9615826B2 (en) 2010-09-30 2017-04-11 Ethicon Endo-Surgery, Llc Multiple thickness implantable layers for surgical stapling devices
US8020741B2 (en) 2008-03-18 2011-09-20 Barosense, Inc. Endoscopic stapling devices and methods
US8328802B2 (en) 2008-03-19 2012-12-11 Covidien Ag Cordless medical cauterization and cutting device
US8136713B2 (en) 2008-03-25 2012-03-20 Tyco Healthcare Group Lp Surgical stapling instrument having transducer effecting vibrations
US20090242610A1 (en) 2008-03-26 2009-10-01 Shelton Iv Frederick E Disposable loading unit and surgical instruments including same
US7886743B2 (en) 2008-03-31 2011-02-15 Intuitive Surgical Operations, Inc. Sterile drape interface for robotic surgical instrument
DE102008018158A1 (de) 2008-04-10 2009-10-15 Aesculap Ag Ligaturklammermagazin und Lagerkörper zur Verwendung in diesem
US20090255974A1 (en) 2008-04-14 2009-10-15 Tyco Healthcare Group Lp Single loop surgical fastener apparatus for applying variable compression
US8231040B2 (en) 2008-04-14 2012-07-31 Tyco Healthcare Group Lp Variable compression surgical fastener cartridge
US8231041B2 (en) 2008-04-14 2012-07-31 Tyco Healthcare Group Lp Variable compression surgical fastener cartridge
US7926691B2 (en) 2008-04-14 2011-04-19 Tyco Healthcare Group, L.P. Variable compression surgical fastener cartridge
US8100310B2 (en) 2008-04-14 2012-01-24 Tyco Healthcare Group Lp Variable compression surgical fastener apparatus
US8021375B2 (en) 2008-04-21 2011-09-20 Conmed Corporation Surgical clip applicator
US8028884B2 (en) 2008-04-22 2011-10-04 Tyco Healthcare Group Lp Cartridge for applying varying amounts of tissue compression
US8091756B2 (en) 2008-05-09 2012-01-10 Tyco Healthcare Group Lp Varying tissue compression using take-up component
US8464922B2 (en) 2008-05-09 2013-06-18 Covidien Lp Variable compression surgical fastener cartridge
US9016541B2 (en) 2008-05-09 2015-04-28 Covidien Lp Varying tissue compression with an anvil configuration
EP2116272B1 (en) 2008-05-09 2013-04-03 Greatbatch Ltd. Bi-directional sheath deflection mechanism
US8795308B2 (en) 2008-05-09 2014-08-05 Elmer Valin Laparoscopic gastric and intestinal trocar
US8409079B2 (en) 2008-05-14 2013-04-02 Olympus Medical Systems Corp. Electric bending operation device and medical treatment system including electric bending operation device
US7922061B2 (en) 2008-05-21 2011-04-12 Ethicon Endo-Surgery, Inc. Surgical instrument with automatically reconfigurable articulating end effector
GB2471815A (en) 2008-05-21 2011-01-12 Cook Biotech Inc Devices and methods for applying bolster materials to surgical fastening apparatus
US8016176B2 (en) 2008-06-04 2011-09-13 Tyco Healthcare Group, Lp Surgical stapling instrument with independent sequential firing
US7942303B2 (en) 2008-06-06 2011-05-17 Tyco Healthcare Group Lp Knife lockout mechanisms for surgical instrument
US8701959B2 (en) 2008-06-06 2014-04-22 Covidien Lp Mechanically pivoting cartridge channel for surgical instrument
US8007513B2 (en) 2008-06-12 2011-08-30 Ethicon Endo-Surgery, Inc. Partially reusable surgical stapler
US8267951B2 (en) 2008-06-12 2012-09-18 Ncontact Surgical, Inc. Dissecting cannula and methods of use thereof
US8011551B2 (en) 2008-07-01 2011-09-06 Tyco Healthcare Group Lp Retraction mechanism with clutch-less drive for use with a surgical apparatus
US8888792B2 (en) 2008-07-14 2014-11-18 Ethicon Endo-Surgery, Inc. Tissue apposition clip application devices and methods
US20100023024A1 (en) 2008-07-25 2010-01-28 Zeiner Mark S Reloadable laparoscopic fastener deploying device with disposable cartridge for use in a gastric volume reduction procedure
US8801752B2 (en) 2008-08-04 2014-08-12 Covidien Lp Articulating surgical device
US20100036370A1 (en) 2008-08-07 2010-02-11 Al Mirel Electrosurgical instrument jaw structure with cutting tip
US8109426B2 (en) 2008-08-12 2012-02-07 Tyco Healthcare Group Lp Surgical tilt anvil assembly
US8211125B2 (en) 2008-08-15 2012-07-03 Ethicon Endo-Surgery, Inc. Sterile appliance delivery device for endoscopic procedures
US8532747B2 (en) 2008-08-22 2013-09-10 Devicor Medical Products, Inc. Biopsy marker delivery device
US9358015B2 (en) 2008-08-29 2016-06-07 Covidien Lp Endoscopic surgical clip applier with wedge plate
US20100051668A1 (en) 2008-09-03 2010-03-04 Milliman Keith L Surgical instrument with indicator
US8113405B2 (en) 2008-09-03 2012-02-14 Tyco Healthcare Group, Lp Surgical instrument with indicator
US20120125792A1 (en) 2008-09-08 2012-05-24 Mayo Foundation For Medical Education And Research Devices, kits and methods for surgical fastening
US8047236B2 (en) 2008-09-12 2011-11-01 Boston Scientific Scimed, Inc. Flexible conduit with locking element
US8083120B2 (en) 2008-09-18 2011-12-27 Ethicon Endo-Surgery, Inc. End effector for use with a surgical cutting and stapling instrument
US7837080B2 (en) 2008-09-18 2010-11-23 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with device for indicating when the instrument has cut through tissue
US20100069942A1 (en) 2008-09-18 2010-03-18 Ethicon Endo-Surgery, Inc. Surgical instrument with apparatus for measuring elapsed time between actions
US7857186B2 (en) 2008-09-19 2010-12-28 Ethicon Endo-Surgery, Inc. Surgical stapler having an intermediate closing position
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
US7988028B2 (en) 2008-09-23 2011-08-02 Tyco Healthcare Group Lp Surgical instrument having an asymmetric dynamic clamping member
US8360298B2 (en) 2008-09-23 2013-01-29 Covidien Lp Surgical instrument and loading unit for use therewith
US7896214B2 (en) 2008-09-23 2011-03-01 Tyco Healthcare Group Lp Tissue stop for surgical instrument
US9005230B2 (en) 2008-09-23 2015-04-14 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US9050083B2 (en) 2008-09-23 2015-06-09 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
JP2010075242A (ja) 2008-09-24 2010-04-08 Terumo Corp 医療用マニピュレータ
US8608045B2 (en) 2008-10-10 2013-12-17 Ethicon Endo-Sugery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
US8020743B2 (en) 2008-10-15 2011-09-20 Ethicon Endo-Surgery, Inc. Powered articulatable surgical cutting and fastening instrument with flexible drive member
US7918377B2 (en) 2008-10-16 2011-04-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with apparatus for providing anvil position feedback
JP2010098844A (ja) 2008-10-16 2010-04-30 Toyota Motor Corp 車両の電源システム
US9889230B2 (en) 2008-10-17 2018-02-13 Covidien Lp Hemostatic implant
KR101075363B1 (ko) 2008-10-31 2011-10-19 정창욱 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템
US8231042B2 (en) 2008-11-06 2012-07-31 Tyco Healthcare Group Lp Surgical stapler
US7934631B2 (en) 2008-11-10 2011-05-03 Barosense, Inc. Multi-fire stapling systems and methods for delivering arrays of staples
US7886951B2 (en) 2008-11-24 2011-02-15 Tyco Healthcare Group Lp Pouch used to deliver medication when ruptured
GB0822110D0 (en) 2008-12-03 2009-01-07 Angiomed Ag Catheter sheath for implant delivery
US8034363B2 (en) 2008-12-11 2011-10-11 Advanced Technologies And Regenerative Medicine, Llc. Sustained release systems of ascorbic acid phosphate
US20100331856A1 (en) 2008-12-12 2010-12-30 Hansen Medical Inc. Multiple flexible and steerable elongate instruments for minimally invasive operations
US20100147921A1 (en) 2008-12-16 2010-06-17 Lee Olson Surgical Apparatus Including Surgical Buttress
US8770460B2 (en) 2008-12-23 2014-07-08 George E. Belzer Shield for surgical stapler and method of use
US20110278343A1 (en) 2009-01-29 2011-11-17 Cardica, Inc. Clamping of Hybrid Surgical Instrument
US8037591B2 (en) 2009-02-02 2011-10-18 Ethicon Endo-Surgery, Inc. Surgical scissors
US8414577B2 (en) 2009-02-05 2013-04-09 Ethicon Endo-Surgery, Inc. Surgical instruments and components for use in sterile environments
US20100193566A1 (en) 2009-02-05 2010-08-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
US8397971B2 (en) 2009-02-05 2013-03-19 Ethicon Endo-Surgery, Inc. Sterilizable surgical instrument
US8517239B2 (en) 2009-02-05 2013-08-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
US8485413B2 (en) 2009-02-05 2013-07-16 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising an articulation joint
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
US8245899B2 (en) 2009-02-06 2012-08-21 Ethicon Endo-Surgery, Inc. Driven surgical stapler improvements
US20110024478A1 (en) 2009-02-06 2011-02-03 Shelton Iv Frederick E Driven Surgical Stapler Improvements
US20100204717A1 (en) 2009-02-12 2010-08-12 Cardica, Inc. Surgical Device for Multiple Clip Application
US20130066304A1 (en) 2009-02-27 2013-03-14 Modular Surgical, Inc. Apparatus and methods for hybrid endoscopic and laparoscopic surgery
US7918376B1 (en) 2009-03-09 2011-04-05 Cardica, Inc. Articulated surgical instrument
US8317071B1 (en) 2009-03-09 2012-11-27 Cardica, Inc. Endocutter with auto-feed buttress
US8066167B2 (en) 2009-03-23 2011-11-29 Ethicon Endo-Surgery, Inc. Circular surgical stapling instrument with anvil locking system
US7988027B2 (en) 2009-03-31 2011-08-02 Tyco Healthcare Group Lp Crimp and release of suture holding buttress material
US8016178B2 (en) 2009-03-31 2011-09-13 Tyco Healthcare Group Lp Surgical stapling apparatus
US8945163B2 (en) 2009-04-01 2015-02-03 Ethicon Endo-Surgery, Inc. Methods and devices for cutting and fastening tissue
US8257251B2 (en) 2009-04-08 2012-09-04 Ethicon Endo-Surgery, Inc. Methods and devices for providing access into a body cavity
US8444549B2 (en) 2009-04-16 2013-05-21 Covidien Lp Self-steering endoscopic device
US8167898B1 (en) 2009-05-05 2012-05-01 Cardica, Inc. Flexible cutter for surgical stapler
US8328064B2 (en) 2009-05-06 2012-12-11 Covidien Lp Pin locking mechanism for a surgical instrument
US8523881B2 (en) 2010-07-26 2013-09-03 Valtech Cardio, Ltd. Multiple anchor delivery tool
US20100292540A1 (en) 2009-05-12 2010-11-18 Hess Christopher J Surgical retractor and method
US8056789B1 (en) 2009-06-03 2011-11-15 Cardica, Inc. Staple and feeder belt configurations for surgical stapler
US8132706B2 (en) 2009-06-05 2012-03-13 Tyco Healthcare Group Lp Surgical stapling apparatus having articulation mechanism
US8827134B2 (en) 2009-06-19 2014-09-09 Covidien Lp Flexible surgical stapler with motor in the head
US9463260B2 (en) 2009-06-29 2016-10-11 Covidien Lp Self-sealing compositions
CN101940844A (zh) 2009-07-03 2011-01-12 林翠琼 模拟狗尾摆动装置
US8276802B2 (en) 2009-07-11 2012-10-02 Tyco Healthcare Group Lp Surgical instrument with double cartridge and anvil assemblies
US8146790B2 (en) 2009-07-11 2012-04-03 Tyco Healthcare Group Lp Surgical instrument with safety mechanism
AU2010273651B2 (en) 2009-07-15 2015-12-03 Ethicon Endo-Surgery, Inc. Electrosurgery generator for ultrasonic surgical instruments
US20110011916A1 (en) 2009-07-16 2011-01-20 New York University Anastomosis device
US8328062B2 (en) 2009-07-21 2012-12-11 Covidien Lp Surgical instrument with curvilinear tissue-contacting surfaces
US8968358B2 (en) 2009-08-05 2015-03-03 Covidien Lp Blunt tissue dissection surgical instrument jaw designs
US8276801B2 (en) 2011-02-01 2012-10-02 Tyco Healthcare Group Lp Surgical stapling apparatus
US8360299B2 (en) 2009-08-11 2013-01-29 Covidien Lp Surgical stapling apparatus
US20110036891A1 (en) 2009-08-11 2011-02-17 Tyco Healthcare Group Lp Surgical stapler with visual positional indicator
US8733612B2 (en) 2009-08-17 2014-05-27 Covidien Lp Safety method for powered surgical instruments
US8470355B2 (en) 2009-10-01 2013-06-25 Covidien Lp Mesh implant
JP5701891B2 (ja) 2009-10-09 2015-04-15 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． 外科用器具
US8152041B2 (en) 2009-10-14 2012-04-10 Tyco Healthcare Group Lp Varying tissue compression aided by elastic members
US8157151B2 (en) 2009-10-15 2012-04-17 Tyco Healthcare Group Lp Staple line reinforcement for anvil and cartridge
US8413872B2 (en) 2009-10-28 2013-04-09 Covidien Lp Surgical fastening apparatus
US8162138B2 (en) 2009-11-09 2012-04-24 Containmed, Inc. Universal surgical fastener sterilization caddy
EP2467065B1 (en) 2009-11-13 2020-01-08 Intuitive Surgical Operations, Inc. End effector with redundant closing mechanisms
WO2011060318A1 (en) 2009-11-13 2011-05-19 Intuitive Surgical Operations, Inc. Motor interface for parallel drive shafts within an independently rotating member
US8899466B2 (en) 2009-11-19 2014-12-02 Ethicon Endo-Surgery, Inc. Devices and methods for introducing a surgical circular stapling instrument into a patient
US8136712B2 (en) 2009-12-10 2012-03-20 Ethicon Endo-Surgery, Inc. Surgical stapler with discrete staple height adjustment and tactile feedback
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
US8267300B2 (en) 2009-12-30 2012-09-18 Ethicon Endo-Surgery, Inc. Dampening device for endoscopic surgical stapler
US8608046B2 (en) 2010-01-07 2013-12-17 Ethicon Endo-Surgery, Inc. Test device for a surgical tool
US8313509B2 (en) 2010-01-19 2012-11-20 Covidien Lp Suture and retainer assembly and SULU
US9510925B2 (en) 2010-02-02 2016-12-06 Covidien Lp Surgical meshes
US8403945B2 (en) 2010-02-25 2013-03-26 Covidien Lp Articulating endoscopic surgical clip applier
US8696665B2 (en) 2010-03-26 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical cutting and sealing instrument with reduced firing force
US8348127B2 (en) 2010-04-07 2013-01-08 Covidien Lp Surgical fastener applying apparatus
ES2387255T3 (es) 2010-04-14 2012-09-19 Tuebingen Scientific Medical Gmbh Instrumento quirúrgico con cabeza de instrumento elásticamente movible
US20110275901A1 (en) 2010-05-07 2011-11-10 Ethicon Endo-Surgery, Inc. Laparoscopic devices with articulating end effectors
US20110276083A1 (en) 2010-05-07 2011-11-10 Ethicon Endo-Surgery, Inc. Bendable shaft for handle positioning
US8646674B2 (en) 2010-05-11 2014-02-11 Ethicon Endo-Surgery, Inc. Methods and apparatus for delivering tissue treatment compositions to stapled tissue
US8464925B2 (en) 2010-05-11 2013-06-18 Ethicon Endo-Surgery, Inc. Methods and apparatus for delivering tissue treatment compositions to stapled tissue
US20110293690A1 (en) 2010-05-27 2011-12-01 Tyco Healthcare Group Lp Biodegradable Polymer Encapsulated Microsphere Particulate Film and Method of Making Thereof
US8366559B2 (en) 2010-06-23 2013-02-05 Lenkbar, Llc Cannulated flexible drive shaft
US20120004636A1 (en) 2010-07-02 2012-01-05 Denny Lo Hemostatic fibrous material
US8439246B1 (en) 2010-07-20 2013-05-14 Cardica, Inc. Surgical stapler with cartridge-adjustable clamp gap
US8801734B2 (en) 2010-07-30 2014-08-12 Ethicon Endo-Surgery, Inc. Circular stapling instruments with secondary cutting arrangements and methods of using same
US8789740B2 (en) 2010-07-30 2014-07-29 Ethicon Endo-Surgery, Inc. Linear cutting and stapling device with selectively disengageable cutting member
US8783543B2 (en) 2010-07-30 2014-07-22 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
US8360296B2 (en) 2010-09-09 2013-01-29 Ethicon Endo-Surgery, Inc. Surgical stapling head assembly with firing lockout for a surgical stapler
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
US20120078244A1 (en) 2010-09-24 2012-03-29 Worrell Barry C Control features for articulating surgical device
US8733613B2 (en) 2010-09-29 2014-05-27 Ethicon Endo-Surgery, Inc. Staple cartridge
US8893949B2 (en) 2010-09-30 2014-11-25 Ethicon Endo-Surgery, Inc. Surgical stapler with floating anvil
US9314246B2 (en) 2010-09-30 2016-04-19 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent
US9517063B2 (en) 2012-03-28 2016-12-13 Ethicon Endo-Surgery, Llc Movable member for use with a tissue thickness compensator
US9301755B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Compressible staple cartridge assembly
US9204880B2 (en) 2012-03-28 2015-12-08 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising capsules defining a low pressure environment
US9301752B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising a plurality of capsules
US9307989B2 (en) 2012-03-28 2016-04-12 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorportating a hydrophobic agent
US9277919B2 (en) 2010-09-30 2016-03-08 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising fibers to produce a resilient load
US9220501B2 (en) 2010-09-30 2015-12-29 Ethicon Endo-Surgery, Inc. Tissue thickness compensators
US20120248169A1 (en) 2010-09-30 2012-10-04 Ethicon Endo-Surgery, Inc. Methods for forming tissue thickness compensator arrangements for surgical staplers
US9386988B2 (en) 2010-09-30 2016-07-12 Ethicon End-Surgery, LLC Retainer assembly including a tissue thickness compensator
US9364233B2 (en) 2010-09-30 2016-06-14 Ethicon Endo-Surgery, Llc Tissue thickness compensators for circular surgical staplers
US9839420B2 (en) 2010-09-30 2017-12-12 Ethicon Llc Tissue thickness compensator comprising at least one medicament
US9055941B2 (en) 2011-09-23 2015-06-16 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck
US9788834B2 (en) 2010-09-30 2017-10-17 Ethicon Llc Layer comprising deployable attachment members
US9332974B2 (en) 2010-09-30 2016-05-10 Ethicon Endo-Surgery, Llc Layered tissue thickness compensator
US8529600B2 (en) 2010-09-30 2013-09-10 Ethicon Endo-Surgery, Inc. Fastener system comprising a retention matrix
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
USD650074S1 (en) 2010-10-01 2011-12-06 Ethicon Endo-Surgery, Inc. Surgical instrument
AU2011307338B8 (en) 2010-10-01 2015-02-19 Ethicon Endo-Surgery, Inc. Surgical instrument with jaw member
US8695866B2 (en) 2010-10-01 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
US8292150B2 (en) 2010-11-02 2012-10-23 Tyco Healthcare Group Lp Adapter for powered surgical devices
EP3175814A1 (en) 2010-11-15 2017-06-07 Intuitive Surgical Operations Inc. Decoupling instrument shaft roll and end effector actuation in a surgical instrument
US20120175398A1 (en) 2010-11-22 2012-07-12 Mayo Foundation For Medical Education And Research Stapling apparatus and methods of assembling or operating the same
US8523043B2 (en) 2010-12-07 2013-09-03 Immersion Corporation Surgical stapler having haptic feedback
US8348130B2 (en) 2010-12-10 2013-01-08 Covidien Lp Surgical apparatus including surgical buttress
US9084602B2 (en) 2011-01-26 2015-07-21 Covidien Lp Buttress film with hemostatic action for surgical stapling apparatus
KR101918531B1 (ko) 2011-02-15 2018-11-14 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 구동 샤프트에 의해 가동되는 관절식 말단 작동기를 구비한 수술 기구를 위한 시일 및 실링 방법
US8479968B2 (en) 2011-03-10 2013-07-09 Covidien Lp Surgical instrument buttress attachment
US8632462B2 (en) 2011-03-14 2014-01-21 Ethicon Endo-Surgery, Inc. Trans-rectum universal ports
US9044229B2 (en) 2011-03-15 2015-06-02 Ethicon Endo-Surgery, Inc. Surgical fastener instruments
US8857693B2 (en) 2011-03-15 2014-10-14 Ethicon Endo-Surgery, Inc. Surgical instruments with lockable articulating end effector
US8926598B2 (en) 2011-03-15 2015-01-06 Ethicon Endo-Surgery, Inc. Surgical instruments with articulatable and rotatable end effector
US8540131B2 (en) 2011-03-15 2013-09-24 Ethicon Endo-Surgery, Inc. Surgical staple cartridges with tissue tethers for manipulating divided tissue and methods of using same
US8800841B2 (en) 2011-03-15 2014-08-12 Ethicon Endo-Surgery, Inc. Surgical staple cartridges
US20120234895A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical staple cartridges and end effectors with vessel measurement arrangements
US8789737B2 (en) 2011-04-27 2014-07-29 Covidien Lp Circular stapler and staple line reinforcement material
AU2012201645B2 (en) 2011-04-29 2015-04-16 Covidien Lp Surgical stapling apparatus
US8852185B2 (en) 2011-05-19 2014-10-07 Covidien Lp Apparatus for performing an electrosurgical procedure
CN106109017B (zh) 2011-05-31 2019-01-04 直观外科手术操作公司 机器人手术器械中的夹持力控制
WO2012166817A2 (en) 2011-05-31 2012-12-06 Intuitive Surgical Operations, Inc. Surgical instrument with single drive input for two end effector mechanisms
WO2013009795A1 (en) 2011-07-13 2013-01-17 Cook Medical Technologies Llc Foldable surgical retractor
US9492170B2 (en) 2011-08-10 2016-11-15 Ethicon Endo-Surgery, Inc. Device for applying adjunct in endoscopic procedure
US8833632B2 (en) 2011-09-06 2014-09-16 Ethicon Endo-Surgery, Inc. Firing member displacement system for a stapling instrument
US9999408B2 (en) 2011-09-14 2018-06-19 Ethicon Endo-Surgery, Inc. Surgical instrument with fluid fillable buttress
US9050084B2 (en) 2011-09-23 2015-06-09 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck arrangement
US9089326B2 (en) 2011-10-07 2015-07-28 Ethicon Endo-Surgery, Inc. Dual staple cartridge for surgical stapler
US8585721B2 (en) 2011-10-12 2013-11-19 Covidien Lp Mesh fixation system
US9314292B2 (en) 2011-10-24 2016-04-19 Ethicon Endo-Surgery, Llc Trigger lockout mechanism
US20130098970A1 (en) 2011-10-25 2013-04-25 David Racenet Surgical Apparatus and Method for Endoluminal Surgery
US8672206B2 (en) 2011-10-25 2014-03-18 Covidien Lp Apparatus for endoscopic procedures
US9486213B2 (en) 2011-11-14 2016-11-08 Thd Lap Ltd. Drive mechanism for articulating tacker
KR102111471B1 (ko) 2011-11-15 2020-05-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 스토잉하는 나이프 블레이드를 가진 수술 기구
US8967448B2 (en) 2011-12-14 2015-03-03 Covidien Lp Surgical stapling apparatus including buttress attachment via tabs
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
US20130231661A1 (en) 2012-03-01 2013-09-05 Hasan M. Sh. Sh. Alshemari Electrosurgical midline clamping scissors
US9078653B2 (en) 2012-03-26 2015-07-14 Ethicon Endo-Surgery, Inc. Surgical stapling device with lockout system for preventing actuation in the absence of an installed staple cartridge
US9198662B2 (en) 2012-03-28 2015-12-01 Ethicon Endo-Surgery, Inc. Tissue thickness compensator having improved visibility
US20130256373A1 (en) 2012-03-28 2013-10-03 Ethicon Endo-Surgery, Inc. Devices and methods for attaching tissue thickness compensating materials to surgical stapling instruments
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
US9119657B2 (en) 2012-06-28 2015-09-01 Ethicon Endo-Surgery, Inc. Rotary actuatable closure arrangement for surgical end effector
US20140001231A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Firing system lockout arrangements for surgical instruments
US8747238B2 (en) 2012-06-28 2014-06-10 Ethicon Endo-Surgery, Inc. Rotary drive shaft assemblies for surgical instruments with articulatable end effectors
US9125662B2 (en) 2012-06-28 2015-09-08 Ethicon Endo-Surgery, Inc. Multi-axis articulating and rotating surgical tools
US20140005718A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Multi-functional powered surgical device with external dissection features
US9561038B2 (en) 2012-06-28 2017-02-07 Ethicon Endo-Surgery, Llc Interchangeable clip applier
US9226751B2 (en) 2012-06-28 2016-01-05 Ethicon Endo-Surgery, Inc. Surgical instrument system including replaceable end effectors
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
US9072536B2 (en) 2012-06-28 2015-07-07 Ethicon Endo-Surgery, Inc. Differential locking arrangements for rotary powered surgical instruments
US20140005640A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Surgical end effector jaw and electrode configurations
US9649111B2 (en) 2012-06-28 2017-05-16 Ethicon Endo-Surgery, Llc Replaceable clip cartridge for a clip applier
US9101385B2 (en) 2012-06-28 2015-08-11 Ethicon Endo-Surgery, Inc. Electrode connections for rotary driven surgical tools
US20140005702A1 (en) 2012-06-29 2014-01-02 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments with distally positioned transducers
US20140048580A1 (en) 2012-08-20 2014-02-20 Covidien Lp Buttress attachment features for surgical stapling apparatus
US20140224857A1 (en) 2013-02-08 2014-08-14 Ethicon Endo-Surgery, Inc. Staple cartridge comprising a compressible portion
US9386984B2 (en) 2013-02-08 2016-07-12 Ethicon Endo-Surgery, Llc Staple cartridge comprising a releasable cover
US9782169B2 (en) 2013-03-01 2017-10-10 Ethicon Llc Rotary powered articulation joints for surgical instruments
US20140263552A1 (en) 2013-03-13 2014-09-18 Ethicon Endo-Surgery, Inc. Staple cartridge tissue thickness sensor system
US9883860B2 (en) 2013-03-14 2018-02-06 Ethicon Llc Interchangeable shaft assemblies for use with a surgical instrument
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
US9795384B2 (en) 2013-03-27 2017-10-24 Ethicon Llc Fastener cartridge comprising a tissue thickness compensator and a gap setting element
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
US20140291379A1 (en) 2013-03-27 2014-10-02 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a cutting member path
US9814460B2 (en) 2013-04-16 2017-11-14 Ethicon Llc Modular motor driven surgical instruments with status indication arrangements
US9839422B2 (en) 2014-02-24 2017-12-12 Ethicon Llc Implantable layers and methods for altering implantable layers for use with surgical fastening instruments

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1163558A (zh) * 1994-10-11 1997-10-29 查尔斯·H·克利曼 具有可拆卸的端部操作装置的内窥镜仪器
US20070244477A1 (en) * 2000-02-10 2007-10-18 Santilli Albert N Surgical Clamp Assembly with Electrodes
EP1230899A1 (en) * 2001-02-07 2002-08-14 Karl Storz Imaging Inc. Deployable surgical clamp with delivery/retrieval device and actuator
WO2002085218A2 (en) * 2001-04-20 2002-10-31 Power Medical Interventions, Inc. Bipolar or ultrasonic surgical device
CN101686850A (zh) * 2007-06-29 2010-03-31 Kls马丁有限及两合公司 外科用器械
EP2036505A1 (en) * 2007-09-11 2009-03-18 Tyco Healthcare Group LP Articulating joint for surgical instruments
CN102028509A (zh) * 2009-10-05 2011-04-27 Tyco医疗健康集团 用于手术器械的内部骨架结构底盘
EP2399538A2 (en) * 2010-06-23 2011-12-28 Tyco Healthcare Group, LP Surgical instrument with a separable coaxial joint

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11090422B2 (en) 2015-05-13 2021-08-17 MAQUET CARDIOPULMONARY GmbH Equipment docking interface with latch mechanism for heart-lung machine
CN107635598B (zh) * 2015-05-13 2020-09-08 迈奎特心肺有限公司 用于心肺机的具有闩锁机构的设备对接接口
CN107635598A (zh) * 2015-05-13 2018-01-26 迈奎特心肺有限公司 用于心肺机的具有闩锁机构的设备对接接口
CN108463185A (zh) * 2015-12-29 2018-08-28 柯惠Lp公司 机器人手术系统和器械驱动组件
CN108463185B (zh) * 2015-12-29 2021-12-14 柯惠Lp公司 机器人手术系统和器械驱动组件
CN109688948A (zh) * 2016-09-09 2019-04-26 直观外科手术操作公司 腕部架构
CN109788952A (zh) * 2016-09-09 2019-05-21 直观外科手术操作公司 缝合器梁结构
US12102401B2 (en) 2016-09-09 2024-10-01 Intuitive Surgical Operations, Inc. Stapler beam architecture
US11806016B2 (en) 2016-09-09 2023-11-07 Intuitive Surgical Operations, Inc. Wrist architecture
CN110891510B (zh) * 2017-06-28 2023-02-24 爱惜康有限责任公司 用于在不同时间段将电外科能量施加到不同电极的外科端部执行器
CN110891510A (zh) * 2017-06-28 2020-03-17 爱惜康有限责任公司 用于在不同时间段将电外科能量施加到不同电极的外科端部执行器
CN109996504A (zh) * 2017-10-26 2019-07-09 爱惜康有限责任公司 用于机器人外科工具的手动释放组件
CN109996504B (zh) * 2017-10-26 2023-10-03 爱惜康有限责任公司 用于机器人外科工具的手动释放组件
EP3845166A1 (en) * 2019-12-30 2021-07-07 Ethicon LLC Electrosurgical instrument with variable control mechanisms
WO2021137021A1 (en) * 2019-12-30 2021-07-08 Ethicon Llc Electrosurgical instrument with variable control mechanisms

Also Published As

Publication number Publication date
CN104602636B (zh) 2017-12-26
EP2866712B1 (en) 2021-05-26
JP2015525613A (ja) 2015-09-07
WO2014004248A1 (en) 2014-01-03
RU2015102635A (ru) 2016-08-20
EP2866712B8 (en) 2021-07-07
BR112014032640B1 (pt) 2021-12-28
US20140005661A1 (en) 2014-01-02
US9028494B2 (en) 2015-05-12
JP6219385B2 (ja) 2017-10-25
RU2636182C2 (ru) 2017-11-21
EP2866712A1 (en) 2015-05-06
BR112014032640A2 (pt) 2017-06-27

Similar Documents

Publication Publication Date Title
CN104602636A (zh) 可互换的端部执行器联接结构
CN104602635A (zh) 多轴线关节运动和旋转外科工具
CN104619280A (zh) 外科端部执行器钳口和电极构型
CN104582616A (zh) 具有成角度的组织接触表面的外科端部执行器
CN104582602A (zh) 用于外科端部执行器的旋转致动式闭合结构
CN104582601A (zh) 具有外部切开特征结构的多功能电力外科装置
CN104582618A (zh) 用于旋转从动外科工具的电极连接

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant