US20070265653A1 - Medical handpiece - Google Patents
Medical handpiece Download PDFInfo
- Publication number
- US20070265653A1 US20070265653A1 US11/746,409 US74640907A US2007265653A1 US 20070265653 A1 US20070265653 A1 US 20070265653A1 US 74640907 A US74640907 A US 74640907A US 2007265653 A1 US2007265653 A1 US 2007265653A1
- Authority
- US
- United States
- Prior art keywords
- intervening member
- cutting tool
- casing
- shank
- segments
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 230000005489 elastic deformation Effects 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 239000002184 metal Substances 0.000 description 8
- 229910052751 metal Inorganic materials 0.000 description 8
- 239000013013 elastic material Substances 0.000 description 5
- 230000006866 deterioration Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229920003002 synthetic resin Polymers 0.000 description 2
- 239000000057 synthetic resin Substances 0.000 description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000005060 rubber Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 229920003051 synthetic elastomer Polymers 0.000 description 1
- 239000005061 synthetic rubber Substances 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
- A61B17/32002—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes with continuously rotating, oscillating or reciprocating cutting instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3205—Excision instruments
- A61B17/3207—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions
- A61B17/320758—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions with a rotating cutting instrument, e.g. motor driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1631—Special drive shafts, e.g. flexible shafts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
- A61B17/32002—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes with continuously rotating, oscillating or reciprocating cutting instruments
- A61B2017/320032—Details of the rotating or oscillating shaft, e.g. using a flexible shaft
Abstract
The medical handpiece of the present invention includes a cutting tool having a flexible shank and a cutting bur, a plastically deformable tubular casing for the cutting tool, a handpiece body detachably holding the cutting tool, bearing members disposed in the casing, an inner intervening member for receiving the shank, and an outer intervening member arranged around the inner intervening member. The inner and outer intervening members are composed of a plurality of segments, and each segment is arranged between or on distal or proximal side of the bearing members. Each segment of the outer intervening member is further composed of a plurality of sub-segments. Annular members having the outer diameter that is larger than that of the outer intervening member are arranged between the sub-segments of the outer intervening member. The present handpiece provides improved operationality since shaking is hardly generated even when the casing is flexed.
Description
- The present invention relates to a medical handpiece for cutting a treatment site with a cutting tool that is rotatably driven by power transmitted from a drive source.
- Medical handpieces having a cutting tool that is rotatably driven by power from a drive source, such as a motor, to cut a treatment site, is disclosed, for example, in JP-2004-97790-A.
- The medical handpiece disclosed in this publication has a cutting tool which has a bur provided at the tip of a flexible shank, and is inserted and placed in a tubular casing. The cutting tool is detachably held in a handpiece body, and rotatably driven by power transmitted from a drive source. Between the casing and the shank is disposed a tubular intervening member. This medical handpiece is designed such that the casing, the intervening member, and the cutting tool may be flexed for a predetermined angular range, where the intervening member prevents the shank from contacting the inner surface of the casing in the curved portion.
- Further, there is disclosed in JP-2005-328971-A a medical handpiece wherein inner and outer intervening members are arranged one in another between a plurality of bearings for inhibiting shaking and deterioration of durability by friction heat, which are caused by contact between the shank and the intervening members.
- In the prior art medical handpiece discussed above, the deterioration of durability by friction heat generated by the contact between the shank and the inner intervening member could be inhibited. However, when the casing is flexed for a relatively large angle from its axis, the inner intervening member is pressed by the outer intervening member to be brought into contact with the shank, which is loaded accordingly. It is found that this causes new problems to be solved, i.e., rattling, increased shaking during rotation, and deterioration of operationality of the medical handpiece.
- The present invention aims to solve such problems in the prior art. It is an object of the present invention to provide a medical handpiece with improved operationality wherein shaking is hardly generated even when the casing is flexed.
- According to the present invention, there is provided a medical handpiece comprising:
- a cutting tool having a flexible shank and a cutting bur provided at a distal end of said shank for cutting a treatment site,
- a tubular casing for receiving the cutting tool therein,
- wherein said casing and said cutting tool are flexible for a predetermined angular range, where the casing undergoes plastic deformation and the shank of the cutting tool undergoes elastic deformation,
- a handpiece body detachably holding a proximal end of the cutting tool and transmitting power from a drive source to the cutting tool,
- a plurality of bearing members disposed in the casing,
- an inner flexible tubular intervening member for receiving the shank of the cutting tool therein, wherein said inner intervening member is composed of a plurality of segments, each segment being arranged between or on distal or proximal side of said bearing members, and
- an outer flexible tubular intervening member arranged around said inner intervening member, wherein said outer intervening member is composed of a plurality of segments, each segment being arranged between or on distal or proximal side of said bearing members,
- wherein each segment of said outer intervening member is further composed of a plurality of sub-segments, and a plurality of annular members having the outer diameter larger than the outer diameter of said outer intervening member are arranged between said sub-segments of the outer intervening member.
- In the present invention, the annular members arranged between the sub-segments of the outer intervening member may preferably be O-rings made of an elastic material, such as rubber, synthetic rubber, or a synthetic resin. The annular members, when made of an elastic material, follow the flexing of the casing to deform and securely hold the inner intervening member.
- In the medical handpiece of the present invention, the outer intervening member is arranged around the inner intervening member, and more specifically, a plurality of sub-segments of the outer intervening member are arranged around each segment of the inner intervening member. The annular members, preferably made of an elastic material, are arranged between the sub-segments of the outer intervening member. Thus even when the casing of the medical handpiece is flexed for a relatively large angle from its axis, the inner intervening member is inhibited from displacing, since the inner intervening member is restrained by the annular members, and hardly affected by the force from the outer intervening member. This reduces the load on the shank applied by the contact with the inner intervening member, and shaking generated during rotational driving of the cutting tool may be inhibited.
-
FIG. 1 is a side view of an embodiment of the present invention. -
FIG. 2 is a sectional and side views of the casing and the cutting tool, respectively, of a medical handpiece according to the present invention. -
FIG. 3 is an enlarged sectional view of part of the casing and the cutting tool of the medical handpiece ofFIG. 1 . -
FIG. 4 is an enlarged sectional view of part ofFIG. 3 . - The present invention will now be explained with reference to the attached drawings.
- The
medical handpiece 10 according to an embodiment of the present invention has handpiece body 1,casing 2 connected to the body 1, andcutting tool 3 inserted and placed in thecasing 2. The proximal end of thecutting tool 3 is detachably held in the handpiece body 1, and driven by a drive source (not shown). Themedical handpiece 10 is formed such that the medical practitioner may flex thecasing 2 and thecutting tool 3 over the range of about 30 degrees or less simply by holding thecasing 2 with fingers and applying force. When flexed, thecasing 2 undergoes plastic deformation, andshank 3 a of thecutting tool 3 inside thecasing 2 undergoes elastic deformation. - As shown in
FIG. 2 , thecutting tool 3 hasshank 3 a and cuttingbur 3 c provided at the distal end of theshank 3 avia bearing support 3 b, for cutting the treatment site. Theshank 3 a is deformable with respect to the axial direction over the range of about 30 degrees or less within the elastic limit, and is made of a metal material such as stainless steel. - Referring to
FIGS. 2 and 3 , thecasing 2 includesmetal pipe 2 a, connectingmember 2 b, andcasing cap 2 c. - The
metal pipe 2 a is made of, for example, a stainless steel or titanium material, and has a relatively thin wall thickness, such as about 0.1 to about 0.8 mm, so that it plastically deforms without fracture when flexed for about 30 degrees or less from the axial direction. - Inside the
metal pipe 2 a, bearingmembers 4 are arranged at a plurality of locations. Each bearingmember 4 is pre-assembled withfixing members metal pipe 2 a, and fixed at a predetermined position in themetal pipe 2 a by pressure-fitting thefixing member 5 a in themetal pipe 2 a. Thefixing members flanges 5 a′ and 5 b′, respectively, projecting inwards from the inner surface. - Further inside the
metal pipe 2 a, stop 6 for intervening member is pressure-fitted near the distal end, while stop 7 for intervening member is screwed on to the proximal end. Thestops members 8 and 9 (to be discussed later) in the thrust (axial) direction, at the distal and proximal ends, respectively, of themetal pipe 2 a. When thecasing 2 is flexed into a certain shape, theshank 3 a may contact thestop 6, where thestop 6 functions as a sliding bearing. -
FIG. 4 is an enlarged sectional view of part ofFIG. 3 . Referring toFIGS. 2 to 4 , first tubular interveningmember 8 is composed of a plurality of segments, for example, three segments in this embodiment. Each segment of the first interveningmember 8 is arranged between or on the distal or proximal side of the bearingmembers 4, and the ends of the segments abut theflanges 5 a′ or 5 b′ of thefixing members member 8 in the thrust direction is prevented. Around the first interveningmember 8 are provided second tubular interveningmember 9, which is composed of a plurality of segments, for example, three segments in this embodiment. Each segment of the second interveningmember 9 is arranged between or on the distal or proximal side of the bearingmembers 4, and is further divided into a plurality of sub-segments. O-rings 11 are fit on the outer surface of the first interveningmember 8 between the sub-segments of the second interveningmember 9. Each O-ring 11 is made of an elastic material and has an outer diameter that is larger than that of the second interveningmember 9. The O-ring 11 preferably has an outer diameter that is substantially the same as the inner diameter of thecasing 2, so that the O-rings 11 are fit on the inner surface of the casing. - The first intervening
member 8 has elasticity that allows it to follow the deformation of thecasing 2, and is sized to be slightly displaceable in the thrust direction but not displaceable in the radial direction. The first interveningmember 8 receives theshank 3 a of thecutting tool 3 therein. When thecasing 2 is flexed, theshank 3 a is very likely to be brought into contact with the first interveningmember 8, where the first interveningmember 8 functions as a sliding bearing for theshank 3 a. In this regard, the first interveningmember 8 is made of a material having both heat resistance and abrasion resistance, e.g. a synthetic resin such as a fluororesin. - O-
rings 11 are arranged between the sub-segments of the second interveningmember 9, and the distal and proximal segments of the second interveningmember 9 contact thefixing member members 4. The second interveningmember 9 is made of an elastic material that allows it to follow the deformation of thecasing 2, and is sized to be slightly displaceable in both the radial and thrust directions. - The handpiece body 1 is provided with an operation ring 1 a on its grip. On one end of the body 1 distal to the operation ring 1 a, the connecting
member 2 b of thecasing 2 is screwed, whereas the other end of the body 1 proximal to the operation ring 1 a is configured to be connected to a drive section, such as a motor (not shown). The handpiece body 1 is provided inside with a conventional chuck mechanism (not shown) for detachably holding, by rotational operation of the operation ring 1 a, the proximal end of theshank 3 d of thecutting tool 3 inserted through thecasing 2. For example, when the operation ring 1 a is rotated in the direction of arrow A inFIG. 1 , theproximal end 3 d of theshank 3 a is released from the fixed holding by the chuck mechanism to allow thecutting tool 3 to be detached. When the operation ring 1 a is rotated in the direction of arrow B inFIG. 1 , theproximal end 3 d of theshank 3 a is fixedly held by the chuck mechanism to prevent thecutting tool 3 to be detached. - Next, the function of the
medical handpiece 10 having the above structure will be explained. - In the
medical handpiece 10, when thecasing 2 is flexed, theshank 3 a of thecutting tool 3 and the first andsecond intervening members cutting tool 3 is rotatably driven, theshank 3 a is rotated on the support of the bearingmembers 4 to be rotationally driven smoothly. - Even when the
casing 2 is flexed relatively greatly from its axial direction, radial displacement of the first interveningmember 8 is inhibited under the restraint by O-rings 11. In addition, the outer diameter of the O-rings 11 that is larger than that of thesecond intervening member 9 hardly allows the force from thesecond intervening member 9 to affect on the first interveningmember 8. Thus load applied on theshank 3 a of thecutting tool 3 by the contact with the first interveningmember 8 is decreased, and shaking during rotation of thecutting tool 3 may be inhibited. - When the
casing 2 takes a certain curved shape, theshank 3 a may be pressed relatively hard against the bearingmembers 4. In such a state, the bearingmembers 4 are anticipated to generate disadvantageously increased shaking. However, in themedical handpiece 10 according to the present invention, the first andsecond intervening members members member 4, so that the shaking of the bearingmembers 4 may be inhibited at a relatively low level. - While the present invention has been explained taking a drill for transnasal bone surgery as an example, the present invention may equally be applied to medical handpieces wherein a cutting tool with a shank is detachably inserted and held in a relatively elongate casing.
- Although the present invention has been described with reference to the preferred embodiment, it should be understood that various modifications and variations can be easily made by those skilled in the art without departing from the spirit of the invention. Accordingly, the foregoing disclosure should be interpreted as illustrative only and is not to be interpreted in a limiting sense. The present invention is limited only by the scope of the following claims.
Claims (3)
1. A medical handpiece comprising:
a cutting tool having a flexible shank and a cutting bur provided at a distal end of said shank for cutting a treatment site,
a tubular casing for receiving the cutting tool therein,
wherein said casing and said cutting tool are flexible for a predetermined angular range, where the casing undergoes plastic deformation and the shank of the cutting tool undergoes elastic deformation,
a handpiece body detachably holding a proximal end of the cutting tool and transmitting power from a drive source to the cutting tool,
a plurality of bearing members disposed in the casing,
an inner flexible tubular intervening member for receiving the shank of the cutting tool therein, wherein said inner intervening member is composed of a plurality of segments, each segment being arranged between or on distal or proximal side of said bearing members, and
an outer flexible tubular intervening member arranged around said inner intervening member, wherein said outer intervening member is composed of a plurality of segments, each segment being arranged between or on distal or proximal side of said bearing members,
wherein each segment of said outer intervening member is further composed of a plurality of sub-segments, and a plurality of annular members having the outer diameter that is larger than the outer diameter of said outer intervening member are arranged between said sub-segments of the outer intervening member.
2. The medical handpiece according to claim 1 , wherein said annular members are fit on the outer surface of the inner intervening member.
3. The medical handpiece according to claim 1 , wherein said annular members are fit on the inner surface of the casing.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/509,804 US8382783B2 (en) | 2006-05-11 | 2009-07-27 | Medical handpiece |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006132595A JP4105200B2 (en) | 2006-05-11 | 2006-05-11 | Medical handpiece |
JP2006-132595 | 2006-05-11 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/509,804 Continuation US8382783B2 (en) | 2006-05-11 | 2009-07-27 | Medical handpiece |
Publications (1)
Publication Number | Publication Date |
---|---|
US20070265653A1 true US20070265653A1 (en) | 2007-11-15 |
Family
ID=38325296
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/746,409 Abandoned US20070265653A1 (en) | 2006-05-11 | 2007-05-09 | Medical handpiece |
US12/509,804 Active US8382783B2 (en) | 2006-05-11 | 2009-07-27 | Medical handpiece |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/509,804 Active US8382783B2 (en) | 2006-05-11 | 2009-07-27 | Medical handpiece |
Country Status (5)
Country | Link |
---|---|
US (2) | US20070265653A1 (en) |
EP (1) | EP1854417B1 (en) |
JP (1) | JP4105200B2 (en) |
AT (1) | ATE441370T1 (en) |
DE (1) | DE602007002217D1 (en) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20110138962A1 (en) * | 2008-08-12 | 2011-06-16 | Ntn Corporation | Remote-controlled actuator |
US20110179894A1 (en) * | 2008-10-08 | 2011-07-28 | Ntn Corporation | Remote-controlled actuator |
US20110203825A1 (en) * | 2008-09-11 | 2011-08-25 | Ntn Corporation | Remote-controlled actuator |
US20110230868A1 (en) * | 2008-11-27 | 2011-09-22 | Ntn Corporation | Remote-controlled actuator |
US8316961B2 (en) | 2009-05-08 | 2012-11-27 | Ntn Corporation | Remote-controlled work robot |
US8573090B2 (en) | 2009-04-15 | 2013-11-05 | Ntn Corporation | Remote-controlled actuator |
US8739643B2 (en) | 2009-09-28 | 2014-06-03 | Ntn Corporation | Remote-controlled actuator |
US8939345B2 (en) | 2009-05-29 | 2015-01-27 | Ntn Corporation | Remote-controlled actuator |
US9126270B2 (en) | 2009-08-27 | 2015-09-08 | Ntn Corporation | Device for detecting tool tip position of remote-controlled actuator |
US9126339B2 (en) | 2010-09-30 | 2015-09-08 | Ntn Corporation | Remote controlled actuator assembly |
US9566121B2 (en) | 2013-03-15 | 2017-02-14 | Stryker Corporation | End effector of a surgical robotic manipulator |
US9615836B2 (en) | 2009-12-24 | 2017-04-11 | Ntn Corporation | Remote-controlled actuator assembly |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2397098A1 (en) | 2009-02-16 | 2011-12-21 | NTN Corporation | Navigation system for remote-controlled actuator |
US20110319912A1 (en) | 2009-03-06 | 2011-12-29 | Ntn Corporation | Navigation system for remote-controlled actuator |
JP5388701B2 (en) * | 2009-05-29 | 2014-01-15 | Ntn株式会社 | Remote control type actuator |
WO2016138443A2 (en) | 2015-02-26 | 2016-09-01 | Stryker Corporation | Surgical instrument with articulation region |
EP3541302B1 (en) * | 2016-11-17 | 2021-10-06 | Bono, Peter L. | Rotary oscillating surgical tool |
CN110985521A (en) * | 2019-09-27 | 2020-04-10 | 上海微创医疗器械(集团)有限公司 | Rotary device and drive shaft for a rotary device |
US11918246B2 (en) | 2020-02-07 | 2024-03-05 | Gyrus Acmi, Inc. | Medical device including flexible shaft with multiple bearings |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6024750A (en) * | 1997-08-14 | 2000-02-15 | United States Surgical | Ultrasonic curved blade |
US20060041268A1 (en) * | 2004-08-17 | 2006-02-23 | Medtronic, Inc. | Surgical attachment instrument and method |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004097790A (en) | 2002-07-16 | 2004-04-02 | Nakanishi:Kk | Medical purpose hand piece and cutting tool |
JP3911503B2 (en) * | 2004-05-19 | 2007-05-09 | 株式会社ナカニシ | Medical handpiece |
-
2006
- 2006-05-11 JP JP2006132595A patent/JP4105200B2/en not_active Expired - Fee Related
-
2007
- 2007-05-09 AT AT07009340T patent/ATE441370T1/en active
- 2007-05-09 US US11/746,409 patent/US20070265653A1/en not_active Abandoned
- 2007-05-09 DE DE602007002217T patent/DE602007002217D1/en active Active
- 2007-05-09 EP EP07009340A patent/EP1854417B1/en not_active Not-in-force
-
2009
- 2009-07-27 US US12/509,804 patent/US8382783B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6024750A (en) * | 1997-08-14 | 2000-02-15 | United States Surgical | Ultrasonic curved blade |
US20060041268A1 (en) * | 2004-08-17 | 2006-02-23 | Medtronic, Inc. | Surgical attachment instrument and method |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20110138962A1 (en) * | 2008-08-12 | 2011-06-16 | Ntn Corporation | Remote-controlled actuator |
US8393242B2 (en) | 2008-08-12 | 2013-03-12 | Ntn Corporation | Remote-controlled actuator |
US20110203825A1 (en) * | 2008-09-11 | 2011-08-25 | Ntn Corporation | Remote-controlled actuator |
US8439899B2 (en) | 2008-09-11 | 2013-05-14 | Ntn Corporation | Remote-controlled actuator |
US9446456B2 (en) | 2008-09-11 | 2016-09-20 | Ntn Corporation | Remote-controlled actuator |
US20110179894A1 (en) * | 2008-10-08 | 2011-07-28 | Ntn Corporation | Remote-controlled actuator |
US8511195B2 (en) | 2008-10-08 | 2013-08-20 | Ntn Corporation | Remote-controlled actuator |
US20110230868A1 (en) * | 2008-11-27 | 2011-09-22 | Ntn Corporation | Remote-controlled actuator |
US8221398B2 (en) | 2008-11-27 | 2012-07-17 | Ntn Corporation | Remote-controlled actuator |
US8794100B2 (en) | 2009-04-15 | 2014-08-05 | Ntn Corporation | Remote-controlled actuator |
US8573090B2 (en) | 2009-04-15 | 2013-11-05 | Ntn Corporation | Remote-controlled actuator |
US8316961B2 (en) | 2009-05-08 | 2012-11-27 | Ntn Corporation | Remote-controlled work robot |
US8939345B2 (en) | 2009-05-29 | 2015-01-27 | Ntn Corporation | Remote-controlled actuator |
US9126270B2 (en) | 2009-08-27 | 2015-09-08 | Ntn Corporation | Device for detecting tool tip position of remote-controlled actuator |
US8739643B2 (en) | 2009-09-28 | 2014-06-03 | Ntn Corporation | Remote-controlled actuator |
US9615836B2 (en) | 2009-12-24 | 2017-04-11 | Ntn Corporation | Remote-controlled actuator assembly |
US9126339B2 (en) | 2010-09-30 | 2015-09-08 | Ntn Corporation | Remote controlled actuator assembly |
US9566121B2 (en) | 2013-03-15 | 2017-02-14 | Stryker Corporation | End effector of a surgical robotic manipulator |
US10675050B2 (en) | 2013-03-15 | 2020-06-09 | Stryker Corporation | End effector with liquid delivery system |
US11812984B2 (en) | 2013-03-15 | 2023-11-14 | Stryker Corporation | End effector of a surgical robotic manipulator including a grip sensing mechanism for manual operation of the end effector |
Also Published As
Publication number | Publication date |
---|---|
US8382783B2 (en) | 2013-02-26 |
EP1854417A1 (en) | 2007-11-14 |
US20090287234A1 (en) | 2009-11-19 |
ATE441370T1 (en) | 2009-09-15 |
DE602007002217D1 (en) | 2009-10-15 |
JP4105200B2 (en) | 2008-06-25 |
EP1854417B1 (en) | 2009-09-02 |
JP2007301149A (en) | 2007-11-22 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: NAKANISHI INC., JAPAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:SUZUKI, TETSUJI;REEL/FRAME:019270/0523 Effective date: 20070501 |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |