BR112019013585A8 - Aparelho cirúrgico endoluminal, método de cirurgia endoluminal e instrumento cirúrgico - Google Patents

Aparelho cirúrgico endoluminal, método de cirurgia endoluminal e instrumento cirúrgico

Info

Publication number
BR112019013585A8
BR112019013585A8 BR112019013585A BR112019013585A BR112019013585A8 BR 112019013585 A8 BR112019013585 A8 BR 112019013585A8 BR 112019013585 A BR112019013585 A BR 112019013585A BR 112019013585 A BR112019013585 A BR 112019013585A BR 112019013585 A8 BR112019013585 A8 BR 112019013585A8
Authority
BR
Brazil
Prior art keywords
endoluminal
surgical
appliance
surgery method
surgical instrument
Prior art date
Application number
BR112019013585A
Other languages
English (en)
Other versions
BR112019013585A2 (pt
Inventor
h kim Daniel
Suk Shin Dong
JANG Taeho
Park Yongman
Lee Jeihan
Kim Hongmin
Nam Kihoon
Han Seokyung
Original Assignee
Univ Texas
Colubrismx Inc
Endoquest Robotics 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 Univ Texas, Colubrismx Inc, Endoquest Robotics Inc filed Critical Univ Texas
Publication of BR112019013585A2 publication Critical patent/BR112019013585A2/pt
Publication of BR112019013585A8 publication Critical patent/BR112019013585A8/pt

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
    • A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/295—Forceps for use in minimally invasive surgery combined with cutting implements
    • 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
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00265—Hand assisted surgery, i.e. minimally invasive surgery with at least part of an assisting hand inside the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets 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, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets 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, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets 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, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00876—Material properties magnetic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2906—Multiple forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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—Master-slave robots

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Laser Surgery Devices (AREA)

Abstract

A presente invenção refere-se a um aparelho cirúrgico compreendendo: um membro direcionável que é flexionável e compreende uma pluralidade de segmentos flexionáveis com canais no seu interior; e uma pluralidade de fios flexionáveis de acionamento que são arranjados para passar através do membro direcionável e fazer com que o membro direcionável flexione, o membro direcionável compreendendo pelo menos um lúmen de abertura em um sentido para fora, no qual os fios flexíveis de acionamento passam.
BR112019013585A 2017-06-29 2018-06-28 Aparelho cirúrgico endoluminal, método de cirurgia endoluminal e instrumento cirúrgico BR112019013585A8 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201762526881P 2017-06-29 2017-06-29
US62/526,881 2017-06-29
PCT/US2018/039943 WO2019006087A2 (en) 2017-06-29 2018-06-28 SURGICAL APPARATUS

Publications (2)

Publication Number Publication Date
BR112019013585A2 BR112019013585A2 (pt) 2020-01-07
BR112019013585A8 true BR112019013585A8 (pt) 2023-03-07

Family

ID=64743033

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112019013585A BR112019013585A8 (pt) 2017-06-29 2018-06-28 Aparelho cirúrgico endoluminal, método de cirurgia endoluminal e instrumento cirúrgico

Country Status (11)

Country Link
US (3) US11419691B2 (pt)
EP (2) EP3799822B1 (pt)
JP (3) JP7270544B2 (pt)
KR (1) KR102332869B1 (pt)
CN (2) CN114533204A (pt)
AU (1) AU2018290914B2 (pt)
BR (1) BR112019013585A8 (pt)
CA (1) CA3048492C (pt)
MX (1) MX2019008050A (pt)
TW (2) TW202320714A (pt)
WO (1) WO2019006087A2 (pt)

Families Citing this family (49)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4218628A3 (en) * 2016-02-05 2023-10-18 Board Of Regents Of the University Of Texas System Surgical apparatus
JP7244985B2 (ja) * 2017-05-19 2023-03-23 川崎重工業株式会社 操作装置及び操作システム
US11497490B2 (en) * 2018-07-09 2022-11-15 Covidien Lp Powered surgical devices including predictive motor control
CN109821137B (zh) * 2019-01-29 2020-10-09 燕山大学 微创血管介入手术机器人导管和导丝捻旋推进机构
CN113473924A (zh) 2019-02-26 2021-10-01 艾彼度科技有限公司 脊柱硬膜外空间减压的系统和方法
JP7260883B2 (ja) * 2019-02-27 2023-04-19 コリア ユニバーシティ リサーチ アンド ビジネス ファウンデーション ロボット関節駆動用動力伝達システム
KR102289645B1 (ko) * 2019-04-09 2021-08-18 한국기계연구원 굴곡 모듈, 이를 포함하는 수술용 말단장치 및 수술용 말단장치를 포함하는 내시경 로봇
EP3979940A1 (en) * 2019-06-07 2022-04-13 Boston Scientific Scimed Inc. Zero force catheter
CN110464466B (zh) * 2019-08-20 2021-04-20 吉林大学 一种用于腹腔微创外科手术的柔性机器人
CN110537945A (zh) * 2019-09-20 2019-12-06 沈阳术驰医疗科技有限公司 微创手术器械
US11730349B2 (en) * 2019-10-25 2023-08-22 Canon U.S.A., Inc. Steerable medical device with bending sections and improved connector therefor
KR102333966B1 (ko) * 2019-11-27 2021-12-03 가톨릭관동대학교산학협력단 안전형 만성 경막하 출혈 수술용 배액관
CN112914556A (zh) * 2019-12-05 2021-06-08 朱霖 测量尺
CN114828760B (zh) * 2019-12-25 2023-04-04 瑞德医疗机器股份有限公司 手术器具
CN114786598B (zh) * 2019-12-25 2023-04-25 瑞德医疗机器股份有限公司 手术器具
CN211834303U (zh) * 2020-02-13 2020-11-03 荣晶生物科技股份有限公司 内视镜系统
TWM600131U (zh) 2020-02-13 2020-08-21 榮晶生物科技股份有限公司 內視鏡系統
AU2021291294A1 (en) 2020-06-19 2023-02-02 Remedy Robotics, Inc. Systems and methods for guidance of intraluminal devices within the vasculature
US20210393346A1 (en) * 2020-06-22 2021-12-23 Auris Health, Inc. Drive patterns and spline arrangement for robotic surgical tools
CN115551436A (zh) * 2020-06-30 2022-12-30 北京术锐技术有限公司 连续体器械及手术机器人
JP2022035058A (ja) * 2020-08-20 2022-03-04 株式会社Biomedical Solutions 生検鉗子
CN111941405B (zh) * 2020-08-25 2023-01-06 长沙理工大学 一种丝驱动蛇形臂机器人
CN111941404B (zh) * 2020-08-25 2023-01-10 长沙理工大学 一种机器人系统的工作方法
CN111941410B (zh) * 2020-08-25 2023-01-06 长沙理工大学 一种避免松弛式丝驱动机器人
CN111941406B (zh) * 2020-08-25 2022-11-15 长沙理工大学 一种机器人系统
CN112022238B (zh) * 2020-08-28 2021-06-15 中国科学院沈阳自动化研究所 一种微创手术机器人用手术器械
CN112971994B (zh) * 2020-08-31 2022-06-03 合肥工业大学 一种基于连续体构型的眼科手术机器人
CN112022243A (zh) * 2020-09-18 2020-12-04 山东科技大学 一种腰椎间盘切除手术机器人
KR102244131B1 (ko) 2020-09-29 2021-04-23 주식회사 딥큐어 체내의 신경을 차단 또는 조절하기 위한 전극 장치
CN112294236B (zh) * 2020-10-14 2022-03-25 北京大学 内窥镜前端弯曲部形态检测系统及其检测方法
JP7171669B2 (ja) * 2020-10-14 2022-11-15 川崎重工業株式会社 手術支援システム、患者側装置および手術支援システムの制御方法
CN112356016B (zh) * 2020-11-23 2022-02-08 长沙理工大学 一种可实现弯曲运动解耦的丝驱动构节
CN112405601B (zh) * 2020-11-23 2021-12-17 长沙理工大学 一种可实现弯曲运动解耦的丝驱动关节
KR102296026B1 (ko) 2020-12-03 2021-09-02 주식회사 딥큐어 전극 장치
SE544744C2 (en) * 2021-04-01 2022-11-01 Skugga Tech Ab Hinge between a first part and a second part in an electrical device
US11707332B2 (en) 2021-07-01 2023-07-25 Remedy Robotics, Inc. Image space control for endovascular tools
CA3222522A1 (en) 2021-07-01 2023-01-05 David James Bell Vision-based position and orientation determination for endovascular tools
CN113288440B (zh) * 2021-07-06 2022-11-04 合肥工业大学 一种基于多分段连续体串联结构的微创介入手术机器人
CN114166510B (zh) * 2021-10-20 2023-06-13 中国航发四川燃气涡轮研究院 一种测力组件横向刚度测量装置
KR102629040B1 (ko) * 2021-11-03 2024-01-23 이화여자대학교 산학협력단 와이어 기반 조향 바늘 구동 장치
TW202335645A (zh) * 2021-11-30 2023-09-16 美商安督奎斯特機器人公司 機器人手術系統的控制器配置
WO2023101968A1 (en) 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Steerable overtube assemblies for robotic surgical systems
TWI837973B (zh) * 2021-11-30 2024-04-01 美商安督奎斯特機器人公司 患者控制台的定位總成之控制方法、患者控制台以及具有患者控制台的機器人手術系統
TWI838986B (zh) * 2021-11-30 2024-04-11 美商安督奎斯特機器人公司 患者控制台、具有該患者控制台的機器人手術系統及其執行方法
CN114209369A (zh) * 2021-12-10 2022-03-22 江苏集萃微纳自动化系统与装备技术研究所有限公司 一种适于柔性弯曲的轴向动力系统
EP4282317A1 (en) * 2022-05-24 2023-11-29 Ambu A/S Endoscope comprising a bending section having individual segments
WO2024009273A1 (en) * 2022-07-07 2024-01-11 Hoya Corporation Bendable tube for use in an endoscope
WO2024089649A1 (en) * 2022-10-27 2024-05-02 Rapid Medical Ltd. Systems and methods for measuring force applied to an endovascular device
CN116277137B (zh) * 2023-05-23 2023-08-18 艺柏湾医疗科技(上海)有限公司 一种机器人关节结构

Family Cites Families (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5788628A (en) * 1994-05-26 1998-08-04 Asahi Kogaku Kogyo Kabushiki Kaisha Endoscope
US6417638B1 (en) 1998-07-17 2002-07-09 Sensable Technologies, Inc. Force reflecting haptic interface
US6985133B1 (en) 1998-07-17 2006-01-10 Sensable Technologies, Inc. Force reflecting haptic interface
WO2000028882A2 (en) * 1998-11-18 2000-05-25 Microdexterity Systems, Inc. Medical manipulator for use with an imaging device
AU1825400A (en) 1998-11-23 2000-06-13 Microdexterity Systems, Inc. Surgical manipulator
US6179776B1 (en) 1999-03-12 2001-01-30 Scimed Life Systems, Inc. Controllable endoscopic sheath apparatus and related method of use
DE19915812C2 (de) * 1999-04-08 2001-04-12 Storz Karl Gmbh & Co Kg Schutzschlauch zur Verwendung bei der Sterilisierung eines flexiblen Endoskops
US7637905B2 (en) 2003-01-15 2009-12-29 Usgi Medical, Inc. Endoluminal tool deployment system
US6858005B2 (en) 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
US7699835B2 (en) * 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
US7320700B2 (en) * 2002-12-06 2008-01-22 Intuitive Surgical, Inc Flexible wrist for surgical tool
US20040176751A1 (en) 2002-08-14 2004-09-09 Endovia Medical, Inc. Robotic medical instrument system
US7411576B2 (en) 2003-10-30 2008-08-12 Sensable Technologies, Inc. Force reflecting haptic interface
US9700334B2 (en) * 2004-11-23 2017-07-11 Intuitive Surgical Operations, Inc. Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools
WO2006063491A1 (en) * 2004-12-14 2006-06-22 Kerang Jiang Endoscope system with a disposable sheath and method of use thereof
EP1690652A1 (en) 2005-02-11 2006-08-16 Force Dimension S.à.r.l Device for transmitting movements comprising a parallel kinematic structure and components thereof
EP1906858B1 (en) * 2005-07-01 2016-11-16 Hansen Medical, Inc. Robotic catheter system
US8182470B2 (en) * 2005-12-20 2012-05-22 Intuitive Surgical Operations, Inc. Telescoping insertion axis of a robotic surgical system
US7930065B2 (en) * 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US9962066B2 (en) 2005-12-30 2018-05-08 Intuitive Surgical Operations, Inc. Methods and apparatus to shape flexible entry guides for minimally invasive surgery
US8021293B2 (en) * 2006-01-13 2011-09-20 Olympus Medical Systems Corp. Medical treatment endoscope
US9084621B2 (en) 2006-12-01 2015-07-21 Boston Scientific Scimed, Inc. Guide tube systems and methods
US20080249536A1 (en) * 2007-02-15 2008-10-09 Hansen Medical, Inc. Interface assembly for controlling orientation of robotically controlled medical instrument
US20130090763A1 (en) 2008-01-25 2013-04-11 The Trustees Of Columibia University In The City Of The City Of New York Systems and methods for force sensing in a robot
KR101075363B1 (ko) * 2008-10-31 2011-10-19 정창욱 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템
US20100331856A1 (en) 2008-12-12 2010-12-30 Hansen Medical Inc. Multiple flexible and steerable elongate instruments for minimally invasive operations
US20100217080A1 (en) * 2009-02-24 2010-08-26 Visionscope Technologies, Llc Disposable Sheath for Use with an Imaging System
US8888789B2 (en) * 2009-09-23 2014-11-18 Intuitive Surgical Operations, Inc. Curved cannula surgical system control
US20130281924A1 (en) * 2010-04-13 2013-10-24 Transenterix, Inc. Segmented instrument shaft with antirotation features
KR20130091334A (ko) 2010-07-27 2013-08-16 더 트러스티이스 오브 콜롬비아 유니버시티 인 더 시티 오브 뉴욕 빠르게 전개가능한 유연한 로봇 기기 장치
US20120191107A1 (en) * 2010-09-17 2012-07-26 Tanner Neal A Systems and methods for positioning an elongate member inside a body
FR2987734B1 (fr) * 2012-03-08 2014-04-11 Univ Strasbourg Dispositif d'instrumentation motorise et modulable et systeme d'endoscope comprenant un tel dispositif
JP6053358B2 (ja) 2012-07-03 2016-12-27 オリンパス株式会社 手術支援装置
SG11201502034WA (en) * 2012-09-19 2015-05-28 Univ Nanyang Tech Flexible master - slave robotic endoscopy system
KR102188100B1 (ko) 2013-03-15 2020-12-07 삼성전자주식회사 로봇 및 그 제어방법
JP6274630B2 (ja) * 2013-06-19 2018-02-07 タイタン メディカル インコーポレイテッドＴｉｔａｎ Ｍｅｄｉｃａｌ Ｉｎｃ． 多関節器具位置決め装置およびそれを採用するシステム
US10238457B2 (en) 2013-09-13 2019-03-26 Vanderbilt University System and method for endoscopic deployment of robotic concentric tube manipulators for performing surgery
WO2015061674A1 (en) * 2013-10-25 2015-04-30 Intuitive Surgical Operations, Inc. Flexible instrument with grooved steerable tube
US20160095505A1 (en) 2013-11-22 2016-04-07 Massachusetts Institute Of Technology Instruments for minimally invasive surgical procedures
US9820819B2 (en) 2014-01-09 2017-11-21 St. Jude Medical, Cardiology Division, Inc. Suspension system for remote catheter guidance
CN111938820A (zh) * 2014-02-21 2020-11-17 直观外科手术操作公司 机械接头以及相关的系统和方法
WO2016148642A1 (en) 2015-03-19 2016-09-22 Endomaster Pte Ltd An enhanced flexible robotic endoscopy apparatus
US20180214220A1 (en) 2015-07-09 2018-08-02 Kawasaki Jukogyo Kabushiki Kaisha Surgical robot
US10307214B2 (en) 2015-11-23 2019-06-04 Vanderbilt University Modular sterilizable robotic system for endonasal surgery
CN106361433B (zh) 2016-08-31 2018-11-27 北京术锐技术有限公司 一种基于连续体结构的柔性手术工具系统
CN106510848B (zh) * 2016-11-23 2018-06-26 中国人民解放军第二军医大学 一种经尿道的手术机器人及控制系统

Also Published As

Publication number Publication date
CA3048492C (en) 2021-09-07
EP3547947A2 (en) 2019-10-09
KR102332869B1 (ko) 2021-11-29
CN110234293B (zh) 2022-09-13
CA3048492A1 (en) 2019-01-03
US20210267702A1 (en) 2021-09-02
JP2022130530A (ja) 2022-09-06
EP3799822A1 (en) 2021-04-07
TW202320714A (zh) 2023-06-01
US20200107898A1 (en) 2020-04-09
EP3799822B1 (en) 2024-02-28
TW201922179A (zh) 2019-06-16
US11419691B2 (en) 2022-08-23
CN114533204A (zh) 2022-05-27
JP7407239B2 (ja) 2023-12-28
WO2019006087A2 (en) 2019-01-03
CN110234293A (zh) 2019-09-13
AU2018290914B2 (en) 2020-09-10
JP2022130529A (ja) 2022-09-06
EP3547947A4 (en) 2020-08-05
JP7270544B2 (ja) 2023-05-10
AU2018290914A1 (en) 2019-07-11
TWI795414B (zh) 2023-03-11
US20210275266A1 (en) 2021-09-09
JP2020528288A (ja) 2020-09-24
MX2019008050A (es) 2019-10-21
KR20200014259A (ko) 2020-02-10
BR112019013585A2 (pt) 2020-01-07
WO2019006087A3 (en) 2019-02-21

Similar Documents

Publication Publication Date Title
BR112019013585A8 (pt) Aparelho cirúrgico endoluminal, método de cirurgia endoluminal e instrumento cirúrgico
BR112018009251A2 (pt) aparelho cirúrgico e controlador principal personalizado para um aparelho cirúrgico
BR112022012890A2 (pt) Instrumento cirúrgico que compreende um circuito flexível
BR112018014112A8 (pt) Dispositivos e métodos para formação de uma fístula
BR112017005315A2 (pt) dispositivos e métodos para a remoção de tecido lenticular
BR112018014553A2 (pt) gaiola de confinamento de enxerto de osso helicoidal
BR112018016496A2 (pt) porta-instrumento com sistema de formação de imagem integrado
BR112017001345A2 (pt) dispositivos de anastomose magnética, sistema de anastomose de compressão magnética e método para criar uma anastomose em um tecido
BR112016020044A8 (pt) aparelho para contração e expansão de dispositivo médico implantável
BR112018003737A2 (pt) válvula hemostática para introdutor de dispositivo médico
EP3738532A4 (en) MEDICAL THREAD INTRODUCER
BR112017003942A2 (pt) dispositivo de manuseio de sutura, sistema e método
EP3735934A4 (en) MEDICAL OBSERVATION INSTRUMENT
ECSP18091065A (es) Ésteres de oxaborol y sus usos
BR112017002985A2 (pt) conjunto e porta de acesso cirúrgico
BR112017022313A2 (pt) agulha oca para um instrumento cirúrgico oftálmico
BR112019019261A2 (pt) Terapias de combinação para o tratamento de câncer de mama
BR112018008955A8 (pt) repositório com múltiplos cabeçotes para uso com um dispositivo cirúrgico
ES1286138Y (es) Pinzas quirúrgicas
BR112017001372A2 (pt) dispositivo médico com visibilidade melhorada para inserção em um corpo humano ou animal e/ou para o contato com tecido humano ou animal, e método de revestimento de um dispositivo médico
BR112018014069A2 (pt) uso de uma dieta de reforço e imitação de jejum, uso de uma dieta de reforço e imitação de jejum com um agente quimioterápico, e pacote de dieta.
DE112020005043A5 (de) Chirurgisches Instrument
BR112017021623A2 (pt) dispositivo de cânula, pulmão artificial
IL273556A (en) Medical device with coagulation
ES1230155Y (es) Instrumento quirúrgico laparoscópico

Legal Events

Date Code Title Description
B350 Update of information on the portal [chapter 15.35 patent gazette]
B06W Patent application suspended after preliminary examination (for patents with searches from other patent authorities) chapter 6.23 patent gazette]
B25F Entry of change of name and/or headquarter and transfer of application, patent and certif. of addition of invention: change of name on requirement

Owner name: THE BOARD OF REGENTS OF THE UNIVERSITY OF TEXAS SYSTEM (US) ; COLUBRISMX, INC. (US)

Free format text: A FIM DE ATENDER A ALTERACAO DE NOME REQUERIDA ATRAVES DA PETICAO NO 870220102366, DE 04/11/2022, E NECESSARIO APRESENTAR DOCUMENTO NOTARIZADO E COM TRADUCAO JURAMENTADA. ALEM DISSO, E PRECISO APRESENTAR A GUIA DE CUMPRIMENTO DE EXIGENCIA.

B154 Notification of filing of divisional application [chapter 15.50 patent gazette]

Free format text: O PEDIDO FOI DIVIDIDO NO BR122022026009-8 PROTOCOLO 870220119745 EM 19/12/2022 18:28.O PEDIDO FOI DIVIDIDO NO BR122023000405-1 PROTOCOLO 870230002386 EM 09/01/2023 15:57.

B25D Requested change of name of applicant approved

Owner name: THE BOARD OF REGENTS OF THE UNIVERSITY OF TEXAS SYSTEM (US) ; ENDOQUEST ROBOTICS, INC. (US)

B09A Decision: intention to grant [chapter 9.1 patent gazette]
B11D Dismissal acc. art. 38, par 2 of ipl - failure to pay fee after grant in time