CN101528111B - 具有多个工作口的可操纵多节设备 - Google Patents
具有多个工作口的可操纵多节设备 Download PDFInfo
- Publication number
- CN101528111B CN101528111B CN200780030338XA CN200780030338A CN101528111B CN 101528111 B CN101528111 B CN 101528111B CN 200780030338X A CN200780030338X A CN 200780030338XA CN 200780030338 A CN200780030338 A CN 200780030338A CN 101528111 B CN101528111 B CN 101528111B
- Authority
- CN
- China
- Prior art keywords
- joint
- segmentum intercalaris
- equipment
- longitudinal axis
- segment
- 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.)
- Expired - Fee Related
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/00073—Insertion part of the endoscope body with externally grooved shaft
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/00078—Insertion part of the endoscope body with stiffening 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
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- 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
- A61B1/008—Articulations
-
- 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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
Abstract
Description
Claims (20)
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US82228006P | 2006-08-14 | 2006-08-14 | |
US60/822,280 | 2006-08-14 | ||
US86263606P | 2006-10-24 | 2006-10-24 | |
US60/862,636 | 2006-10-24 | ||
PCT/US2007/075878 WO2008022114A2 (en) | 2006-08-14 | 2007-08-14 | Steerable multi-linked device having multiple working ports |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101528111A CN101528111A (zh) | 2009-09-09 |
CN101528111B true CN101528111B (zh) | 2012-04-04 |
Family
ID=39083050
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN200780030338XA Expired - Fee Related CN101528111B (zh) | 2006-08-14 | 2007-08-14 | 具有多个工作口的可操纵多节设备 |
Country Status (10)
Country | Link |
---|---|
US (4) | US8192422B2 (zh) |
EP (2) | EP2633961B1 (zh) |
JP (2) | JP5069299B2 (zh) |
CN (1) | CN101528111B (zh) |
AU (1) | AU2007286031B2 (zh) |
BR (1) | BRPI0714489B8 (zh) |
CA (1) | CA2661712C (zh) |
ES (1) | ES2475731T3 (zh) |
IL (1) | IL197032A (zh) |
WO (1) | WO2008022114A2 (zh) |
Families Citing this family (51)
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EP2117417B1 (en) * | 2007-02-27 | 2014-10-29 | Carnegie Mellon University | System for releasably attaching a disposable device to a durable device |
JP5562940B2 (ja) | 2008-04-14 | 2014-07-30 | カーネギー メロン ユニバーシティ | 可視化システムを有する多関節装置 |
ES2658968T3 (es) | 2008-06-05 | 2018-03-13 | Carnegie Mellon University | Dispositivo de sonda articulado extensible |
US9101735B2 (en) * | 2008-07-07 | 2015-08-11 | Intuitive Surgical Operations, Inc. | Catheter control systems |
BRPI0802525A2 (pt) | 2008-07-11 | 2010-03-09 | Kiyoshi Hashiba | endoscópio cirúrgico |
WO2010028371A1 (en) * | 2008-09-05 | 2010-03-11 | Zubiate, Brett | Multi-linked endoscopic device with spherical distal assembly |
EP2287478B1 (en) * | 2009-08-17 | 2012-10-03 | University Of Dundee | Element for transmitting pulling and pushing forces as well as a torque |
EP2505117B1 (en) * | 2010-03-08 | 2014-04-16 | Olympus Medical Systems Corp. | Medical device for multiple bends |
KR20180025987A (ko) | 2010-07-28 | 2018-03-09 | 메드로보틱스 코포레이션 | 서지컬 포지셔닝과 서포트 시스템 |
US8974372B2 (en) | 2010-08-25 | 2015-03-10 | Barry M. Fell | Path-following robot |
JP5711380B2 (ja) | 2010-10-22 | 2015-04-30 | メドロボティクス コーポレイション | 多関節のロボティックプローブ |
AU2011338931B2 (en) | 2010-11-11 | 2017-02-09 | Medrobotics Corporation | Introduction devices for highly articulated robotic probes and methods of production and use of such probes |
EP3488802A1 (en) | 2011-04-06 | 2019-05-29 | Medrobotics Corporation | Articulating surgical tools and tool sheaths, and methods of deploying the same |
EP3321042A1 (en) | 2011-09-13 | 2018-05-16 | Medrobotics Corporation | Highly articulated probes with anti-twist link arrangement |
US9364955B2 (en) | 2011-12-21 | 2016-06-14 | Medrobotics Corporation | Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof |
CA2874720A1 (en) | 2012-06-07 | 2013-12-12 | Medrobotics Corporation | Articulating surgical instruments and methods of deploying the same |
CA2911151A1 (en) | 2013-05-02 | 2014-11-06 | Tom CALEF | A robotic system including a cable interface assembly |
US9517059B2 (en) | 2013-05-20 | 2016-12-13 | Medrobotics Corporation | Articulating surgical instruments and method of deploying the same |
EP3089696A4 (en) | 2013-12-30 | 2017-08-30 | Medrobotics Corporation | Articulated robotic probes |
WO2017041052A1 (en) | 2015-09-03 | 2017-03-09 | Neptune Medical | Device for endoscopic advancement through the small intestine |
CA3152886C (en) | 2016-02-05 | 2023-01-03 | Board Of Regents Of The University Of Texas System | Surgical apparatus |
KR102436601B1 (ko) | 2016-02-05 | 2022-08-25 | 보드 오브 리전츠 오브 더 유니버시티 오브 텍사스 시스템 | 조종가능한 루멘 내 의료 기기 |
CN108882832B (zh) | 2016-03-01 | 2020-11-03 | 库克医学技术有限责任公司 | 转向内窥镜配件通道 |
CN108882834B (zh) | 2016-03-01 | 2022-03-29 | 库克医学技术有限责任公司 | 柔性内窥镜支撑系统 |
US11122971B2 (en) | 2016-08-18 | 2021-09-21 | Neptune Medical Inc. | Device and method for enhanced visualization of the small intestine |
US11026716B2 (en) | 2016-11-22 | 2021-06-08 | Boston Scientific Scimed, Inc. | Medical device shaft resistant to compression and/or tension |
CN110621263B (zh) | 2017-03-14 | 2021-10-22 | 波士顿科学国际有限公司 | 具有内部组件的医疗装置 |
EP3595595A1 (en) | 2017-03-14 | 2020-01-22 | Boston Scientific Scimed, Inc. | Medical device shaft including a liner |
WO2018204558A1 (en) | 2017-05-03 | 2018-11-08 | Boston Scientific Scimed, Inc. | Medical device with sealing assembly |
WO2019075706A1 (zh) * | 2017-10-20 | 2019-04-25 | 周震华 | 一种蜂巢结构的先端头部、内窥镜及其制造方法 |
US20210068615A1 (en) * | 2018-01-05 | 2021-03-11 | Medrobotics Corporation | Robotic surgical system |
USD874655S1 (en) | 2018-01-05 | 2020-02-04 | Medrobotics Corporation | Positioning arm for articulating robotic surgical system |
WO2019136348A2 (en) * | 2018-01-05 | 2019-07-11 | Medrobotics Corporation | Robotic system |
EP3784177A1 (en) | 2018-04-26 | 2021-03-03 | Boston Scientific Scimed, Inc. | Motorized telescoping medical device delivery system |
CN112399834A (zh) | 2018-04-26 | 2021-02-23 | 波士顿科学国际有限公司 | 具有联接构件的医疗装置 |
EP3784179A1 (en) | 2018-04-26 | 2021-03-03 | Boston Scientific Scimed, Inc. | Medical device with telescoping sealing assembly |
US10668843B2 (en) | 2018-06-25 | 2020-06-02 | Faurecia Automotive Seating, Llc | Fastening device for a vehicle seat bottom |
CN112714658A (zh) | 2018-07-19 | 2021-04-27 | 海王星医疗公司 | 动态刚性化复合医疗结构 |
US11707819B2 (en) * | 2018-10-15 | 2023-07-25 | General Electric Company | Selectively flexible extension tool |
US11702955B2 (en) | 2019-01-14 | 2023-07-18 | General Electric Company | Component repair system and method |
US11793392B2 (en) | 2019-04-17 | 2023-10-24 | Neptune Medical Inc. | External working channels |
WO2021030567A1 (en) | 2019-08-15 | 2021-02-18 | Boston Scientific Scimed, Inc. | Medical device including attachable tip member |
US11752622B2 (en) | 2020-01-23 | 2023-09-12 | General Electric Company | Extension tool having a plurality of links |
US11692650B2 (en) | 2020-01-23 | 2023-07-04 | General Electric Company | Selectively flexible extension tool |
US11613003B2 (en) | 2020-01-24 | 2023-03-28 | General Electric Company | Line assembly for an extension tool having a plurality of links |
US11371437B2 (en) | 2020-03-10 | 2022-06-28 | Oliver Crispin Robotics Limited | Insertion tool |
CA3178444A1 (en) | 2020-03-30 | 2021-10-07 | Neptune Medical Inc. | Layered walls for rigidizing devices |
JP2023524080A (ja) | 2020-06-26 | 2023-06-08 | クック・メディカル・テクノロジーズ・リミテッド・ライアビリティ・カンパニー | 内視鏡屈曲セクション |
US11654547B2 (en) | 2021-03-31 | 2023-05-23 | General Electric Company | Extension tool |
US20230346205A1 (en) | 2022-04-27 | 2023-11-02 | Neptune Medical Inc. | Multi-lumen port adapter manifold devices and methods of use |
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-
2007
- 2007-08-14 US US11/838,519 patent/US8192422B2/en active Active
- 2007-08-14 CN CN200780030338XA patent/CN101528111B/zh not_active Expired - Fee Related
- 2007-08-14 EP EP13169769.0A patent/EP2633961B1/en active Active
- 2007-08-14 JP JP2009524761A patent/JP5069299B2/ja not_active Expired - Fee Related
- 2007-08-14 WO PCT/US2007/075878 patent/WO2008022114A2/en active Application Filing
- 2007-08-14 AU AU2007286031A patent/AU2007286031B2/en not_active Ceased
- 2007-08-14 CA CA2661712A patent/CA2661712C/en not_active Expired - Fee Related
- 2007-08-14 BR BRPI0714489A patent/BRPI0714489B8/pt not_active IP Right Cessation
- 2007-08-14 ES ES07814065.4T patent/ES2475731T3/es active Active
- 2007-08-14 EP EP07814065.4A patent/EP2056706B1/en not_active Not-in-force
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2009
- 2009-02-12 IL IL197032A patent/IL197032A/en active IP Right Grant
-
2012
- 2012-05-11 US US13/469,797 patent/US8317777B2/en not_active Expired - Fee Related
- 2012-07-03 JP JP2012149021A patent/JP5575840B2/ja not_active Expired - Fee Related
- 2012-11-07 US US13/670,797 patent/US9386911B2/en active Active
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2016
- 2016-06-14 US US15/181,752 patent/US10471608B2/en not_active Expired - Fee Related
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US9386911B2 (en) | 2016-07-12 |
CA2661712A1 (en) | 2008-02-21 |
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IL197032A0 (en) | 2009-11-18 |
IL197032A (en) | 2011-12-29 |
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