CN102525380B - 弯曲结构及使用该弯曲结构的内窥装置、胃管和机械关节 - Google Patents
弯曲结构及使用该弯曲结构的内窥装置、胃管和机械关节 Download PDFInfo
- Publication number
- CN102525380B CN102525380B CN201010608019.6A CN201010608019A CN102525380B CN 102525380 B CN102525380 B CN 102525380B CN 201010608019 A CN201010608019 A CN 201010608019A CN 102525380 B CN102525380 B CN 102525380B
- Authority
- CN
- China
- Prior art keywords
- warp architecture
- bendable
- flexible pipe
- bendable member
- flexible
- 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
- 210000002784 stomach Anatomy 0.000 title claims abstract description 18
- 239000012530 fluid Substances 0.000 claims abstract description 15
- 238000003780 insertion Methods 0.000 claims description 15
- 230000037431 insertion Effects 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 18
- 238000003475 lamination Methods 0.000 description 6
- 229920000742 Cotton Polymers 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000007901 soft capsule Substances 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000012377 drug delivery Methods 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000004816 latex Substances 0.000 description 2
- 229920000126 latex Polymers 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 235000016709 nutrition Nutrition 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 210000001198 duodenum Anatomy 0.000 description 1
- 210000003238 esophagus Anatomy 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000000968 intestinal effect Effects 0.000 description 1
- 210000000936 intestine Anatomy 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- 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
- 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
- A61B1/015—Control of fluid supply or evacuation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
-
- 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
- A61M25/0133—Tip steering devices
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Endoscopes (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
Description
Claims (12)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201010608019.6A CN102525380B (zh) | 2010-12-23 | 2010-12-23 | 弯曲结构及使用该弯曲结构的内窥装置、胃管和机械关节 |
DE102011056559A DE102011056559A1 (de) | 2010-12-23 | 2011-12-16 | Biegevorrichtung |
US13/336,531 US20120165609A1 (en) | 2010-12-23 | 2011-12-23 | Bending device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201010608019.6A CN102525380B (zh) | 2010-12-23 | 2010-12-23 | 弯曲结构及使用该弯曲结构的内窥装置、胃管和机械关节 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102525380A CN102525380A (zh) | 2012-07-04 |
CN102525380B true CN102525380B (zh) | 2016-03-30 |
Family
ID=46317931
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201010608019.6A Expired - Fee Related CN102525380B (zh) | 2010-12-23 | 2010-12-23 | 弯曲结构及使用该弯曲结构的内窥装置、胃管和机械关节 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20120165609A1 (zh) |
CN (1) | CN102525380B (zh) |
DE (1) | DE102011056559A1 (zh) |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103584829B (zh) * | 2013-10-24 | 2015-07-08 | 上海交通大学 | 可变刚度的内镜手术器械外护套 |
CN104116528A (zh) * | 2014-07-14 | 2014-10-29 | 上海交通大学 | 基于柔顺连续体机构的内镜手术器械外护套 |
CN105405363B (zh) * | 2016-01-04 | 2017-12-19 | 京东方科技集团股份有限公司 | 弯折调节装置及相应的柔性显示装置、以及其制造方法 |
GB201617934D0 (en) * | 2016-10-24 | 2016-12-07 | Univ Dundee | Actuators |
JP6892073B2 (ja) * | 2017-05-08 | 2021-06-18 | 国立大学法人東京工業大学 | アクチュエータ |
WO2019034863A1 (en) | 2017-08-15 | 2019-02-21 | University Of Dundee | SOFT ACTUATOR |
CN107928616A (zh) * | 2018-01-04 | 2018-04-20 | 令狐恩强 | 一种便携式可伸缩内镜 |
CN108453753B (zh) * | 2018-04-03 | 2021-06-11 | 山西华信蓝海实业有限责任公司 | 一种抓取柔性机械手 |
CN108453770A (zh) * | 2018-04-03 | 2018-08-28 | 佛山市奥耶克思机械设备有限公司 | 一种具有仿生蹼结构的柔性机械手 |
CN108502533B (zh) * | 2018-04-03 | 2021-12-21 | 南京晨光集团有限责任公司 | 一种网状柔性机械手 |
CN108453750B (zh) * | 2018-04-03 | 2020-10-02 | 北海博联科技有限公司 | 一种弯曲方向可控的柔性机械手 |
CN108582148B (zh) * | 2018-04-03 | 2021-09-07 | 东阳振东科技服务有限公司 | 一种表面变形机械手 |
CN108638097B (zh) * | 2018-04-04 | 2021-01-26 | 永康市迪迪科技有限公司 | 一种含非牛顿流体的柔性机械手 |
CN108638124A (zh) * | 2018-04-04 | 2018-10-12 | 佛山市奥耶克思机械设备有限公司 | 一种螺旋形柔性机械手 |
CN108453752A (zh) * | 2018-04-04 | 2018-08-28 | 佛山市奥耶克思机械设备有限公司 | 一种螺旋结构可控的柔性机械手 |
CN108202341B (zh) * | 2018-04-10 | 2020-11-06 | 义乌市研创工业设计有限公司 | 一种钳形柔性机械手 |
CN108501024A (zh) * | 2018-04-10 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | 一种弯曲可控的柔性机械手 |
CN108527411B (zh) * | 2018-04-10 | 2021-02-05 | 南京晨光集团有限责任公司 | 一种可变刚度的柔性机械手 |
CN108501011B (zh) * | 2018-04-10 | 2020-11-20 | 王天宇 | 一种用于杯壁搬运的柔性机械手机构 |
CN108515530A (zh) * | 2018-04-10 | 2018-09-11 | 佛山市奥耶克思机械设备有限公司 | 一种多方向柔性机械手 |
CN108501023A (zh) * | 2018-04-10 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | 一种多自由度柔性机械手 |
CN108515529B (zh) * | 2018-04-10 | 2020-10-30 | 义乌市思淇工业设计有限公司 | 一种可弯曲的柔性机械手 |
CN109602379B (zh) * | 2019-01-21 | 2021-03-16 | 杭州市儿童医院 | 一种内镜的套管及内镜 |
DE102019106181A1 (de) * | 2019-03-12 | 2020-09-17 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Steuerung eines Biegeprozesses zum Biegen eines Biegekörpers |
CN111216161B (zh) * | 2020-01-16 | 2022-08-23 | 哈尔滨工业大学 | 基于非牛顿流体驱动的变刚度柔性臂及制作方法 |
CN114344677B (zh) * | 2021-12-10 | 2023-03-03 | 广东博迈医疗科技股份有限公司 | 一种导丝及其血管介入方法、血管介入装置 |
CN114750144B (zh) * | 2022-03-28 | 2023-08-01 | 黑龙江省科学院智能制造研究所 | 一种软体机器人转弯控制装置、方法、软体机器人 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0279316A2 (en) * | 1987-02-09 | 1988-08-24 | Sumitomo Electric Industries Limited | Mechanism for bending elongated body |
US4832473A (en) * | 1987-02-06 | 1989-05-23 | Olympus Optical Co., Ltd. | Endoscope with elastic actuator comprising a synthetic rubber tube with only radial expansion controlled by a mesh-like tube |
US5018506A (en) * | 1990-06-18 | 1991-05-28 | Welch Allyn, Inc. | Fluid controlled biased bending neck |
CN101448540A (zh) * | 2006-01-06 | 2009-06-03 | 科迪斯公司 | 用于输送医用有效负载的医用输送系统 |
TW201000063A (en) * | 2008-06-25 | 2010-01-01 | Medical Intubation Tech Corp | Head-arranging device of endoscope |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3665928A (en) * | 1969-10-06 | 1972-05-30 | Louis R M Del Guercio | Self propelled catheter |
DE2835331C3 (de) * | 1978-08-11 | 1981-11-05 | Siemens AG, 1000 Berlin und 8000 München | Endoskop mit elektrischer Bildübertragung |
JPS59124312A (ja) * | 1982-12-29 | 1984-07-18 | Sumitomo Electric Ind Ltd | 画像観察装置 |
US4575185A (en) * | 1983-08-01 | 1986-03-11 | Combustion Engineering, Inc. | System for a fiber optic cable for remote inspection of internal structure of a nuclear steam generator |
US4721097A (en) * | 1986-10-31 | 1988-01-26 | Circon Corporation | Endoscope sheaths and method and apparatus for installation and removal |
US4906230A (en) * | 1987-06-30 | 1990-03-06 | Baxter Travenol Laboratories, Inc. | Steerable catheter tip |
US4794912A (en) * | 1987-08-17 | 1989-01-03 | Welch Allyn, Inc. | Borescope or endoscope with fluid dynamic muscle |
US4890602A (en) * | 1987-11-25 | 1990-01-02 | Hake Lawrence W | Endoscope construction with means for controlling rigidity and curvature of flexible endoscope tube |
US4815450A (en) * | 1988-02-01 | 1989-03-28 | Patel Jayendra I | Endoscope having variable flexibility |
US5158086A (en) * | 1990-07-20 | 1992-10-27 | W. L. Gore & Associates, Inc. | Invasive probe system |
CN1052916C (zh) * | 1990-11-30 | 2000-05-31 | 黎浩钧 | 医用软性器件及其控制弯曲度的方法和装置 |
US5140975A (en) * | 1991-02-15 | 1992-08-25 | Welch Allyn, Inc. | Insertion tube assembly for probe with biased bending neck |
WO2001080935A1 (fr) * | 2000-04-21 | 2001-11-01 | Universite Pierre Et Marie Curie (Paris Vi) | Dispositif de positionnement, d'exploration et/ou d'intervention notamment dans le domaine de l'endoscopie et/ou de la chirurgie mini-invasive |
US6951554B2 (en) * | 2002-12-16 | 2005-10-04 | Intraluminal Therapeutics Inc. | Deflecting catheter |
US7578786B2 (en) * | 2003-04-01 | 2009-08-25 | Boston Scientific Scimed, Inc. | Video endoscope |
CA2558796C (en) * | 2004-03-23 | 2016-10-04 | Boston Scientific Limited | In-vivo visualization system |
JP2006296832A (ja) * | 2005-04-22 | 2006-11-02 | Olympus Corp | 内視鏡装置の修理方法およびその内視鏡装置 |
-
2010
- 2010-12-23 CN CN201010608019.6A patent/CN102525380B/zh not_active Expired - Fee Related
-
2011
- 2011-12-16 DE DE102011056559A patent/DE102011056559A1/de not_active Withdrawn
- 2011-12-23 US US13/336,531 patent/US20120165609A1/en not_active Abandoned
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4832473A (en) * | 1987-02-06 | 1989-05-23 | Olympus Optical Co., Ltd. | Endoscope with elastic actuator comprising a synthetic rubber tube with only radial expansion controlled by a mesh-like tube |
EP0279316A2 (en) * | 1987-02-09 | 1988-08-24 | Sumitomo Electric Industries Limited | Mechanism for bending elongated body |
US5018506A (en) * | 1990-06-18 | 1991-05-28 | Welch Allyn, Inc. | Fluid controlled biased bending neck |
CN101448540A (zh) * | 2006-01-06 | 2009-06-03 | 科迪斯公司 | 用于输送医用有效负载的医用输送系统 |
TW201000063A (en) * | 2008-06-25 | 2010-01-01 | Medical Intubation Tech Corp | Head-arranging device of endoscope |
Also Published As
Publication number | Publication date |
---|---|
CN102525380A (zh) | 2012-07-04 |
US20120165609A1 (en) | 2012-06-28 |
DE102011056559A1 (de) | 2012-06-28 |
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Legal Events
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20170309 Address after: Baoan District Shenzhen City manhole street 518125 Guangdong province Shangliao community Xinsha road Dechang Motor Factory Patentee after: Guangdong Dechang Motor Co.,Ltd. Address before: Two new industrial village in Baoan District Shenzhen City manhole town of Guangdong Province in 518125 Patentee before: Johnson Electric (Shenzhen) Co., Ltd. |
|
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160330 Termination date: 20191223 |