CN103315781A - Endoscope noninvasive surgery system - Google Patents
Endoscope noninvasive surgery system Download PDFInfo
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- CN103315781A CN103315781A CN201310290266XA CN201310290266A CN103315781A CN 103315781 A CN103315781 A CN 103315781A CN 201310290266X A CN201310290266X A CN 201310290266XA CN 201310290266 A CN201310290266 A CN 201310290266A CN 103315781 A CN103315781 A CN 103315781A
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- flexible continuum
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 23
- 238000005286 illumination Methods 0.000 claims abstract description 96
- 238000005452 bending Methods 0.000 claims abstract description 22
- 210000000988 bone and bone Anatomy 0.000 claims description 124
- 230000003321 amplification Effects 0.000 claims description 24
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 24
- 229910001220 stainless steel Inorganic materials 0.000 claims description 24
- 239000010935 stainless steel Substances 0.000 claims description 24
- 125000006850 spacer group Chemical group 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 claims description 18
- 230000007704 transition Effects 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000036544 posture Effects 0.000 description 15
- 238000002674 endoscopic surgery Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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CN201310290266.XA CN103315781B (en) | 2013-07-10 | 2013-07-10 | Endoscope noninvasive surgery system |
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CN201310290266.XA CN103315781B (en) | 2013-07-10 | 2013-07-10 | Endoscope noninvasive surgery system |
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CN103315781A true CN103315781A (en) | 2013-09-25 |
CN103315781B CN103315781B (en) | 2015-03-18 |
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Cited By (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103536365A (en) * | 2013-10-22 | 2014-01-29 | 同济大学 | Guide device for minimally invasive surgery concentric tube robot |
CN103707322A (en) * | 2013-12-31 | 2014-04-09 | 汪雯 | Flexible continuous-body mechanical structure capable of being bent and telescopic |
CN104116528A (en) * | 2014-07-14 | 2014-10-29 | 上海交通大学 | Endoscopic surgery instrument outer sheath based on soft continuum mechanism |
CN105342704A (en) * | 2015-11-05 | 2016-02-24 | 北京航空航天大学 | Minimally invasive fracture reduction robot |
CN106175851A (en) * | 2016-08-31 | 2016-12-07 | 北京术锐技术有限公司 | A kind of single-hole laparoscopic surgery system based on flexible arm body |
CN106175852A (en) * | 2016-08-31 | 2016-12-07 | 北京术锐技术有限公司 | A kind of structural bone is to the flexible operation tool of arranged crosswise |
CN106175850A (en) * | 2016-08-31 | 2016-12-07 | 北京术锐技术有限公司 | The flexible operation tool system that a kind of straight line driving mechanism drives |
CN106217345A (en) * | 2016-08-31 | 2016-12-14 | 北京术锐技术有限公司 | The flexible Continuum Structure of gesture feedback can be realized |
CN106308938A (en) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | Flexible operation tool system capable of passing through natural orifice |
CN106308936A (en) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | Flexible surgery tool system containing driving bone |
CN106308935A (en) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | Flexible surgical operation tool system driven by twin thread screw |
CN106308939A (en) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | Driving unit used for driving flexible continuum structure |
CN106308937A (en) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | Flexible surgery tool system with far end capable of turning in any direction |
CN106344157A (en) * | 2016-08-31 | 2017-01-25 | 北京术锐技术有限公司 | Flexible operation tool system capable of achieving disinfection |
CN106361432A (en) * | 2016-08-31 | 2017-02-01 | 北京术锐技术有限公司 | Flexible surgical tool system capable of passing single surgical incision |
CN106377315A (en) * | 2016-08-31 | 2017-02-08 | 北京术锐技术有限公司 | Flexible surgical tool system adopting sterile barrier |
CN106420058A (en) * | 2016-08-31 | 2017-02-22 | 北京术锐技术有限公司 | Single port laparoscopic surgery system with front-loaded drive |
WO2018041201A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument with structural bones in a crossed arrangement |
WO2018041218A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument system |
WO2018041205A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Sterilizable flexible surgical instrument system |
WO2018041211A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Single-port endoscopic surgical system |
WO2018041231A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument and driving unit thereof |
WO2018176682A1 (en) * | 2017-03-28 | 2018-10-04 | 武汉佑康科技有限公司 | Electronic telescopic structure of flexible endoscope |
CN111761572A (en) * | 2019-04-01 | 2020-10-13 | 中旭智能机器人有限公司 | Flexible mechanical arm and flexible mechanical wrist for remote operation and flexible actuating mechanism comprising flexible mechanical arm and flexible mechanical wrist |
US11173002B2 (en) | 2016-08-31 | 2021-11-16 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument system |
CN114631891A (en) * | 2022-03-04 | 2022-06-17 | 吉林大学 | Flexible surgical robot |
CN115256361A (en) * | 2022-08-08 | 2022-11-01 | 西南科技大学 | Pneumatic multi-degree-of-freedom two-dimensional motion snake-shaped flexible mechanical arm |
US11903571B2 (en) | 2016-08-31 | 2024-02-20 | Beijing Surgerii Robotics Company Limited | Flexible surgical instrument system with prepositioned drive input |
US12121226B2 (en) | 2016-08-31 | 2024-10-22 | Beijing Surgerii Robotics Company Limited | Flexible surgical instrument with structural bones in a crossed arrangement |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040138529A1 (en) * | 2003-01-15 | 2004-07-15 | Usgi Medical Corp. | Endoluminal tool deployment system |
WO2009035051A1 (en) * | 2007-09-11 | 2009-03-19 | Olympus Corporation | Endoscope device |
CN101815462A (en) * | 2007-07-03 | 2010-08-25 | 株式会社Caretek | Bending section for endoscope |
CN102309363A (en) * | 2010-06-29 | 2012-01-11 | 王东 | Integrated endoscope operation platform |
CN102697443A (en) * | 2012-04-24 | 2012-10-03 | 王东 | Endoscope provided with protective casings on end actuator |
-
2013
- 2013-07-10 CN CN201310290266.XA patent/CN103315781B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040138529A1 (en) * | 2003-01-15 | 2004-07-15 | Usgi Medical Corp. | Endoluminal tool deployment system |
CN101815462A (en) * | 2007-07-03 | 2010-08-25 | 株式会社Caretek | Bending section for endoscope |
WO2009035051A1 (en) * | 2007-09-11 | 2009-03-19 | Olympus Corporation | Endoscope device |
CN102309363A (en) * | 2010-06-29 | 2012-01-11 | 王东 | Integrated endoscope operation platform |
CN102697443A (en) * | 2012-04-24 | 2012-10-03 | 王东 | Endoscope provided with protective casings on end actuator |
Cited By (52)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103536365B (en) * | 2013-10-22 | 2015-10-28 | 同济大学 | A kind of guiding device for Minimally Invasive Surgery concentric tube robot |
CN103536365A (en) * | 2013-10-22 | 2014-01-29 | 同济大学 | Guide device for minimally invasive surgery concentric tube robot |
CN103707322A (en) * | 2013-12-31 | 2014-04-09 | 汪雯 | Flexible continuous-body mechanical structure capable of being bent and telescopic |
CN103707322B (en) * | 2013-12-31 | 2016-04-20 | 汪雯 | Retractable and flexible non-individual body frame for movement can be curved |
CN104116528A (en) * | 2014-07-14 | 2014-10-29 | 上海交通大学 | Endoscopic surgery instrument outer sheath based on soft continuum mechanism |
CN105342704B (en) * | 2015-11-05 | 2017-11-07 | 北京航空航天大学 | A kind of minimally invasive reduction of the fracture machine people |
CN105342704A (en) * | 2015-11-05 | 2016-02-24 | 北京航空航天大学 | Minimally invasive fracture reduction robot |
CN106175852B (en) * | 2016-08-31 | 2018-11-27 | 北京术锐技术有限公司 | A kind of flexible operation tool of structural bone opposite direction arranged crosswise |
CN106308937B (en) * | 2016-08-31 | 2019-01-01 | 北京术锐技术有限公司 | A kind of flexible operation tool system that distal end can be curved to any direction |
CN106217345A (en) * | 2016-08-31 | 2016-12-14 | 北京术锐技术有限公司 | The flexible Continuum Structure of gesture feedback can be realized |
CN106308938A (en) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | Flexible operation tool system capable of passing through natural orifice |
CN106308936A (en) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | Flexible surgery tool system containing driving bone |
CN106308935A (en) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | Flexible surgical operation tool system driven by twin thread screw |
CN106308939A (en) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | Driving unit used for driving flexible continuum structure |
CN106308937A (en) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | Flexible surgery tool system with far end capable of turning in any direction |
CN106344157A (en) * | 2016-08-31 | 2017-01-25 | 北京术锐技术有限公司 | Flexible operation tool system capable of achieving disinfection |
CN106361432A (en) * | 2016-08-31 | 2017-02-01 | 北京术锐技术有限公司 | Flexible surgical tool system capable of passing single surgical incision |
CN106377315A (en) * | 2016-08-31 | 2017-02-08 | 北京术锐技术有限公司 | Flexible surgical tool system adopting sterile barrier |
CN106420058A (en) * | 2016-08-31 | 2017-02-22 | 北京术锐技术有限公司 | Single port laparoscopic surgery system with front-loaded drive |
CN106175852A (en) * | 2016-08-31 | 2016-12-07 | 北京术锐技术有限公司 | A kind of structural bone is to the flexible operation tool of arranged crosswise |
WO2018041201A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument with structural bones in a crossed arrangement |
WO2018041218A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument system |
WO2018041205A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Sterilizable flexible surgical instrument system |
WO2018041211A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Single-port endoscopic surgical system |
WO2018041160A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument system |
WO2018041231A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument and driving unit thereof |
US12121226B2 (en) | 2016-08-31 | 2024-10-22 | Beijing Surgerii Robotics Company Limited | Flexible surgical instrument with structural bones in a crossed arrangement |
CN106175851A (en) * | 2016-08-31 | 2016-12-07 | 北京术锐技术有限公司 | A kind of single-hole laparoscopic surgery system based on flexible arm body |
CN106308935B (en) * | 2016-08-31 | 2018-12-07 | 北京术锐技术有限公司 | A kind of flexible operation tool system using double threaded screw driving |
CN106308936B (en) * | 2016-08-31 | 2018-12-07 | 北京术锐技术有限公司 | A kind of flexible operation tool system comprising driving bone |
CN106175850A (en) * | 2016-08-31 | 2016-12-07 | 北京术锐技术有限公司 | The flexible operation tool system that a kind of straight line driving mechanism drives |
CN106308938B (en) * | 2016-08-31 | 2019-01-01 | 北京术锐技术有限公司 | A kind of tool system that can perform the operation through the flexibility of natural cavity |
CN106308939B (en) * | 2016-08-31 | 2019-01-08 | 北京术锐技术有限公司 | It is a kind of for driving the driving unit of flexible Continuum Structure |
CN106420058B (en) * | 2016-08-31 | 2019-02-05 | 北京术锐技术有限公司 | It is a kind of to drive preposition single-hole laparoscopic surgery system |
CN106377315B (en) * | 2016-08-31 | 2019-04-23 | 北京术锐技术有限公司 | A kind of flexible operation tool system using sterile barrier |
CN106361432B (en) * | 2016-08-31 | 2019-04-30 | 北京术锐技术有限公司 | A kind of tool system that can perform the operation through the flexibility of single operative incision |
EP3508152A4 (en) * | 2016-08-31 | 2020-06-24 | Beijing Surgerii Technology Co., Ltd. | Sterilizable flexible surgical instrument system |
US11903571B2 (en) | 2016-08-31 | 2024-02-20 | Beijing Surgerii Robotics Company Limited | Flexible surgical instrument system with prepositioned drive input |
US11173002B2 (en) | 2016-08-31 | 2021-11-16 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument system |
US11191425B2 (en) | 2016-08-31 | 2021-12-07 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument system |
US11234685B2 (en) | 2016-08-31 | 2022-02-01 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument system |
US11241288B2 (en) | 2016-08-31 | 2022-02-08 | Beijing Surgerii Technology Co., Ltd | Flexible surgical instrument system |
US11266388B2 (en) | 2016-08-31 | 2022-03-08 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument with structural bones in a crossed arrangement |
US11872002B2 (en) | 2016-08-31 | 2024-01-16 | Beijing Surgerii Robotics Company Limited | Flexible surgical instrument system |
US11684432B2 (en) | 2016-08-31 | 2023-06-27 | Beijing Surgerii Robotics Company Limited | Sterilizable flexible surgical instrument system |
US11484373B2 (en) | 2016-08-31 | 2022-11-01 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument system |
US11642112B2 (en) | 2016-08-31 | 2023-05-09 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument and driving unit thereof |
WO2018176682A1 (en) * | 2017-03-28 | 2018-10-04 | 武汉佑康科技有限公司 | Electronic telescopic structure of flexible endoscope |
CN111761572A (en) * | 2019-04-01 | 2020-10-13 | 中旭智能机器人有限公司 | Flexible mechanical arm and flexible mechanical wrist for remote operation and flexible actuating mechanism comprising flexible mechanical arm and flexible mechanical wrist |
CN114631891A (en) * | 2022-03-04 | 2022-06-17 | 吉林大学 | Flexible surgical robot |
CN115256361A (en) * | 2022-08-08 | 2022-11-01 | 西南科技大学 | Pneumatic multi-degree-of-freedom two-dimensional motion snake-shaped flexible mechanical arm |
CN115256361B (en) * | 2022-08-08 | 2024-04-26 | 西南科技大学 | Pneumatic multi-degree-of-freedom two-dimensional motion snake-shaped flexible mechanical arm |
Also Published As
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Effective date of registration: 20171208 Address after: 201108 Shanghai city Minhang District Yindu road 3151 Lane 194, Room 601 Patentee after: Xu Kai Address before: 200240 Dongchuan Road, Shanghai, No. 800, No. Patentee before: Shanghai Jiao Tong University |
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Effective date of registration: 20190315 Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee after: BEIJING SURGERII TECHNOLOGY Co.,Ltd. Address before: Room 601, No. 194, 3151 Lane, Yindu Road, Minhang District, Shanghai 201108 Patentee before: Xu Kai |
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Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |
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