CN103874524B - 连续机械手 - Google Patents

连续机械手 Download PDF

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Publication number
CN103874524B
CN103874524B CN201280048365.0A CN201280048365A CN103874524B CN 103874524 B CN103874524 B CN 103874524B CN 201280048365 A CN201280048365 A CN 201280048365A CN 103874524 B CN103874524 B CN 103874524B
Authority
CN
China
Prior art keywords
segment
manipulator
paragraph
tendon
channel
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
Application number
CN201280048365.0A
Other languages
English (en)
Chinese (zh)
Other versions
CN103874524A (zh
Inventor
阿斯加尔·阿托拉汗
卡什帕·阿尔瑟弗
托比亚斯·理查德·舍弗特
卡瓦尔迪普·罗德
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kings College London
Original Assignee
Kings College London
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
Priority claimed from GB201113534A external-priority patent/GB201113534D0/en
Priority claimed from GB201113536A external-priority patent/GB201113536D0/en
Priority claimed from GB201113532A external-priority patent/GB201113532D0/en
Application filed by Kings College London filed Critical Kings College London
Publication of CN103874524A publication Critical patent/CN103874524A/zh
Application granted granted Critical
Publication of CN103874524B publication Critical patent/CN103874524B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • A61M25/0138—Tip steering devices having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A61B1/0056—Constructional details of insertion parts, e.g. vertebral elements the insertion parts being asymmetric, e.g. for unilateral bending mechanisms
    • 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
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • 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
    • A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—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 for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • 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
    • A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Biophysics (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Pulmonology (AREA)
  • Mechanical Engineering (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Manipulator (AREA)
CN201280048365.0A 2011-08-04 2012-08-01 连续机械手 Expired - Fee Related CN103874524B (zh)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
GB201113534A GB201113534D0 (en) 2011-08-04 2011-08-04 Continuum manipulator
GB201113536A GB201113536D0 (en) 2011-08-04 2011-08-04 Continuum manipulator
GB201113532A GB201113532D0 (en) 2011-08-04 2011-08-04 Continuum manipulator
GB1113534.0 2011-08-04
GB1113536.5 2011-08-04
GB1113532.4 2011-08-04
PCT/GB2012/051860 WO2013017875A2 (en) 2011-08-04 2012-08-01 Continuum manipulator

Publications (2)

Publication Number Publication Date
CN103874524A CN103874524A (zh) 2014-06-18
CN103874524B true CN103874524B (zh) 2016-08-17

Family

ID=46763143

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201280048365.0A Expired - Fee Related CN103874524B (zh) 2011-08-04 2012-08-01 连续机械手

Country Status (5)

Country Link
US (1) US9675781B2 (https=)
EP (1) EP2739336A2 (https=)
JP (1) JP6127048B2 (https=)
CN (1) CN103874524B (https=)
WO (1) WO2013017875A2 (https=)

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US20150343649A1 (en) * 2014-05-28 2015-12-03 Richard Galinson Tentacle mechanism
US10363398B2 (en) 2014-10-06 2019-07-30 Sanovas Intellectual Property, Llc Steerable catheter with flexing tip member
CN104605805A (zh) * 2015-01-07 2015-05-13 淮阴工学院 无铆钉联接的内窥镜弯曲机构
KR101740693B1 (ko) * 2015-03-18 2017-05-30 전남대학교산학협력단 카테터 및 카테터 시스템
WO2016187056A1 (en) * 2015-05-15 2016-11-24 The Johns Hopkins University Manipulator device and therapeutic and diagnostic methods
CN105011894A (zh) * 2015-08-17 2015-11-04 上海延视医疗科技有限公司 实心多腔部件以及具有实心多腔部件的蛇骨
WO2017066253A1 (en) 2015-10-15 2017-04-20 Canon U.S.A., Inc. Steerable medical instrument
US9918705B2 (en) 2016-07-07 2018-03-20 Brian Giles Medical devices with distal control
US10391274B2 (en) 2016-07-07 2019-08-27 Brian Giles Medical device with distal torque control
GB201617097D0 (en) * 2016-10-07 2016-11-23 King S College London Multi-Axis force sensor
US11058315B2 (en) 2018-02-06 2021-07-13 Biosense Webster (Israel) Ltd. Catheter with electrode spine assembly having preformed configurations for improved tissue contact
US10945626B2 (en) 2018-02-06 2021-03-16 Biosense Webster (Israel) Ltd. Catheter with staggered electrodes spine assembly
US10905347B2 (en) 2018-02-06 2021-02-02 Biosense Webster (Israel) Ltd. Catheter with increased electrode density spine assembly having reinforced spine covers
US12201512B2 (en) * 2018-03-06 2025-01-21 Mentor Worldwide Llc Delivery sleeve
US11311369B2 (en) 2018-03-06 2022-04-26 Mentor Worldwide Llc Delivery sleeve
US11903814B2 (en) 2018-03-06 2024-02-20 Mentor Worldwide Llc Delivery sleeve
JP7183062B2 (ja) 2018-03-23 2022-12-05 キヤノン株式会社 連続体ロボット制御装置、連続体ロボット制御方法及びプログラム
JP7171214B2 (ja) * 2018-04-02 2022-11-15 キヤノン株式会社 連続体ロボット制御装置、連続体ロボット制御方法及びプログラム
CN108837275A (zh) * 2018-07-17 2018-11-20 东北大学 一种基于线驱动的可变刚度的血管介入导管
KR20210143760A (ko) * 2019-03-22 2021-11-29 내셔널 유니버시티 코포레이션 쉬가 유니버시티 어브 메디칼 사이언스 가동형 카테터
CN114828932B (zh) * 2019-10-23 2025-08-26 佳能美国公司 具有分段可弯曲区段的医学设备
CN110811490B (zh) * 2019-11-19 2022-03-15 武汉佑康科技有限公司 一种内窥镜柔性导管的定向弹性偏转结构
US11786360B2 (en) 2020-07-01 2023-10-17 Mentor Worldwide Llc Encoded cinching mechanism for use with an implant delivery sleeve
WO2022125550A1 (en) * 2020-12-07 2022-06-16 Adaptivendo Llc Endoscope systems and assemblies
US20240216093A1 (en) * 2022-12-30 2024-07-04 Auris Health, Inc. Integration of force isolation elements into steerable elongate member
CN116636796B (zh) * 2023-05-29 2026-02-24 湖南省华芯医疗器械有限公司 一种刚性可调的插入部、鞘管及内窥镜
CN119238460B (zh) * 2024-10-25 2025-10-10 上海交通大学 宏微驱动纤微连续体机器人及其制作方法

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WO2004105849A1 (ja) * 2003-05-29 2004-12-09 Japan Science And Technology Agency 屈曲チューブとその製造方法
WO2007136829A1 (en) * 2006-05-19 2007-11-29 Conmed Endoscopic Technologies, Inc. Steerable medical instrument
US20090182268A1 (en) * 2008-01-11 2009-07-16 Joseph Michael Thielen Closable loop access guide catheter
CN101703424A (zh) * 2003-05-23 2010-05-12 诺瓦尔外科系统公司 用于远程操纵外科手术或诊断工具的活动连接装置

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WO2004105849A1 (ja) * 2003-05-29 2004-12-09 Japan Science And Technology Agency 屈曲チューブとその製造方法
WO2007136829A1 (en) * 2006-05-19 2007-11-29 Conmed Endoscopic Technologies, Inc. Steerable medical instrument
US20090182268A1 (en) * 2008-01-11 2009-07-16 Joseph Michael Thielen Closable loop access guide catheter

Also Published As

Publication number Publication date
EP2739336A2 (en) 2014-06-11
WO2013017875A3 (en) 2013-04-04
JP2014521454A (ja) 2014-08-28
JP6127048B2 (ja) 2017-05-10
US9675781B2 (en) 2017-06-13
CN103874524A (zh) 2014-06-18
WO2013017875A2 (en) 2013-02-07
US20140350462A1 (en) 2014-11-27

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C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
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GR01 Patent grant
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: 20160817

Termination date: 20180801