CN104010773B - 具有抗扭曲链节配置的高度铰接的探针，形成该探针的方法和进行执行医学手术的方法 - Google Patents

具有抗扭曲链节配置的高度铰接的探针，形成该探针的方法和进行执行医学手术的方法 Download PDF

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Publication number
CN104010773B
CN104010773B CN201280055547.0A CN201280055547A CN104010773B CN 104010773 B CN104010773 B CN 104010773B CN 201280055547 A CN201280055547 A CN 201280055547A CN 104010773 B CN104010773 B CN 104010773B
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China
Prior art keywords
hinged
chain link
probes
link
articulating surface
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Expired - Fee Related
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CN201280055547.0A
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English (en)
Chinese (zh)
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CN104010773A (zh
Inventor
阿诺德·奥约拉
柏雷特·朱比亚特
戴尔·惠普尔
约瑟夫·A·斯丹
罗伯特·蒂多梅尼科
威廉姆·H·肯内菲克
J·克里斯多夫·弗莱厄蒂
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Beautiful Luo Bo Otto Dix Co
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Beautiful Luo Bo Otto Dix Co
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • 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
    • A61B1/008—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

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Rehabilitation Therapy (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)
  • Endoscopes (AREA)
CN201280055547.0A 2011-09-13 2012-09-12 具有抗扭曲链节配置的高度铰接的探针，形成该探针的方法和进行执行医学手术的方法 Expired - Fee Related CN104010773B (zh)

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
US201161534032P 2011-09-13 2011-09-13
US61/534,032 2011-09-13
US201161578582P 2011-12-21 2011-12-21
US61/578,582 2011-12-21
US201261656600P 2012-06-07 2012-06-07
US61/656,600 2012-06-07
US201261681340P 2012-08-09 2012-08-09
US61/681,340 2012-08-09
PCT/US2012/054802 WO2013039999A2 (en) 2011-09-13 2012-09-12 Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures

Publications (2)

Publication Number Publication Date
CN104010773A CN104010773A (zh) 2014-08-27
CN104010773B true CN104010773B (zh) 2017-01-18

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CN201280055547.0A Expired - Fee Related CN104010773B (zh) 2011-09-13 2012-09-12 具有抗扭曲链节配置的高度铰接的探针，形成该探针的方法和进行执行医学手术的方法

Country Status (11)

Country Link
US (3) US9757856B2 (enExample)
EP (2) EP3321042A1 (enExample)
JP (2) JP6395605B2 (enExample)
KR (1) KR20140065418A (enExample)
CN (1) CN104010773B (enExample)
AU (3) AU2012308731B2 (enExample)
BR (1) BR112014005937A2 (enExample)
CA (1) CA2848041A1 (enExample)
IL (2) IL231331B (enExample)
IN (1) IN2014CN02450A (enExample)
WO (1) WO2013039999A2 (enExample)

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US9757856B2 (en) 2017-09-12
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