CN105392442B - 机械手系统 - Google Patents

机械手系统 Download PDF

Info

Publication number
CN105392442B
CN105392442B CN201480041043.2A CN201480041043A CN105392442B CN 105392442 B CN105392442 B CN 105392442B CN 201480041043 A CN201480041043 A CN 201480041043A CN 105392442 B CN105392442 B CN 105392442B
Authority
CN
China
Prior art keywords
treatment instrument
treatment apparatus
bending
arm
unit
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.)
Active
Application number
CN201480041043.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN105392442A (zh
Inventor
畠山直也
若井浩志
饭田雅敏
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.)
Olympus Corp
Original Assignee
Olympus Corp
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
Application filed by Olympus Corp filed Critical Olympus Corp
Publication of CN105392442A publication Critical patent/CN105392442A/zh
Application granted granted Critical
Publication of CN105392442B publication Critical patent/CN105392442B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
    • A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
    • 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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • 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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00135—Oversleeves mounted on the endoscope prior to insertion
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • 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
    • 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
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
    • A61B90/96—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes
    • 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
CN201480041043.2A 2013-07-26 2014-07-15 机械手系统 Active CN105392442B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2013-155882 2013-07-26
JP2013155882A JP6027947B2 (ja) 2013-07-26 2013-07-26 マニピュレータシステム
PCT/JP2014/068754 WO2015012150A1 (ja) 2013-07-26 2014-07-15 マニピュレータシステム

Publications (2)

Publication Number Publication Date
CN105392442A CN105392442A (zh) 2016-03-09
CN105392442B true CN105392442B (zh) 2017-11-28

Family

ID=52393194

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480041043.2A Active CN105392442B (zh) 2013-07-26 2014-07-15 机械手系统

Country Status (5)

Country Link
US (1) US20160135662A1 (https=)
EP (1) EP3025675B1 (https=)
JP (1) JP6027947B2 (https=)
CN (1) CN105392442B (https=)
WO (1) WO2015012150A1 (https=)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6271027B2 (ja) * 2015-02-26 2018-01-31 オリンパス株式会社 オーバーチューブおよび医療用マニピュレータシステム
US10939804B2 (en) 2015-03-19 2021-03-09 Endomaster Pte Ltd Enhanced flexible robotic endoscopy apparatus
CN107529939B (zh) 2015-04-07 2019-08-27 奥林巴斯株式会社 插拔装置、插入部的直接操作推测方法及非暂时性存储插入部的直接操作推测程序的存储介质
KR20180022946A (ko) * 2015-07-09 2018-03-06 카와사키 주코교 카부시키 카이샤 수술용 로봇
US11013567B2 (en) 2016-03-17 2021-05-25 Intuitive Surgical Operations, Inc. Systems and methods for instrument insertion control
JP6715949B2 (ja) * 2016-12-05 2020-07-01 オリンパス株式会社 軟性マニピュレータ
WO2018122993A1 (ja) 2016-12-28 2018-07-05 オリンパス株式会社 医療システム、医療用オーバーチューブ、及び医療デバイスアダプタ
US10426559B2 (en) * 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
WO2019207674A1 (ja) * 2018-04-25 2019-10-31 オリンパス株式会社 駆動装置および医療用マニピュレータ
US11426059B2 (en) * 2018-06-02 2022-08-30 Ankon Medical Technologies (Shanghai) Co., Ltd. Control system for capsule endoscope
GB2614476B (en) * 2020-11-17 2025-02-26 Prec Robotics Hong Kong Limited Feeding device for tubular component
CN118986526A (zh) 2021-02-17 2024-11-22 奥瑞斯健康公司 器械轴张紧系统和方法
KR20240113752A (ko) * 2021-09-27 2024-07-23 사이트렐리스 바이오시스템즈, 인크. 피부 치료 시스템, 디바이스, 및 방법
CN116077195A (zh) * 2023-01-13 2023-05-09 深圳市爱博医疗机器人有限公司 一种柔性医疗器械递送系统

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10820949B2 (en) * 1999-04-07 2020-11-03 Intuitive Surgical Operations, Inc. Medical robotic system with dynamically adjustable slave manipulator characteristics
JP3973504B2 (ja) * 2002-07-15 2007-09-12 株式会社日立製作所 牽引位置決め装置
US8753262B2 (en) * 2003-07-29 2014-06-17 Hoya Corporation Internal treatment apparatus having circumferential side holes
JP4694280B2 (ja) * 2005-06-16 2011-06-08 Ｈｏｙａ株式会社 電子内視鏡用光源装置及び電子内視鏡装置
JP4728075B2 (ja) * 2005-09-28 2011-07-20 オリンパスメディカルシステムズ株式会社 内視鏡システム
US7918783B2 (en) * 2006-03-22 2011-04-05 Boston Scientific Scimed, Inc. Endoscope working channel with multiple functionality
JP4891823B2 (ja) * 2007-03-29 2012-03-07 オリンパスメディカルシステムズ株式会社 内視鏡装置
US9089256B2 (en) * 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US8083669B2 (en) * 2007-06-22 2011-12-27 Olympus Medical Systems Corp. Medical device for maintaining state of treatment portion
JP4580973B2 (ja) * 2007-11-29 2010-11-17 オリンパスメディカルシステムズ株式会社 処置具システム
JP5295555B2 (ja) * 2007-12-10 2013-09-18 オリンパスメディカルシステムズ株式会社 内視鏡システム
JP4672031B2 (ja) * 2008-01-31 2011-04-20 オリンパスメディカルシステムズ株式会社 医療器具
CN102770060B (zh) * 2010-03-17 2015-03-25 奥林巴斯医疗株式会社 内窥镜系统
JP5085684B2 (ja) * 2010-05-19 2012-11-28 オリンパスメディカルシステムズ株式会社 処置具システム及びマニピュレータシステム
JP5973727B2 (ja) * 2011-12-28 2016-08-23 オリンパス株式会社 立体内視鏡装置、立体内視鏡システムおよび立体内視鏡ロボット
JP6116426B2 (ja) * 2013-07-25 2017-04-19 オリンパス株式会社 マニピュレータシステム

Also Published As

Publication number Publication date
WO2015012150A1 (ja) 2015-01-29
JP2015024033A (ja) 2015-02-05
CN105392442A (zh) 2016-03-09
US20160135662A1 (en) 2016-05-19
EP3025675A4 (en) 2017-05-17
JP6027947B2 (ja) 2016-11-16
EP3025675A1 (en) 2016-06-01
EP3025675B1 (en) 2018-10-03

Similar Documents

Publication Publication Date Title
CN105392442B (zh) 机械手系统
CN105431072B (zh) 机械手系统
CN105407781B (zh) 机械手系统
CN108882837B (zh) 利用拉线的内窥镜的自动校准
JP5932172B2 (ja) 内視鏡システム
US20160081530A1 (en) Endoscope system
US9829082B2 (en) Bending operation system
CN105407784A (zh) 机械手和机械手系统
JP2006314775A (ja) 内視鏡装置
JPWO2014157001A1 (ja) 処置具
JP6177485B1 (ja) マニピュレータシステム
JP2007130174A (ja) 内視鏡挿入部形状把握システム
KR20230055410A (ko) 가요성 튜브의 히스테리시스 보상 제어장치 및 그 방법
JP4708963B2 (ja) 内視鏡挿入部形状把握システム
JP5396178B2 (ja) 内視鏡装置及び内視鏡システム
US12310557B2 (en) Flexible tube insertion apparatus, control apparatus, and method of changing rigidity
US20190029762A1 (en) Medical manipulator system and manipulator curved-shape estimation method
CN115990043B (zh) 挠性管的滞后补偿控制装置及其方法
JP2023122886A (ja) 操作システムおよび操作システムの制御方法

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant