CN106455916A - 主‑从柔性机器人内窥镜系统 - Google Patents

主‑从柔性机器人内窥镜系统 Download PDF

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Publication number
CN106455916A
CN106455916A CN201580024954.9A CN201580024954A CN106455916A CN 106455916 A CN106455916 A CN 106455916A CN 201580024954 A CN201580024954 A CN 201580024954A CN 106455916 A CN106455916 A CN 106455916A
Authority
CN
China
Prior art keywords
tendon
group
actuator
adapter
mechanical driven
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.)
Pending
Application number
CN201580024954.9A
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English (en)
Chinese (zh)
Inventor
山本智徳
艾萨克·大卫·彭尼
克里斯托夫·利·希·豪·桑顺
霍安哈·特兰
泰·扎·伦
陈俊恩
内藤直幸
小林贵裕
大石万希生
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.)
TAG Heuer SA
Endomaster Pte Ltd
Original Assignee
TAG Heuer SA
Endomaster Pte Ltd
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 TAG Heuer SA, Endomaster Pte Ltd filed Critical TAG Heuer SA
Priority to CN201810663145.8A priority Critical patent/CN108836233A/zh
Priority to CN201810433833.5A priority patent/CN108968889B/zh
Priority to CN201810664294.6A priority patent/CN108836234B/zh
Priority to CN201810433861.7A priority patent/CN108968890B/zh
Publication of CN106455916A publication Critical patent/CN106455916A/zh
Pending legal-status Critical Current

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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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • A61B1/0053—Constructional details of control elements, e.g. handles using distributed actuators, e.g. artificial muscles
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)
CN201580024954.9A 2014-03-19 2015-03-19 主‑从柔性机器人内窥镜系统 Pending CN106455916A (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201810663145.8A CN108836233A (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810433833.5A CN108968889B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810664294.6A CN108836234B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810433861.7A CN108968890B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461955232P 2014-03-19 2014-03-19
US61/955,232 2014-03-19
PCT/SG2015/050044 WO2015142290A1 (en) 2014-03-19 2015-03-19 Master – slave flexible robotic endoscopy system

Related Child Applications (4)

Application Number Title Priority Date Filing Date
CN201810433833.5A Division CN108968889B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810664294.6A Division CN108836234B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810663145.8A Division CN108836233A (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810433861.7A Division CN108968890B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统

Publications (1)

Publication Number Publication Date
CN106455916A true CN106455916A (zh) 2017-02-22

Family

ID=54145078

Family Applications (5)

Application Number Title Priority Date Filing Date
CN201580024954.9A Pending CN106455916A (zh) 2014-03-19 2015-03-19 主‑从柔性机器人内窥镜系统
CN201810664294.6A Expired - Fee Related CN108836234B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810663145.8A Pending CN108836233A (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810433861.7A Expired - Fee Related CN108968890B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810433833.5A Expired - Fee Related CN108968889B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统

Family Applications After (4)

Application Number Title Priority Date Filing Date
CN201810664294.6A Expired - Fee Related CN108836234B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810663145.8A Pending CN108836233A (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810433861.7A Expired - Fee Related CN108968890B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统
CN201810433833.5A Expired - Fee Related CN108968889B (zh) 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统

Country Status (6)

Country Link
US (2) US20170127911A1 (https=)
EP (1) EP3119263A4 (https=)
JP (7) JP2017515615A (https=)
CN (5) CN106455916A (https=)
SG (1) SG11201607930TA (https=)
WO (1) WO2015142290A1 (https=)

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CN108451608A (zh) * 2018-05-02 2018-08-28 中国人民解放军陆军军医大学第附属医院 腹腔镜腔内镜头清洁穿刺器
CN109567927A (zh) * 2018-11-22 2019-04-05 清华大学 一种腔内操作工具
CN110691557A (zh) * 2017-04-14 2020-01-14 医疗显微器具股份公司 机器人显微手术组件
CN113365572A (zh) * 2019-01-31 2021-09-07 香港大学 紧凑的牙科机器人系统
CN113473934A (zh) * 2019-02-22 2021-10-01 W.L.戈尔及同仁股份有限公司 致动线储存系统和方法
WO2022099981A1 (zh) * 2020-11-13 2022-05-19 北京术锐技术有限公司 连接适配器、连接组件和手术机器人系统
CN114746051A (zh) * 2019-12-18 2022-07-12 W.L.戈尔及同仁股份有限公司 展开系统手柄内的纤维松弛储存部
CN115211967A (zh) * 2021-04-15 2022-10-21 逸吉恩哆股份公司 内窥镜手术机器人
CN115334952A (zh) * 2020-02-26 2022-11-11 人类拓展有限公司 用于结肠镜的控制系统
CN115554551A (zh) * 2022-10-08 2023-01-03 中国科学院自动化研究所 气管插管机器人及其控制方法
CN115944397A (zh) * 2023-03-10 2023-04-11 北京云力境安科技有限公司 一种内镜适配器
US11717363B2 (en) 2017-09-08 2023-08-08 Covidien Lp High precision instrument control mode for robotic surgical systems

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