CN106714721B - 用于能转向工具的转矩-传输转向机构 - Google Patents

用于能转向工具的转矩-传输转向机构 Download PDF

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Publication number
CN106714721B
CN106714721B CN201580046044.0A CN201580046044A CN106714721B CN 106714721 B CN106714721 B CN 106714721B CN 201580046044 A CN201580046044 A CN 201580046044A CN 106714721 B CN106714721 B CN 106714721B
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CN
China
Prior art keywords
distal end
longitudinal member
transmission
transmission system
mts
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CN201580046044.0A
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Chinese (zh)
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CN106714721A (zh
Inventor
弗兰克·德瓦勒
西里尔·马比利德
巴特·布朗卡特
阿兰·卡尔玛
利埃文·梅纳
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Controlled Instrument Manufacturing Public Co Ltd
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Controlled Instrument Manufacturing Public Co Ltd
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/001—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion
    • F16H19/003—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion comprising a flexible member
    • F16H19/005—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion comprising a flexible member for conveying oscillating or limited rotary motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-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
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Biophysics (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Pulmonology (AREA)
  • General Engineering & Computer Science (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
CN201580046044.0A 2014-08-27 2015-08-27 用于能转向工具的转矩-传输转向机构 Active CN106714721B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP14182381.5 2014-08-27
EP14182381 2014-08-27
PCT/EP2015/069628 WO2016030457A1 (en) 2014-08-27 2015-08-27 Torque-transmitting steering mechanism for a steerable tool

Publications (2)

Publication Number Publication Date
CN106714721A CN106714721A (zh) 2017-05-24
CN106714721B true CN106714721B (zh) 2019-09-17

Family

ID=51399539

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580046044.0A Active CN106714721B (zh) 2014-08-27 2015-08-27 用于能转向工具的转矩-传输转向机构

Country Status (6)

Country Link
US (1) US10962093B2 (enExample)
EP (1) EP3027139B1 (enExample)
JP (1) JP6791846B2 (enExample)
CN (1) CN106714721B (enExample)
ES (1) ES2678070T3 (enExample)
WO (1) WO2016030457A1 (enExample)

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US12220538B2 (en) 2008-12-08 2025-02-11 Scientia Vascular, Inc. Micro-fabricated intravascular devices having varying diameters
EP3226743B1 (en) 2014-12-05 2019-08-14 Fortimedix Surgical B.V. Method for manufacturing a steerable instrument and such steerable instrument
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US11207502B2 (en) 2016-07-18 2021-12-28 Scientia Vascular, Llc Guidewire devices having shapeable tips and bypass cuts
US11052228B2 (en) 2016-07-18 2021-07-06 Scientia Vascular, Llc Guidewire devices having shapeable tips and bypass cuts
CN106175850B (zh) 2016-08-31 2019-03-19 北京术锐技术有限公司 一种直线驱动机构驱动的柔性手术工具系统
US11452541B2 (en) * 2016-12-22 2022-09-27 Scientia Vascular, Inc. Intravascular device having a selectively deflectable tip
JP7738981B2 (ja) 2017-05-26 2025-09-16 サイエンティア・バスキュラー・インコーポレイテッド 非らせんカット配列を有する微細加工医療デバイス
NL2019175B1 (en) 2017-07-04 2019-01-14 Fortimedix Surgical B V Steerable instrument comprising a radial spacers between coaxial cylindrical elements
US20190069759A1 (en) * 2017-09-06 2019-03-07 Biosense Webster (Israel) Ltd. Single Handled ENT Tool
EP3710209A2 (en) 2017-11-15 2020-09-23 Steerable Instruments NV Devices to enhance robotic arm tasks
JP2021511087A (ja) 2017-11-15 2021-05-06 スティーラブル インストゥルメンツ エヌヴイＳｔｅｅｒａｂｌｅ Ｉｎｓｔｒｕｍｅｎｔｓ Ｎｖ 制御可能な操縦可能器具
US12004834B2 (en) 2017-12-14 2024-06-11 Intuitive Surgical Operations, Inc. Medical tools having tension bands
US10456556B2 (en) * 2018-02-19 2019-10-29 Bendit Technologies Ltd. Steering tool with enhanced flexibility and trackability
US11305095B2 (en) 2018-02-22 2022-04-19 Scientia Vascular, Llc Microfabricated catheter having an intermediate preferred bending section
US12082900B2 (en) 2018-03-07 2024-09-10 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
EP3761897A4 (en) 2018-03-07 2021-11-24 Intuitive Surgical Operations, Inc. LOW-FRICTION MEDICAL TOOLS WITH SMALL PROFILE AND ASSEMBLY-FRIENDLY COMPONENTS
WO2019173266A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
US10960147B2 (en) * 2018-04-20 2021-03-30 Flextronics Ap, Llc Flex needle
EP3826552A2 (en) * 2018-06-01 2021-06-02 Steerable Instruments NV Controllable steerable fusing device
EP3830447A1 (en) 2018-06-01 2021-06-09 Steerable Instruments NV Tool with torque-actuated end effector
GB2576039B (en) * 2018-08-02 2021-01-06 Ip2Ipo Innovations Ltd A joint
US11559191B2 (en) * 2018-10-29 2023-01-24 G.I. View Ltd. Insertion unit for medical instruments and an intubation system thereof
CN109464192B (zh) * 2018-12-29 2023-11-14 黄振宇 一种三维控弯的机械臂
US12011555B2 (en) 2019-01-15 2024-06-18 Scientia Vascular, Inc. Guidewire with core centering mechanism
WO2020214027A2 (en) 2019-04-01 2020-10-22 Fortimedix Assets Ii B.V. Steerable instrument comprising a hinge with a slotted structure
WO2020218921A2 (en) 2019-04-08 2020-10-29 Fortimedix Assets Ii B.V. Steerable instrument comprising a detachable part
CN121041038A (zh) 2019-06-13 2025-12-02 直观外科手术操作公司 用于致动张力带的带有长度守恒机构的医疗工具
EP4072434A4 (en) * 2019-12-12 2023-12-27 Intuitive Surgical Operations, Inc. Instrument shafts with relief features, and related devices, systems, and methods
US12178975B2 (en) 2020-01-23 2024-12-31 Scientia Vascular, Inc. Guidewire having enlarged, micro-fabricated distal section
US12343485B2 (en) 2020-01-23 2025-07-01 Scientia Vascular, Inc. High torque guidewire device
US11850013B2 (en) 2020-04-17 2023-12-26 Cilag Gmbh International Surgical systems and methods for robotic actuation of continuum joints
CN111714070B (zh) * 2020-07-27 2025-01-07 湖南省华芯医疗器械有限公司 一种蛇骨组件及内窥镜
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Also Published As

Publication number Publication date
JP6791846B2 (ja) 2020-11-25
JP2017526444A (ja) 2017-09-14
ES2678070T3 (es) 2018-08-08
EP3027139A1 (en) 2016-06-08
CN106714721A (zh) 2017-05-24
EP3027139B1 (en) 2018-05-16
WO2016030457A1 (en) 2016-03-03
US20170234411A1 (en) 2017-08-17
US10962093B2 (en) 2021-03-30

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