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 PDFInfo
- 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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- Prior art keywords
- distal end
- longitudinal member
- axis
- guiding piece
- transmission
- 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.)
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Links
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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—Programme-controlled manipulators
- B25J9/06—Programme-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)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- General Engineering & Computer Science (AREA)
- Ophthalmology & Optometry (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP14182381 | 2014-08-27 | ||
| EP14182381.5 | 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) |
Families Citing this family (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9204923B2 (en) | 2008-07-16 | 2015-12-08 | Intuitive Surgical Operations, Inc. | Medical instrument electronically energized using drive cables |
| US12220538B2 (en) | 2008-12-08 | 2025-02-11 | Scientia Vascular, Inc. | Micro-fabricated intravascular devices having varying diameters |
| NL2016900B1 (en) | 2016-06-06 | 2017-12-13 | Fortimedix Surgical B V | Steerable instrument comprising a cylindrical diameter adaptation section |
| US11052228B2 (en) | 2016-07-18 | 2021-07-06 | Scientia Vascular, Llc | Guidewire devices having shapeable tips and bypass cuts |
| US11207502B2 (en) | 2016-07-18 | 2021-12-28 | 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 |
| CA3063425A1 (en) | 2017-05-26 | 2018-11-29 | Scientia Vascular, Llc | Micro-fabricated medical device having a non-helical cut arrangement |
| 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 |
| JP2021502864A (ja) | 2017-11-15 | 2021-02-04 | スティーラブル インストゥルメンツ エヌヴイＳｔｅｅｒａｂｌｅ Ｉｎｓｔｒｕｍｅｎｔｓ Ｎｖ | ロボットアームの作業を向上させる装置 |
| 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 |
| US11439376B2 (en) | 2018-03-07 | 2022-09-13 | Intuitive Surgical Operations, Inc. | Low-friction, small profile medical tools having easy-to-assemble components |
| WO2019173268A1 (en) | 2018-03-07 | 2019-09-12 | Intuitive Surgical Operations, Inc. | Low-friction, small profile medical tools having easy-to-assemble 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 |
| US11844581B2 (en) | 2018-06-01 | 2023-12-19 | Steerable Instruments nv | Tool with torque-actuated end effector |
| WO2019229158A2 (en) | 2018-06-01 | 2019-12-05 | Steerable Instruments nv | Controllable steerable fusing device |
| 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 |
| KR20210149102A (ko) | 2019-04-08 | 2021-12-08 | 포티메딕스 에셋츠 Ii 비.브이. | 탈착가능한 부분을 포함하는 조향가능한 기구 |
| EP3982864A1 (en) | 2019-06-13 | 2022-04-20 | Intuitive Surgical Operations, Inc. | Medical tool with length conservation mechanism for actuating tension bands |
| 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 |
| US12296112B2 (en) | 2020-10-05 | 2025-05-13 | Scientia Vascular, Inc. | Microfabricated catheter devices with high axial strength |
| JP7538692B2 (ja) * | 2020-10-30 | 2024-08-22 | 日本発條株式会社 | 屈曲操作機構 |
| WO2025076519A1 (en) * | 2023-10-05 | 2025-04-10 | University Of Louisville Research Foundation, Inc. | Tendon-assisted magnetically steered (tams) robotic delivery device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101938933A (zh) * | 2008-02-05 | 2011-01-05 | 弗兰克·德瓦勒 | 可操纵管 |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5114402A (en) * | 1983-10-31 | 1992-05-19 | Catheter Research, Inc. | Spring-biased tip assembly |
| US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
| CA2451824C (en) | 2001-06-29 | 2015-02-24 | Intuitive Surgical, Inc. | Platform link wrist mechanism |
| US20030114832A1 (en) | 2001-12-14 | 2003-06-19 | Kohler Robert Edward | Interventional catheter with three dimensional articulation |
| US7410483B2 (en) | 2003-05-23 | 2008-08-12 | Novare Surgical Systems, Inc. | Hand-actuated device for remote manipulation of a grasping tool |
| US20060106288A1 (en) * | 2004-11-17 | 2006-05-18 | Roth Alex T | Remote tissue retraction device |
| US9271720B2 (en) * | 2005-08-11 | 2016-03-01 | Biomet Sports Medicine, Llc | Steerable suture passing device |
| US8105350B2 (en) | 2006-05-23 | 2012-01-31 | Cambridge Endoscopic Devices, Inc. | Surgical instrument |
| EP2024259B1 (en) * | 2006-06-08 | 2019-08-21 | Bannerman, Brett | Medical device with articulating shaft |
| JP5362708B2 (ja) * | 2007-05-31 | 2013-12-11 | ボストン サイエンティフィック リミテッド | 可撓性内視鏡 |
| DE102011001973A1 (de) | 2011-04-12 | 2012-10-18 | Aesculap Ag | Steuerungsvorrichtung |
| WO2015151093A1 (en) * | 2014-03-31 | 2015-10-08 | Human Extensions Ltd. | Steerable medical device |
-
2015
- 2015-08-27 EP EP15762947.8A patent/EP3027139B1/en active Active
- 2015-08-27 JP JP2017511779A patent/JP6791846B2/ja active Active
- 2015-08-27 US US15/502,002 patent/US10962093B2/en active Active
- 2015-08-27 ES ES15762947.8T patent/ES2678070T3/es active Active
- 2015-08-27 WO PCT/EP2015/069628 patent/WO2016030457A1/en not_active Ceased
- 2015-08-27 CN CN201580046044.0A patent/CN106714721B/zh active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101938933A (zh) * | 2008-02-05 | 2011-01-05 | 弗兰克·德瓦勒 | 可操纵管 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106714721A (zh) | 2017-05-24 |
| US10962093B2 (en) | 2021-03-30 |
| EP3027139B1 (en) | 2018-05-16 |
| WO2016030457A1 (en) | 2016-03-03 |
| EP3027139A1 (en) | 2016-06-08 |
| JP6791846B2 (ja) | 2020-11-25 |
| ES2678070T3 (es) | 2018-08-08 |
| JP2017526444A (ja) | 2017-09-14 |
| US20170234411A1 (en) | 2017-08-17 |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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