CN107613832B - 增强型柔性机器人内窥镜检查装置 - Google Patents

增强型柔性机器人内窥镜检查装置 Download PDF

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Publication number
CN107613832B
CN107613832B CN201580079889.XA CN201580079889A CN107613832B CN 107613832 B CN107613832 B CN 107613832B CN 201580079889 A CN201580079889 A CN 201580079889A CN 107613832 B CN107613832 B CN 107613832B
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China
Prior art keywords
flexible elongated
endoscope
assembly
robotic
flexible
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Expired - Fee Related
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CN201580079889.XA
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English (en)
Chinese (zh)
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CN107613832A (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
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Endomaster Pte Ltd
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TAG Heuer SA
Endomaster Pte Ltd
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Priority to CN202010460686.8A priority Critical patent/CN111528766A/zh
Publication of CN107613832A publication Critical patent/CN107613832A/zh
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    • 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
    • A61B1/06—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 with illuminating arrangements
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00066—Proximal part of endoscope body, e.g. handles
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    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00105—Constructional details of the endoscope body characterised by modular construction
    • A—HUMAN NECESSITIES
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    • 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
    • A61B1/00112—Connection or coupling means
    • 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
    • A61B1/00112—Connection or coupling means
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
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    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
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    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
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    • A—HUMAN NECESSITIES
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    • A61B1/005—Flexible endoscopes
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    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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    • A61B1/012—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 characterised by internal passages or accessories therefor
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    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/0125—Endoscope within endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/018—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 characterised by internal passages or accessories therefor for receiving instruments
    • 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
    • A61B1/04—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 combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • 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
    • 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
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00013—Operational features of endoscopes characterised by signal transmission using optical means
    • 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
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    • A61B1/005—Flexible endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • 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
    • A61B1/04—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 combined with photographic or television appliances
    • A61B1/044—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 combined with photographic or television appliances for absorption imaging
    • 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
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    • A—HUMAN NECESSITIES
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    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Endoscopes (AREA)
CN201580079889.XA 2015-03-19 2015-03-19 增强型柔性机器人内窥镜检查装置 Expired - Fee Related CN107613832B (zh)

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CN202010460686.8A CN111528766A (zh) 2015-03-19 2015-03-19 增强型柔性机器人内窥镜检查装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SG2015/050042 WO2016148642A1 (en) 2015-03-19 2015-03-19 An enhanced flexible robotic endoscopy apparatus

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CN107613832B true CN107613832B (zh) 2020-07-28

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US (3) US10939804B2 (cg-RX-API-DMAC10.html)
JP (1) JP6606797B2 (cg-RX-API-DMAC10.html)
CN (2) CN107613832B (cg-RX-API-DMAC10.html)
SG (1) SG11201707729QA (cg-RX-API-DMAC10.html)
WO (1) WO2016148642A1 (cg-RX-API-DMAC10.html)

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CN115005741A (zh) 2017-10-06 2022-09-06 恩达马斯特有限公司 用于内窥镜系统的吹入控制装置
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US12290258B2 (en) * 2019-12-13 2025-05-06 Dinesh Vyas Stapler apparatus and methods for use
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KR102979750B1 (ko) 2021-01-26 2026-06-18 벌시테크 리미티드 서로 다른 평면으로 구부러지는 섹션을 갖는 조종 가능한 아암
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
WO2022201110A1 (en) * 2021-03-25 2022-09-29 Pitale Ashok Rahul Kumar Telescopic flexible tendon continuum endoscope and method of operation thereof
KR102378015B1 (ko) * 2021-05-28 2022-03-24 주식회사 엔도로보틱스 텐던-쉬스 구동 장치 및 로봇팔 구동 장치
CN115227189B (zh) * 2022-06-16 2025-03-14 中山大学附属第一医院 一种用于内窥镜握持机器人的自动冲洗内窥镜的装置及方法
CN115919475B (zh) * 2023-03-10 2023-05-23 北京云力境安科技有限公司 一种分体式软式内镜手术机器人系统
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Publication number Publication date
JP6606797B2 (ja) 2019-11-20
WO2016148642A1 (en) 2016-09-22
CN111528766A (zh) 2020-08-14
US20210186309A1 (en) 2021-06-24
JP2018509267A (ja) 2018-04-05
US20210007583A1 (en) 2021-01-14
SG11201707729QA (en) 2017-10-30
US11696673B2 (en) 2023-07-11
US10939804B2 (en) 2021-03-09
US20170332882A1 (en) 2017-11-23
CN107613832A (zh) 2018-01-19

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