CN108836233A - 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 PDFInfo
- Publication number
- CN108836233A CN108836233A CN201810663145.8A CN201810663145A CN108836233A CN 108836233 A CN108836233 A CN 108836233A CN 201810663145 A CN201810663145 A CN 201810663145A CN 108836233 A CN108836233 A CN 108836233A
- Authority
- CN
- China
- Prior art keywords
- tendon
- endoscope
- instrument
- actuator
- tension
- 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
Links
- 210000002435 tendon Anatomy 0.000 claims abstract description 200
- 239000012636 effector Substances 0.000 claims description 67
- 210000000056 organ Anatomy 0.000 claims description 9
- 238000013519 translation Methods 0.000 abstract description 61
- 238000005096 rolling process Methods 0.000 abstract description 35
- 238000003032 molecular docking Methods 0.000 abstract description 34
- 230000007246 mechanism Effects 0.000 abstract description 23
- 238000005516 engineering process Methods 0.000 abstract description 17
- 238000005299 abrasion Methods 0.000 abstract description 6
- 238000003384 imaging method Methods 0.000 description 123
- 238000000034 method Methods 0.000 description 33
- 238000005259 measurement Methods 0.000 description 22
- 230000000712 assembly Effects 0.000 description 21
- 238000000429 assembly Methods 0.000 description 21
- 238000010586 diagram Methods 0.000 description 18
- 238000006073 displacement reaction Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 12
- 238000012545 processing Methods 0.000 description 11
- 238000004804 winding Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 9
- 239000000523 sample Substances 0.000 description 9
- 230000007704 transition Effects 0.000 description 9
- 238000001839 endoscopy Methods 0.000 description 7
- 238000009432 framing Methods 0.000 description 7
- 230000004044 response Effects 0.000 description 7
- 238000002674 endoscopic surgery Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 239000011521 glass Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 230000008450 motivation Effects 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 3
- 238000004873 anchoring Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 244000144985 peep Species 0.000 description 2
- 230000001739 rebound effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 208000028804 PERCHING syndrome Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000007913 intrathecal administration Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000004611 spectroscopical analysis Methods 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 238000002627 tracheal intubation Methods 0.000 description 1
- 208000008918 voyeurism Diseases 0.000 description 1
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)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201461955232P | 2014-03-19 | 2014-03-19 | |
| US61/955,232 | 2014-03-19 | ||
| CN201580024954.9A CN106455916A (zh) | 2014-03-19 | 2015-03-19 | 主‑从柔性机器人内窥镜系统 |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580024954.9A Division CN106455916A (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 |
|---|---|
| CN108836233A true CN108836233A (zh) | 2018-11-20 |
Family
ID=54145078
Family Applications (5)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
| 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 |
| CN201580024954.9A Pending CN106455916A (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 |
|---|---|---|---|
| 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 |
| 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 |
| CN201580024954.9A Pending CN106455916A (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 (cg-RX-API-DMAC7.html) |
| EP (1) | EP3119263A4 (cg-RX-API-DMAC7.html) |
| JP (7) | JP2017515615A (cg-RX-API-DMAC7.html) |
| CN (5) | CN108836233A (cg-RX-API-DMAC7.html) |
| SG (1) | SG11201607930TA (cg-RX-API-DMAC7.html) |
| WO (1) | WO2015142290A1 (cg-RX-API-DMAC7.html) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Families Citing this family (73)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9259274B2 (en) | 2008-09-30 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Passive preload and capstan drive for surgical instruments |
| US9339342B2 (en) | 2008-09-30 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Instrument interface |
| WO2015023853A1 (en) | 2013-08-15 | 2015-02-19 | Intuitive Surgical Operations, Inc. | Robotic instrument driven element |
| CN109247987B (zh) | 2013-08-15 | 2021-07-23 | 直观外科手术操作公司 | 预加载外科手术器械接口 |
| US10076348B2 (en) | 2013-08-15 | 2018-09-18 | Intuitive Surgical Operations, Inc. | Rotary input for lever actuation |
| EP3033031B1 (en) | 2013-08-15 | 2019-03-20 | Intuitive Surgical Operations, Inc. | Actuator interface to instrument sterile adapter |
| US10550918B2 (en) | 2013-08-15 | 2020-02-04 | Intuitive Surgical Operations, Inc. | Lever actuated gimbal plate |
| CN108992172B (zh) | 2013-08-15 | 2021-11-09 | 直观外科手术操作公司 | 可变器械预加载机构控制器 |
| CN108784838B (zh) | 2013-08-15 | 2021-06-08 | 直观外科手术操作公司 | 器械无菌适配器驱动接口 |
| US10271911B2 (en) | 2013-08-15 | 2019-04-30 | Intuitive Surgical Operations, Inc. | Instrument sterile adapter drive features |
| CN111658180B (zh) | 2014-08-15 | 2024-05-31 | 直观外科手术操作公司 | 具有可变进入引导器配置的外科手术系统 |
| US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
| US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
| US10231793B2 (en) | 2015-10-30 | 2019-03-19 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
| CA3152874A1 (en) | 2016-02-05 | 2017-08-10 | Board Of Regents Of The University Of Texas System | Surgical apparatus comprising a steerable member and tension monitoring member |
| US10960182B2 (en) | 2016-02-05 | 2021-03-30 | Board Of Regents Of The University Of Texas System | Steerable intra-luminal medical device |
| WO2017209695A1 (en) * | 2016-06-01 | 2017-12-07 | Endomaster Pte. Ltd. | Endoscopy system components |
| WO2018013187A1 (en) | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Instrument release |
| EP3484397B1 (en) | 2016-07-14 | 2024-07-24 | Intuitive Surgical Operations, Inc. | Multi-cable medical instrument |
| US20190231451A1 (en) | 2016-07-14 | 2019-08-01 | Intuitive Surgical Operations, Inc. | Geared roll drive for medical instrument |
| US11007024B2 (en) | 2016-07-14 | 2021-05-18 | Intuitive Surgical Operations, Inc. | Geared grip actuation for medical instruments |
| CN119302760A (zh) | 2016-07-14 | 2025-01-14 | 直观外科手术操作公司 | 器械冲洗系统 |
| CN106175849B (zh) * | 2016-08-31 | 2019-03-01 | 北京术锐技术有限公司 | 一种基于柔性手术工具的单孔腔镜手术系统 |
| CN115349951A (zh) | 2016-11-21 | 2022-11-18 | 直观外科手术操作公司 | 线缆长度持恒的医疗器械 |
| US11154373B2 (en) | 2017-02-08 | 2021-10-26 | Intuitive Surgical Operations, Inc. | Control of computer-assisted tele-operated systems |
| US10357321B2 (en) | 2017-02-24 | 2019-07-23 | Intuitive Surgical Operations, Inc. | Splayed cable guide for a medical instrument |
| IT201700041980A1 (it) * | 2017-04-14 | 2018-10-14 | Medical Microinstruments Spa | Assieme robotico per microchirurgia |
| US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
| EP3678574A4 (en) | 2017-09-08 | 2021-10-06 | Covidien LP | HIGH PRECISION INSTRUMENT CONTROL MODE FOR ROBOTIC SURGICAL SYSTEMS |
| WO2019094099A1 (en) | 2017-11-10 | 2019-05-16 | Intuitive Surgical Operations, Inc. | Tension control in actuation of jointed instruments |
| US10271964B1 (en) * | 2018-01-26 | 2019-04-30 | Allosource | System and methods of use for preparing and testing pre-sutured tendon constructs |
| US11497567B2 (en) | 2018-02-08 | 2022-11-15 | Intuitive Surgical Operations, Inc. | Jointed control platform |
| US11118661B2 (en) | 2018-02-12 | 2021-09-14 | Intuitive Surgical Operations, Inc. | Instrument transmission converting roll to linear actuation |
| EP3755261B1 (en) | 2018-02-20 | 2024-04-03 | Intuitive Surgical Operations, Inc. | Systems for control of end effectors |
| CN108451608B (zh) * | 2018-05-02 | 2019-12-24 | 中国人民解放军陆军军医大学第一附属医院 | 腹腔镜腔内镜头清洁穿刺器 |
| EP3880107A1 (en) | 2018-11-15 | 2021-09-22 | Intuitive Surgical Operations, Inc. | Decoupling tool shaft from cable drive load |
| CN109567927B (zh) * | 2018-11-22 | 2021-06-29 | 清华大学 | 一种腔内操作工具 |
| WO2020156414A1 (en) * | 2019-01-31 | 2020-08-06 | The University Of Hong Kong | A compact dental robotic system |
| 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 |
| KR102281120B1 (ko) * | 2019-04-10 | 2021-07-26 | 주식회사 이지엔도서지컬 | 내시경 모듈 및 이를 포함하는 모듈형 내시경 장치 |
| CN113811257B (zh) | 2019-06-13 | 2025-09-30 | 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 |
| EP3989863A4 (en) | 2019-06-28 | 2023-10-11 | Auris Health, Inc. | MEDICAL INSTRUMENTS INCLUDING WRISTS WITH HYBRID REORIENTATION SURFACES |
| US11712313B2 (en) * | 2019-07-23 | 2023-08-01 | Siemens Medical Solutions Usa, Inc. | Dual manipulation for robotic catheter system |
| US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
| GB2586998B (en) * | 2019-09-11 | 2022-07-13 | Prec Robotics Limited | A driver module |
| 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 |
| CN111123448B (zh) * | 2019-12-25 | 2024-07-19 | 精微视达医疗科技(苏州)有限公司 | 用于探头插拔的插座及可插拔式探头 |
| EP4084724A4 (en) | 2019-12-31 | 2023-12-27 | Auris Health, Inc. | ADVANCED BASKET TRAINING MODE |
| JP7370007B2 (ja) * | 2020-02-21 | 2023-10-27 | 国立大学法人 長崎大学 | 内視鏡操作支援システム及び内視鏡システム |
| CN115334952B (zh) * | 2020-02-26 | 2026-05-19 | 赫曼泰克外科有限公司 | 用于结肠镜的控制系统 |
| US12484977B2 (en) | 2020-03-27 | 2025-12-02 | Intuitive Surgical Operations, Inc. | Systems and methods of controlling instruments |
| US12544171B2 (en) | 2020-05-04 | 2026-02-10 | Intuitive Surgical Operations, Inc. | Medical instrument having single input for driving multiple cables |
| JP7401075B2 (ja) * | 2020-06-05 | 2023-12-19 | 学校法人産業医科大学 | 内視鏡操作システム |
| WO2022046058A1 (en) | 2020-08-27 | 2022-03-03 | Verb Surgical Inc. | Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system |
| WO2022060565A1 (en) * | 2020-09-15 | 2022-03-24 | Covidien Lp | Surgical robotic system for controlling wristed instruments |
| 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 |
| USD1022197S1 (en) | 2020-11-19 | 2024-04-09 | Auris Health, Inc. | Endoscope |
| KR102499052B1 (ko) * | 2021-04-15 | 2023-02-13 | 주식회사 로엔서지컬 | 내시경 수술 로봇 |
| KR102378015B1 (ko) * | 2021-05-28 | 2022-03-24 | 주식회사 엔도로보틱스 | 텐던-쉬스 구동 장치 및 로봇팔 구동 장치 |
| DE102021114429B4 (de) | 2021-06-04 | 2025-11-06 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Robotersystem für minimalinvasive Chirurgie |
| IT202100015896A1 (it) * | 2021-06-17 | 2022-12-17 | Medical Microinstruments Inc | Metodo di condizionamento di uno strumento chirurgico di un sistema robotizzato per chirurgia, con cicli di pre-allungamento di tendini di trasmissione di movimenti |
| IT202100015902A1 (it) * | 2021-06-17 | 2022-12-17 | Medical Microinstruments Inc | Metodo di preparazione alla teleoperazione in un sistema robotico teleoperato per chirurgia |
| CN114668512B (zh) * | 2022-03-29 | 2024-09-03 | 吉林省金博弘智能科技有限责任公司 | 一种主从式内镜手术机器人 |
| CN116919613B (zh) * | 2022-04-08 | 2025-03-07 | 北京大学 | 内窥镜控制设备 |
| DE102022118388B4 (de) | 2022-07-22 | 2024-12-12 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Chirurgiesystem für die minimalinvasive robotische Chirurgie |
| EP4389086A1 (en) * | 2022-12-21 | 2024-06-26 | Universität Heidelberg | Tendon-driven wearable orthosis and method for calibrating a tendon-driven wearable orthosis |
| DE102023104936A1 (de) | 2023-02-28 | 2024-08-29 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Chirurgiesystem für minimalinvasive robotische Chirurgie System |
| CN115944397B (zh) * | 2023-03-10 | 2023-06-06 | 北京云力境安科技有限公司 | 一种内镜适配器 |
| WO2024207005A1 (en) * | 2023-03-31 | 2024-10-03 | Vicarious Surgical Inc. | Systems and methods for controlling elastic cable driven robot joints |
| EP4491348A1 (en) * | 2023-07-12 | 2025-01-15 | Rolls-Royce plc | Haptic control system |
| WO2025122693A1 (en) * | 2023-12-07 | 2025-06-12 | Board Of Regents, The University Of Texas System | Apparatus and methods for endoscope control |
| WO2025239658A1 (ko) * | 2024-05-14 | 2025-11-20 | 주식회사 엔도로보틱스 | 텐던-쉬스 구동장치 |
| WO2026015700A1 (en) * | 2024-07-11 | 2026-01-15 | Covidien Lp | Surgical robotic system for controlling laparoscopic and endoluminal instruments |
Family Cites Families (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3628743B2 (ja) * | 1995-02-22 | 2005-03-16 | オリンパス株式会社 | 医療用マニピュレータ |
| JP3610110B2 (ja) * | 1995-02-23 | 2005-01-12 | オリンパス株式会社 | 医療用マニピュレータ |
| US5710870A (en) * | 1995-09-07 | 1998-01-20 | California Institute Of Technology | Decoupled six degree-of-freedom robot manipulator |
| JP3578375B2 (ja) * | 1997-03-17 | 2004-10-20 | 技術研究組合医療福祉機器研究所 | ロボットアーム駆動装置およびロボットハンド |
| JP4503725B2 (ja) * | 1999-05-17 | 2010-07-14 | オリンパス株式会社 | 内視鏡治療装置 |
| WO2002089872A2 (en) * | 2001-05-06 | 2002-11-14 | Stereotaxis, Inc. | System and methods for advancing a catheter |
| JP4266582B2 (ja) * | 2002-07-15 | 2009-05-20 | オリンパス株式会社 | 外科手術用器具と外科手術システム |
| US7972298B2 (en) * | 2004-03-05 | 2011-07-05 | Hansen Medical, Inc. | Robotic catheter system |
| US8439828B2 (en) * | 2006-01-13 | 2013-05-14 | Olympus Medical Systems Corp. | Treatment endoscope |
| JP2007319954A (ja) * | 2006-05-30 | 2007-12-13 | Merry B:Kk | 可動軸駆動装置およびロボット装置 |
| CN104688349B (zh) * | 2006-06-13 | 2017-05-10 | 直观外科手术操作公司 | 微创手术系统 |
| JP4914735B2 (ja) * | 2007-02-14 | 2012-04-11 | オリンパスメディカルシステムズ株式会社 | 処置具の位置制御を行う内視鏡システム |
| JP5160549B2 (ja) * | 2007-09-11 | 2013-03-13 | オリンパス株式会社 | 内視鏡装置 |
| 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 |
| JP2009195489A (ja) * | 2008-02-21 | 2009-09-03 | Olympus Medical Systems Corp | マニピュレータ操作システム |
| US8727966B2 (en) * | 2008-03-31 | 2014-05-20 | Intuitive Surgical Operations, Inc. | Endoscope with rotationally deployed arms |
| JP5336760B2 (ja) | 2008-05-01 | 2013-11-06 | 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 |
| US20090281378A1 (en) * | 2008-05-09 | 2009-11-12 | Kazuo Banju | Medical system |
| US8343034B2 (en) * | 2008-05-13 | 2013-01-01 | Olympus Medical Systems Corp. | Electric medical instrument fitting which is attached to a medical instrument holding device |
| JP5452813B2 (ja) * | 2008-05-28 | 2014-03-26 | 国立大学法人東京工業大学 | 力覚提示機能を有する操縦システム |
| US8864652B2 (en) * | 2008-06-27 | 2014-10-21 | Intuitive Surgical Operations, Inc. | Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip |
| JP5407036B2 (ja) * | 2008-09-02 | 2014-02-05 | オリンパスメディカルシステムズ株式会社 | 処置用内視鏡 |
| EP2324789B1 (en) * | 2008-11-14 | 2017-06-21 | Olympus Corporation | Medical system |
| JP5323578B2 (ja) * | 2009-04-28 | 2013-10-23 | テルモ株式会社 | 医療用ロボットシステム |
| US8882660B2 (en) * | 2009-05-29 | 2014-11-11 | Nanyang Technological University | Robotic system for flexible endoscopy |
| ES2388867B1 (es) * | 2009-10-27 | 2013-09-18 | Universitat Politècnica De Catalunya | Pinzas para cirugia laparoscópica mínimamente invasiva. |
| WO2011058893A1 (ja) * | 2009-11-10 | 2011-05-19 | オリンパスメディカルシステムズ株式会社 | 多関節マニピュレータ装置及びそれを有する内視鏡システム |
| JP5052698B2 (ja) * | 2009-11-18 | 2012-10-17 | オリンパスメディカルシステムズ株式会社 | 医療装置 |
| US8644988B2 (en) * | 2010-05-14 | 2014-02-04 | Intuitive Surgical Operations, Inc. | Drive force control in medical instrument providing position measurements |
| US8672837B2 (en) * | 2010-06-24 | 2014-03-18 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable medical device |
| CN102821705B (zh) * | 2010-10-28 | 2015-04-01 | 奥林巴斯医疗株式会社 | 处理器具 |
| US20130035537A1 (en) * | 2011-08-05 | 2013-02-07 | Wallace Daniel T | Robotic systems and methods for treating tissue |
| FR2987734B1 (fr) * | 2012-03-08 | 2014-04-11 | Univ Strasbourg | Dispositif d'instrumentation motorise et modulable et systeme d'endoscope comprenant un tel dispositif |
| JP5948168B2 (ja) * | 2012-07-03 | 2016-07-06 | オリンパス株式会社 | 医療用マニピュレータ |
| JP6140950B2 (ja) * | 2012-08-30 | 2017-06-07 | オリンパス株式会社 | 医療用システム |
-
2015
- 2015-03-19 EP EP15765801.4A patent/EP3119263A4/en not_active Withdrawn
- 2015-03-19 CN CN201810663145.8A patent/CN108836233A/zh active Pending
- 2015-03-19 WO PCT/SG2015/050044 patent/WO2015142290A1/en not_active Ceased
- 2015-03-19 CN CN201810433861.7A patent/CN108968890B/zh not_active Expired - Fee Related
- 2015-03-19 SG SG11201607930TA patent/SG11201607930TA/en unknown
- 2015-03-19 US US15/127,397 patent/US20170127911A1/en not_active Abandoned
- 2015-03-19 CN CN201810433833.5A patent/CN108968889B/zh not_active Expired - Fee Related
- 2015-03-19 JP JP2017500797A patent/JP2017515615A/ja active Pending
- 2015-03-19 CN CN201810664294.6A patent/CN108836234B/zh not_active Expired - Fee Related
- 2015-03-19 CN CN201580024954.9A patent/CN106455916A/zh active Pending
-
2018
- 2018-12-20 US US16/228,634 patent/US20190191967A1/en not_active Abandoned
-
2019
- 2019-12-19 JP JP2019228848A patent/JP7019661B2/ja not_active Expired - Fee Related
- 2019-12-19 JP JP2019228849A patent/JP7019662B2/ja not_active Expired - Fee Related
- 2019-12-19 JP JP2019228850A patent/JP2020072935A/ja active Pending
-
2021
- 2021-11-29 JP JP2021193412A patent/JP2022033844A/ja active Pending
- 2021-11-29 JP JP2021193409A patent/JP2022050387A/ja active Pending
-
2022
- 2022-06-08 JP JP2022092981A patent/JP2022133289A/ja active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN115554551B (zh) * | 2022-10-08 | 2024-05-14 | 中国科学院自动化研究所 | 气管插管机器人及其控制方法 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108968889B (zh) | 2022-03-22 |
| JP2022033844A (ja) | 2022-03-02 |
| JP2020072935A (ja) | 2020-05-14 |
| JP7019661B2 (ja) | 2022-02-15 |
| WO2015142290A1 (en) | 2015-09-24 |
| JP2022133289A (ja) | 2022-09-13 |
| US20170127911A1 (en) | 2017-05-11 |
| JP2022050387A (ja) | 2022-03-30 |
| JP7019662B2 (ja) | 2022-02-15 |
| CN106455916A (zh) | 2017-02-22 |
| CN108968889A (zh) | 2018-12-11 |
| US20190191967A1 (en) | 2019-06-27 |
| CN108836234A (zh) | 2018-11-20 |
| EP3119263A4 (en) | 2018-06-27 |
| CN108968890B (zh) | 2021-10-12 |
| JP2017515615A (ja) | 2017-06-15 |
| JP2020062418A (ja) | 2020-04-23 |
| JP2020075143A (ja) | 2020-05-21 |
| SG11201607930TA (en) | 2016-12-29 |
| CN108968890A (zh) | 2018-12-11 |
| EP3119263A1 (en) | 2017-01-25 |
| CN108836234B (zh) | 2021-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108836234A (zh) | 主-从柔性机器人内窥镜系统 | |
| JP7061166B2 (ja) | 内視鏡用システムの構成要素 | |
| RU2632513C2 (ru) | Хирургическое сшивающее и режущее устройство | |
| US11523732B2 (en) | Surgical device actuated using asymmetric spring system | |
| CN105980113B (zh) | 机械手系统的初始化方法 | |
| US10765306B2 (en) | Advanced 3-dimensional endoscopic system with real dynamic convergence | |
| US20100099951A1 (en) | System for controlling an instrument using shape sensors | |
| EP3159124A1 (en) | Manipulator control method, manipulator, and manipulator system | |
| CN113813050B (zh) | 外科手术器械和手术机器人 | |
| WO2015012241A1 (ja) | 医療用システムおよびその制御方法 | |
| KR20250141047A (ko) | 수술용 인스트루먼트 및 이를 포함하는 수술 로봇 시스템 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201111 Address after: Shinka ha Applicant after: Endomaster Pte. Ltd. Address before: No.2 wenletai, no.04-01, building 2, gangpan, Singapore Applicant before: Endomaster Pte. Ltd. Applicant before: TAG Heuer |
|
| TA01 | Transfer of patent application right | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20210924 |
|
| AD01 | Patent right deemed abandoned |