CN108836234B - 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
CN108836234B
CN108836234B CN201810664294.6A CN201810664294A CN108836234B CN 108836234 B CN108836234 B CN 108836234B CN 201810664294 A CN201810664294 A CN 201810664294A CN 108836234 B CN108836234 B CN 108836234B
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China
Prior art keywords
tendon
endoscope
instrument
actuator
robotic
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Expired - Fee Related
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CN201810664294.6A
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Chinese (zh)
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CN108836234A (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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Endomaster Pte Ltd
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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
    • A61B1/005—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
    • A61B1/005—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
    • 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
    • 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

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  • 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)
CN201810664294.6A 2014-03-19 2015-03-19 主-从柔性机器人内窥镜系统 Expired - Fee Related CN108836234B (zh)

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)

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Publications (2)

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CN108836234A CN108836234A (zh) 2018-11-20
CN108836234B true CN108836234B (zh) 2021-02-05

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Family Applications (5)

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
CN201580024954.9A Pending CN106455916A (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
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
CN201810663145.8A Pending CN108836233A (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
CN201580024954.9A Pending CN106455916A (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
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
CN201810663145.8A Pending CN108836233A (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) CN108836234B (https=)
SG (1) SG11201607930TA (https=)
WO (1) WO2015142290A1 (https=)

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