CN109152616A - 用于插入细长柔性医疗器械的机器人以及相关附件 - Google Patents

用于插入细长柔性医疗器械的机器人以及相关附件 Download PDF

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Publication number
CN109152616A
CN109152616A CN201780029734.4A CN201780029734A CN109152616A CN 109152616 A CN109152616 A CN 109152616A CN 201780029734 A CN201780029734 A CN 201780029734A CN 109152616 A CN109152616 A CN 109152616A
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CN
China
Prior art keywords
elongated flexible
flexible medical
medical device
device drive
drive system
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
Application number
CN201780029734.4A
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English (en)
Chinese (zh)
Inventor
菲利普·本克特克斯
塞巴斯蒂恩·戴伯弗
法比恩·戴斯特雷贝克
朱利恩·毛雷尔
马克·鲍兰盖
布鲁诺·福尼厄
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Rob Keith Co
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Rob Keith Co
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Application filed by Rob Keith Co filed Critical Rob Keith Co
Publication of CN109152616A publication Critical patent/CN109152616A/zh
Pending legal-status Critical Current

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    • 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
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/10—Safety means specially adapted therefor
    • A61B6/107—Protection against radiation, e.g. shielding
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/48—Diagnostic techniques
    • A61B6/481—Diagnostic techniques involving the use of contrast agents
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/504—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of blood vessels, e.g. by angiography
    • 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
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F1/00—Shielding characterised by the composition of the materials
    • G21F1/02—Selection of uniform shielding materials
    • G21F1/06—Ceramics; Glasses; Refractories
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F3/00—Shielding characterised by its physical form, e.g. granules, or shape of the material
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00212—Electrical control of surgical instruments using remote controls
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0023—Surgical instruments, devices or methods disposable
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Optics & Photonics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • General Engineering & Computer Science (AREA)
  • Dentistry (AREA)
  • Vascular Medicine (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Ceramic Engineering (AREA)
  • Manipulator (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
CN201780029734.4A 2016-03-18 2017-03-10 用于插入细长柔性医疗器械的机器人以及相关附件 Pending CN109152616A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1652304A FR3048888A1 (fr) 2016-03-18 2016-03-18 Robot d'insertion d'instrument medical souple allonge et accessoires associes
FR1652304 2016-03-18
PCT/FR2017/050545 WO2017158263A1 (fr) 2016-03-18 2017-03-10 Robot d'insertion d'instrument médical souple allonge et accessoires associes

Publications (1)

Publication Number Publication Date
CN109152616A true CN109152616A (zh) 2019-01-04

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780029734.4A Pending CN109152616A (zh) 2016-03-18 2017-03-10 用于插入细长柔性医疗器械的机器人以及相关附件

Country Status (8)

Country Link
US (1) US20200297434A1 (enExample)
EP (1) EP3429502A1 (enExample)
JP (1) JP2019512319A (enExample)
KR (1) KR20180138202A (enExample)
CN (1) CN109152616A (enExample)
BR (1) BR112018068536A2 (enExample)
FR (4) FR3048888A1 (enExample)
WO (1) WO2017158263A1 (enExample)

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EP3695794A1 (en) 2019-02-14 2020-08-19 Beijing SMTP Technology Co., Ltd. Robot-assisted ultrasonic osteotome powered system
CN113057570A (zh) * 2021-03-16 2021-07-02 上海微创医疗机器人（集团）股份有限公司 气管镜、持镜臂、可控鞘管、操作方法及患者端装置
CN113729948A (zh) * 2021-06-17 2021-12-03 深圳市爱博医疗机器人有限公司 一种介入手术机器人从端执行器装置
CN113784683A (zh) * 2019-03-22 2021-12-10 直观外科手术操作公司 使用可移动的无菌体积维持部件无菌性的系统和方法
CN114727850A (zh) * 2019-11-21 2022-07-08 奥瑞斯健康公司 用于覆盖外科系统的系统和方法
CN114762624A (zh) * 2021-01-14 2022-07-19 科林达斯公司 用于基于导管的手术系统的机器人驱动系统
US11464945B1 (en) * 2020-07-07 2022-10-11 Willie Henderson Catheter canal
CN115279297A (zh) * 2020-01-15 2022-11-01 Devicor医疗产业收购公司 弹性体薄套筒折叠机构
CN115670671A (zh) * 2021-07-30 2023-02-03 科林达斯公司 用于机器人驱动器的盒组件
WO2023124665A1 (zh) * 2021-12-31 2023-07-06 深圳微创踪影医疗装备有限公司 医疗设备的驱动装置及驱动系统
CN116421322A (zh) * 2023-03-06 2023-07-14 极限人工智能有限公司 一种手术机器人平台及手术机器人
WO2023142294A1 (zh) * 2022-01-29 2023-08-03 深圳市爱博医疗机器人有限公司 一种介入手术辅助夹持装置
WO2023142289A1 (zh) * 2022-01-29 2023-08-03 深圳市爱博医疗机器人有限公司 一种消除振动的介入手术机器人

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US11925431B2 (en) 2016-07-29 2024-03-12 Cmr Surgical Limited Motion feedthrough
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KR102184889B1 (ko) * 2018-04-19 2020-12-01 (주)엘엔로보틱스 의료 로봇용 롤러 모듈, 의료 로봇용 구동 기기 및 의료 로봇
CN109157729B (zh) * 2018-07-23 2020-11-06 郑州大学第一附属医院 一种血管介入手术用导丝递送装置
KR102116326B1 (ko) * 2018-08-13 2020-05-28 광주과학기술원 의료용 카테터 모듈 장치
GB2596578B (en) * 2020-07-02 2022-07-13 Prec Robotics Limited A barrier cartridge and a barrier assembly
KR102442172B1 (ko) * 2020-07-29 2022-09-08 주식회사 바이오유닛 혈관 치료용 바이폴라 카테타
EP4023183A1 (en) * 2020-12-29 2022-07-06 Robocath Catheter robot comprising catheter translation modules for flexible elongated medical elements
KR102516104B1 (ko) * 2021-01-19 2023-03-30 주식회사 페라자 다중 접점 플레이트를 가지는 혈관중재시술로봇 및 혈관중재시술시스템
KR102440299B1 (ko) * 2021-01-19 2022-09-05 주식회사 페라자 선 접촉 롤러 메커니즘을 가지는 혈관중재시술로봇 및 혈관중재시술시스템
KR102775431B1 (ko) * 2021-05-26 2025-03-05 주식회사 페라자 혈관 중재 시술 장치
WO2022250373A1 (ko) * 2021-05-26 2022-12-01 주식회사 페라자 혈관 중재 시술 장치용 시술도구 모듈 및 혈관 중재 시술 장치
WO2022250370A1 (ko) * 2021-05-26 2022-12-01 주식회사 페라자 혈관 중재 시술 장치
ES3044532T3 (en) * 2021-05-28 2025-11-26 Endo Robotics Co Ltd Tubular member moving apparatus
US11903669B2 (en) 2021-07-30 2024-02-20 Corindus, Inc Sterile drape for robotic drive
FR3127113B1 (fr) 2021-09-17 2024-05-03 Robocath Module d’entrainement en translation d’au moins un instrument medical souple allonge avec canal de guidage den translation de cet instrument medical souple allonge
EP4465916A2 (en) * 2022-01-23 2024-11-27 Monogram Orthopaedics Inc. Robotic systems with vibration compensation, and related methods
KR102765181B1 (ko) * 2022-01-24 2025-02-10 국립한밭대학교 산학협력단 편의성이 향상된 인대 검사용 스트레스 검사장치
KR102744912B1 (ko) * 2022-03-18 2024-12-19 재단법인 아산사회복지재단 시술 도구용 지지대
US20250262410A1 (en) * 2022-04-18 2025-08-21 Board Of Regents, The University Of Texas System Magnetically steerable catheter
US20240358444A1 (en) * 2023-04-26 2024-10-31 Covidien Lp Autonomous navigation of an endoluminal robot
CN119055365B (zh) * 2023-06-01 2025-10-28 武汉联影智融医疗科技有限公司 悬吊式手术机器人
CN117398194B (zh) * 2023-12-15 2024-03-01 杭州脉流科技有限公司 血管介入手术机器人

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CN113784683B (zh) * 2019-03-22 2025-09-09 直观外科手术操作公司 使用可移动的无菌体积维持部件无菌性的系统和方法
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CN113057570A (zh) * 2021-03-16 2021-07-02 上海微创医疗机器人（集团）股份有限公司 气管镜、持镜臂、可控鞘管、操作方法及患者端装置
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WO2023142294A1 (zh) * 2022-01-29 2023-08-03 深圳市爱博医疗机器人有限公司 一种介入手术辅助夹持装置
WO2023142289A1 (zh) * 2022-01-29 2023-08-03 深圳市爱博医疗机器人有限公司 一种消除振动的介入手术机器人
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CN116421322A (zh) * 2023-03-06 2023-07-14 极限人工智能有限公司 一种手术机器人平台及手术机器人

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FR3048888A1 (fr) 2017-09-22
WO2017158263A1 (fr) 2017-09-21
FR3048889B1 (fr) 2022-01-07
BR112018068536A2 (pt) 2019-01-29
JP2019512319A (ja) 2019-05-16
FR3048891B1 (fr) 2018-03-23
KR20180138202A (ko) 2018-12-28
FR3048891A1 (fr) 2017-09-22

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