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
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
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)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • General Engineering & Computer Science (AREA)
  • Vascular Medicine (AREA)
  • Dentistry (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

Family

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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 (https=)
EP (1) EP3429502A1 (https=)
JP (1) JP2019512319A (https=)
KR (1) KR20180138202A (https=)
CN (1) CN109152616A (https=)
BR (1) BR112018068536A2 (https=)
FR (4) FR3048888A1 (https=)
WO (1) WO2017158263A1 (https=)

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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
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
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
CN117918962A (zh) * 2023-11-29 2024-04-26 中国人民解放军陆军军医大学第二附属医院 一种手术室移动平台

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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
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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
EP4349393A1 (en) * 2021-05-26 2024-04-10 Perazah Inc. Surgical tool module for vascular interventional surgical device and vascular interventional surgical device
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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
JP2025504886A (ja) * 2022-01-23 2025-02-19 モノグラム・オーサピディクス・インコーポレイテッド 振動補償を備えたロボットシステム、および関連する方法
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
WO2026047642A1 (en) * 2024-08-30 2026-03-05 Guido Danieli Guido Modular robotic system with suspended actuators for endovascular catheter and guidewire navigation

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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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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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WO2017158263A1 (fr) 2017-09-21
FR3048891A1 (fr) 2017-09-22
BR112018068536A2 (pt) 2019-01-29
FR3048890A1 (fr) 2017-09-22
FR3048888A1 (fr) 2017-09-22
FR3048891B1 (fr) 2018-03-23
JP2019512319A (ja) 2019-05-16
US20200297434A1 (en) 2020-09-24
FR3048889B1 (fr) 2022-01-07

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