CN114554930A - 具有多个弯曲节段的医疗装置 - Google Patents

具有多个弯曲节段的医疗装置 Download PDF

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Publication number
CN114554930A
CN114554930A CN202080072189.9A CN202080072189A CN114554930A CN 114554930 A CN114554930 A CN 114554930A CN 202080072189 A CN202080072189 A CN 202080072189A CN 114554930 A CN114554930 A CN 114554930A
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China
Prior art keywords
section
instrument
distal
proximal
plane
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Pending
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CN202080072189.9A
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English (en)
Chinese (zh)
Inventor
黄家骏
J·J·苏
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Auris Health Inc
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Auris Surgical Robotics Inc
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Publication of CN114554930A publication Critical patent/CN114554930A/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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • 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
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00085—Baskets
    • 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
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00087—Tools
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • 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
    • A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion
    • 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
    • A61B1/307—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 for the urinary organs, e.g. urethroscopes, cystoscopes
    • 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
    • A61B34/30—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
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00309—Cut-outs or slits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

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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)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Urology & Nephrology (AREA)
  • Endoscopes (AREA)
  • Electromagnetism (AREA)
  • Otolaryngology (AREA)
CN202080072189.9A 2019-08-15 2020-08-14 具有多个弯曲节段的医疗装置 Pending CN114554930A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962887560P 2019-08-15 2019-08-15
US62/887560 2019-08-15
PCT/IB2020/057688 WO2021028883A1 (en) 2019-08-15 2020-08-14 Medical device having multiple bending sections

Publications (1)

Publication Number Publication Date
CN114554930A true CN114554930A (zh) 2022-05-27

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ID=74568545

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080072189.9A Pending CN114554930A (zh) 2019-08-15 2020-08-14 具有多个弯曲节段的医疗装置

Country Status (6)

Country Link
US (1) US11717147B2 (enExample)
EP (1) EP4013285A4 (enExample)
JP (1) JP2022544554A (enExample)
KR (1) KR20220050151A (enExample)
CN (1) CN114554930A (enExample)
WO (1) WO2021028883A1 (enExample)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115844321A (zh) * 2023-01-10 2023-03-28 浙江大学 一种医用主动式连续型内窥镜机器人
CN116269787A (zh) * 2023-03-31 2023-06-23 苏州视通医疗科技有限公司 一种柔性医疗器械的控制机构

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US11246672B2 (en) 2019-08-15 2022-02-15 Auris Health, Inc. Axial motion drive devices, systems, and methods for a robotic medical system
USD1039141S1 (en) * 2020-04-27 2024-08-13 Acclarent, Inc. Flex section in shaft for ENT instrument
JPWO2021229792A1 (enExample) * 2020-05-15 2021-11-18
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EP4167892A4 (en) * 2020-06-19 2024-10-30 Remedy Robotics, Inc. SYSTEMS AND METHODS FOR GUIDING INTRALUMINAL DEVICES IN THE VASCULAR SYSTEM
US12419505B2 (en) * 2021-01-20 2025-09-23 Covidien Lp Steerable endoscope system and method
US12121677B2 (en) 2021-01-29 2024-10-22 Neptune Medical Inc. Devices and methods to prevent inadvertent motion of dynamically rigidizing apparatuses
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EP4337079B1 (en) * 2021-05-13 2025-10-22 Boston Scientific Scimed, Inc. Motorized control for medical device
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US12426962B2 (en) 2021-06-18 2025-09-30 Mazor Robotics Ltd. Robotic surgical system with rigid bed mount
US11707332B2 (en) 2021-07-01 2023-07-25 Remedy Robotics, Inc. Image space control for endovascular tools
CA3222522A1 (en) 2021-07-01 2023-01-05 David James Bell Vision-based position and orientation determination for endovascular tools
US12121307B2 (en) 2021-07-01 2024-10-22 Remedy Robotics, Inc. Vision-based position and orientation determination for endovascular tools
CN113499142B (zh) * 2021-07-14 2023-09-01 天津大学医疗机器人与智能系统研究院 前端执行装置、手术器械、从手端及微创手术系统
CN113456231B (zh) * 2021-07-22 2022-08-12 上海交通大学 基于交叉弯曲梁结构的切口型连续体机器人
CN113576378B (zh) * 2021-08-11 2024-07-05 岱川医疗(深圳)有限责任公司 内窥镜的弯曲结构部
CN118401161A (zh) * 2021-09-30 2024-07-26 诺亚医疗集团公司 用于可配置内窥镜弯曲段的系统和方法
WO2023122767A2 (en) * 2021-12-22 2023-06-29 Neptune Medical Inc. Methods and apparatuses for reducing curvature of a colon
US12564312B2 (en) 2022-04-19 2026-03-03 Neptune Medical Inc. Managing and manipulating a long length robotic endoscope
KR20250003955A (ko) 2022-04-27 2025-01-07 넵튠 메디컬 인코포레이티드 내시경용 위생 외장
WO2023225209A1 (en) 2022-05-20 2023-11-23 Boston Scientific Scimed, Inc. Trajectory tracking for medical device
CN115300006B (zh) * 2022-07-07 2024-04-16 天津大学 具备结构解耦功能的柔性连续体手术器械
CN115462737A (zh) * 2022-08-26 2022-12-13 上海市静安区闸北中心医院 内窥软镜的远端多向控制调节装置、置管套件及使用方法
CN116269777B (zh) * 2023-02-10 2026-04-21 杭州罗伯医疗科技有限公司 手术器械及手术机器人
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