CN116963651A - 一种用于内窥镜外科手术过程的可操纵臂 - Google Patents

一种用于内窥镜外科手术过程的可操纵臂 Download PDF

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Publication number
CN116963651A
CN116963651A CN202280010846.6A CN202280010846A CN116963651A CN 116963651 A CN116963651 A CN 116963651A CN 202280010846 A CN202280010846 A CN 202280010846A CN 116963651 A CN116963651 A CN 116963651A
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CN
China
Prior art keywords
tubular member
cord
steerable arm
tube
arm
Prior art date
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Pending
Application number
CN202280010846.6A
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English (en)
Chinese (zh)
Inventor
郭嘉威
何焯亮
王晓梅
何迪朗
方格
王奎
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Versitech Ltd
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Versitech Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Versitech Ltd filed Critical Versitech Ltd
Priority to CN202510375979.9A priority Critical patent/CN120131091A/zh
Priority to CN202511143702.XA priority patent/CN120788744A/zh
Publication of CN116963651A publication Critical patent/CN116963651A/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
    • 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
    • A61B1/0011—Manufacturing of endoscope parts
    • 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
    • A61B1/005—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
    • A61B1/005—Flexible endoscopes
    • A61B1/008—Articulations
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/018—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 characterised by internal passages or accessories therefor for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments, e.g. catheter-type instruments
    • 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
    • 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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports
    • 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
    • A61B2017/00296—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
    • 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
    • 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
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00526—Methods of manufacturing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2906—Multiple forceps
    • 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
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Rehabilitation Therapy (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Surgical Instruments (AREA)
  • Rigid Pipes And Flexible Pipes (AREA)
  • Endoscopes (AREA)
CN202280010846.6A 2021-01-26 2022-01-21 一种用于内窥镜外科手术过程的可操纵臂 Pending CN116963651A (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202510375979.9A CN120131091A (zh) 2021-01-26 2022-01-21 用于内窥镜器械通道的可操纵臂的管状螺旋环状物的耦合关节
CN202511143702.XA CN120788744A (zh) 2021-01-26 2022-01-21 一种具有在不同平面内弯曲的区段的可操纵臂

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202163141613P 2021-01-26 2021-01-26
US63/141,613 2021-01-26
PCT/CN2022/073108 WO2022161266A1 (en) 2021-01-26 2022-01-21 A steerable arm for use in endoscopic surgical procedures

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CN202511143702.XA Division CN120788744A (zh) 2021-01-26 2022-01-21 一种具有在不同平面内弯曲的区段的可操纵臂
CN202510375979.9A Division CN120131091A (zh) 2021-01-26 2022-01-21 用于内窥镜器械通道的可操纵臂的管状螺旋环状物的耦合关节

Publications (1)

Publication Number Publication Date
CN116963651A true CN116963651A (zh) 2023-10-27

Family

ID=82654174

Family Applications (3)

Application Number Title Priority Date Filing Date
CN202280010846.6A Pending CN116963651A (zh) 2021-01-26 2022-01-21 一种用于内窥镜外科手术过程的可操纵臂
CN202510375979.9A Pending CN120131091A (zh) 2021-01-26 2022-01-21 用于内窥镜器械通道的可操纵臂的管状螺旋环状物的耦合关节
CN202511143702.XA Pending CN120788744A (zh) 2021-01-26 2022-01-21 一种具有在不同平面内弯曲的区段的可操纵臂

Family Applications After (2)

Application Number Title Priority Date Filing Date
CN202510375979.9A Pending CN120131091A (zh) 2021-01-26 2022-01-21 用于内窥镜器械通道的可操纵臂的管状螺旋环状物的耦合关节
CN202511143702.XA Pending CN120788744A (zh) 2021-01-26 2022-01-21 一种具有在不同平面内弯曲的区段的可操纵臂

Country Status (10)

Country Link
US (1) US20240108422A1 (https=)
EP (3) EP4736791A2 (https=)
JP (3) JP7682514B2 (https=)
KR (3) KR20250130706A (https=)
CN (3) CN116963651A (https=)
AU (3) AU2022212070B2 (https=)
CA (1) CA3205258A1 (https=)
GB (3) GB2636953B (https=)
TW (2) TWI819471B (https=)
WO (1) WO2022161266A1 (https=)

Cited By (3)

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CN118000912A (zh) * 2023-12-22 2024-05-10 广州巧捷力医疗机器人有限公司 具有用于可操纵臂的多个部分的手动驱动器的内窥镜手术器械耦合器
CN119927965A (zh) * 2025-03-21 2025-05-06 合肥工业大学 基于滑轮组机构的耦合关节模组以及连续体机器人
WO2025129667A1 (en) * 2023-12-22 2025-06-26 Agilis Robotics Limited (Guangzhou) A coupler for dispensing and reeling in wires to control a steerable arm

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CN115969300A (zh) * 2023-01-17 2023-04-18 上海交通大学 小尺度多腔道内窥镜连续体机械臂结构及制造方法
TWI893582B (zh) * 2023-02-03 2025-08-11 香港商巧捷力醫療機器人有限公司 內視鏡手術用之可操縱臂的管狀本體及其製造方法
EP4658151A1 (en) * 2023-02-03 2025-12-10 Agilis Robotics Limited Method of making steerable surgical arm for use in endoscopes during surgical procedures
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
CN117838019B (zh) * 2024-03-08 2024-06-18 深圳科思明德医疗科技有限公司 一种可调弯导管组件及医疗器械
CN121101739A (zh) * 2025-11-13 2025-12-12 吉林大学第一医院 一种可弯曲肛瘘电极

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118000912A (zh) * 2023-12-22 2024-05-10 广州巧捷力医疗机器人有限公司 具有用于可操纵臂的多个部分的手动驱动器的内窥镜手术器械耦合器
WO2025129667A1 (en) * 2023-12-22 2025-06-26 Agilis Robotics Limited (Guangzhou) A coupler for dispensing and reeling in wires to control a steerable arm
CN118000912B (zh) * 2023-12-22 2025-10-14 广州巧捷力医疗科技有限公司 具有用于可操纵臂的多个部分的手动驱动器的内窥镜手术器械耦合器
CN119927965A (zh) * 2025-03-21 2025-05-06 合肥工业大学 基于滑轮组机构的耦合关节模组以及连续体机器人

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AU2022212070B2 (en) 2025-04-10
GB2636953A (en) 2025-07-02
CN120131091A (zh) 2025-06-13
KR20230107330A (ko) 2023-07-14
CN120788744A (zh) 2025-10-17
GB2636953B (en) 2026-01-21
JP2025111682A (ja) 2025-07-30
KR20250133464A (ko) 2025-09-05
AU2025202293A1 (en) 2025-04-17
US20240108422A1 (en) 2024-04-04
GB202504759D0 (en) 2025-05-14
GB202506851D0 (en) 2025-06-18
AU2022212070A9 (en) 2025-01-16
TW202228592A (zh) 2022-08-01
GB2637663A (en) 2025-07-30
AU2022212070A1 (en) 2023-06-29
EP4240220A1 (en) 2023-09-13
EP4736791A2 (en) 2026-05-06
TW202404525A (zh) 2024-02-01
AU2025202626A1 (en) 2025-05-01
GB2616180B (en) 2025-06-25
GB2637663B (en) 2026-02-25
KR20250130706A (ko) 2025-09-02
EP4240220A4 (en) 2024-03-20
KR102850884B1 (ko) 2025-08-26
EP4732792A2 (en) 2026-04-29
GB2616180A (en) 2023-08-30
TWI819471B (zh) 2023-10-21
GB202308465D0 (en) 2023-07-19
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