DK2956202T3 - Styrbar medicinsk indretning - Google Patents

Styrbar medicinsk indretning Download PDF

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Publication number
DK2956202T3
DK2956202T3 DK14751646.2T DK14751646T DK2956202T3 DK 2956202 T3 DK2956202 T3 DK 2956202T3 DK 14751646 T DK14751646 T DK 14751646T DK 2956202 T3 DK2956202 T3 DK 2956202T3
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DK
Denmark
Prior art keywords
medical device
elongated
guide wires
segments
device body
Prior art date
Application number
DK14751646.2T
Other languages
English (en)
Inventor
Mordehai Sholev
Original Assignee
Human Extensions 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 Human Extensions Ltd filed Critical Human Extensions Ltd
Application granted granted Critical
Publication of DK2956202T3 publication Critical patent/DK2956202T3/da

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • 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
    • 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
    • A61B1/008—Articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets 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, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets 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, e.g. tourniquets
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • 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
    • 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
    • A61M25/0133—Tip steering devices
    • A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Physics & Mathematics (AREA)
  • Endoscopes (AREA)
  • Rehabilitation Therapy (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Mechanical Engineering (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)

Claims (15)

  1. STYRBAR MEDICINSK INDRETNING
    1. Medicinsk indretning, der omfatter: en langstrakt indretningskrop (12), der indbefatter en styrbar del (23), som er styrbar inde i et individs krop via mindst én styretråd; og en flerhed af styretrådsførere (18), der er anbragt langs den langstrakte indretningskrop, kendetegnet ved, at trådførerne (18) kan udfoldes med henblik på at bevæge sig radialt udad og bøje den mindst ene styretråd (24) væk fra den langstrakte indretningskrop, hvor afbøjning af den mindst ene styretråd (24) væk fra den langstrakte krop (12) formindsker en trækkraft, som kræves til styring af den styrbare del (23), og forskyder en længdeakse af den mindst ene styretråd fra en afbøjningsakse af den styrbare del.
  2. 2. Medicinsk indretning ifølge krav 1, hvor den styrbare del (23) af den langstrakte indretningskrop (12) er sammensat af en flerhed af segmenter (13).
  3. 3. Medicinsk indretning ifølge krav 2, hvor flerheden af segmenter (13) er forbundet indbyrdes.
  4. 4. Medicinsk indretning ifølge krav 2, hvor den langstrakte indretningskrop (12) indbefatter en fleksibelt rør, der er anbragt gennem hver af flerheden af segmenter (13).
  5. 5. Medicinsk indretning ifølge krav 2, hvor styretrådsførerne (18) danner en del af segmenterne (13).
  6. 6. Medicinsk indretning ifølge krav 5, hvor styretrådsførerne (18) strækker sig radialt udad, når flerheden af indbyrdes forbundne segmenter (13) er sammentrykt på langs.
  7. 7. Medicinsk indretning ifølge krav 6, der endvidere omfatter et rør til sammentrykning af de indbyrdes forbundne segmenter (13).
  8. 8. Medicinsk indretning ifølge krav 1, hvor styretrådsførerne (18) er afstivere (20), der er i stand til at svinge væk fra en længdeakse af den langstrakte indretningskrop.
  9. 9. Medicinsk indretning ifølge krav 8, hvor bortsvingningen af afstiverne (20) sker ved at trække i den mindst ene styretråd.
  10. 10. Medicinsk indretning ifølge krav 8, der endvidere omfatter en rørformet kappe til sammentrykning af afstiverne (20) mod den langstrakte indretningskrop (12), hvor fjernelse af kappen frigiver afstiverne (20) med henblik på at svinge væk fra en længdeakse af den langstrakte indretningskrop (12).
  11. 11. Medicinsk indretning ifølge krav 1, der omfatter en flerhed af styretråde (24), som hver især er til afbøjning af mindst en del af den langstrakte indretningskrop (12) i en specifik retning.
  12. 12. Medicinsk indretning ifølge krav 11, hvor hver af flerheden af styretråde (24) er bøjelige via et specifikt sæt af styretrådsførere (18) af flerheden af styretrådsførere (18).
  13. 13. Medicinsk indretning ifølge krav 12, hvor et antal, en afstand og/eller en afbøjningsafstand af styretrådsførere (18) af det specifikke sæt af styretrådsførere (18) varierer for hver af flerheden af styretråde.
  14. 14. Medicinsk indretning ifølge krav 1, der endvidere omfatter en vævsmanipulator (44), som er fastgjort til en distal ende af den langstrakte indretningskrop (12).
  15. 15. Medicinsk indretning ifølge krav 14, hvor vævsmanipulatoren (44) er en griber (29), et vævsskærer eller en nål.
DK14751646.2T 2013-02-17 2014-02-17 Styrbar medicinsk indretning DK2956202T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201361765745P 2013-02-17 2013-02-17
PCT/IL2014/050224 WO2014125498A2 (en) 2013-02-17 2014-02-17 Steerable medical device

Publications (1)

Publication Number Publication Date
DK2956202T3 true DK2956202T3 (da) 2018-11-19

Family

ID=51354637

Family Applications (1)

Application Number Title Priority Date Filing Date
DK14751646.2T DK2956202T3 (da) 2013-02-17 2014-02-17 Styrbar medicinsk indretning

Country Status (16)

Country Link
US (2) US10383648B2 (da)
EP (1) EP2956202B1 (da)
JP (1) JP6273298B2 (da)
KR (1) KR20150119931A (da)
CN (1) CN105073177B (da)
BR (1) BR112015019218A2 (da)
CA (1) CA2900314C (da)
CY (1) CY1120896T1 (da)
DK (1) DK2956202T3 (da)
ES (1) ES2689868T3 (da)
HK (1) HK1215206A1 (da)
HR (1) HRP20181561T1 (da)
HU (1) HUE040679T2 (da)
MX (1) MX363964B (da)
PT (1) PT2956202T (da)
WO (1) WO2014125498A2 (da)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
PT2956202T (pt) 2013-02-17 2018-11-14 Human Extensions Ltd Dispositivo médico direcionável
EP3125738A4 (en) * 2014-03-31 2017-12-06 Human Extensions Ltd. Steerable medical device
JP6667552B2 (ja) * 2015-04-27 2020-03-18 フォンダツィオーネ インスティテゥート イタリアーノ ディ テクノロジア 一対の連続形ロボットシステムを含む形状維持展開可能構造及び形状維持展開可能構造を備えたシステム
WO2017013942A1 (ja) * 2015-07-17 2017-01-26 オリンパス株式会社 マニピュレータ
US10806489B2 (en) * 2015-07-31 2020-10-20 Purdue Research Foundation Systems and methods for performing a surgical procedure
US10709324B2 (en) * 2015-07-31 2020-07-14 Purdue Research Foundation Systems and methods for performing a surgical procedure
EP3618689A4 (en) * 2017-05-03 2021-02-17 Canon U.S.A., Inc. STEERABLE MEDICAL DEVICE AND PROCEDURE
CN113164184A (zh) * 2018-08-24 2021-07-23 奥瑞斯健康公司 能够手动地和机器人地控制的医疗器械
JP1650869S (da) * 2019-01-25 2020-01-20
USD930830S1 (en) * 2019-01-25 2021-09-14 Karl Storz Se & Co. Kg Shaft attachable medical instrument
USD966513S1 (en) * 2019-01-25 2022-10-11 Karl Storz Se & Co. Kg Shaft attachable medical instrument
US11642185B2 (en) * 2019-12-16 2023-05-09 Purdue Research Foundation Systems and methods for performing a surgical procedure
US11234704B2 (en) * 2020-03-03 2022-02-01 Covidien Lp Cable-actuated adapter for surgical stapling instrument
CN112023226B (zh) * 2020-11-04 2021-03-19 上海心玮医疗科技股份有限公司 一种可调弯导丝
CN116195394B (zh) * 2023-04-28 2023-07-25 吉林天朗新能源科技有限公司 一种用于牵引机械设备的广角转向机构和牵引装置

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PT2956202T (pt) 2013-02-17 2018-11-14 Human Extensions Ltd Dispositivo médico direcionável

Also Published As

Publication number Publication date
PT2956202T (pt) 2018-11-14
WO2014125498A2 (en) 2014-08-21
CY1120896T1 (el) 2019-12-11
ES2689868T3 (es) 2018-11-16
HRP20181561T1 (hr) 2018-11-30
MX2015010593A (es) 2015-11-16
HK1215206A1 (zh) 2016-08-19
US20190262018A1 (en) 2019-08-29
CA2900314A1 (en) 2014-08-21
EP2956202A2 (en) 2015-12-23
JP2016513985A (ja) 2016-05-19
US11324528B2 (en) 2022-05-10
US10383648B2 (en) 2019-08-20
KR20150119931A (ko) 2015-10-26
EP2956202B1 (en) 2018-07-25
CN105073177A (zh) 2015-11-18
MX363964B (es) 2019-04-09
JP6273298B2 (ja) 2018-01-31
CN105073177B (zh) 2018-10-12
BR112015019218A2 (pt) 2017-08-22
HUE040679T2 (hu) 2019-03-28
CA2900314C (en) 2022-03-22
US20150366572A1 (en) 2015-12-24
WO2014125498A3 (en) 2014-10-30
EP2956202A4 (en) 2016-10-05

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