FR3016512B1 - Dispositif d'interface maitre pour systeme endoscopique motorise et installation comprenant un tel dispositif - Google Patents
Dispositif d'interface maitre pour systeme endoscopique motorise et installation comprenant un tel dispositif Download PDFInfo
- Publication number
- FR3016512B1 FR3016512B1 FR1450560A FR1450560A FR3016512B1 FR 3016512 B1 FR3016512 B1 FR 3016512B1 FR 1450560 A FR1450560 A FR 1450560A FR 1450560 A FR1450560 A FR 1450560A FR 3016512 B1 FR3016512 B1 FR 3016512B1
- Authority
- FR
- France
- Prior art keywords
- installation
- endoscopic system
- master interface
- interface device
- motorized endoscopic
- 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.)
- Active
Links
- 238000009434 installation Methods 0.000 title 1
Classifications
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- 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—Master-slave robots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04703—Mounting of controlling member
- G05G2009/04714—Mounting of controlling member with orthogonal axes
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Manipulator (AREA)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1450560A FR3016512B1 (fr) | 2014-01-23 | 2014-01-23 | Dispositif d'interface maitre pour systeme endoscopique motorise et installation comprenant un tel dispositif |
US15/113,820 US10660719B2 (en) | 2014-01-23 | 2015-01-22 | Master interface device for a motorised endoscopic system and installation comprising such a device |
EP15701740.1A EP3096706B1 (fr) | 2014-01-23 | 2015-01-22 | Dispositif d'interface maître pour un système endoscopique motorisé, et installation comprenant un tel dispositif |
PCT/EP2015/051189 WO2015110495A1 (fr) | 2014-01-23 | 2015-01-22 | Dispositif d'interface maître pour un système endoscopique motorisé, et installation comprenant un tel dispositif |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1450560A FR3016512B1 (fr) | 2014-01-23 | 2014-01-23 | Dispositif d'interface maitre pour systeme endoscopique motorise et installation comprenant un tel dispositif |
FR1450560 | 2014-01-23 |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3016512A1 FR3016512A1 (fr) | 2015-07-24 |
FR3016512B1 true FR3016512B1 (fr) | 2018-03-02 |
Family
ID=50489328
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1450560A Active FR3016512B1 (fr) | 2014-01-23 | 2014-01-23 | Dispositif d'interface maitre pour systeme endoscopique motorise et installation comprenant un tel dispositif |
Country Status (4)
Country | Link |
---|---|
US (1) | US10660719B2 (fr) |
EP (1) | EP3096706B1 (fr) |
FR (1) | FR3016512B1 (fr) |
WO (1) | WO2015110495A1 (fr) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9962229B2 (en) | 2009-10-12 | 2018-05-08 | Corindus, Inc. | System and method for navigating a guide wire |
EP3226800B1 (fr) | 2014-12-05 | 2021-10-06 | Corindus, Inc. | Système de navigation d'un fil de guidage |
CN106572791B (zh) * | 2014-12-19 | 2018-11-13 | 奥林巴斯株式会社 | 内窥镜系统 |
US11896255B2 (en) | 2015-10-05 | 2024-02-13 | Flexdex, Inc. | End-effector jaw closure transmission systems for remote access tools |
EP3417901A1 (fr) | 2017-06-20 | 2018-12-26 | Siemens Healthcare GmbH | Ensemble de cathétérisation autonome |
CN107361849B (zh) * | 2017-07-31 | 2023-11-21 | 成都博恩思医学机器人有限公司 | 用于操纵执行机构的控制台 |
US11992282B2 (en) | 2019-03-15 | 2024-05-28 | Cilag Gmbh International | Motion capture controls for robotic surgery |
US11490981B2 (en) * | 2019-03-15 | 2022-11-08 | Cilag Gmbh International | Robotic surgical controls having feedback capabilities |
US11583350B2 (en) | 2019-03-15 | 2023-02-21 | Cilag Gmbh International | Jaw coordination of robotic surgical controls |
EP3937818A1 (fr) * | 2019-03-15 | 2022-01-19 | Cilag GmbH International | Commandes d'entrée pour chirurgie robotique |
US11213361B2 (en) | 2019-03-15 | 2022-01-04 | Cilag Gmbh International | Robotic surgical systems with mechanisms for scaling surgical tool motion according to tissue proximity |
US11666401B2 (en) | 2019-03-15 | 2023-06-06 | Cilag Gmbh International | Input controls for robotic surgery |
US11690690B2 (en) | 2019-03-15 | 2023-07-04 | Cilag Gmbh International | Segmented control inputs for surgical robotic systems |
CN111513853B (zh) * | 2020-05-11 | 2021-10-01 | 绍兴梅奥心磁医疗科技有限公司 | 导管的操控装置及系统 |
CN115701943A (zh) | 2020-06-02 | 2023-02-14 | 弗莱克斯德克斯公司 | 手术工具和组件 |
US11813746B2 (en) | 2020-12-30 | 2023-11-14 | Cilag Gmbh International | Dual driving pinion crosscheck |
US12059170B2 (en) | 2020-12-30 | 2024-08-13 | Cilag Gmbh International | Surgical tool with tool-based translation and lock for the same |
US12070287B2 (en) | 2020-12-30 | 2024-08-27 | Cilag Gmbh International | Robotic surgical tools having dual articulation drives |
CN117813036A (zh) * | 2021-08-02 | 2024-04-02 | 杭安医学科技(杭州)有限公司 | 一种软内窥镜系统、软内窥镜辅助装置和操作方法 |
CN115715702B (zh) * | 2023-01-09 | 2023-04-18 | 北京云力境安科技有限公司 | 一种软式内窥镜手术机器人系统 |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
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DE2504663C2 (de) | 1975-02-05 | 1982-10-14 | Karl 7200 Tuttlingen Storz | Flexibles Endoskop |
EP0078017B1 (fr) | 1981-10-22 | 1988-03-30 | Olympus Optical Co., Ltd. | Dispositif endoscopique à articulation motorisée |
FR2519894A1 (fr) * | 1982-01-19 | 1983-07-22 | Calhene | Telemanipulateur telescopique du type maitre-esclave et ses moyens d'equilibrage |
DE3928532A1 (de) | 1989-08-29 | 1991-03-07 | Storz Karl | Flexibles operationsendoskop, insbesondere fuer den magen- und darmbereich |
JP3065702B2 (ja) | 1991-04-23 | 2000-07-17 | オリンパス光学工業株式会社 | 内視鏡システム |
US5624398A (en) * | 1996-02-08 | 1997-04-29 | Symbiosis Corporation | Endoscopic robotic surgical tools and methods |
US6436107B1 (en) * | 1996-02-20 | 2002-08-20 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US6714839B2 (en) * | 1998-12-08 | 2004-03-30 | Intuitive Surgical, Inc. | Master having redundant degrees of freedom |
DE19918961C2 (de) | 1999-04-27 | 2001-03-22 | Storz Karl Gmbh & Co Kg | Flexibles Endoskop |
US6839612B2 (en) * | 2001-12-07 | 2005-01-04 | Institute Surgical, Inc. | Microwrist system for surgical procedures |
DE102005024352B8 (de) | 2005-05-27 | 2018-04-19 | Karl Storz Se & Co. Kg | Medizinisches Instrument für endoskopische Eingriffe |
US9138129B2 (en) * | 2007-06-13 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
JP5154961B2 (ja) * | 2008-01-29 | 2013-02-27 | テルモ株式会社 | 手術システム |
WO2009120992A2 (fr) * | 2008-03-27 | 2009-10-01 | St. Jude Medical, Arrial Fibrillation Division Inc. | Dispositif d'entrée de système de cathéter robotique |
US20110022229A1 (en) * | 2008-06-09 | 2011-01-27 | Bae Sang Jang | Master interface and driving method of surgical robot |
JP2012171088A (ja) * | 2011-02-24 | 2012-09-10 | Olympus Corp | マスタ操作入力装置及びマスタスレーブマニピュレータ |
US20140378995A1 (en) * | 2011-05-05 | 2014-12-25 | Intuitive Surgical Operations, Inc. | Method and system for analyzing a task trajectory |
FR2987734B1 (fr) | 2012-03-08 | 2014-04-11 | Univ Strasbourg | Dispositif d'instrumentation motorise et modulable et systeme d'endoscope comprenant un tel dispositif |
JP2013255966A (ja) * | 2012-06-13 | 2013-12-26 | Olympus Corp | 自重補償付き直動機構、操作入力装置、及び手術支援システム |
KR101997566B1 (ko) * | 2012-08-07 | 2019-07-08 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 제어방법 |
US9566414B2 (en) * | 2013-03-13 | 2017-02-14 | Hansen Medical, Inc. | Integrated catheter and guide wire controller |
-
2014
- 2014-01-23 FR FR1450560A patent/FR3016512B1/fr active Active
-
2015
- 2015-01-22 US US15/113,820 patent/US10660719B2/en active Active
- 2015-01-22 EP EP15701740.1A patent/EP3096706B1/fr active Active
- 2015-01-22 WO PCT/EP2015/051189 patent/WO2015110495A1/fr active Application Filing
Also Published As
Publication number | Publication date |
---|---|
EP3096706B1 (fr) | 2020-10-21 |
FR3016512A1 (fr) | 2015-07-24 |
US20160338789A1 (en) | 2016-11-24 |
EP3096706A1 (fr) | 2016-11-30 |
US10660719B2 (en) | 2020-05-26 |
WO2015110495A1 (fr) | 2015-07-30 |
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