FR3044541B1 - Module robotise d'entrainement d'organe medical souple allonge - Google Patents

Module robotise d'entrainement d'organe medical souple allonge

Info

Publication number
FR3044541B1
FR3044541B1 FR1561937A FR1561937A FR3044541B1 FR 3044541 B1 FR3044541 B1 FR 3044541B1 FR 1561937 A FR1561937 A FR 1561937A FR 1561937 A FR1561937 A FR 1561937A FR 3044541 B1 FR3044541 B1 FR 3044541B1
Authority
FR
France
Prior art keywords
medical
robotise
module
soft
training
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
Application number
FR1561937A
Other languages
English (en)
Other versions
FR3044541A1 (fr
Inventor
Bruno Fournier
Julien Maurel
Sebastien Deboeuf
Philippe Bencteux
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.)
Robocath
Original Assignee
Robocath
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 Robocath filed Critical Robocath
Priority to FR1561937A priority Critical patent/FR3044541B1/fr
Priority to US16/060,240 priority patent/US11298198B2/en
Priority to PCT/FR2016/053231 priority patent/WO2017098138A1/fr
Publication of FR3044541A1 publication Critical patent/FR3044541A1/fr
Application granted granted Critical
Publication of FR3044541B1 publication Critical patent/FR3044541B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • A61B34/30—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
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/332—Force measuring means

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Manipulator (AREA)
FR1561937A 2015-12-07 2015-12-07 Module robotise d'entrainement d'organe medical souple allonge Active FR3044541B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR1561937A FR3044541B1 (fr) 2015-12-07 2015-12-07 Module robotise d'entrainement d'organe medical souple allonge
US16/060,240 US11298198B2 (en) 2015-12-07 2016-12-06 Robotic module for driving an elongate flexible medical member
PCT/FR2016/053231 WO2017098138A1 (fr) 2015-12-07 2016-12-06 Module robotise d'entrainment d'organe medical souple allonge

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1561937A FR3044541B1 (fr) 2015-12-07 2015-12-07 Module robotise d'entrainement d'organe medical souple allonge

Publications (2)

Publication Number Publication Date
FR3044541A1 FR3044541A1 (fr) 2017-06-09
FR3044541B1 true FR3044541B1 (fr) 2017-12-29

Family

ID=55752400

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1561937A Active FR3044541B1 (fr) 2015-12-07 2015-12-07 Module robotise d'entrainement d'organe medical souple allonge

Country Status (3)

Country Link
US (1) US11298198B2 (fr)
FR (1) FR3044541B1 (fr)
WO (1) WO2017098138A1 (fr)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013043872A1 (fr) * 2011-09-20 2013-03-28 Corindus, Inc. Appareil à force motrice variable et procédé associé à un système de cathéter robotisé
US10795377B2 (en) * 2018-01-03 2020-10-06 AI Incorporated Method for autonomously controlling speed of components and functions of a robot
CN114364423B (zh) 2019-07-19 2023-03-31 科林达斯公司 机器人致动中的细长医疗装置的负载感测
CN112120792A (zh) * 2020-10-29 2020-12-25 北京唯迈医疗设备有限公司 一种介入手术机器人导丝摩擦力反馈装置及方法
CN112137725A (zh) * 2020-10-29 2020-12-29 北京唯迈医疗设备有限公司 一种介入手术机器人导丝夹紧力控制装置及控制方法
WO2022136901A1 (fr) * 2020-12-26 2022-06-30 Robocath Module de cathéter robotisé pour la translation et la rotation d'un élément médical allongé flexible
FR3118406B1 (fr) 2020-12-28 2024-05-03 Robocath Robot catheter comprenant au moins deux modules de translation d’instrument medical souple allonge
EP4023183A1 (fr) * 2020-12-29 2022-07-06 Robocath Robot de cathéter comprenant des modules de translation de cathéter pour des éléments médicaux allongés flexibles
CN113693733B (zh) * 2021-07-05 2022-08-09 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装置
JP2023531852A (ja) * 2021-07-05 2023-07-26 深▲せん▼市愛博医療機器人有限公司 介入手術ロボットスレーブ装置
CN113749781B (zh) * 2021-08-10 2023-05-16 深圳市爱博医疗机器人有限公司 一种具有力检测功能的介入手术机器人从端导丝导管驱动装置
CN114378434A (zh) * 2022-03-04 2022-04-22 湖北中航精机科技有限公司 用于高调器封口焊接的激光焊接系统及方法
CN115154847A (zh) * 2022-08-12 2022-10-11 深圳市爱博医疗机器人有限公司 细长型医疗器械的操作装置及测力方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL123646A (en) * 1998-03-11 2010-05-31 Refael Beyar Remote control catheterization
EP1986563B1 (fr) 2006-02-22 2012-12-26 Hansen Medical, Inc. Système et appareil de mesure des forces distales sur un instrument de travail
US20100234873A1 (en) * 2007-11-27 2010-09-16 Yoshitaka Nagano Drive device, and medical apparatus and training apparatus including the same
US20130035537A1 (en) * 2011-08-05 2013-02-07 Wallace Daniel T Robotic systems and methods for treating tissue
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US11129962B2 (en) * 2013-11-26 2021-09-28 Biosense Webster (Israel) Ltd. Robotic assister for catheter insertion
US10046140B2 (en) * 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems

Also Published As

Publication number Publication date
US20180353250A1 (en) 2018-12-13
US11298198B2 (en) 2022-04-12
WO2017098138A1 (fr) 2017-06-15
FR3044541A1 (fr) 2017-06-09

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