GB2636953B - Coupling joints on tubular spiralling loops of a steerable arm for an endoscope instrument channel - Google Patents

Coupling joints on tubular spiralling loops of a steerable arm for an endoscope instrument channel

Info

Publication number
GB2636953B
GB2636953B GB2504759.8A GB202504759A GB2636953B GB 2636953 B GB2636953 B GB 2636953B GB 202504759 A GB202504759 A GB 202504759A GB 2636953 B GB2636953 B GB 2636953B
Authority
GB
United Kingdom
Prior art keywords
spiralling
loops
tubular
instrument channel
coupling joints
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
GB2504759.8A
Other languages
English (en)
Other versions
GB2636953A (en
GB202504759D0 (en
Inventor
Wai Kwok Ka
He Zhuoliang
Wang Xiaomei
Di-Lang Ho Justin
Fang Ge
Wang Kui
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.)
Versitech Ltd
Original Assignee
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
Publication of GB202504759D0 publication Critical patent/GB202504759D0/en
Publication of GB2636953A publication Critical patent/GB2636953A/en
Application granted granted Critical
Publication of GB2636953B publication Critical patent/GB2636953B/en
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
    • 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)
GB2504759.8A 2021-01-26 2022-01-21 Coupling joints on tubular spiralling loops of a steerable arm for an endoscope instrument channel Active GB2636953B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202163141613P 2021-01-26 2021-01-26
GB2308465.0A GB2616180B (en) 2021-01-26 2022-01-21 A steerable arm for use in endoscopic surgical procedures

Publications (3)

Publication Number Publication Date
GB202504759D0 GB202504759D0 (en) 2025-05-14
GB2636953A GB2636953A (en) 2025-07-02
GB2636953B true GB2636953B (en) 2026-01-21

Family

ID=82654174

Family Applications (3)

Application Number Title Priority Date Filing Date
GB2504759.8A Active GB2636953B (en) 2021-01-26 2022-01-21 Coupling joints on tubular spiralling loops of a steerable arm for an endoscope instrument channel
GB2308465.0A Active GB2616180B (en) 2021-01-26 2022-01-21 A steerable arm for use in endoscopic surgical procedures
GB2506851.1A Active GB2637663B (en) 2021-01-26 2022-01-21 A steerable arm for use in endoscopic surgical procedures

Family Applications After (2)

Application Number Title Priority Date Filing Date
GB2308465.0A Active GB2616180B (en) 2021-01-26 2022-01-21 A steerable arm for use in endoscopic surgical procedures
GB2506851.1A Active GB2637663B (en) 2021-01-26 2022-01-21 A steerable arm for use in endoscopic surgical procedures

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=)

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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
AU2023477332A1 (en) * 2023-12-22 2026-04-02 Agilis Robotics Limited 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
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
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Also Published As

Publication number Publication date
JP2024506235A (ja) 2024-02-13
JP7682514B2 (ja) 2025-05-26
CA3205258A1 (en) 2022-08-04
WO2022161266A1 (en) 2022-08-04
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
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
CN116963651A (zh) 2023-10-27
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
JP2025111530A (ja) 2025-07-30

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