JP2017515615A5 - - Google Patents
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- JP2017515615A5 JP2017515615A5 JP2017500797A JP2017500797A JP2017515615A5 JP 2017515615 A5 JP2017515615 A5 JP 2017515615A5 JP 2017500797 A JP2017500797 A JP 2017500797A JP 2017500797 A JP2017500797 A JP 2017500797A JP 2017515615 A5 JP2017515615 A5 JP 2017515615A5
- Authority
- JP
- Japan
- Prior art keywords
- tendon
- actuation assembly
- robot
- robotic
- endoscope
- 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.)
- Pending
Links
- 210000002435 tendon Anatomy 0.000 claims description 49
- 238000003384 imaging method Methods 0.000 claims description 43
- 239000012636 effector Substances 0.000 claims description 21
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 8
- 238000003032 molecular docking Methods 0.000 claims description 8
- 230000013011 mating Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims 4
- 230000008878 coupling Effects 0.000 claims 3
- 238000010168 coupling process Methods 0.000 claims 3
- 238000005859 coupling reaction Methods 0.000 claims 3
- 239000000853 adhesive Substances 0.000 claims 1
- 230000001070 adhesive effect Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 230000014759 maintenance of location Effects 0.000 claims 1
- 230000000717 retained effect Effects 0.000 claims 1
- 238000004873 anchoring Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201461955232P | 2014-03-19 | 2014-03-19 | |
| US61/955,232 | 2014-03-19 | ||
| PCT/SG2015/050044 WO2015142290A1 (en) | 2014-03-19 | 2015-03-19 | Master – slave flexible robotic endoscopy system |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2019228850A Division JP2020072935A (ja) | 2014-03-19 | 2019-12-19 | 腱制御ロボットアーム |
| JP2019228848A Division JP7019661B2 (ja) | 2014-03-19 | 2019-12-19 | マスタースレーブ軟性内視鏡ロボットシステム |
| JP2019228849A Division JP7019662B2 (ja) | 2014-03-19 | 2019-12-19 | マスタースレーブ軟性内視鏡ロボットシステム |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2017515615A JP2017515615A (ja) | 2017-06-15 |
| JP2017515615A5 true JP2017515615A5 (enExample) | 2019-06-20 |
Family
ID=54145078
Family Applications (7)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2017500797A Pending JP2017515615A (ja) | 2014-03-19 | 2015-03-19 | マスタースレーブ軟性内視鏡ロボットシステム |
| JP2019228848A Expired - Fee Related JP7019661B2 (ja) | 2014-03-19 | 2019-12-19 | マスタースレーブ軟性内視鏡ロボットシステム |
| JP2019228850A Pending JP2020072935A (ja) | 2014-03-19 | 2019-12-19 | 腱制御ロボットアーム |
| JP2019228849A Expired - Fee Related JP7019662B2 (ja) | 2014-03-19 | 2019-12-19 | マスタースレーブ軟性内視鏡ロボットシステム |
| JP2021193409A Pending JP2022050387A (ja) | 2014-03-19 | 2021-11-29 | マスタースレーブ軟性内視鏡ロボットシステム |
| JP2021193412A Pending JP2022033844A (ja) | 2014-03-19 | 2021-11-29 | マスタースレーブ軟性内視鏡ロボットシステム |
| JP2022092981A Pending JP2022133289A (ja) | 2014-03-19 | 2022-06-08 | 腱制御ロボットアーム |
Family Applications After (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2019228848A Expired - Fee Related JP7019661B2 (ja) | 2014-03-19 | 2019-12-19 | マスタースレーブ軟性内視鏡ロボットシステム |
| JP2019228850A Pending JP2020072935A (ja) | 2014-03-19 | 2019-12-19 | 腱制御ロボットアーム |
| JP2019228849A Expired - Fee Related JP7019662B2 (ja) | 2014-03-19 | 2019-12-19 | マスタースレーブ軟性内視鏡ロボットシステム |
| JP2021193409A Pending JP2022050387A (ja) | 2014-03-19 | 2021-11-29 | マスタースレーブ軟性内視鏡ロボットシステム |
| JP2021193412A Pending JP2022033844A (ja) | 2014-03-19 | 2021-11-29 | マスタースレーブ軟性内視鏡ロボットシステム |
| JP2022092981A Pending JP2022133289A (ja) | 2014-03-19 | 2022-06-08 | 腱制御ロボットアーム |
Country Status (6)
| Country | Link |
|---|---|
| US (2) | US20170127911A1 (enExample) |
| EP (1) | EP3119263A4 (enExample) |
| JP (7) | JP2017515615A (enExample) |
| CN (5) | CN108836233A (enExample) |
| SG (1) | SG11201607930TA (enExample) |
| WO (1) | WO2015142290A1 (enExample) |
Families Citing this family (68)
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| EP3730087A1 (en) * | 2013-08-15 | 2020-10-28 | Intuitive Surgical Operations, Inc. | Robotic instrument driven element |
| WO2015023813A1 (en) | 2013-08-15 | 2015-02-19 | Intuitive Surgical Operations, Inc. | Actuator interface to instrument sterile adapter |
| US10076348B2 (en) | 2013-08-15 | 2018-09-18 | Intuitive Surgical Operations, Inc. | Rotary input for lever actuation |
| CN105611893B (zh) | 2013-08-15 | 2018-09-28 | 直观外科手术操作公司 | 预加载外科手术器械接口 |
| JP6426181B2 (ja) | 2013-08-15 | 2018-11-21 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | 可変器具予荷重機構コントローラ |
| KR102312595B1 (ko) | 2013-08-15 | 2021-10-15 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 기구 살균 어댑터 구동 피처 |
| US10550918B2 (en) | 2013-08-15 | 2020-02-04 | Intuitive Surgical Operations, Inc. | Lever actuated gimbal plate |
| CN108784838B (zh) | 2013-08-15 | 2021-06-08 | 直观外科手术操作公司 | 器械无菌适配器驱动接口 |
| US10710246B2 (en) | 2014-08-15 | 2020-07-14 | Intuitive Surgical Operations, Inc. | Surgical system with variable entry guide configurations |
| US10231793B2 (en) | 2015-10-30 | 2019-03-19 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
| US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
| US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
| BR122022007763B1 (pt) | 2016-02-05 | 2023-03-14 | Board Of Regents Of The University Of Texas System | Método para a preparação de um acionador de polímero eletroativo iônico de um dispositivo médico tubular |
| KR102458741B1 (ko) | 2016-02-05 | 2022-10-24 | 보드 오브 리전츠 오브 더 유니버시티 오브 텍사스 시스템 | 외과용 장치 |
| CN113854933A (zh) * | 2016-06-01 | 2021-12-31 | 恩达马斯特有限公司 | 内窥镜检查手术器械控制器 |
| US11000345B2 (en) | 2016-07-14 | 2021-05-11 | Intuitive Surgical Operations, Inc. | Instrument flushing system |
| US11207145B2 (en) | 2016-07-14 | 2021-12-28 | Intuitive Surgical Operations, Inc. | Multi-cable medical instrument |
| US11890070B2 (en) | 2016-07-14 | 2024-02-06 | Intuitive Surgical Operations, Inc. | Instrument release |
| US20190231451A1 (en) | 2016-07-14 | 2019-08-01 | Intuitive Surgical Operations, Inc. | Geared roll drive for medical instrument |
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| CN106175849B (zh) * | 2016-08-31 | 2019-03-01 | 北京术锐技术有限公司 | 一种基于柔性手术工具的单孔腔镜手术系统 |
| US11241290B2 (en) | 2016-11-21 | 2022-02-08 | Intuitive Surgical Operations, Inc. | Cable length conserving medical instrument |
| WO2018148030A1 (en) * | 2017-02-08 | 2018-08-16 | Intuitive Surgical Operations, Inc. | Control of computer-assisted tele-operated systems |
| US10357321B2 (en) | 2017-02-24 | 2019-07-23 | Intuitive Surgical Operations, Inc. | Splayed cable guide for a medical instrument |
| IT201700041980A1 (it) * | 2017-04-14 | 2018-10-14 | Medical Microinstruments Spa | Assieme robotico per microchirurgia |
| US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
| WO2019051005A1 (en) | 2017-09-08 | 2019-03-14 | Covidien Lp | HIGH PRECISION INSTRUMENT CONTROL MODE FOR ROBOTIC SURGICAL SYSTEMS |
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| US10271964B1 (en) * | 2018-01-26 | 2019-04-30 | Allosource | System and methods of use for preparing and testing pre-sutured tendon constructs |
| US11497567B2 (en) | 2018-02-08 | 2022-11-15 | Intuitive Surgical Operations, Inc. | Jointed control platform |
| US11118661B2 (en) | 2018-02-12 | 2021-09-14 | Intuitive Surgical Operations, Inc. | Instrument transmission converting roll to linear actuation |
| WO2019164856A1 (en) | 2018-02-20 | 2019-08-29 | Intuitive Surgical Operations, Inc. | Systems and methods for control of end effectors |
| CN108451608B (zh) * | 2018-05-02 | 2019-12-24 | 中国人民解放军陆军军医大学第一附属医院 | 腹腔镜腔内镜头清洁穿刺器 |
| EP3880107A1 (en) | 2018-11-15 | 2021-09-22 | Intuitive Surgical Operations, Inc. | Decoupling tool shaft from cable drive load |
| CN109567927B (zh) * | 2018-11-22 | 2021-06-29 | 清华大学 | 一种腔内操作工具 |
| CN113365572B (zh) * | 2019-01-31 | 2023-06-09 | 香港大学 | 紧凑的牙科机器人系统 |
| AU2019430122B2 (en) | 2019-02-22 | 2023-03-30 | W. L. Gore & Associates, Inc. | Actuation line storage systems and methods |
| KR102281120B1 (ko) * | 2019-04-10 | 2021-07-26 | 주식회사 이지엔도서지컬 | 내시경 모듈 및 이를 포함하는 모듈형 내시경 장치 |
| WO2020252184A1 (en) | 2019-06-13 | 2020-12-17 | Intuitive Surgical Operations, Inc. | Medical tool with length conservation mechanism for actuating tension bands |
| EP3989863A4 (en) | 2019-06-28 | 2023-10-11 | Auris Health, Inc. | Medical instruments including wrists with hybrid redirect surfaces |
| US11896330B2 (en) * | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
| GB2586998B (en) * | 2019-09-11 | 2022-07-13 | Prec Robotics Limited | A driver module |
| JP7401681B2 (ja) * | 2019-12-18 | 2023-12-19 | ダブリュ．エル．ゴア アンド アソシエイツ，インコーポレイティド | 展開システムハンドル内の繊維スラック貯蔵器 |
| CN111123448B (zh) * | 2019-12-25 | 2024-07-19 | 精微视达医疗科技(苏州)有限公司 | 用于探头插拔的插座及可插拔式探头 |
| KR20220123269A (ko) | 2019-12-31 | 2022-09-06 | 아우리스 헬스, 인코포레이티드 | 고급 바스켓 구동 모드 |
| JP7370007B2 (ja) * | 2020-02-21 | 2023-10-27 | 国立大学法人 長崎大学 | 内視鏡操作支援システム及び内視鏡システム |
| WO2021195323A1 (en) | 2020-03-27 | 2021-09-30 | Intuitive Surgical Operations, Inc. | Systems and methods of controlling instruments |
| JP7401075B2 (ja) * | 2020-06-05 | 2023-12-19 | 学校法人産業医科大学 | 内視鏡操作システム |
| WO2022046058A1 (en) * | 2020-08-27 | 2022-03-03 | Verb Surgical Inc. | Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system |
| WO2022060565A1 (en) * | 2020-09-15 | 2022-03-24 | Covidien Lp | Surgical robotic system for controlling wristed instruments |
| WO2022099981A1 (zh) * | 2020-11-13 | 2022-05-19 | 北京术锐技术有限公司 | 连接适配器、连接组件和手术机器人系统 |
| USD1022197S1 (en) | 2020-11-19 | 2024-04-09 | Auris Health, Inc. | Endoscope |
| KR102378015B1 (ko) * | 2021-05-28 | 2022-03-24 | 주식회사 엔도로보틱스 | 텐던-쉬스 구동 장치 및 로봇팔 구동 장치 |
| DE102021114429B4 (de) | 2021-06-04 | 2025-11-06 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Robotersystem für minimalinvasive Chirurgie |
| IT202100015902A1 (it) * | 2021-06-17 | 2022-12-17 | Medical Microinstruments Inc | Metodo di preparazione alla teleoperazione in un sistema robotico teleoperato per chirurgia |
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| CN116919613B (zh) * | 2022-04-08 | 2025-03-07 | 北京大学 | 内窥镜控制设备 |
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| EP4389086A1 (en) * | 2022-12-21 | 2024-06-26 | Universität Heidelberg | Tendon-driven wearable orthosis and method for calibrating a tendon-driven wearable orthosis |
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| CN115944397B (zh) * | 2023-03-10 | 2023-06-06 | 北京云力境安科技有限公司 | 一种内镜适配器 |
| WO2024207005A1 (en) * | 2023-03-31 | 2024-10-03 | Vicarious Surgical Inc. | Systems and methods for controlling elastic cable driven robot joints |
| WO2025122693A1 (en) * | 2023-12-07 | 2025-06-12 | Board Of Regents, The University Of Texas System | Apparatus and methods for endoscope control |
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| JP3628743B2 (ja) * | 1995-02-22 | 2005-03-16 | オリンパス株式会社 | 医療用マニピュレータ |
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| US5710870A (en) * | 1995-09-07 | 1998-01-20 | California Institute Of Technology | Decoupled six degree-of-freedom robot manipulator |
| JP3578375B2 (ja) * | 1997-03-17 | 2004-10-20 | 技術研究組合医療福祉機器研究所 | ロボットアーム駆動装置およびロボットハンド |
| JP4503725B2 (ja) * | 1999-05-17 | 2010-07-14 | オリンパス株式会社 | 内視鏡治療装置 |
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| JP5948168B2 (ja) * | 2012-07-03 | 2016-07-06 | オリンパス株式会社 | 医療用マニピュレータ |
| JP6140950B2 (ja) * | 2012-08-30 | 2017-06-07 | オリンパス株式会社 | 医療用システム |
-
2015
- 2015-03-19 US US15/127,397 patent/US20170127911A1/en not_active Abandoned
- 2015-03-19 CN CN201810663145.8A patent/CN108836233A/zh active Pending
- 2015-03-19 CN CN201580024954.9A patent/CN106455916A/zh active Pending
- 2015-03-19 JP JP2017500797A patent/JP2017515615A/ja active Pending
- 2015-03-19 WO PCT/SG2015/050044 patent/WO2015142290A1/en not_active Ceased
- 2015-03-19 CN CN201810664294.6A patent/CN108836234B/zh not_active Expired - Fee Related
- 2015-03-19 SG SG11201607930TA patent/SG11201607930TA/en unknown
- 2015-03-19 CN CN201810433861.7A patent/CN108968890B/zh not_active Expired - Fee Related
- 2015-03-19 EP EP15765801.4A patent/EP3119263A4/en not_active Withdrawn
- 2015-03-19 CN CN201810433833.5A patent/CN108968889B/zh not_active Expired - Fee Related
-
2018
- 2018-12-20 US US16/228,634 patent/US20190191967A1/en not_active Abandoned
-
2019
- 2019-12-19 JP JP2019228848A patent/JP7019661B2/ja not_active Expired - Fee Related
- 2019-12-19 JP JP2019228850A patent/JP2020072935A/ja active Pending
- 2019-12-19 JP JP2019228849A patent/JP7019662B2/ja not_active Expired - Fee Related
-
2021
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2022
- 2022-06-08 JP JP2022092981A patent/JP2022133289A/ja active Pending
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