JP2018526042A - フレキシブル内視鏡のための制御ユニット - Google Patents
フレキシブル内視鏡のための制御ユニット Download PDFInfo
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- JP2018526042A JP2018526042A JP2017560595A JP2017560595A JP2018526042A JP 2018526042 A JP2018526042 A JP 2018526042A JP 2017560595 A JP2017560595 A JP 2017560595A JP 2017560595 A JP2017560595 A JP 2017560595A JP 2018526042 A JP2018526042 A JP 2018526042A
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- endoscope
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- 230000001225 therapeutic effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 210000004247 hand Anatomy 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 210000001145 finger joint Anatomy 0.000 description 2
- 230000005057 finger movement Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
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- 210000003414 extremity Anatomy 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
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- 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
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
- A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
-
- 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
- A61B1/00066—Proximal part of endoscope body, e.g. handles
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- 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
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- 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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/045—Control thereof
-
- 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
- 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
- A61M25/0136—Handles therefor
-
- 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
- A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00424—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping ergonomic, e.g. fitting in fist
-
- 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
- A61B17/2909—Handles
- A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Biophysics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Radiology & Medical Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Anesthesiology (AREA)
- Pulmonology (AREA)
- Hematology (AREA)
- Ophthalmology & Optometry (AREA)
- Mechanical Engineering (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Surgical Instruments (AREA)
Abstract
【選択図】 図1
Description
(a)制御ユニットのハウジングに取り付けられたピボット支持体上に取り付けられかつ手の掌によって係合可能な第一インターフェースを含むユーザーインターフェース;及び
(b)前記ユーザーインターフェースを介して操作可能な駆動ユニットであって、二つの回転可能なつまみを係合し、それによってユーザーが前記第一インターフェースを介して内視鏡のシャフトの変位を制御することができる第一駆動機構を含む駆動ユニット。
(i)内視鏡は、腕の動き(主に肘及び/又は肩関節まわり)によって身体に対して上下及び左右に動かされる。
(ii)内視鏡のシャフトは、手の動き(主に手首関節のまわり)によって変位される。これは、第一インターフェースを傾けることによって達成される。
(iii)作用通路器具は、指の動き(主に指関節間及び中手指関節のまわり)によって作動される。指の動きは、器具のエフェクター端を操作したり、シャフトを並進及び回転したり、及び/又はシャフトの操縦可能な部分を変位するために使用されることができる。
本制御ユニットのプロトタイプが標準的なフレキシブル内視鏡で組み立てられ、試験された。プロトタイプは、掌インターフェースによって内視鏡操縦を駆動するための第一駆動機構、及び把持器具の回転及び延長/引込並びにそのあご部の作動のための第二駆動機構を収容する3D印刷体を含んでいた。
Claims (13)
- 二つの回転可能なつまみを介して変位可能なシャフトを有する内視鏡に取り付け可能な制御ユニットであって、以下のものを含む制御ユニット:
(a)制御ユニットのハウジングに取り付けられたピボット支持体上に取り付けられかつ手の掌によって係合可能な第一インターフェースを含むユーザーインターフェース;及び
(b)前記ユーザーインターフェースを介して操作可能な駆動ユニットであって、二つの回転可能なつまみを係合し、それによってユーザーが前記第一インターフェースを介して内視鏡のシャフトの変位を制御することができる第一駆動機構を含む駆動ユニット。 - 二つの回転可能なつまみのうち第一の回転可能なつまみが、シャフトの上/下の変位を制御し、二つの回転可能なつまみのうち第二の回転可能なつまみが、シャフトの左/右の変位を制御し、さらに前記第一インターフェースが、シャフトの上/下と左/右の両方の変位を制御する、請求項1に記載の制御ユニット。
- 前記第一駆動機構が、前記第一インターフェースを介して操作可能な少なくとも一つのモーターを含む、請求項1に記載の制御ユニット。
- 前記少なくとも一つのモーターが、二つのつまみを操作する、請求項1に記載の制御ユニット。
- 前記第一駆動機構が、前記少なくとも一つのモーターと二つのつまみの間に介在された一組の歯車を含む、請求項4に記載の制御ユニット。
- 前記駆動ユニットが、内視鏡の作用通路を通して配置可能な手術器具の手動操作可能な端を係合するための第二駆動機構をさらに含む、請求項1に記載の制御ユニット。
- 前記第一インターフェースに旋回可能に取り付けられかつ前記手の一つ以上の指によって係合可能な第二インターフェースであって、前記第二駆動機構を通して前記手術器具を操作するための第二インターフェースをさらに含む、請求項6に記載の制御ユニット。
- 前記第一インターフェースに旋回可能に取り付けられ、かつ前記掌が前記第一インターフェースと係合されるときに前記手の甲に拘束力を付与するために弾性変形することができる要素を有する拘束具をさらに含む、請求項1に記載の制御ユニット。
- 前記ピボット支持体が、ジンバルを入れられている、請求項1に記載の制御ユニット。
- 前記第二インターフェースが、前記手の親指及び人指し指を介して同時に操作可能なパッドを含む、請求項7に記載の制御ユニット。
- 前記第二駆動機構が、サーボ機構を含む、請求項6に記載の制御ユニット。
- 遠隔装置を無線制御するための第三インターフェースをさらに含む、請求項1に記載の制御ユニット。
- 前記手術器具が、前記第二インターフェースを介して制御可能なエフェクター端及び操縦可能なシャフトを含む、請求項7に記載の制御ユニット。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562203421P | 2015-08-11 | 2015-08-11 | |
US62/203,421 | 2015-08-11 | ||
PCT/IL2016/050879 WO2017025969A1 (en) | 2015-08-11 | 2016-08-11 | Control unit for a flexible endoscope |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2018526042A true JP2018526042A (ja) | 2018-09-13 |
JP2018526042A5 JP2018526042A5 (ja) | 2019-07-18 |
JP6845809B2 JP6845809B2 (ja) | 2021-03-24 |
Family
ID=57983566
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017560595A Active JP6845809B2 (ja) | 2015-08-11 | 2016-08-11 | フレキシブル内視鏡のための制御ユニット |
Country Status (13)
Country | Link |
---|---|
US (1) | US10835108B2 (ja) |
EP (1) | EP3334323B1 (ja) |
JP (1) | JP6845809B2 (ja) |
KR (1) | KR102562929B1 (ja) |
CN (1) | CN107847105B (ja) |
AU (1) | AU2016306164A1 (ja) |
BR (1) | BR112017026204A2 (ja) |
CA (1) | CA2984729C (ja) |
DK (1) | DK3334323T3 (ja) |
ES (1) | ES2821101T3 (ja) |
IL (1) | IL255861A (ja) |
MX (1) | MX2017014628A (ja) |
WO (1) | WO2017025969A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3334323B1 (en) | 2015-08-11 | 2020-06-24 | Human XTensions Ltd. | Control unit attachable to an endoscope having a shaft deflectable via two rotatable knobs to allow one-handed operation of the knobs |
IT201800004478A1 (it) * | 2018-04-13 | 2019-10-13 | Sistema di comando per dispositivo medico utilizzabile nell’ambito di un endoscopio. | |
CA3098625C (en) | 2018-05-18 | 2022-12-06 | Vascular Technology, Incorporated | Articulating microsurgical instrument |
JP7093854B2 (ja) * | 2019-01-07 | 2022-06-30 | オリンパス株式会社 | 内視鏡 |
DE102019201277A1 (de) | 2019-01-31 | 2020-08-06 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Vorrichtung zur Führung eines medizinischen flexiblen Schafts |
FR3103696A1 (fr) * | 2019-12-03 | 2021-06-04 | Institut Hospitalo-Universitaire De Chirurgie Mini-Invasive Guidee Par L'image | Module d’actionnement motorisé d’un instrument endoscopique |
EP4110160A4 (en) * | 2020-02-26 | 2024-03-27 | Human Xtensions Ltd | CONTROL SYSTEM FOR A COLOSCOPE |
CN116322464A (zh) * | 2020-09-29 | 2023-06-23 | 波士顿科学国际有限公司 | 医疗装置控制器 |
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EP3334323B1 (en) | 2015-08-11 | 2020-06-24 | Human XTensions Ltd. | Control unit attachable to an endoscope having a shaft deflectable via two rotatable knobs to allow one-handed operation of the knobs |
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2016
- 2016-08-11 EP EP16834773.0A patent/EP3334323B1/en active Active
- 2016-08-11 CN CN201680029036.XA patent/CN107847105B/zh active Active
- 2016-08-11 WO PCT/IL2016/050879 patent/WO2017025969A1/en active Application Filing
- 2016-08-11 MX MX2017014628A patent/MX2017014628A/es unknown
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US10835108B2 (en) | 2020-11-17 |
ES2821101T3 (es) | 2021-04-23 |
KR20180038417A (ko) | 2018-04-16 |
AU2016306164A1 (en) | 2017-11-30 |
KR102562929B1 (ko) | 2023-08-03 |
CA2984729A1 (en) | 2017-02-16 |
BR112017026204A2 (pt) | 2018-09-04 |
EP3334323A1 (en) | 2018-06-20 |
CN107847105B (zh) | 2021-01-26 |
CN107847105A (zh) | 2018-03-27 |
US20180098687A1 (en) | 2018-04-12 |
MX2017014628A (es) | 2018-06-06 |
JP6845809B2 (ja) | 2021-03-24 |
DK3334323T3 (da) | 2020-09-28 |
IL255861A (en) | 2018-01-31 |
CA2984729C (en) | 2024-02-27 |
WO2017025969A1 (en) | 2017-02-16 |
EP3334323A4 (en) | 2019-05-15 |
EP3334323B1 (en) | 2020-06-24 |
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