JP4909723B2 - 自動推進運動する内視鏡装置 - Google Patents
自動推進運動する内視鏡装置 Download PDFInfo
- Publication number
- JP4909723B2 JP4909723B2 JP2006321735A JP2006321735A JP4909723B2 JP 4909723 B2 JP4909723 B2 JP 4909723B2 JP 2006321735 A JP2006321735 A JP 2006321735A JP 2006321735 A JP2006321735 A JP 2006321735A JP 4909723 B2 JP4909723 B2 JP 4909723B2
- Authority
- JP
- Japan
- Prior art keywords
- tubular body
- endoscopic device
- endoscope apparatus
- fixing means
- tubular
- 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.)
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- 230000003014 reinforcing effect Effects 0.000 claims description 8
- 229920001296 polysiloxane Polymers 0.000 claims description 7
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- 210000001519 tissue Anatomy 0.000 description 9
- 230000000968 intestinal effect Effects 0.000 description 5
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- 230000007423 decrease Effects 0.000 description 1
- 238000002405 diagnostic procedure Methods 0.000 description 1
- 230000001747 exhibiting effect Effects 0.000 description 1
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- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
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Images
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
- A61B1/012—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
-
- 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
- A61B1/00156—Holding or positioning arrangements using self propulsion
-
- 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
-
- 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
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00094—Suction openings
-
- 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
- A61B1/31—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 for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
-
- 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
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Description
2 前端部分
3 後端部分
4 固定手段
4a 固定顎部
4b 可動顎部
5 リング
6 ホース
8,9,10 コイルばね
12 管状部材
14 内室
Claims (8)
- 事前に設定した移動の方向に身体の腔を通して自動推進運動する内視鏡装置であって、それぞれ前端部分(2)と後端部分(3)である二つの端部分の間を延在し、弾性材料から作られた管状本体(1)を含み、前記の管状本体(1)の対応する軸線方向の伸張および収縮と同期的に身体の腔の壁に対して前記の端部分を一時的および交互に取り付けるのに適した固定手段(4)と、前記固定手段を作動させる空気式手段(12)とを含む、内視鏡装置において、前記内視鏡装置は、伸張および収縮時の双方において滑らかで、かつ滑りやすい状態のままである外面を有し、前記管状本体(1)が、放射状方向には概ね剛性で、軸線方向には柔軟性であり、その長さに亘って配分されている補強構造体(5,8,9)を組み入れていることを特徴とする内視鏡装置。
- 前記の固定手段(4)を作動させる前記の空気式手段が、可撓性で弾性の材料から作られ、これも前記補強構造体を組み込んでおり、前記固定手段の可動部材(4b)と前記管状本体(1)に対して軸線方向に接続されており、内室(14)において発生している正圧および負圧に応答して周期的に伸張および収縮をすることができることによって、前記固定手段(4)をそれぞれ閉鎖および開放させる管状部材(12)を含むことを特徴とする請求項1に記載の内視鏡装置。
- 前記固定手段(4)がクランプタイプであり、固定顎部(4a)と、前記の管状部材(12)が接続されている可動顎部(4b)とによって形成されていることを特徴とする請求項2に記載の内視鏡装置。
- 前記の補強構造体が前記の管状本体(1)および前記の管状部材(12)の厚さ内で共軸線関係に埋設されている複数の概ね剛性のリング(5)からなることを特徴とする請求項1から3までのいずれか1項に記載の内視鏡装置。
- 前記の補強構造体が前記の管状本体(1)および前記の管状部材(12)の厚さ内で共軸線関係に組み込まれている少なくとも1個のコイルばね(8,9,10)を含むことを特徴とする請求項1,2または3に記載の内視鏡装置。
- 前記管状本体(1)を補強する構造体が相互に対して斜めに巻き上げられた一対の共軸線のコイルばね(8,9)を含むことを特徴とする請求項5に記載の内視鏡装置。
- 前記の弾性で可撓性の材料が低硬度シリコーンであることを特徴とする請求項2から6までのいずれか1項に記載の内視鏡装置。
- 前記のリング(5)がショアA80のシリコーンからつくられていることを特徴とする請求項4から7までのいずれか1項に記載の内視鏡装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05425854.6A EP1792561B1 (en) | 2005-11-30 | 2005-11-30 | Self-propelled endoscopic device |
EP05425854.6 | 2005-11-30 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007152095A JP2007152095A (ja) | 2007-06-21 |
JP4909723B2 true JP4909723B2 (ja) | 2012-04-04 |
Family
ID=36215630
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006321735A Active JP4909723B2 (ja) | 2005-11-30 | 2006-11-29 | 自動推進運動する内視鏡装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US8684911B2 (ja) |
EP (1) | EP1792561B1 (ja) |
JP (1) | JP4909723B2 (ja) |
KR (1) | KR101309496B1 (ja) |
DK (1) | DK1792561T3 (ja) |
ES (1) | ES2496541T3 (ja) |
PT (1) | PT1792561E (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7857369B2 (en) * | 2004-06-30 | 2010-12-28 | Case Western Reserve University | Biologically inspired gripping device |
US7771411B2 (en) | 2004-09-24 | 2010-08-10 | Syntheon, Llc | Methods for operating a selective stiffening catheter |
PT1803389E (pt) | 2005-12-28 | 2011-04-21 | Era Endoscopy S R L | Dispositivo endoscópico com auto-propulsão |
US8092374B2 (en) | 2006-03-02 | 2012-01-10 | Kevin Smith | Variably flexible insertion device and method for variably flexing an insertion device |
US9814372B2 (en) | 2007-06-27 | 2017-11-14 | Syntheon, Llc | Torque-transmitting, variably-flexible, locking insertion device and method for operating the insertion device |
US9155451B2 (en) | 2006-03-02 | 2015-10-13 | Syntheon, Llc | Variably flexible insertion device and method for variably flexing an insertion device |
US8556804B2 (en) | 2006-05-22 | 2013-10-15 | Syntheon, Llc | Torque-transmitting, variably flexible insertion device and method for transmitting torque and variably flexing an insertion device |
US10123683B2 (en) | 2006-03-02 | 2018-11-13 | Syntheon, Llc | Variably flexible insertion device and method for variably flexing an insertion device |
US7988621B2 (en) | 2006-08-10 | 2011-08-02 | Syntheon, Llc | Torque-transmitting, variably-flexible, corrugated insertion device and method for transmitting torque and variably flexing a corrugated insertion device |
WO2009079479A2 (en) * | 2007-12-14 | 2009-06-25 | Tufts University | Actuator powered deformable soft-bodied autonomous platforms |
EP2381828B1 (en) * | 2008-12-10 | 2016-08-17 | Era Endoscopy S.R.L. | Endoscopic device |
DE102009052688A1 (de) * | 2009-11-11 | 2011-05-12 | Invendo Medical Gmbh | Endoskopschaft aus einem Verbundschlauch |
BRPI1003817A2 (pt) * | 2010-10-19 | 2013-02-19 | G4 Endosolutions Desenvolvimento De Negocios Ltda | videoendoscàpio gastrointestinal flexÍvel |
ITFI20120226A1 (it) | 2012-10-25 | 2014-04-26 | Era Endoscopy S R L | Guida tubolare flessibile ed estensibile e suo procedimento produttivo |
WO2015066143A1 (en) | 2013-10-29 | 2015-05-07 | President And Fellows Of Harvard College | Multi-segment reinforced actuators and applications |
US10751507B2 (en) | 2017-04-10 | 2020-08-25 | Syn Variflex, Llc | Thermally controlled variable-flexibility catheters and methods of manufacturing same |
US10451210B2 (en) * | 2017-05-17 | 2019-10-22 | Massachusetts Institute Of Technology | Soft body robot for in-pipe missions |
DE102022000892A1 (de) | 2022-02-10 | 2023-08-10 | Dieter Mankau | Struktureller Aufbau und Herstellungsverfahren von pneumatischen Ring - oder Faltenbalgaktuatoren |
DE102022117389A1 (de) * | 2022-07-12 | 2024-01-18 | Andreas Karguth | Mikrorobotische Einheit zur Fortbewegung und Positionierung in organischen Hohlräumen |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5662587A (en) | 1992-09-16 | 1997-09-02 | Cedars Sinai Medical Center | Robotic endoscopy |
US5398670A (en) * | 1993-08-31 | 1995-03-21 | Ethicon, Inc. | Lumen traversing device |
IT1285533B1 (it) * | 1996-10-22 | 1998-06-08 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant Anna | Robot endoscopico |
JPH10196786A (ja) * | 1996-12-28 | 1998-07-31 | Fujikura Rubber Ltd | ベローズおよびその製造方法 |
JP3958847B2 (ja) * | 1997-11-05 | 2007-08-15 | 藤倉ゴム工業株式会社 | 布入りゴムベローズの製造方法 |
US6699179B2 (en) * | 2000-01-27 | 2004-03-02 | Scimed Life Systems, Inc. | Catheter introducer system for exploration of body cavities |
US6939291B2 (en) * | 2001-02-28 | 2005-09-06 | Korea Institute Of Science And Technology | Endoscopic device for locomotion through the gastro-intestinal tract |
US6612556B2 (en) * | 2001-04-30 | 2003-09-02 | Cornell Research Foundation, Inc. | Multihelical composite spring |
JP2003314689A (ja) * | 2002-04-25 | 2003-11-06 | Yamagiwa Kanagata:Kk | ベローズ。 |
US20050070949A1 (en) * | 2002-12-20 | 2005-03-31 | Bakos Gregory J. | Transparent dilator device and method of use |
KR100618119B1 (ko) * | 2003-08-28 | 2006-08-30 | 한국과학기술연구원 | 위-창자를 이동하는 내시경 장치 |
JP2005265040A (ja) * | 2004-03-18 | 2005-09-29 | Jfe Mechanical Co Ltd | じゃばら体 |
JP4764417B2 (ja) * | 2004-03-23 | 2011-09-07 | ボストン サイエンティフィック リミテッド | 生体内視覚化システム |
-
2005
- 2005-11-30 EP EP05425854.6A patent/EP1792561B1/en active Active
- 2005-11-30 DK DK05425854.6T patent/DK1792561T3/da active
- 2005-11-30 ES ES05425854.6T patent/ES2496541T3/es active Active
- 2005-11-30 PT PT54258546T patent/PT1792561E/pt unknown
-
2006
- 2006-11-29 JP JP2006321735A patent/JP4909723B2/ja active Active
- 2006-11-30 US US11/607,754 patent/US8684911B2/en active Active
- 2006-11-30 KR KR1020060119750A patent/KR101309496B1/ko active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
US20070179339A1 (en) | 2007-08-02 |
KR20070057043A (ko) | 2007-06-04 |
DK1792561T3 (da) | 2014-08-25 |
EP1792561A1 (en) | 2007-06-06 |
EP1792561B1 (en) | 2014-06-11 |
ES2496541T3 (es) | 2014-09-19 |
US8684911B2 (en) | 2014-04-01 |
KR101309496B1 (ko) | 2013-09-24 |
PT1792561E (pt) | 2014-09-09 |
JP2007152095A (ja) | 2007-06-21 |
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