JP4980899B2 - 操向可能なフォローザリーダー装置 - Google Patents
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- JP4980899B2 JP4980899B2 JP2007518305A JP2007518305A JP4980899B2 JP 4980899 B2 JP4980899 B2 JP 4980899B2 JP 2007518305 A JP2007518305 A JP 2007518305A JP 2007518305 A JP2007518305 A JP 2007518305A JP 4980899 B2 JP4980899 B2 JP 4980899B2
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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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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- A—HUMAN NECESSITIES
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- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
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- A61B1/00078—Insertion part of the endoscope body with stiffening means
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- A61B1/0052—Constructional details of control elements, e.g. handles
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- A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion
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Description
Claims (10)
- 超多関節プローブであって、
複数のリンクを具える内側コアと、
複数のリンクを具える外側スリーブと、
内側コアの複数のリンク又は外側スリーブの複数のリンクの何れかを通って延びる第1ワイヤと、
内側コアの複数のリンク又は外側スリーブの複数のリンクの他方を通って延びる複数のワイヤと、
コマンド信号を生成するデバイスと、
コマンド信号に応答して、内側コア及び外側スリーブを弛緩モードと硬直モードの間で行き来させ、内側コア及び外側スリーブを前進及び引き戻させ、内側コア及び外側スリーブの少なくとも1つを操向する電気機械式フィーダとを具えており、
電気機械式フィーダは、線形移動する第1カートと、線形移動する第2カートと、第1カートの位置を制御する第1アクチュエータと、第2カートの位置を制御する第2アクチュエータとを具えており、
内側コア又は外側スリーブの一方は第1カートに応答し、内側コア又は外側スリーブの他方は第2カートに応答し、
第1カートに応答する内側コア又は外側スリーブの一方が弛緩状態にあると共に、第2カートに応答する内側コア又は外側スリーブの他方が硬直状態にある場合に、第1カートは前進するように構成されている超多関節プローブ。 - 電気機械式フィーダは、第1ワイヤの張力を制御する第1機構と、複数のワイヤの張力を制御する複数の機構とを具えており、
第1カートは、第1機構を運ぶように構成されており、第2カートは、複数の機構を運ぶように構成されている、請求項1に記載のプローブ。 - 第1機構、複数の機構、第1アクチュエータ及び第2アクチュエータは、夫々モータを具えている、請求項2に記載のプローブ。
- リンクは、円筒状、ドッグボーン状及び背骨状のリンクから成る群から選択される、請求項1に記載のプローブ。
- 内側コアと外側スリーブの少なくとも一方はカメラを具えている、請求項1乃至4の何れかに記載のプローブ。
- カメラは、プローブの遠位端の位置を少なくとも含む3次元空間の画像を生成する、請求項5に記載のプローブ。
- 内側コア及び外側スリーブを有しており、内側コア又は外側スリーブの1つは硬直状態から開始する超多関節プローブを制御コンピュータを用いて制御する方法であって、
制御コンピュータは、
弛緩している構造が応答する第1カートを所定距離前進させる工程と、
第1カートによって運ばれると共に張力を与える第1の機構を用いて、弛緩している構造を硬直させ、第2カートによって運ばれると共に張力を与える第2の機構を用いて、硬直している構造を弛緩させる工程と、
プローブの遠位端が所望の位置に配置されるまで、プロセスを繰り返す工程と実行するように構成されており、
内側コア及び外側スリーブの少なくとも1つは、弛緩状態の時に操向可能である方法。 - 内側コアは操向可能であり、前進させる工程は、外側スリーブの遠位端を越えて、内側コアのリンクの長さ分、内側コアを前進させる工程を含み、前進させる工程は、外側スリーブを、その遠位端が内側コアの遠位端と同心円状になるまで前進させる工程をさらに含んでいる、請求項7に記載の方法。
- 外側スリーブは操向可能であり、前進させる工程は、内側コアの遠位端を越えて、外側スリーブのリンクの長さ分、外側スリーブを前進させる工程を含み、前進させる工程は、内側コアを、その遠位端が外側スリーブの遠位端と同心円状になるまで前進させる工程をさらに含んでいる、請求項7に記載の方法。
- 内側コア及び外側スリーブは操向可能であり、前進させる工程は、外側スリーブの遠位端を越えて、内側コアのリンクの長さ分、内側コアを前進させる工程を含み、前進させる工程は、内側コアの遠位端を越えて、外側スリーブのリンクの長さ分、外側スリーブを前進させる工程を含んでいる、請求項7に記載の方法。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US58309404P | 2004-06-25 | 2004-06-25 | |
US60/583,094 | 2004-06-25 | ||
PCT/US2005/022442 WO2006083306A2 (en) | 2004-06-25 | 2005-06-24 | Steerable, follow the leader device |
US63027906A | 2006-12-20 | 2006-12-20 |
Publications (3)
Publication Number | Publication Date |
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JP2008504072A JP2008504072A (ja) | 2008-02-14 |
JP2008504072A5 JP2008504072A5 (ja) | 2008-08-07 |
JP4980899B2 true JP4980899B2 (ja) | 2012-07-18 |
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Application Number | Title | Priority Date | Filing Date |
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JP2007518305A Expired - Fee Related JP4980899B2 (ja) | 2004-06-25 | 2005-06-24 | 操向可能なフォローザリーダー装置 |
Country Status (6)
Country | Link |
---|---|
US (5) | US9011318B2 (ja) |
EP (3) | EP3123922B1 (ja) |
JP (1) | JP4980899B2 (ja) |
ES (1) | ES2433664T3 (ja) |
IL (1) | IL179966A (ja) |
WO (1) | WO2006083306A2 (ja) |
Families Citing this family (119)
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US8219246B2 (en) | 2001-06-13 | 2012-07-10 | Oliver Crispin Robotics Limited | System and method for controlling a robotic arm |
US7960935B2 (en) * | 2003-07-08 | 2011-06-14 | The Board Of Regents Of The University Of Nebraska | Robotic devices with agent delivery components and related methods |
EP3123922B1 (en) | 2004-06-25 | 2019-11-27 | Carnegie Mellon University | Steerable, follow the leader device |
WO2007013350A1 (ja) * | 2005-07-25 | 2007-02-01 | Olympus Medical Systems Corp. | 医療用制御装置 |
ES2291112B1 (es) * | 2006-03-03 | 2008-12-16 | Corporacion Sanitaria Parc Tauli | Instrumento quirurgico para cirugia endoscopica. |
WO2008063249A2 (en) * | 2006-07-11 | 2008-05-29 | Duke University | Real-time 3-d ultrasound guidance of surgical robotics |
AU2007286031B2 (en) | 2006-08-14 | 2012-08-23 | Carnegie Mellon University | Steerable multi-linked device having multiple working ports |
US8298264B2 (en) * | 2006-09-07 | 2012-10-30 | Warsaw Orthopedic, Inc | Systems and methods for use in spinal support |
US20080082109A1 (en) * | 2006-09-08 | 2008-04-03 | Hansen Medical, Inc. | Robotic surgical system with forward-oriented field of view guide instrument navigation |
CA2667576C (en) | 2006-10-24 | 2013-10-22 | Cardiorobotics, Inc. | Steerable multi-linked device having a modular link assembly |
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2005
- 2005-06-24 EP EP16176038.4A patent/EP3123922B1/en active Active
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Also Published As
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US20150164491A1 (en) | 2015-06-18 |
EP1778054A4 (en) | 2008-11-19 |
EP1778054A2 (en) | 2007-05-02 |
ES2433664T3 (es) | 2013-12-12 |
JP2008504072A (ja) | 2008-02-14 |
WO2006083306A2 (en) | 2006-08-10 |
IL179966A (en) | 2012-06-28 |
EP1778054B1 (en) | 2013-08-07 |
US20190274521A1 (en) | 2019-09-12 |
EP3123922B1 (en) | 2019-11-27 |
US10149607B2 (en) | 2018-12-11 |
EP3123922A1 (en) | 2017-02-01 |
US10076235B2 (en) | 2018-09-18 |
IL179966A0 (en) | 2007-05-15 |
US9011318B2 (en) | 2015-04-21 |
US9591964B2 (en) | 2017-03-14 |
US20170156569A1 (en) | 2017-06-08 |
EP2446803A1 (en) | 2012-05-02 |
US20160174816A1 (en) | 2016-06-23 |
US20090171151A1 (en) | 2009-07-02 |
WO2006083306A3 (en) | 2008-04-03 |
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