JP6116967B2 - 変形可能な可撓管及びこれを備えたマニピュレータ - Google Patents
変形可能な可撓管及びこれを備えたマニピュレータ Download PDFInfo
- Publication number
- JP6116967B2 JP6116967B2 JP2013070199A JP2013070199A JP6116967B2 JP 6116967 B2 JP6116967 B2 JP 6116967B2 JP 2013070199 A JP2013070199 A JP 2013070199A JP 2013070199 A JP2013070199 A JP 2013070199A JP 6116967 B2 JP6116967 B2 JP 6116967B2
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- JP
- Japan
- Prior art keywords
- flap
- flexible tube
- hinge
- tube
- members
- 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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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- 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
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/00078—Insertion part of the endoscope body with stiffening means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
-
- 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
- A61M25/0043—Catheters; Hollow probes characterised by structural features
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L11/00—Hoses, i.e. flexible pipes
- F16L11/04—Hoses, i.e. flexible pipes made of rubber or flexible plastics
- F16L11/12—Hoses, i.e. flexible pipes made of rubber or flexible plastics with arrangements for particular purposes, e.g. specially profiled, with protecting layer, heated, electrically conducting
-
- 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
- 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
- A61M25/0043—Catheters; Hollow probes characterised by structural features
- A61M2025/0063—Catheters; Hollow probes characterised by structural features having means, e.g. stylets, mandrils, rods or wires to reinforce or adjust temporarily the stiffness, column strength or pushability of catheters which are already inserted into the human body
-
- 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
- A61M25/0155—Tip steering devices with hydraulic or pneumatic means, e.g. balloons or inflatable compartments
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Surgery (AREA)
- Biophysics (AREA)
- Mechanical Engineering (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Engineering & Computer Science (AREA)
- Radiology & Medical Imaging (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Endoscopes (AREA)
- Rigid Pipes And Flexible Pipes (AREA)
- Actuator (AREA)
Description
11 フラップ部材
11a フラップ部
11b 連結部
12 リンク部材
13 キャップ
14 チューブ
20 ワイヤ
30 アクチュエータ
40 空圧ポンプ
Claims (7)
- 変形可能な可撓管であって、
少なくとも二つのフラップ部材と、
弾性変形が可能な材質で形成され、内部に前記フラップ部材が収容されるチューブと、
環状に形成され、前記可撓管の長手方向に順次配置される複数のリンク部材と、を含み、
前記フラップ部材は、前記リンク部材の外側に配置されるとともに、複数のフラップ部及び前記フラップ部の一側が連結される連結部を含み、
前記チューブは、前記フラップ部材の外側及び前記リンク部材の内側を覆うように形成されるとともに、前記チューブの内部圧力の変化に応じて、前記複数のフラップ部に伝達される圧力を変更し、
前記リンク部材は、
前記リンク部材の第1端側に設けられ、前記第1端に隣接する一つのリンク部材が連結される一対の第1ヒンジ部と、
前記第1端と反対側である前記リンク部材の第2端側に設けられ、前記第2端に隣接する他の一つのリンク部材が連結される一対の第2ヒンジ部と、を含み、
前記少なくとも二つのフラップ部材は、隣接する二つのリンク部材を連結する前記第1ヒンジ部及び前記第2ヒンジ部を覆う一対のフラップ部材を含み、
前記一対のフラップ部材は、前記フラップ部が第1方向に延びて、前記第1ヒンジ部及び前記第2ヒンジ部を覆う第1フラップ部材と、前記フラップ部が前記第1方向と反対の第2方向に延びて、前記第1ヒンジ部及び前記第2ヒンジ部を覆う第2フラップ部材と、を含む、
変形可能な可撓管。 - 前記一対の第1ヒンジ部と前記一対の第2ヒンジ部は、円周方向に互いに90度の角度の位置に設けられる、請求項1に記載の変形可能な可撓管。
- 前記第1ヒンジ部は、円形に突出して、前記第2ヒンジ部に回転可能に設置されるヒンジ突起を含み、
前記第2ヒンジ部は、円形で凹状に形成されて、前記ヒンジ突起が回転可能に設置されるヒンジ溝を含む、請求項1又は2に記載の変形可能な可撓管。 - 前記少なくとも二つのフラップ部材は、環状に形成され、前記複数のリンク部材の外周面にそれぞれ配置される複数のフラップ部材を含む、請求項1乃至3のいずれか一項に記載の変形可能な可撓管。
- 前記フラップ部は、前記連結部から次第に狭くなる幅を有するように延びる、請求項1乃至4のいずれか一項に記載の変形可能な可撓管。
- 請求項1乃至5のいずれか一項に記載の変形可能な可撓管と、
前記可撓管を貫通して前記可撓管の先端にそれぞれ連結される複数のワイヤと、
前記複数のワイヤにそれぞれ力を加えて、前記可撓管が曲げられるようにする複数のアクチュエータと、を含む、マニピュレータ。 - 前記チューブ内に空気圧を伝達して、前記チューブ内の圧力を調節する空圧ポンプをさらに含む、請求項6に記載のマニピュレータ。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020120033479A KR101941569B1 (ko) | 2012-03-30 | 2012-03-30 | 가변 유연관 및 이를 갖춘 매니퓰레이터 |
KR10-2012-0033479 | 2012-03-30 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013212378A JP2013212378A (ja) | 2013-10-17 |
JP6116967B2 true JP6116967B2 (ja) | 2017-04-19 |
Family
ID=48190700
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013070199A Active JP6116967B2 (ja) | 2012-03-30 | 2013-03-28 | 変形可能な可撓管及びこれを備えたマニピュレータ |
Country Status (5)
Country | Link |
---|---|
US (1) | US9937324B2 (ja) |
EP (1) | EP2644083B1 (ja) |
JP (1) | JP6116967B2 (ja) |
KR (1) | KR101941569B1 (ja) |
CN (1) | CN103356287B (ja) |
Families Citing this family (19)
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CN103878784B (zh) * | 2014-03-19 | 2016-03-09 | 苏州大学 | 一种水下蛇形机器人关节模块 |
CN108836480B (zh) * | 2014-04-22 | 2022-05-13 | 香港生物医学工程有限公司 | 外科设备 |
JP7044552B2 (ja) | 2015-01-20 | 2022-03-30 | キューアペル メディカル, エルエルシー | 可変支持を有する管状構造 |
EP3344113B1 (en) | 2015-09-03 | 2023-01-18 | Neptune Medical Inc. | Device for endoscopic advancement through the small intestine |
US20210069466A1 (en) * | 2016-07-27 | 2021-03-11 | Q'apel Medical, Llc | Tubular Structures with Variable Support |
US11122971B2 (en) | 2016-08-18 | 2021-09-21 | Neptune Medical Inc. | Device and method for enhanced visualization of the small intestine |
CN106236269B (zh) | 2016-08-31 | 2018-09-04 | 北京术锐技术有限公司 | 一种多自由度的柔性手术工具 |
CN107997824B (zh) * | 2018-01-10 | 2019-12-13 | 北京术锐技术有限公司 | 一种可混合驱动远端结构体的柔性手术工具系统 |
JP7058847B2 (ja) * | 2018-05-23 | 2022-04-25 | 国立大学法人東北大学 | 線状変形装置およびグリッパ装置 |
CA3106275A1 (en) | 2018-07-19 | 2020-01-23 | Neptune Medical Inc. | Dynamically rigidizing composite medical structures |
CN111685804B (zh) * | 2019-03-12 | 2022-05-27 | 刘永春 | 通道装置 |
US11793392B2 (en) | 2019-04-17 | 2023-10-24 | Neptune Medical Inc. | External working channels |
US11530621B2 (en) | 2019-10-16 | 2022-12-20 | General Electric Company | Systems and method for use in servicing a machine |
JP2023520780A (ja) | 2020-03-30 | 2023-05-19 | ネプチューン メディカル インク. | 装置硬化のための層状壁 |
US11717322B2 (en) * | 2020-08-17 | 2023-08-08 | Covidien Lp | Flexible cannula having selective rigidity |
WO2022051682A1 (en) * | 2020-09-03 | 2022-03-10 | Neptune Medical Inc. | Dynamically rigidizing guiderail and methods of use |
KR102457473B1 (ko) * | 2021-03-31 | 2022-10-28 | 인천대학교 산학협력단 | 파티클 유출입식 가변강성 로봇 |
US20230346204A1 (en) | 2022-04-27 | 2023-11-02 | Neptune Medical Inc. | Endoscope sheath apparatuses |
KR20240040545A (ko) * | 2022-09-21 | 2024-03-28 | 삼성전자주식회사 | 와이어 구동 외골격 매니퓰레이터 및 이를 구비한 로봇 청소기 |
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JPH0523291A (ja) * | 1991-07-24 | 1993-02-02 | Machida Endscope Co Ltd | 内視鏡の湾曲管 |
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-
2012
- 2012-03-30 KR KR1020120033479A patent/KR101941569B1/ko active IP Right Grant
-
2013
- 2013-03-27 CN CN201310102192.2A patent/CN103356287B/zh active Active
- 2013-03-28 JP JP2013070199A patent/JP6116967B2/ja active Active
- 2013-03-29 US US13/853,267 patent/US9937324B2/en active Active
- 2013-04-02 EP EP13161961.1A patent/EP2644083B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP2644083A2 (en) | 2013-10-02 |
KR101941569B1 (ko) | 2019-04-15 |
US20130289478A1 (en) | 2013-10-31 |
KR20130111026A (ko) | 2013-10-10 |
CN103356287A (zh) | 2013-10-23 |
EP2644083A3 (en) | 2014-03-19 |
JP2013212378A (ja) | 2013-10-17 |
US9937324B2 (en) | 2018-04-10 |
CN103356287B (zh) | 2016-11-02 |
EP2644083B1 (en) | 2017-12-06 |
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