JP6791846B2 - 操縦可能器具用のトルク伝達操縦機構 - Google Patents

操縦可能器具用のトルク伝達操縦機構 Download PDF

Info

Publication number
JP6791846B2
JP6791846B2 JP2017511779A JP2017511779A JP6791846B2 JP 6791846 B2 JP6791846 B2 JP 6791846B2 JP 2017511779 A JP2017511779 A JP 2017511779A JP 2017511779 A JP2017511779 A JP 2017511779A JP 6791846 B2 JP6791846 B2 JP 6791846B2
Authority
JP
Japan
Prior art keywords
tip
mts
tsr
flexible
tbdp
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.)
Active
Application number
JP2017511779A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017526444A5 (enExample
JP2017526444A (ja
Inventor
デワーレ，フランク
マビルデ，シリール
ブランカエル，バルト
カルマル，アラン
メーン，リーフェン
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Steerable Instruments BVBA
Original Assignee
Steerable Instruments BVBA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Steerable Instruments BVBA filed Critical Steerable Instruments BVBA
Publication of JP2017526444A publication Critical patent/JP2017526444A/ja
Publication of JP2017526444A5 publication Critical patent/JP2017526444A5/ja
Application granted granted Critical
Publication of JP6791846B2 publication Critical patent/JP6791846B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • 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
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/001—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion
    • F16H19/003—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion comprising a flexible member
    • F16H19/005—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion comprising a flexible member for conveying oscillating or limited rotary motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61M25/0138—Tip steering devices having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • General Engineering & Computer Science (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
JP2017511779A 2014-08-27 2015-08-27 操縦可能器具用のトルク伝達操縦機構 Active JP6791846B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP14182381 2014-08-27
EP14182381.5 2014-08-27
PCT/EP2015/069628 WO2016030457A1 (en) 2014-08-27 2015-08-27 Torque-transmitting steering mechanism for a steerable tool

Publications (3)

Publication Number Publication Date
JP2017526444A JP2017526444A (ja) 2017-09-14
JP2017526444A5 JP2017526444A5 (enExample) 2018-08-30
JP6791846B2 true JP6791846B2 (ja) 2020-11-25

Family

ID=51399539

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017511779A Active JP6791846B2 (ja) 2014-08-27 2015-08-27 操縦可能器具用のトルク伝達操縦機構

Country Status (6)

Country Link
US (1) US10962093B2 (enExample)
EP (1) EP3027139B1 (enExample)
JP (1) JP6791846B2 (enExample)
CN (1) CN106714721B (enExample)
ES (1) ES2678070T3 (enExample)
WO (1) WO2016030457A1 (enExample)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US12220538B2 (en) 2008-12-08 2025-02-11 Scientia Vascular, Inc. Micro-fabricated intravascular devices having varying diameters
NL2016900B1 (en) 2016-06-06 2017-12-13 Fortimedix Surgical B V Steerable instrument comprising a cylindrical diameter adaptation section
US11052228B2 (en) 2016-07-18 2021-07-06 Scientia Vascular, Llc Guidewire devices having shapeable tips and bypass cuts
US11207502B2 (en) 2016-07-18 2021-12-28 Scientia Vascular, Llc Guidewire devices having shapeable tips and bypass cuts
CN106175850B (zh) 2016-08-31 2019-03-19 北京术锐技术有限公司 一种直线驱动机构驱动的柔性手术工具系统
US11452541B2 (en) * 2016-12-22 2022-09-27 Scientia Vascular, Inc. Intravascular device having a selectively deflectable tip
JP7738981B2 (ja) 2017-05-26 2025-09-16 サイエンティア・バスキュラー・インコーポレイテッド 非らせんカット配列を有する微細加工医療デバイス
NL2019175B1 (en) 2017-07-04 2019-01-14 Fortimedix Surgical B V Steerable instrument comprising a radial spacers between coaxial cylindrical elements
US20190069759A1 (en) * 2017-09-06 2019-03-07 Biosense Webster (Israel) Ltd. Single Handled ENT Tool
US11576735B2 (en) 2017-11-15 2023-02-14 Steerable Instruments N.V. Controllable steerable instrument
EP3710209A2 (en) 2017-11-15 2020-09-23 Steerable Instruments NV Devices to enhance robotic arm tasks
US12127809B2 (en) 2017-12-14 2024-10-29 Intuitive Surgical Operations, Inc. Medical tools having tension bands
US10456556B2 (en) * 2018-02-19 2019-10-29 Bendit Technologies Ltd. Steering tool with enhanced flexibility and trackability
US11305095B2 (en) 2018-02-22 2022-04-19 Scientia Vascular, Llc Microfabricated catheter having an intermediate preferred bending section
US11439376B2 (en) 2018-03-07 2022-09-13 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
WO2019173266A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
US12082900B2 (en) 2018-03-07 2024-09-10 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US10960147B2 (en) * 2018-04-20 2021-03-30 Flextronics Ap, Llc Flex needle
EP3826552A2 (en) 2018-06-01 2021-06-02 Steerable Instruments NV Controllable steerable fusing device
WO2019229002A1 (en) 2018-06-01 2019-12-05 Steerable Instruments nv Tool with torque-actuated end effector
GB2576039B (en) * 2018-08-02 2021-01-06 Ip2Ipo Innovations Ltd A joint
US11559191B2 (en) 2018-10-29 2023-01-24 G.I. View Ltd. Insertion unit for medical instruments and an intubation system thereof
CN109464192B (zh) * 2018-12-29 2023-11-14 黄振宇 一种三维控弯的机械臂
US12011555B2 (en) 2019-01-15 2024-06-18 Scientia Vascular, Inc. Guidewire with core centering mechanism
US12490886B2 (en) 2019-04-08 2025-12-09 Fortimedix Assets Ii B.V. Steerable instrument comprising a detachable part
WO2020252184A1 (en) 2019-06-13 2020-12-17 Intuitive Surgical Operations, Inc. Medical tool with length conservation mechanism for actuating tension bands
US12178975B2 (en) 2020-01-23 2024-12-31 Scientia Vascular, Inc. Guidewire having enlarged, micro-fabricated distal section
US12343485B2 (en) 2020-01-23 2025-07-01 Scientia Vascular, Inc. High torque guidewire device
US11850013B2 (en) 2020-04-17 2023-12-26 Cilag Gmbh International Surgical systems and methods for robotic actuation of continuum joints
CN111714070B (zh) * 2020-07-27 2025-01-07 湖南省华芯医疗器械有限公司 一种蛇骨组件及内窥镜
US12296112B2 (en) 2020-10-05 2025-05-13 Scientia Vascular, Inc. Microfabricated catheter devices with high axial strength
JP7538692B2 (ja) * 2020-10-30 2024-08-22 日本発條株式会社 屈曲操作機構
WO2025076519A1 (en) * 2023-10-05 2025-04-10 University Of Louisville Research Foundation, Inc. Tendon-assisted magnetically steered (tams) robotic delivery device

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5114402A (en) * 1983-10-31 1992-05-19 Catheter Research, Inc. Spring-biased tip assembly
CA2451824C (en) 2001-06-29 2015-02-24 Intuitive Surgical, Inc. Platform link wrist mechanism
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US20030114832A1 (en) 2001-12-14 2003-06-19 Kohler Robert Edward Interventional catheter with three dimensional articulation
US7410483B2 (en) * 2003-05-23 2008-08-12 Novare Surgical Systems, Inc. Hand-actuated device for remote manipulation of a grasping tool
US20060106288A1 (en) * 2004-11-17 2006-05-18 Roth Alex T Remote tissue retraction device
US9271720B2 (en) * 2005-08-11 2016-03-01 Biomet Sports Medicine, Llc Steerable suture passing device
US8105350B2 (en) 2006-05-23 2012-01-31 Cambridge Endoscopic Devices, Inc. Surgical instrument
WO2007146842A2 (en) 2006-06-08 2007-12-21 Surgical Solutions Llc Medical device with articulating shaft
WO2008150767A2 (en) 2007-05-31 2008-12-11 Boston Scientific Scimed, Inc. Active controlled bending in medical devices
EP2259710B1 (en) 2008-02-05 2013-05-15 Steerable Instruments B.V.B.A. Steerable tube
DE102011001973A1 (de) * 2011-04-12 2012-10-18 Aesculap Ag Steuerungsvorrichtung
US20170007224A1 (en) * 2014-03-31 2017-01-12 Human Extensions Ltd. Steerable medical device

Also Published As

Publication number Publication date
CN106714721A (zh) 2017-05-24
CN106714721B (zh) 2019-09-17
US20170234411A1 (en) 2017-08-17
US10962093B2 (en) 2021-03-30
ES2678070T3 (es) 2018-08-08
EP3027139A1 (en) 2016-06-08
JP2017526444A (ja) 2017-09-14
EP3027139B1 (en) 2018-05-16
WO2016030457A1 (en) 2016-03-03

Similar Documents

Publication Publication Date Title
JP6791846B2 (ja) 操縦可能器具用のトルク伝達操縦機構
US11944337B2 (en) Surgical instrument with increased actuation force
JP6703566B2 (ja) 優先的な屈曲を示す関節リンク構造及び関連方法
CN100558301C (zh) 用于远程操纵器械和工具的能传递转矩的铰接机构和链节系统
CN111356413B (zh) 具有张力带的医疗工具
CN223614928U (zh) 一种蛇骨关节、柔性关节组件、手术操作臂与手术机器人

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180717

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20180717

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20190423

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20190426

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20190718

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20190724

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20191017

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20191203

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20200210

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200602

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20201013

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20201105

R150 Certificate of patent or registration of utility model

Ref document number: 6791846

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250