JP6795977B2 - 埋め込み駆動管路を持つ可撓性器具 - Google Patents

埋め込み駆動管路を持つ可撓性器具 Download PDF

Info

Publication number
JP6795977B2
JP6795977B2 JP2016525906A JP2016525906A JP6795977B2 JP 6795977 B2 JP6795977 B2 JP 6795977B2 JP 2016525906 A JP2016525906 A JP 2016525906A JP 2016525906 A JP2016525906 A JP 2016525906A JP 6795977 B2 JP6795977 B2 JP 6795977B2
Authority
JP
Japan
Prior art keywords
flexible body
tube
steerable
proximal
steerable tube
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
JP2016525906A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016538032A (ja
JP2016538032A5 (enExample
Inventor
ビー コウシク，アヌープ
ビー コウシク，アヌープ
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.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
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 Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of JP2016538032A publication Critical patent/JP2016538032A/ja
Publication of JP2016538032A5 publication Critical patent/JP2016538032A5/ja
Application granted granted Critical
Publication of JP6795977B2 publication Critical patent/JP6795977B2/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
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • 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
    • 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
    • A61B2017/00309—Cut-outs or slits
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (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)
  • Endoscopes (AREA)
  • Manipulator (AREA)
JP2016525906A 2013-10-25 2014-10-24 埋め込み駆動管路を持つ可撓性器具 Active JP6795977B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361895778P 2013-10-25 2013-10-25
US61/895,778 2013-10-25
PCT/US2014/062188 WO2015061692A1 (en) 2013-10-25 2014-10-24 Flexible instrument with embedded actuation conduits

Publications (3)

Publication Number Publication Date
JP2016538032A JP2016538032A (ja) 2016-12-08
JP2016538032A5 JP2016538032A5 (enExample) 2017-11-30
JP6795977B2 true JP6795977B2 (ja) 2020-12-02

Family

ID=52993622

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016525906A Active JP6795977B2 (ja) 2013-10-25 2014-10-24 埋め込み駆動管路を持つ可撓性器具

Country Status (6)

Country Link
US (2) US11007026B2 (enExample)
EP (1) EP3060288B1 (enExample)
JP (1) JP6795977B2 (enExample)
KR (1) KR102313708B1 (enExample)
CN (2) CN105658270B (enExample)
WO (1) WO2015061692A1 (enExample)

Families Citing this family (44)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140200639A1 (en) 2013-01-16 2014-07-17 Advanced Neuromodulation Systems, Inc. Self-expanding neurostimulation leads having broad multi-electrode arrays
EP3395394B1 (en) 2013-10-25 2020-02-19 Intuitive Surgical Operations Inc. Flexible instrument with grooved steerable tube
JP6431678B2 (ja) * 2014-03-20 2018-11-28 オリンパス株式会社 挿入形状検出装置
KR102408106B1 (ko) 2014-12-05 2022-06-15 포티메딕스 에셋츠 Ii 비.브이. 조종가능한 기구와, 그 제공 방법
US11219351B2 (en) 2015-09-03 2022-01-11 Neptune Medical Inc. Device for endoscopic advancement through the small intestine
US20190105112A1 (en) * 2016-03-31 2019-04-11 Koninklijke Philips N.V. Image guided robot for catheter placement
US11000265B1 (en) * 2016-06-20 2021-05-11 Intelligent Fiber Optic Systems, Inc. Steerable biopsy needle with fiber-activated shape memory alloy
WO2018005928A1 (en) * 2016-07-01 2018-01-04 Intuitive Surgical Operations, Inc. Systems and methods for flexible computer-assisted instrument control
US11122971B2 (en) 2016-08-18 2021-09-21 Neptune Medical Inc. Device and method for enhanced visualization of the small intestine
US10729886B2 (en) 2016-08-24 2020-08-04 Intuitive Surgical Operations, Inc. Axial support structure for a flexible elongate device
US10933214B2 (en) * 2017-04-26 2021-03-02 Biosense Webster (Israel) Ltd. Method for producing a deflectable insertion tool
US12295550B2 (en) 2017-07-20 2025-05-13 Neptune Medical Inc. Dynamically rigidizing overtube
CN110996829B (zh) * 2017-07-21 2023-11-21 直观外科手术操作公司 柔性细长装置系统和方法
US10872449B2 (en) 2018-05-02 2020-12-22 Covidien Lp System and method for constructing virtual radial ultrasound images from CT data and performing a surgical navigation procedure using virtual ultrasound images
CN112512396A (zh) 2018-05-31 2021-03-16 海王星医疗公司 用于小肠的增强可视化的装置和方法
EP3809943A1 (en) 2018-06-19 2021-04-28 Intuitive Surgical Operations, Inc. Systems and methods for holding a flexible elongate device in a pose
AU2019307743B2 (en) 2018-07-19 2025-04-10 Neptune Medical Inc. Dynamically rigidizing composite medical structures
US11678788B2 (en) 2018-07-25 2023-06-20 Intuitive Surgical Operations, Inc. Systems and methods for use of a variable stiffness flexible elongate device
NL2021823B1 (en) 2018-10-16 2020-05-13 Fortimedix Assets Ii B V Steerable instrument comprising a tube element
US12544096B2 (en) 2019-04-01 2026-02-10 Fortimedix Assets Ii B.V. Steerable instrument comprising a hinge with a slotted structure
JP7555957B2 (ja) 2019-04-08 2024-09-25 フォーティメディックス・アセッツ・ザ・セカンド・ビー．ブイ． 取り外し可能な部分を備えるステアリング可能な器具
JP7555956B2 (ja) 2019-04-08 2024-09-25 フォーティメディックス・アセッツ・ザ・セカンド・ビー．ブイ． 取り外し可能な部分を備えるステアリング可能な器具
US11793392B2 (en) 2019-04-17 2023-10-24 Neptune Medical Inc. External working channels
EP3955982B1 (en) 2019-04-17 2024-12-11 Neptune Medical Inc. Dynamically rigidizing composite medical structures
CN113080833B (zh) 2019-12-23 2023-01-03 财团法人工业技术研究院 光纤扫描探头及内视镜
TWI744910B (zh) * 2019-12-23 2021-11-01 財團法人工業技術研究院 光纖掃描探頭及內視鏡
AU2021245989A1 (en) 2020-03-30 2022-10-27 Neptune Medical Inc. Layered walls for rigidizing devices
EP4142566B1 (en) 2020-04-27 2026-04-15 Ambu A/S An articulated bending section body for an insertion endoscope
US11701492B2 (en) 2020-06-04 2023-07-18 Covidien Lp Active distal tip drive
US12256923B2 (en) 2020-08-13 2025-03-25 Covidien Lp Endoluminal robotic systems and methods for suturing
US12383352B2 (en) 2020-08-13 2025-08-12 Covidien Lp Endoluminal robotic (ELR) systems and methods
WO2022165302A1 (en) 2021-01-29 2022-08-04 Neptune Medical Inc. Devices and methods to prevent inadvertent motion of dynamically rigidizing apparatuses
KR20230169121A (ko) 2021-03-10 2023-12-15 넵튠 메디컬 인코포레이티드 로봇의 동적 강성화 복합 의료 구조물의 제어
CN113842102B (zh) * 2021-09-23 2025-08-22 上海微创微航机器人有限公司 柔性部件、柔性探入器及内窥镜装置
US12303220B2 (en) 2022-01-26 2025-05-20 Covidien Lp Autonomous endobronchial access with an EM guided catheter
US12564312B2 (en) 2022-04-19 2026-03-03 Neptune Medical Inc. Managing and manipulating a long length robotic endoscope
WO2023212641A2 (en) 2022-04-27 2023-11-02 Neptune Medical Inc. Hygienic sheath for endoscopy
CN115211908B (zh) * 2022-06-17 2024-07-02 清华大学 基于弹簧的多用途柔性可控器械
US12605053B2 (en) * 2023-06-07 2026-04-21 Intuitive Surgical Operations, Inc. Flexible elongate devices having axial support structures
WO2025054618A1 (en) 2023-09-07 2025-03-13 Neptune Medical Inc. Pressure rigidization apparatuses and methods
KR20260088517A (ko) 2023-09-28 2026-06-12 넵튠 메디컬 인코포레이티드 신축식 로봇
US20260048234A1 (en) * 2024-08-16 2026-02-19 Boston Scientific Scimed, Inc. Catheters with integrated stability and planarity features
US20260069833A1 (en) * 2024-09-12 2026-03-12 Boston Scientific Scimed, Inc. Deflectable catheter with asymmetric articulation joint
CN119924989A (zh) * 2025-01-20 2025-05-06 中国科学院深圳先进技术研究院 一种具有三轴力感知能力的多功能磁导管机器人

Family Cites Families (66)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5251611A (en) * 1991-05-07 1993-10-12 Zehel Wendell E Method and apparatus for conducting exploratory procedures
AU3321893A (en) * 1991-12-23 1993-07-28 Pharmacia Deltec Inc. Guide wire apparatus with location sensing member
US5325845A (en) * 1992-06-08 1994-07-05 Adair Edwin Lloyd Steerable sheath for use with selected removable optical catheter
CA2109980A1 (en) * 1992-12-01 1994-06-02 Mir A. Imran Steerable catheter with adjustable bend location and/or radius and method
US5462527A (en) * 1993-06-29 1995-10-31 C.R. Bard, Inc. Actuator for use with steerable catheter
US5438975A (en) * 1993-03-24 1995-08-08 Machida Endoscope Co., Ltd. Distal tip of endoscope having spirally coiled control wires
US5715817A (en) * 1993-06-29 1998-02-10 C.R. Bard, Inc. Bidirectional steering catheter
AU1616497A (en) 1997-02-13 1998-09-08 Super Dimension Ltd. Six-degree tracking system
GB9713018D0 (en) 1997-06-20 1997-08-27 Secr Defence Optical fibre bend sensor
US6402719B1 (en) * 1997-09-05 2002-06-11 Cordis Webster, Inc. Steerable DMR catheter with infusion tube
US6198974B1 (en) * 1998-08-14 2001-03-06 Cordis Webster, Inc. Bi-directional steerable catheter
US6171275B1 (en) * 1998-12-03 2001-01-09 Cordis Webster, Inc. Irrigated split tip electrode catheter
US6210407B1 (en) * 1998-12-03 2001-04-03 Cordis Webster, Inc. Bi-directional electrode catheter
US20010009986A1 (en) * 1999-02-23 2001-07-26 Cordis Webster, Inc. Steerable catheter for detecting and revascularizing ischemic myocardial tissue
US6450948B1 (en) 1999-11-02 2002-09-17 Vista Medical Technologies, Inc. Deflecting tip for surgical cannula
US6858005B2 (en) 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
US6623448B2 (en) 2001-03-30 2003-09-23 Advanced Cardiovascular Systems, Inc. Steerable drug delivery device
US6837867B2 (en) * 2001-04-30 2005-01-04 Biosense Webster, Inc. Steerable catheter with reinforced tip
US6569114B2 (en) * 2001-08-31 2003-05-27 Biosense Webster, Inc. Steerable catheter with struts
US6616628B2 (en) 2001-11-16 2003-09-09 Cardiac Pacemakers, Inc. Steerable catheter with a longitudinally adjustable curved core
US7037290B2 (en) * 2002-12-16 2006-05-02 Medtronic, Inc. Multi-lumen steerable catheter
US20040199052A1 (en) * 2003-04-01 2004-10-07 Scimed Life Systems, Inc. Endoscopic imaging system
US7090637B2 (en) * 2003-05-23 2006-08-15 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
US8046049B2 (en) * 2004-02-23 2011-10-25 Biosense Webster, Inc. Robotically guided catheter
US20060013523A1 (en) 2004-07-16 2006-01-19 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
US7772541B2 (en) 2004-07-16 2010-08-10 Luna Innnovations Incorporated Fiber optic position and/or shape sensing based on rayleigh scatter
US7781724B2 (en) 2004-07-16 2010-08-24 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
US8409191B2 (en) * 2004-11-04 2013-04-02 Boston Scientific Scimed, Inc. Preshaped ablation catheter for ablating pulmonary vein ostia within the heart
US8273285B2 (en) * 2005-01-10 2012-09-25 St. Jude Medical, Atrial Fibrillation Division, Inc. Steerable catheter and methods of making the same
US7959601B2 (en) 2005-02-14 2011-06-14 Biosense Webster, Inc. Steerable catheter with in-plane deflection
US20090137875A1 (en) 2005-09-22 2009-05-28 Hideya Kitagawa Endoscope insertion portion
EP3788944B1 (en) * 2005-11-22 2024-02-28 Intuitive Surgical Operations, Inc. System for determining the shape of a bendable instrument
US7930065B2 (en) * 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
WO2007123770A2 (en) * 2006-03-31 2007-11-01 Automated Medical Instruments, Inc. System and method for advancing, orienting, and immobilizing on internal body tissue a catheter or therapeutic device
US20090062602A1 (en) * 2007-07-30 2009-03-05 Hansen Medical, Inc. Apparatus for robotic instrument having variable flexibility and torque transmission
US20090062606A1 (en) 2007-08-31 2009-03-05 Hoya Corporation Endoscope guiding tube device
JP2009056054A (ja) * 2007-08-31 2009-03-19 Hoya Corp 内視鏡案内管装置
US9220398B2 (en) 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments
KR20090062606A (ko) 2007-12-13 2009-06-17 삼성전기주식회사 방열 구조를 가진 회전 구동 디바이스와 전자기 멤스스캐너
JP5639896B2 (ja) 2008-01-14 2014-12-10 ボストン サイエンティフィック サイムド，インコーポレイテッドＢｏｓｔｏｎ Ｓｃｉｅｎｔｉｆｉｃ Ｓｃｉｍｅｄ，Ｉｎｃ． 医療装置
US9462932B2 (en) 2008-01-24 2016-10-11 Boston Scientific Scimed, Inc. Structure for use as part of a medical device
EP2664270B1 (en) * 2008-02-05 2016-10-19 Steerable Instruments BVBA Steerable tube
US20100168717A1 (en) * 2008-12-30 2010-07-01 Grasse Martin M Multi-lumen medical devices and methods of manufacturing same
US8556850B2 (en) * 2008-12-31 2013-10-15 St. Jude Medical, Atrial Fibrillation Division, Inc. Shaft and handle for a catheter with independently-deflectable segments
WO2010096347A1 (en) * 2009-02-20 2010-08-26 Boston Scientific Scimed, Inc. Asymmetric dual directional steerable catheter sheath
US9254123B2 (en) * 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US20100280320A1 (en) * 2009-04-29 2010-11-04 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US20110015648A1 (en) 2009-07-16 2011-01-20 Hansen Medical, Inc. Endoscopic robotic catheter system
JP2011194126A (ja) 2010-03-23 2011-10-06 Fujifilm Corp 内視鏡若しくは処置具のガイド管
JP5817181B2 (ja) * 2011-03-31 2015-11-18 住友ベークライト株式会社 医療機器
US8900131B2 (en) 2011-05-13 2014-12-02 Intuitive Surgical Operations, Inc. Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery
US20130030363A1 (en) * 2011-07-29 2013-01-31 Hansen Medical, Inc. Systems and methods utilizing shape sensing fibers
US9387048B2 (en) * 2011-10-14 2016-07-12 Intuitive Surgical Operations, Inc. Catheter sensor systems
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
US10238837B2 (en) * 2011-10-14 2019-03-26 Intuitive Surgical Operations, Inc. Catheters with control modes for interchangeable probes
US20130096385A1 (en) 2011-10-14 2013-04-18 Intuitive Surgical Operations, Inc. Vision probe and catheter systems
US9216056B2 (en) * 2012-03-02 2015-12-22 Biosense Webster (Israel) Ltd. Catheter for treatment of atrial flutter having single action dual deflection mechanism
US8961550B2 (en) 2012-04-17 2015-02-24 Indian Wells Medical, Inc. Steerable endoluminal punch
US9033917B2 (en) * 2012-08-15 2015-05-19 Abbott Cardiovascular Systems Inc. Needle catheter for delivery of agents directly into vessel wall
US20140148673A1 (en) * 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
US8894610B2 (en) * 2012-11-28 2014-11-25 Hansen Medical, Inc. Catheter having unirail pullwire architecture
US9044156B2 (en) * 2012-12-28 2015-06-02 Biosense Webster (Israel) Ltd. Catheter with improved safety line for distal tip and related method
EP3395394B1 (en) 2013-10-25 2020-02-19 Intuitive Surgical Operations Inc. Flexible instrument with grooved steerable tube
US10362954B2 (en) * 2015-10-21 2019-07-30 St. Jude Medical, Cardiology Division, Inc. High density electrode mapping catheter
US12156979B2 (en) * 2018-05-21 2024-12-03 St. Jude Medical, Cardiology Division, Inc. Deflectable catheter shaft with pullwire anchor feature
EP4167886B1 (en) * 2020-08-18 2024-05-01 St. Jude Medical, Cardiology Division, Inc. High-density electrode catheters with magnetic position tracking

Also Published As

Publication number Publication date
KR20160077062A (ko) 2016-07-01
CN110833455B (zh) 2023-02-28
EP3060288A1 (en) 2016-08-31
JP2016538032A (ja) 2016-12-08
CN105658270A (zh) 2016-06-08
CN105658270B (zh) 2019-12-27
US11007026B2 (en) 2021-05-18
KR102313708B1 (ko) 2021-10-19
WO2015061692A1 (en) 2015-04-30
US20160270870A1 (en) 2016-09-22
US20210212783A1 (en) 2021-07-15
CN110833455A (zh) 2020-02-25
EP3060288B1 (en) 2018-07-04
EP3060288A4 (en) 2017-05-10

Similar Documents

Publication Publication Date Title
JP7072688B2 (ja) 溝付きの操縦可能なチューブを備えるフレキシブルな器具
US20220152356A1 (en) Flexible instrument with nested conduits
US20210212783A1 (en) Flexible instrument with embedded actuation conduits
US20250312114A1 (en) Flexible elongate device systems and methods
JP6816243B2 (ja) スタイレット及び最小侵襲システム
JP2021519141A (ja) 可変曲げ剛性プロファイルを有する医療用器具
KR20210114556A (ko) 중재 시술 계획을 위한 시스템 및 방법
US12605053B2 (en) Flexible elongate devices having axial support structures
US20250127383A1 (en) Flexible elongate devices having articulable body portion support structures

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20171019

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20171019

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180831

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180911

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20181205

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20190521

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190819

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200204

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200501

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: 20201027

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20201113

R150 Certificate of patent or registration of utility model

Ref document number: 6795977

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

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250