JP6894647B2 - Flexible extended robot endoscopy device - Google Patents

Description

The present invention relates to a flexible extended robot endoscopy device having a body and a flexible elongated shaft. The body includes a housing with a near end with multiple insertion inlets through which multiple endoscopic equipment channels are accessible. The flexible elongated shaft is flexible and can be inserted into a plurality of channels of the flexible elongated shaft through the inlet and the near end extending to the far end so as to be away from the far end of the main body. It has multiple channels between them to hold parts of an elongated assembly.

Robotics for surgery has revolutionized surgical procedures, especially in minimally invasive surgery. The advent of flexible robotic endoscopes for natural meat transluminal endoscopic surgery (NOTES) or "non-incision" surgical procedures that do not require percutaneous access sites to the body This allowed a flexible robotic endoscope to be inserted into the subject's natural opening, such as the subject's mouth, and further, of the endoscope. It is maneuvered in or along a natural internal passage, such as a portion of the subject's gastrointestinal tract, until the far end is located or very close to the subject's internal site of interest. Once the far end of the endoscope is located at its site of interest, the surgical procedure is performed by one or more robot arms held by the endoscope and the corresponding end effector, which with the control console. It can move and operate beyond the far end of the endoscope under robotic control in response to the surgeon's interaction. Typical examples of master-slave flexible robotic endoscopy systems are described below.

International Patent Application No. PCT / SG2013 / 00000408 International Publication No. WO2010 / 138083

In current flexible robotic endoscopy systems, many flexible endoscopic devices or equipment assemblies, such as robot arms and corresponding end effectors, and imaging assembly probes that capture images of the end effectors. It has been known. This flexible endoscopic device is disposable, can be inserted into the flexible robotic endoscopy system, or can be removed from the flexible robotic endoscopy system.

In the operating room, it is desirable to enhance or maximize the convenience and speed of setting up / assembling and disassembling a flexible robotic endoscopic system, but at the same time, the general aspect in which the system is set up is the robot of the system. It is desirable to ensure that very accurate spatial and temporal control over the elements is possible. In addition, in operating room situations, clinicians may quickly install new flexible endoscopic equipment, or install new or other types of flexible endoscopic equipment currently installed. It needs to be replaced with a flexible endoscopic device.

Unfortunately, the existing system is affected by the mode in which the flexible endoscopy system is set up, the flexible endoscopy equipment is inserted into the flexible endoscopy system, The influence of the mode through which and the consequential force inside the endoscopic device must control the end effector reliably, spatially and temporally with maximum accuracy with respect to the capabilities of the system. That is not properly considered.

The present invention according to claim 1 is a robot endoscope device, which is a main body including a near end, a far end, and a housing extending to the near end, and the housing. With a body having a plurality of surfaces and a plurality of insertion inlets present on at least one surface of the housing at the near end of the body, through which channels for the endoscope are available. A plurality of flexible elongated shafts having a near end extending away from the far end of the body, the far end, a central axis, and a plurality of parts of the flexible elongated assembly. It consists of a channel and a flexible elongated shaft having an opening disposed at the far end of the elongated shaft that is flexible with respect to each of the plurality of channels, and each of the insertion inlets corresponds thereto. It has an insertion shaft along which a flexible elongated assembly can be inserted, and the insertion shaft of the insertion inlet is the center of the flexible elongated shaft at the near end of the flexible elongated shaft. It is parallel to the axis.

The present invention is defined in claim 2, the robot endoscope according to claim 1, the housing has a plurality of surfaces, a feature in which a plurality of inlets are present in one of said plurality of surfaces Have.

The present invention according to claim 3 is the robot endoscope device according to claim 1, wherein the robot endoscope device is further ventilated through a flexible elongated shaft of the endoscope device. has inspiratory, for support functions, including at least one of the delivery of wash solution, a feature consisting configured support function connector assembly to connect the body and the external system.

According to the fourth aspect of the present invention, in the robotic endoscopy device according to the first aspect, at least one flexible elongated assembly is internally viewed according to a force generated by a robot arm and an external operating element. A corresponding end effector configured to perform mirror treatment, a plurality of tensioning material elements configured to transmit force from the external actuating element to the robot arm and the end effector, and the plurality of tensioning material elements and the outside. It features an actuating assembly consisting of adapters configured to connect actuating elements.

The invention of the present application according to claim 5 is configured such that each of the flexible elongated assemblies further covers a plurality of tension material elements in the robot endoscopic apparatus according to claim 4. It is characterized by a flexible sheath and a flexible elongated outer sleeve configured to hold a plurality of tensioning elements coated by the flexible sheath.

According to a sixth aspect of the present invention, in the robot endoscopic apparatus according to the fourth aspect, each of the flexible elongated assemblies is further flexed at a predetermined distance from the far end of the end effector. The flexible elongated assembly that is configured to surround at least a portion of the elongated outer sleeve of the property and that engages a longitudinal movement mechanism to exceed a predetermined distance range. It has a feature consisting of a collar member configured to allow movement in the longitudinal direction of at least one of the members.

The present invention described in claim 7 is the robot endoscope according to claim 1, at least one of the elongate assembly with the flexible, with the flexibility that end-effectors exist An imaging unit configured to capture an image of the external environment at the far end of an elongated shaft, and a plurality of tensioning material elements configured to connect the external actuating element to the imaging unit, thereby the plurality. It features a flexible imaging endoscope assembly consisting of an adapter in which the tensioning element is interlocked with a particular external actuating element.

According to embodiments of the present disclosure, multiple flexible elongated robotic assemblies, such as working assemblies and flexible imaging endoscopic assemblies, provide an improved and accurate space for the robotic elements of the assembly. It can be quickly and conveniently inserted into the transport endoscope and its flexible elongated shaft in a manner that facilitates physical and temporal control.
According to embodiments of the present disclosure, the transport endoscope is easily and reliably removably fitted to the docking station by, for example, a joint member. The grip of the body of the transport endoscope is typically located towards the far end of the body and the joint members are located towards the near end of the body. A clinician, such as an endoscopist, grips the grip of the body and quickly and conveniently fits the body into or disengages from the docking station. It is not necessary for the clinician to change the hand or remove the grip of the body from the hand to fit or disengage the docking station and the transport endoscope.

FIG. 1A is a schematic representation of a flexible master-slave robot endoscope system according to an embodiment of the present disclosure. FIG. 1B is a schematic representation of a flexible master system according to an embodiment of the present disclosure. FIG. 2 is a schematic diagram of a master system according to an embodiment of the present disclosure. FIG. 3 is a schematic representation of a slave system according to an embodiment of the present disclosure. FIG. 4A is a schematic representation of a typical transport endoscope according to an embodiment of the present disclosure. FIG. 4B is a schematic of a typical first working assembly according to an embodiment of the present disclosure. FIG. 4C is a schematic representation of a typical second working assembly according to an embodiment of the present disclosure. FIG. 4D is a schematic representation of a typical imaging endoscope assembly according to an embodiment of the present disclosure. FIG. 5 is a schematic view of a pair of robot arms, an end effector mounted on the pair of robot arms, and an imaging endoscope located in an environment beyond the far end of the transport endoscope according to the embodiment of the present disclosure. FIG. 6 illustrates in more detail a typical body 310 according to an embodiment of the present disclosure. FIG. 7A illustrates the placement of insertion inlets according to embodiments of the present disclosure. FIG. 7B illustrates the placement of insertion inlets according to embodiments of the present disclosure. FIG. 7C illustrates the placement of insertion inlets according to embodiments of the present disclosure. FIG. 8A is a representative cross-sectional view of a transport endoscope shaft according to an embodiment of the present disclosure. FIG. 8B is a representative cross-sectional view of a transport endoscope shaft according to another embodiment of the present disclosure. FIG. 9A is a schematic showing the insertion of an imaging endoscope assembly into a transport endoscope and an imaging connector assembly coupled to an imaging subsystem according to an embodiment of the present disclosure. FIG. 9B is a schematic view showing an imaging input adapter connected to an imaging output adapter of a motor box according to an embodiment of the present disclosure. FIG. 9C is a schematic showing an endoscope support function connector assembly coupled to a valve control unit according to an embodiment of the present disclosure. FIG. 10A is a schematic diagram showing a transport endoscope connected to a docking station by an outer sleeve / coil portion of the working assembly and an outer sleeve of the imaging endoscope assembly inserted into the transport endoscope. FIG. 10B is a schematic diagram showing an outer sleeve fixed to a moving unit of a docking station. FIG. 10C is a schematic diagram showing a typical moving unit mounted on a docking station and a typical mode in which the color elements corresponding to the working assembly and the imaging endoscope assembly are held by the moving unit. FIG. 11A shows a docking mechanism in which a transport endoscope engages with and engages with a docking station according to an embodiment of the present disclosure. FIG. 11B shows a docking mechanism in which a transport endoscope engages with and engages with a docking station according to an embodiment of the present disclosure. FIG. 11C shows a docking mechanism in which a transport endoscope engages with and engages with a docking station according to an embodiment of the present disclosure. FIG. 12 shows the docking mechanism of FIGS. 11A to 11C in more detail. FIG. 13A shows a docking mechanism in which the transport endoscope engages with the docking station according to another embodiment of the present disclosure. FIG. 13B shows a docking mechanism in which the transport endoscope engages with the docking station according to another embodiment of the present disclosure. FIG. 13C shows a docking mechanism in which the transport endoscope engages with the docking station according to another embodiment of the present disclosure. FIG. 14 is a view of the body 310 of the transport endoscope for the docking mechanism of FIGS. 13A-13C, according to embodiments of the present disclosure. FIG. 15 is a schematic diagram showing the connection of the instrument input adapters of each actuating assembly to the corresponding instrument output adapters corresponding to the motor box according to embodiments of the present disclosure. FIG. 16 is a non-existing perspective view showing a typical inside of an instrument input adapter attached to an instrument output adapter of a motor box according to an embodiment of the present disclosure. FIG. 17 is a corresponding cross-sectional view showing the typical interior of an instrument adapter and an instrument output adapter when they are connected together or meshed and engaged according to an embodiment of the present disclosure. FIG. 18A is a representative of the working meshing structure of the instrument input adapter corresponding to the specific meshing phase of the instrument input adapter with the instrument output adapter and the release of the instrument input adapter from the instrument output adapter according to the embodiments of the present disclosure. It is sectional drawing which shows the inside and the member part of the inside. FIG. 18B is a representative of the working meshing structure of the instrument input adapter corresponding to the specific meshing phase of the instrument input adapter with the instrument output adapter and the release of the instrument input adapter from the instrument output adapter according to the embodiments of the present disclosure. It is sectional drawing which shows the inside and the member part of the inside. FIG. 18C is a representative of the working meshing structure of the instrument input adapter corresponding to the specific meshing phase of the instrument input adapter with the instrument output adapter and the disengagement of the instrument input adapter from the instrument output adapter according to the embodiments of the present disclosure. It is sectional drawing which shows the inside and the member part of the inside. FIG. 18D is a representative of the working meshing structure of the instrument input adapter corresponding to the specific meshing phase of the instrument input adapter with the instrument output adapter and the disengagement of the instrument input adapter from the instrument output adapter according to embodiments of the present disclosure. It is sectional drawing which shows the inside and the member part of the inside.

In the present disclosure, the depiction of a given element or the consideration or use of a particular element number in a particular figure or its citation in the corresponding descriptive material is the same, equal or similar element or element number specified in another figure. It can include descriptive material related to it. The use of "/" in figures or related text is understood to mean "and / or" unless otherwise indicated. Here, the enumeration of a particular numerical value or numerical range is an enumeration of an approximate numerical value or numerical range, for example, ± 20%, ± 15%, ± 10%, ± 5%, or is understood to include it. To

As used herein, the term "set" is used (eg, by Peter J. Eccles, Cambridge University Press (1998), "An industrial Mathical Reasoning: Number, Set, Set, Set, Set". In a manner corresponding to that described in Chapter 11, finite set attributes (eg, as shown on page 140) of "Properties of Fineties Sets" (Introduction of Mathematical Inference: Numbers, Sets, Functions). ) According to a known mathematical definition, it corresponds to or is defined as a non-empty finite structure of elements that mathematically indicate a concentration of at least one (eg, the set defined here is a unit, simply. Can correspond to a single element set or a single element set or a multi-element set). In general, the elements of a set are systems, devices, devices, structures, objects, processes, depending on the type of set under consideration. It is or can be a physical parameter or value.

Embodiments of the present disclosure relate to a flexible master-slave robot endoscopic system, which includes a master-side system and a slave-side system that is controllable or controlled by the master-side system. .. The embodiments of the present disclosure also provide an extended mechanism or structure of a slave or slave side system.

1A and 1B are schematic views of a flexible master-slave robot endoscope system 10 according to an embodiment of the present disclosure. In embodiments, the system 10 includes a master or master side system 100 with associated master side elements and a slave or slave side system 200 with associated slave side elements.

In connection with FIG. 5, which shows the far end of the endoscopic apparatus disposed in the slave or slave side system 200, in various embodiments, the master system 100 and the slave system 200 are used for signal communication with each other. Configured, the master system 100 can issue commands to the slave system 200, and the slave system 200 is (a) held or supported by the transport endoscope 300 of the slave system 200. An imaging endoscope or imaging probe member 460 held or supported by a transport endoscope 300, depending on a set of robot arms 400a, b and corresponding end effectors 410a, b and, in some cases, master system input. And can be accurately controlled, steered, operated / positioned and / operated. The master and slave systems 100, 200 further allow the slave system 200 to tactile / haptic when the robot arms 410a, b and / or their associated end effectors 420a-b are positioned, operated or actuated. ) A feedback signal (eg, a force feedback signal) can be configured to dynamically provide to the master system 100. Such tactile / haptic feedback signals are associated with or correspond to the forces exerted on the robot arms 410a, b and / or the end effectors 420a-b in the environment in which the robot arms 410a, b and the end effectors 420a, b are present.

Returning to FIGS. 1A and 1B, various embodiments according to the present disclosure relate to the surgical situation or environment, eg, to the patient or subject while the patient or subject is placed on the operating table or platform 20. It is related to the natural meat transluminal endoscopic surgery (NOTES) procedure performed. In such an embodiment, at least a portion of the slave system 200 is configured to reside within the operating table (OT) or operating room (OR). Depending on the details of the embodiment, the master system 100 can be located inside or outside the OT / OR (eg, near or far). Communication between the master system 100 and the slave system 200 may be direct (eg, through a local communication line and / or local wireless communication) or one or more networks (eg, through local communication lines), depending on the details of the embodiment. It can be indirectly caused by a local area network (LAN), wide area network (WAN) and / or the Internet).

FIG. 2 is a schematic diagram of the master system 100 according to the embodiment of the present disclosure. In the embodiment, the master system 100 includes a frame or console structure 102 on which the left and right haptic input devices 110a and b are mounted, an additional / auxiliary manual input device / button set 115, and a foot-operated control device / pedal set 120a. ~ D, including the display device 130 and the processing module 150. The frame / console structure 102 includes a set of wheels 104 and a set of wheels such that the master system 100 can be easily transported / placed within the intended use environment (eg, OT / OR or its outer or remote room). A set of arm supports 112 can be included. During a typical endoscopic procedure, surgeons place or sit on the master system 100 with their left and right hands gripping or interlocking with the left and right haptic input devices 110a, b. And allow their feet to work with the pedals 120a-d. The processing module 150 processes the signals received from the haptic input devices 110a, b, the additional / auxiliary manual input devices 115 and the pedals 120a-d, and also provides the robot arms 410a, b and the corresponding end effectors 420a-b. A corresponding command is issued to the slave system 200 for the purpose of operating / positioning / controlling and, in some cases, operating / positioning / controlling the imaging endoscope 460. The processing module 150 can further receive a tactile / haptip feedback signal from the slave system 200 and transmit such a tactile / haptip feedback signal to the haptip input devices 110a, b. The processing module 150 includes computing / processing and communication resources (eg, memory / data storage resources including one or more processing devices, random access memory (RAM), read-only memory (ROM), and, in some cases, one or more types. Disk drive and / or network communication unit) are included in a manner easily understood by those skilled in the art.

FIG. 3 is a schematic diagram of a slave system 200 according to an embodiment of the present disclosure. In embodiments, the slave system 200 may selectively / selectively connect the transport endoscope 300 with the flexible elongated shaft 320 to the transport endoscope 300 (eg, attached / attached /). The docking station 500 (which is connected and detached / disconnected), the imaging subsystem 210, the endoscope support function subsystem 250 and the associated valve control unit 270, the operating unit or motor box 600, and the main control unit. Has 800 and. In some embodiments, the slave system 200 further includes a patient side cart, stand or rack 202 configured to carry at least some slave system elements. The patient side cart 202 typically includes wheels 204 to facilitate easy carrying and placement of the slave system 200 (eg, in a desired position within the OT / OR).

Briefly, the imaging subsystem 210 facilitates processing and presentation of the optical signal captured by the imaging endoscope 460, as well as facilitating the supply or transmission of illumination to the imaging endoscope 460. The imaging subsystem 210 includes an adjustable display device 220 configured to present (eg, on a real-time basis) the image captured by the imaging endoscope 460 in a manner readily understood by those skilled in the art. .. The endoscope support function subsystem 250, in cooperation with the valve control unit 270, also ventilates or positively pressures, inspires the transport endoscope 300, as will be easily understood by those skilled in the art. Alternatively, the negative pressure / vacuum pressure and the selectively controlled supply of the cleaning liquid are facilitated. The actuating unit / motor box 600 provides a plurality of activators and motors configured to drive the robot arms 410a, b and the end effectors 420a, b under the control of the main control unit 800, which includes a set of motor controllers. To do.

The main control unit 800 further manages the communication between the master system 100 and the slave system 200, and also responds directly and accurately to the surgeon's operation of the master system's haptip input devices 110a, b. It processes the input signal received from the master system 100 to operate the robot arms 410a, b and the end effectors 420a, b. In a plurality of embodiments, the main control unit 800 further generates the tactile / haptip feedback signal described above and transmits such tactile / haptip feedback signal to the master system 100 on a real-time basis. In some embodiments, the tactile / haptip feedback signal is on a sensor (eg, robot arm 410 or end effector 420) mounted inside or far from the flexible elongated shaft 320 and / or body 310. A sensor (eg, a motor box) placed near the flexible elongated shaft 320 and / or the body 310 without or without the use of or without a sensor held in or near its vicinity. Can be generated by a sensor) present within 600. Representative methods for generating tactile / haptip feedback signals are described in detail in International Patent Application WO2010 / 138083. The main control unit 800 comprises signal / data processing, memory / data storage, and signal communication resources (eg, one or more microprocessors, RAM, ROM, etc.) in a manner easily understood by those skilled in the art. Some include solid-state or other types of disk drives, as well as serial communication units and / or network interface units).

FIG. 4A is a schematic representation of a typical transport endoscope 300 according to an embodiment of the present disclosure, and FIG. 4B-4D is a representative that can be inserted into or withdrawn from the transport endoscope 300. It is a figure of a flexible elongated assembly. The flexible elongated assembly may consist of actuating assemblies 400a, 400b as shown in FIGS. 4B-4C and a flexible imaging endoscope assembly 450 as shown in FIG. 4D.
Activating assemblies 400a, 400b are, or include, for example, a gripper 400a as shown in FIG. 4B or a cauterizer robotic surgical instrument as shown in FIG. 4C, according to embodiments of the present disclosure. There is also. The flexible imaging endoscope assembly 450 may be an imaging endoscope probe as shown in FIG. 4D, according to embodiments of the present disclosure. With respect to FIG. 4A, the transport endoscope 300 includes a body 310 at the near end and a flexible elongated shaft 320 at the far end. In a preferred embodiment, the body 310 may be made of a hard material such as hard plastic or metal, while the flexible elongated shaft 320 may be made of rubber or rubbery and / or soft plastic material. Made of flexible material.

The body 310 includes or defines a proximal portion, edge, surface or end of the transport endoscope 300, through which a channel extends within and along the flexible elongated shaft 320. Provides a plurality of insert inlets 315 accessible by the user. The body 310 includes a housing 312 extending between the near end or near end 311a and the far end or far end 311b and near end 311a and far end 311b or extending from the near end 311a to the far end 311b. Housing 312 includes a plurality of surfaces and a plurality of insertion inlets. The plurality of insertion inlets 315 are provided at the near end 311a of the main body 310, for example, at the near end 311a of the main body, the plurality of insertion inlets 315 are housings at at least one surface of the housing 312 (for example, at the near end 311a of the main body). It is provided so as to exist on the top surface or a set of top surfaces of 312).

In some embodiments, the body 310 further provides a control interface for the transport endoscope 300, whereby the endoscopist adds navigation control to the flexible elongated shaft 320. Can be done. For example, the body 310 includes a number of control elements, such as one or more buttons, knobs, switches, levers, joysticks and / or other control elements, in a manner readily understood by those skilled in the art. Facilitates control of the endoscopist over the operation of the transport endoscope.

The flexible elongated shaft 320 is configured to terminate at the distal end of the transport endoscope 300, away from the far end 311b of the body 310. The flexible elongated shaft 320 has a plurality of channels and a plurality of channels within the near end 321a and the far end 321b, a central axis (not shown), and a portion of the flexible elongated assembly. Includes an opening provided at the far end 321b of a flexible elongated shaft for each.

The plurality of channels can include a set of instrument channels holding the actuating assemblies 400a, 400b as shown in FIGS. 4B-4C. In various embodiments, the environment in which the far end of the flexible elongated shaft 320 is present may further include passages for ventilation or positive pressure, intake or suction pressure, and delivery of cleaning fluid. is there.

Each actuating assembly 400a, b generally corresponds to a given type of endoscopic tool. For example, in a typical embodiment, the first actuating assembly 400a can mount a gripper of the end effector 420a as shown in FIG. 4B or a first robot arm 410a having an instrument of the same type. The second actuating assembly 400b can then mount a cauterizing spatula of the cauterizing end effector 420b as shown in FIG. 4C or a second robot arm 410b having an instrument of the same type.

In the embodiments shown in FIGS. 4B-4C, the predetermined actuating assemblies 400a, b are the robot arms 410a, b and the corresponding end effectors 420a, b, and the robot arms 410a, b and / or the end effectors 420a, b. A flexible elongated outer sleeve that holds multiple tensioning material / sheath elements inside so that tension or mechanical force can be selectively applied to specific tensioning material elements for precise operation and control of operation. And / or the appliance input adapter 710a capable of mechanically connecting the coils 402a, b and the tensioning material in the outer sleeves 402a, b in the motor box 600 to the corresponding actuator, as described in detail below. , B and. Typical types of tension material / sheath elements, robot arms 410a, b, end effectors 420a, b, and tension material elements are portions of robot arms 410a, b (eg, joints / joint primitives) and corresponding end effectors 420a. , B are linked and controlled to provide maneuverability / operability for an effective DOF: (a) International Patent Application No. PCT / SG2013 / 00408 and (b) International Publication No. WO2010. It is described in detail in / 138083. A given tension material and the corresponding sheath can be defined as a tension material / sheath element.

In FIGS. 4B and 4C, the robot arms 410a, b, the end effectors 420a, b, and the outer sleeve / coil 402a, b portions can be inserted into the instrument channel of the flexible elongated shaft 320. The robot arms 410a, b and the end effectors 420a, b can reach or nearly reach the far end 321b of the flexible elongated shaft 320, and extend beyond it by a predetermined distance. As detailed below, the outer sleeves / coils 402a, b of the actuating assembly and the resulting robot arms 410a, b and end effectors 420a, b are selectively moved or surged longitudinally by the moving unit. (Displaced distally or proximally to the far end 321b of the flexible elongated shaft 320), thereby the robotic arm with respect to the far end 321b of the flexible elongated shaft 320 The near-to-far ends of the 410a, b and end effectors 420a, b are up to a predetermined maximum distance beyond the far end 321b of the flexible elongated shaft 320 to perform endoscopic procedures. Can be adjusted in an environment beyond the distal end 321b of the flexible elongated shaft 320. In many embodiments, the actuating assembly 400 can be disposed.

In certain embodiments, the actuating assemblies 400a, b are color elements, collets or bands surrounding at least a portion of the outer sleeve / coil 402a, b at a predetermined distance from the far tip of the end effectors 420a, b. 430a and b are included. As detailed below, the collar elements 430a, b are designed to fit and engage the receiver of the moving mechanism, thereby predetermining the flexible elongated shaft 320 with respect to the far end. Longitudinal / surge movement of the color elements 430a, b over a distance results in the corresponding longitudinal / surge movement of the robot arms 410a, b and the end effectors 420a, b.

In some embodiments, the plurality of channels provided within the flexible elongated shaft 320 can be further inserted into and withdrawn from the transport endoscope 300, as shown in FIG. 4D. Includes an imaging endoscope channel configured to hold a portion of the flexible imaging endoscope assembly 450. In a manner similar to or substantially similar to that described above for actuating assemblies 400a, b in connection with FIG. 4, in embodiments, the imaging endoscope assembly 450 is a flexible imaging endoscope 460. In an environment near and / or beyond the flexible outer sleeve, coil or shaft 452 that surrounds or forms the outer surface of the flexible outer sleeve, and the far end 321b of the flexible elongated shaft 320. A set of tensioning material corresponding to or within the imaging endoscope so that it can be selectively manipulated or positioned according to one or more DOFs (eg, up and down movements and / or rocking movements). An imaging input adapter 750 that can be mechanically connected to a corresponding actuator in the motor box 600 and an optical element (eg, an optical fiber) of the imaging endoscope 460 are optically attached to the image processing apparatus of the imaging subsystem 210. Includes an imaging connector assembly 470 that can be coupled. For example, the imaging endoscope 460 may include or be connected to a tensioning material, whereby the far end or surface of the imaging endoscope 460 may be robotic arms 410a, b during endoscopic procedures. And the forward and reverse images of the end effectors 420a and b can be selectively / selectably captured. A representative embodiment of an imaging endoscope and control element, such as a tensioning material, which can be incorporated into an imaging endoscope assembly 450 in accordance with embodiments of the present disclosure, is described in International Patent Application No. PCT. It is described in detail in / SG2013 / 000408. In certain embodiments, an imaging endoscope assembly 450 may be disposed.

In the same, essentially the same or similar manner as for the actuating assemblies 400a, b, the outer sleeve 452 of the imaging endoscope assembly 450 and the far end of the imaging endoscope 460 thereby are moved by a moving mechanism. The flexible elongated shaft 320 can be selectively moved / surged in the longitudinal direction with respect to the far end 321b, whereby the longitudinal or near-end-far-end position of the imaging endoscope 460 can be determined. At the far end of the flexible elongated shaft 320 beyond the predetermined near-end-far end distance range associated with endoscopic procedures, adjustments may be made in and / or beyond. it can.

In many embodiments, the imaging endoscope assembly 450 is a color element 430c that surrounds at least a portion of the outer sleeve 452 of the imaging endoscope assembly at a predetermined distance from the far end 460 of the imaging endoscope 450. including. The collar element 430c is configured to fit and engage with the receiving portion or receiving structure of the moving mechanism, whereby the length of the collar element 430c that exceeds a predetermined distance to the far end of the flexible elongated shaft 320. The directional / surge displacement results in a corresponding longitudinal / surge displacement at the far end of the imaging endoscope 460.

As a result, in some embodiments, as shown in FIG. 5, the transport endoscope 300 is located in an environment beyond the far end of the transport endoscope, according to the embodiments of the present disclosure. It is possible to have the robot arms 410a and b, the corresponding end effectors 420a and b mounted on the robot arms 410a and b, and a flexible imaging endoscope.

In certain embodiments, the flexible elongated assembly consisting of the actuating assemblies 400a, 400b and the flexible imaging endoscope assembly 450 has a flexible elongated assembly axis that is flexible. It can be inserted into a plurality of channels in the flexible elongated shaft 320 via the insertion inlet in a state parallel to the central axis of the elongated shaft 320. In other words, the actuating assemblies 400a in FIGS. 4B and 4C and the flexible imaging endoscope assemblies 450 in FIGS. 4B and 4D, respectively, in a manner readily understood by those skilled in the art, are the actuating assembly 400a, respectively. The axis of b and the axis of the flexible imaging endoscope assembly are parallel to the central axis of the flexible elongated shaft 320 as shown in FIG. 9A, or the flexible elongated shaft 320. It is configured to be inserted into and withdrawn from the instrument channel and the imaging endoscope channel of the transport endoscope 300 in a state parallel to the instrument channel or the imaging endoscope channel held by the endoscope. Correspondingly or correspondingly, each of the insertion inlets 315 has a corresponding insertion axis into which the working assembly 400 or the flexible imaging endoscope assembly 450 can be inserted and is flexible. The insertion axis of the insertion inlet 315 can be parallel to the central axis of the flexible elongated shaft 320 at or near the near end of the elongated shaft 320. For a given insertion inlet 315, the aperture or opening surface of the insertion inlet into which the actuating assembly 400 or the flexible imaging endoscopy assembly 450 has been inserted / inserted is at right angles or across its insertion axis. ..

Further, with respect to FIGS. 4B-4C, in an environment beyond the far end of the flexible elongated shaft 320 during endoscopic procedures, the working assemblies 400a, b and the flexible imaging endoscope assembly 450 Each color element 430ac is on the outside of the flexible elongated shaft 320 and remains at least slightly spaced from it when fully inserted into the transport endoscope 300 prior to the operation of. Or, in various embodiments, a predetermined collar that is on the outside of the body 310 of the transport endoscope and remains at least slightly spaced from it, over a predetermined near-end-far end distance. Longitudinal movement or surge motion of the elements 430ac can be freely generated by the moving unit without interference from the flexible elongated shaft 320 and / or body 310. Thus, the end effectors 420a, b reach or nearly reach the far end 321b of the flexible elongated shaft 320 when the color elements 430a, b are closest to the moving unit. The outer sleeves / coils 402a, b of each actuating assembly 400a, b need to extend far enough away from the distal edges of its color elements 430a, b. Similarly, when the color element 430c is closest to the moving unit, the far end of the imaging endoscope 460 is near or near the far end 321b of the flexible elongated shaft 320. The outer sleeve 452 of the imaging endoscope assembly needs to extend far enough from its color element 430c so that it is in the intended position near it.

Returning to FIG. 4A, the transport endoscope 300 is a separate endoscope in a manner easily understood by those skilled in the art, whereby the transport endoscope body is coupled to the endoscope support function subsystem 250. Mirror support functional connector assembly 370 can be included.

FIG. 6 illustrates in more detail a typical body 310 according to an embodiment of the present disclosure. As shown in FIG. 6, the body 310 may include a housing 312 extending to the near end 311a, a joint member 316 on the surface of the housing 312, and a grip 313 towards the far end 311b. The body 310 may further include a connector 314 that connects the body 310 to the flexible elongated shaft 320. In a more precise or preferred embodiment, the housing 312 is or contains a cube or a nearly three-dimensional shape (eg, a rectangular or nearly rectangular three-dimensional tube), and the plurality of insertion inlets 315 is a housing 312. It may be formed on the upper surface and / or the top surface thereof toward the near end of the. Further, the joint member may be mounted on the side surface of the housing by fitting the transport endoscope 300 into another element of the slave system 200, for example, the docking station 500 described later. The grip 313 is gripped by a clinician (eg, an endoscope or surgeon) to connect or engage the transport endoscope 300 with other elements of the slave system and / or to the subject or patient. On the other hand, it provides a region, a portion, or a structure for spatially adjusting, positioning, and moving a portion of the transport endoscope 300.

According to an embodiment of the present disclosure, the joint member 316 is arranged on the side surface of the housing 312 extending from the near end 311a to the far end 311b, and the grip 313 is arranged towards the far end of the transport endoscope 300. That is, the joint member 316 is arranged toward the near end of the transport endoscope 300, and the grip 313 is arranged toward the far end of the transport endoscope 300 of the main body 310. Therefore, the clinician does not need to change or release the grip of the body in order to engage and unengage the transport endoscope 300 with the docking station 500 or the docking mechanism as shown in FIGS. 11-14. ..

Depending on the details of the embodiment, the insertion inlet 315 on the surface of the main body 310 may be variously arranged. In a more precise or preferred embodiment, the transport endoscope 300 and when the clinician inserts / removes the flexible elongated assembly into / from the transport endoscope 300 or the slave or slave side system 200. The insertion inlets are arranged to reduce or minimize mechanical stress on both the actuating assemblies 400a, 400b and the flexible elongated shaft 320 including the flexible imaging endoscope assembly 450. There is. In certain embodiments, they may be arranged in a linear or nearly linear manner (by a straight line), as shown in FIGS. 7A-7B. Further, the insertion inlet 315 may be arranged in a line parallel to a predetermined boundary line, edge, edge, or side line of the surface as shown in FIG. 7A, or may be arranged diagonally as shown in FIG. 7B. sell. The number of insertion inlets can be changed according to the number of flexible endoscope assemblies to be inserted into the transport endoscope 300, as shown in FIG. 7C, and the arrangement thereof can be changed as appropriate.

A typical embodiment of the transport endoscope 300 is described in detail in International Patent Application No. PCT / SG2013 / 000408. In a defined embodiment, the transport endoscope 300 can also be configured to hold a number of other actuating assemblies 400. In addition, the cross-sectional dimensions of the transport endoscope 300, its internal channels / passages, one or more actuating assemblies 400 and / or imaging endoscope assemblies 450 are of certain types of surgical / endoscopic procedures and / or of consideration. Alternatively, it can be determined according to the transport endoscope shaft size / dimension constraint.

FIG. 8A is a typical schematic cross-sectional view of a flexible elongated shaft 320 according to another embodiment of the present disclosure, wherein the internal channels / passages are high / maximum DOF robot arm /. For primary instrument channels 330 with large or maximum cross-section / diameter configured to fit end effectors 410, 420 and for manually operated conventional endoscopic instruments / tools such as conventional grippers. With a secondary instrument channel 360 that is configured to fit and has a cross section / diameter smaller or significantly smaller than the primary instrument channel 330 (eg, in such embodiments, the robotic actuation assembly 400 and conventional / manual actuation. The assembly includes an imaging endoscope channel 335 configured to fit the imaging endoscope 460), which can be inserted into a corresponding port within the transport endoscope body 310).

In an alternative embodiment, a flexible elongated shaft 320 such as that shown in FIG. 8A eliminates or removes the imaging endoscope channel 335 configured to fit the imaging endoscope 460. And rather a conventional endoscope imaging element or device that is separated from and does not form a portion of the imaging endoscope 460 (eg,). It may include or mount a conventional endoscopic imaging element or device that can be inserted into and removed from a flexible elongated shaft 320 (via imaging endoscope channel 335). However, this conventional endoscopic imaging element or device is an image in an environment beyond the far end 321b of a flexible elongated shaft (eg, during endoscopic procedures, robot end effector 420 and / or manual operation. It is configured to facilitate or enable the capture of one or more images of the operating end effector. Depending on the details of the embodiment, such conventional endoscopic imaging elements are a set of light sources or optical devices (eg, LEDs) and / or corresponding optical fibers, and imaging devices (eg, CCD chips and / or). Other types of imaging sensors) and lenses, at least some of which, are either incorporated or incorporated within a flexible elongated shaft 320, for example in a manner easily understood by those skilled in the art. As a result of being fixed there, it is positionedly fixed to the flexible elongated shaft 320). For example, in such an embodiment, the lens may be mounted, placed or mounted on the far end 321b of a flexible elongated shaft 320 (eg, on its vertical or sloping surface) and the imaging sensor. It can be placed behind the lens.

FIG. 8B is a typical schematic cross-sectional view of a flexible elongated shaft 320 according to yet another embodiment of the present disclosure, wherein the channels / passages within it are of the flexibility of FIG. 8A. First and second with a relatively (smaller) cross-sectional area or diameter configured to fit the reduced / restricted DOF robot arm / end effectors 410a, b, 420a, b compared to some elongated shafts. Includes second instrument channels 332a, b and imaging endoscope channels 335 configured to fit the imaging endoscope 460.

Embodiments of flexible elongated shafts such as those shown in FIGS. 8A and 8B facilitate certain types of endoscopic procedures and facilitate certain types of endoscopic procedures in a manner readily understood by those skilled in the art in the art. / Or, for the purpose of improving intubation, it is possible to provide a total cross-sectional area smaller than the flexible elongated shaft 320 described elsewhere here.

<Typical processing setup and interface to connect to the motor box>
9A-9C show the imaging endoscope assembly 450 and the pair of actuating assemblies 400a, b inserted into the transport endoscope 300 and connected or interfaced to other parts of the slave system 200 including the motor box 600. The parts of a typical setup procedure that allow you to do so are illustrated.

As shown in FIG. 9A, the portion of the outer sleeve 452 of the imaging endoscope assembly corresponding distal to the color element 430c is one of the insertion inlets 315 formed within the body 310 of the transport endoscope. The imaging endoscope 460 can be inserted into the assembly so that the imaging endoscope 460 is sent along the shaft 320 to the originally intended default or stopped position with respect to its far end 321b and far away. It can be advanced to the rank side. As mentioned earlier, the color element 430c connected to the outer sleeve 452 of the imaging endoscope assembly remains outside the flexible elongated shaft 320. More specifically, in the illustrated embodiment, the color element 430c is transported so that the color element 430c is located at a predetermined distance near the port where the outer sleeve 452 of the imaging endoscope assembly 450 is received. The state of being outside the main body 310 of the endoscope is maintained. The image connector assembly 470 can be coupled to an imaging subsystem 210, for example, in the embodiment shown in FIG. 9A, as will be readily appreciated by those skilled in the art, whereby the imaging endoscope 460 can be , The lighting can be output and the image can be captured.

As further shown in FIG. 9B, the image input adapter 750 of the imaging endoscope assembly can be coupled to the corresponding image output adapter 650 of the motor box 600. By connecting such adapters, the set of tensioning material inside the outer sleeve 452 of the imaging endoscope assembly is mechanically connected or coupled to one or more actuators or motors within the motor box 600. obtain. Such tensioning materials are configured to position or operate the imaging endoscope 460 according to one or more DOFs, for example, in the embodiment described in International Patent Application No. PCT / SG2013 / 000408. Therefore, as a result of the application of selective tension to the tensioning material of the imaging endoscope assembly by one or more actuators in the motor box 600 related to imaging endoscope position control, the imaging endoscope 460 It can be selectively positioned or manipulated in a particular manner with respect to the far end 321b of the flexible elongated shaft 320.

In addition to the above, in a manner readily understood by those skilled in the art in the art, the transport endoscope to facilitate the supply of aeration or positive pressure, inspiratory or negative pressure / vacuum pressure and cleaning. The support function connector assembly 370 may be coupled to the endoscopic support function subsystem 270, for example, in the manner shown in FIG. 9C.

10A-10C illustrate a docking mechanism in which a transport endoscope 300, an imaging endoscope assembly 450, and a pair of actuating assemblies 400a, b are engaged with a docking station 500 and a mobile unit 510. With reference to FIG. 10A, the body 310 of the transport endoscope can be docked or attached to the docking station 500, and the color element 430c of the imaging endoscope assembly is a mobile unit 510 associated with the docking station 500. Can be inserted into or meshed with and engaged with the corresponding receiving part or clip 530c provided by. Once the color element 430c of the imaging endoscope assembly is securely held by the corresponding clip 530c, for example, the haptip input device 110a, b or other control on the master station 100, as described in further detail below. Depending on the surgeon's operation of the device (eg, foot pedal) and / or the endoscope's operation of the control element on the body 310 of the transport endoscope (eg, here the imaging endoscope 460 is moved longitudinally). (The surgeon's input can be prioritized over the endoscopist's input with respect to surge), the sleeve 452 of the imaging endoscope assembly is provided by the moving unit 510 over a predetermined near-far end distance range. It can be selectively / selectably moved or surged in the longitudinal direction.

Referring to FIG. 10B, in a manner similar to that described above in FIG. 10A, the portions of the respective actuating assemblies 400a, b farther than the corresponding actuating assembly color elements 430a, b are within the body 310 of the transport endoscope 300. Can be inserted into a port of intended / appropriate dimensions. As a result, the robot arms 410a, b and the end effectors 420a, b are fed into the flexible elongated shaft and are far and flexible along the flexible elongated shaft 320. It can be advanced to the originally intended default or stopped position with respect to the far end 321b of the elongated shaft. The collar elements 430a, b held by the outer sleeves / coils 402a, b of each actuating assembly are on the outside of the flexible elongated shaft 320, in some embodiments outside the body 310 of the transport endoscope. A condition is maintained so that the color elements 430a, b are located at a predetermined distance closer to the port on which the outer sleeves / coils 402a, b of the working assemblies 400a, b are received.

In an embodiment similar to that for the imaging endoscope assembly 450, the color elements 430a, b of each actuating assembly are inserted into and mesh with the corresponding receptors or clips 530a, b provided by the moving unit 510. Can be engaged. Once such color elements 430a, b are securely held by their corresponding clips 530a, b, the mobile unit 510 may, for example, have one or both of the haptip input devices 110a, b at the master station 100. Depending on the surgeon's operation, one or both of the actuating assemblies 400a, b (eg, in an independent manner) may be selectively / selectively longitudinally moved over a predetermined near-end-far end distance range. Can be surged.

FIG. 10C shows a typical moving unit 510 associated with or mounted on the docking station 500, with color elements 430a-c corresponding to the actuating assemblies 400a, b and the imaging endoscope assembly 450 corresponding to the moving unit clips. It is a schematic diagram which shows the typical aspect held by 530a-c. The moving unit 510 may include independently adjustable / movable moving stages corresponding to each actuating assembly 400a, b and imaging endoscope assembly 450. In a typical practice, a given moving stage will provide longitudinal / surge displacement to the corresponding clip 530 over a given maximum distance range in a manner readily understood by those skilled in the art. Can be, or include, a linear actuator or ball screw configured in.

11A-11C illustrate a docking mechanism in which the transport endoscope 300 fits into and engages with the docking station 500, according to embodiments of the present disclosure. With respect to FIGS. 11A-11C, the joint member 540 is formed on the surface of the docking station 500. The joint member 540 includes a protrusion 541, a plurality of bumps 542 formed on the side surface of the protrusion 541, and a lock lever 543. As shown in FIG. 11A, the endoscopist aligns and fits the main body 310 of the transport endoscope and the joint member 540 in the direction of arrow 551a. Then, as shown in FIG. 11B, when the endoscopist rotates the lock lever 543 in the direction of arrow 551b, the main body 310 of the transport endoscope is connected to the joint member 540 of the docking station. Further, the endoscopist can release the transport endoscope 300 by rotating the locking lever 543 in the direction of arrow 551c and opening the transport endoscope 300 in the direction of arrow 551d.

FIG. 12 shows the docking mechanism of FIGS. 11A to 11C in more detail. As shown in FIG. 12, the joint member 340 of the transport endoscope is fitted and engaged with the groove 342 for accommodating the joint member 540 of the docking station and the bump 542 of the joint member of the docking station 500. It has slots 344a to 344d. In the embodiments described in connection with FIGS. 11A-12 or 10A, the transport endoscope 300 is the same as at least one flexible strip fitted and engaged with the moving unit 510. From the method, it is fitted to the docking station 500.

13A-13C illustrate a docking mechanism in which the transport endoscope 300 fits into and engages with the docking station 500, according to other embodiments of the present disclosure. With respect to FIGS. 13A to 13C, the joint member 550 of the docking station 500 releases the fitting of the joint member 550 and the body 310 of the transport endoscope when pushed into the slot 551 into which the body 310 of the transport endoscope is inserted. It consists of a pair of release buttons 552. As shown in FIGS. 13A to 13B, the endoscopist slides the main body 310 into the slot 551 in the direction of arrow 553a to align and fit the main body 310 and the docking station joint member 540. When the set of release buttons 552 is actuated in the direction of arrow 553b, the body 310 may be released from the docking station 500 in a manner readily understood by those skilled in the art.

FIG. 14 is a view of the body 310 of the transport endoscope for the docking mechanism of FIGS. 13A-3C, according to embodiments of the present disclosure. As shown in FIG. 14, the joint member 350 of the body 310 of the transport endoscope includes a clamp member 355 capable of accommodating the corresponding inner slot 551 of the joint member 550 in the docking station 500 (not shown). In the embodiments described in connection with FIGS. 13A-14, for example, at the near end 321a of the flexible elongated shaft, the transport endoscope is parallel to the central axis of the flexible elongated shaft 320. Fitted with the docking station from the direction.

FIG. 15 is a schematic diagram showing the connection of the instrument input adapters 710a, b of each actuating assembly to the corresponding instrument output adapters 610a, b of the motor box 600, according to embodiments of the present disclosure. By connecting such adapters, the tensioning material inside the outer sleeves / coils 402a, b of each actuating assembly can be mechanically coupled or coupled to a particular actuator or motor within the motor box 600. .. In any given working assembly 400, such tensioning material is, for example, in the manner described in (a) International Patent Application No. PCT / SG2013 / 00408 and / or International Publication No. WO2010 / 138083. The robot arms 410a, b and the corresponding end effectors 420a, b are configured to position or operate according to the DOF of. Therefore, the robot arms 410a, b and end effectors 402a, b of each actuating assembly are within the actuated assembly 400a, b by one or more actuators / motors within the motor box 600 associated with robot arm / end effector position control. As a result of the selective application of tension to the tensioning material, it can be selectively positioned or manipulated relative to the far end 321b of the flexible elongated shaft 320. In addition, such adapter-to-adapter coupling sets, resets or resets the intended, desired or predetermined tension level in the tension material in each actuating assembly 400a, b prior to the initiation of endoscopic procedures. It allows verification (eg, tension material pretension level) and, in some embodiments, allows adjustment of tension material tension level or on-the-fly setting during endoscopic procedures. Also, in various embodiments, such as when the instrument input adapters 710a, b do not mesh with or are disengaged from the instrument output adapters 610a, b, as further detailed below. The connection between the adapters allows the maintenance of a specified or predetermined tension level (eg, a predetermined minimum tension level) within the actuator assembly tensioning material.

<Typical input and output adapter structure and connection>
FIG. 16 is an absent perspective view showing a typical inner portion of an instrument input adapter 710 of an actuating assembly attached to an instrument output adapter 610 of a motor box 600 according to an embodiment of the present disclosure. FIG. 17 is a corresponding cross-sectional view showing a typical inner portion of the instrument output adapter 610 and the instrument adapter 710 when connected or meshed and engaged with each other according to an embodiment of the present disclosure. 18A-18D are provided by the instrument input adapter 710, which corresponds to various stages of engagement of the instrument input adapter 710 with the instrument output adapter 610 and subsequent disengagement of the instrument input adapter 710 according to embodiments of the present disclosure. It is sectional drawing which shows the typical inner part of the working mesh structure 720 which is made, and the part of the element inside.

Referring to FIG. 16, in an embodiment, the instrument input adapter 710 controls a plurality of actuating engagement structures 720, eg, robot arms / end effectors 410, 420 of a particular actuating assembly 400 to which the instrument input adapter 710 is associated. Includes individual actuating meshing structures 720 for each motor box / actuator / motor 620 configured to.

In certain embodiments, the motor box 600 includes a single actuator / motor for controlling each DOF of the robot arm / end effectors 410, 420, in which case the appliance input adapter 710 is such. Includes a single working mesh structure 720 corresponding to each DOF. In such an embodiment, any DOF corresponds to a single tension material (present within that particular sheath).

In various embodiments, the motor box 600 includes a dual or paired actuator / motor 620 for controlling each DOF provided by the robotic arm / end effectors 410, 420 of the actuating assembly. In such an embodiment, any given DOF corresponds to a pair of tensioning materials (eg, a first tensioning material present in the first sheath and a second tensioning material present in the second sheath). In this case, the two actuators / motors in the motor box 600 are actuated synchronously with each other so that a predetermined pair of tensioning materials (eg, first tensioning material and second tensioning material) are brought into the robot arm / end Controls a predetermined DOF of effectors 410 and 420.

As a result, the instrument input adapter 710 includes a pair of actuating meshing structures 720 corresponding to each robot arm / end effector DOF accordingly. In a typical embodiment in which the robot arm / end effectors 410, 420 are positionable / operable with respect to the six DOFs, the motor box 600 has twelve actuations to control the robot arm / end effectors 410, 420. The instrument / motor 600a-l is included, and the instrument input adapter 710 further includes 12 actuating meshing structures 720a-l. The instrument input adapter 710 is attached to the motor box 600 so that the robot arm / end effector can be manipulated / placed with respect to the specific robot arm / end effector DOF, so that a specific pair of actuating meshing structures 720 (eg, instrument) Activating meshing structures 720) arranged adjacent to each other along the length of the input adapter 710 correspond to and mechanically connect to one pair of actuators / motors 620a-l in the motor box 600. Will be done.

As shown in FIGS. 17 and 18A-18D, in embodiments, the actuating engagement structure 720 (a) comprises a plurality of arm members 723 supporting a frame member platform 724 defining an upper boundary of the frame member 722. The frame member 722 having the frame member 722, wherein the frame member platform 724 is perpendicular to or perpendicular to such an arm member 723, and (b) is upward through a central or central region of the frame member platform 724. An elongated input shaft 726 that can be extended and extended downward toward the outer disk 626 of the motorbox output adapter 610 and thereby meshed in the longitudinal direction (eg, the vertical direction parallel to its length). ) Is an elongated input shaft 726 that can move along the axis of), and (c) a drum structure 730 that is attached to the input shaft 726 and is arranged around the input shaft 726 in the circumferential direction. A drum structure 730 including a tapered drum 732 having a first ratchet element 734 held perpendicular or perpendicular to the input shaft 726 at a predetermined distance away from the bottom surface of the drum 732, and (d) a frame member. An elastic urging element or spring 728 disposed circumferentially around the input shaft 726 between the underside of the platform 724 and the top surface of the drum 732, and (e) perpendicular or perpendicular to the input shaft 726. Includes a second ratchet element 744, which is arranged around it in the circumferential direction and at a predetermined distance from the underside of the platform 724 of the frame member, underneath the first ratchet element 734. In various embodiments, the second ratchet element 744 is fixed in position with respect to the input shaft 726 and is immobile or immovable.

The drum structure includes a collar portion 733 that defines the spatial spacing between the bottom surface of the drum 732 and the top surface of the first ratchet element 734. The near end of the tensioning material can be connected, coupled or secured to a portion of the drum structure 730 (eg, a crimping fixture / abutment held on the top surface of the first ratchet element 734), and further. The tension material can be tightly wrapped around the collar portion 733 of the drum structure, whereby the collar portion 733 holds a plurality of tension material windings around it. The tension material wrapped around the collar portion 722 in the opposite / far end direction is relative to the end effector 420, or a predetermined position on the robot arm 410 of the actuating assembly (eg, with respect to the robot arm joint or joint element). It can extend inward and along the length of the outer sleeve / coil 402 of the actuating assembly away from the drum structure 730 until it reaches a particular position).

The rotation of the drum structure 730, or the corresponding rotation of the input shaft 726, follows the direction in which the drum structure 730 rotates, with further wrapping of tension material around the collar portion 733 of the drum structure, or from the collar portion 733. Provides partial rewinding of tension material. In a manner readily understood by those skilled in the art in the art, wrapping the tension material around the collar portion 733 results in increased tension in the tension material and the tension present within the outer sleeve / coil 402 of the working assembly. The length of the material can be reduced, and the unwinding of the tension material from the collar portion 733 results in a reduction in the tension material of the tension material and of the tension material present in the outer sleeve / coil 402 of the working assembly. The length can be increased. Therefore, selective wrapping / rewinding of tension material facilitates or allows accurate operation / positioning of the robot arm / end effectors 410, 420 for a particular DOF.

More specifically, in an embodiment that results in dual motor control for each DOF, the synchronous rotation of one drum structure 730 causes the synchronization of winding / rewinding of the paired tensioning material corresponding to a particular DOF. According to this DOF, the operation / positioning of the robot arms / end effectors 410 and 420 is provided. Such synchronous drum structure rotation is selectively / selected by a pair of actuators / motors 620 and a corresponding output disk 626 to which the actuating meshing structure input shaft 726 is rotatably connected, as further detailed below. It can happen.

When the appliance input adapter 710 is disengaged or disengaged from the appliance output adapter 610 of the motor box 600, the actuating meshing structure spring 728 urges the actuating meshing structure drum structure 730 downward to the first or default position. Alternatively, the first ratchet element 734 is firmly meshed and engaged with the second ratchet element 744. Such engagement of the first ratchet element 734 with the second ratchet element 744 as the spring 728 urges the drum structure 730 downward is shown in FIG. 18A. As a result of such engagement of the first and second ratchet elements 734,744, the drum structure 730 is prevented from rotating, thereby maintaining or preserving tension within the tensioning material corresponding to the drum structure 730. (The tension in the tension material cannot change or can not change sufficiently).

As mentioned above, the input shaft 726 of the working mesh structure is movable in parallel with or along its longitudinal axis. The instrument input adapter 710 is mounted or installed on the instrument output adapter 610 of the motor box 600 (eg, by one or more snap-fit couplings) and is therefore held by the input shaft 726 below the second ratchet element 744. The bottom surface of the lower plate 728 contacts a set of protrusions held by the top surface of the output disk 628 associated with a particular actuator / motor 620. Therefore, the spring 728 is compressed and the input shaft 726 and drum structure 730 held by it are moved upwards between the top surface of the drum 732 and the platform 724 of the frame member, as shown in FIG. 18B. Distance is reduced. Such upward movement of the drum structure 730 causes the first ratchet element 734 to be released from the second ratchet element 744. This is because the appliance input adapter 710 is disposed or mounted on the appliance output adapter of the motor box 600, but the input shaft 726 still rotates with the output disk 626 of the actuator / motor 620 and is rotatable / It can correspond to a situation where it is rotated and not connected.

Sufficient / strong during the attachment of the instrument input adapter 710 to the instrument output adapter 610 of the motor box 600, or once the instrument input adapter 710 is on the instrument output adapter 610 (eg, so that it can be detected by a set of sensors). When attached to, the input shaft 726 and drum structure 730 move vertically upwards and the first and second ratchet elements are disengaged from each other in the motor box 600. The actuator / motor 620 initiates the initialization process (eg, under the direction of the control unit 800). During the initialization process, each actuator / motor until a set of protrusions held by the output disk 628 receives or engages with one recess within the bottom surface of the lower plate 728 of the input shaft. The 620 rotates its corresponding output disk 628.

Once the protrusion held by the output disc 628 receives or engages with one of the recesses formed in the lower plate 728 of the input shaft, the input shaft 726 is intended in the manner shown in FIG. 18C. It is rotated and connected to the actuator / motor 620. When such output disc protrusions and lower plate recesses are rotated and connected, the actuator / motor 620 selectively accurately wraps and rewinds the tension material around the collar portion 733 of the drum structure 730. And / or the tension material tension can be precisely controlled, thereby depending on the surgeon's input received at the master station 100, in the intended manner, the robot arm / end effectors 410, 420. Operate / position.

When the instrument input adapter 710 is released from the instrument output adapter 610 and is removed or separated, the release of the spring 728 from tension presses the top surface of the drum structure 730 downward, thereby the first ratchet element 734. Is meshed and engaged with the second ratchet element 744 in the manner shown in FIG. 18D. The rotation of the input shaft 726 and the disc structure 730 is subsequently blocked so that the tensioning material tension is maintained in a manner essentially similar to or similar to that described above in connection with FIG. 18A.

Aspects of a particular embodiment of the present disclosure solve at least one aspect, problem, limitation and / or inconvenience with respect to existing flexible master-slave speculum robot systems and devices. Although features, aspects and / or advantages relating to a particular embodiment have been described in the present disclosure, other embodiments may also exhibit such features, aspects and / or advantages, and all embodiments. It is not always necessary to exhibit such features, aspects and / or advantages in order for the form of to be included within the scope of the present disclosure. It will be appreciated by those skilled in the art that some of the systems, components, processes or alternatives thereof disclosed above may be preferably combined within other different systems, components, processes and / or applications. Also, various modifications, modifications and / or adaptations may be made within the scope of this disclosure in various embodiments disclosed by those skilled in the art.

Claims (7)

A body consisting of a near-end, a far-end, and a housing extending to the near-end, wherein the housing has a plurality of surfaces and channels for a plurality of endoscopes available through the body. A body having a plurality of insertion inlets present on at least one surface of the housing at the ends.
A flexible elongated shaft having a near end extending away from the far end of the body, the plurality of channels within which the far end and the central axis and a portion of the flexible elongated assembly are held. A robot endoscope device comprising a flexible elongated shaft having an opening arranged at a far end of a flexible elongated shaft for each of the plurality of channels.
Each of the insertion inlets has a corresponding insertion shaft along which a flexible elongated assembly can be inserted, and the insertion shaft of the insertion inlet can be near the end of the flexible elongated shaft. A robotic endoscopy device that is parallel to the central axis of a flexible elongated shaft. The robot endoscopy device according to claim 1, wherein the housing has a plurality of surfaces and a plurality of inlets are present on one of the plurality of surfaces. Further, through the flexible elongated shaft of the endoscope device, the body and the external system are connected for a support function including at least one of ventilation, intake, and delivery of cleaning liquid. The robot endoscope device according to claim 1, which comprises a configured support function connector assembly. At least one flexible elongated assembly
A robotic arm, a corresponding end effector configured to perform endoscopic procedures according to the force generated by the external actuating element, and a force transmitted from the external actuating element to the robot arm and end effector. The robot endoscopy device according to claim 1, which is an actuating assembly comprising a plurality of tension material elements and an adapter configured to connect the plurality of tension material elements and an external actuating element. Each of the flexible elongated assemblies further comprises a flexible sheath configured to cover a plurality of tensioning material elements and a plurality of tensioning materials coated by the flexible sheath. The robot endoscopic apparatus according to claim 4, further comprising a flexible elongated outer sleeve configured to hold the element. Each of the flexible elongated assemblies is a collar member configured to surround at least a portion of the flexible elongated outer sleeve at a predetermined distance from the far end of the end effector. Consists of a collar member configured to engage a longitudinal movement mechanism to allow at least one longitudinal movement of the flexible elongated assembly beyond a predetermined distance range. The robot endoscope device according to claim 4. At least one of the flexible elongated assemblies
An imaging unit for end-effector is configured to capture images of the far end of the external environment of the flexible elongate shaft is present,
A plurality of tension material elements configured to connect the external actuating element to the imaging unit,
The robot endoscope apparatus according to claim 1, which is a flexible imaging endoscope assembly comprising an adapter in which the plurality of tension material elements are interlocked with a specific external actuating element.

Images