JP7682514B2 - 内視鏡手術で使用する操縦可能なアーム - Google Patents

内視鏡手術で使用する操縦可能なアーム Download PDF

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Publication number
JP7682514B2
JP7682514B2 JP2023538993A JP2023538993A JP7682514B2 JP 7682514 B2 JP7682514 B2 JP 7682514B2 JP 2023538993 A JP2023538993 A JP 2023538993A JP 2023538993 A JP2023538993 A JP 2023538993A JP 7682514 B2 JP7682514 B2 JP 7682514B2
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tubular member
wire
steerable arm
distal end
arm
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Japanese (ja)
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JP2024506235A (ja
JP2024506235A5 (https=
Inventor
ワイ クォーク、カ
エー、ツォリアン
ワン、シャオメイ
ディ－ラン オー、ジャスティン
ファン、ギィ
ワン、カイ
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ヴァージテック リミテッド
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Priority to JP2025065965A priority Critical patent/JP2025111530A/ja
Priority to JP2025073807A priority patent/JP2025111682A/ja
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    • 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
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/0011—Manufacturing of endoscope parts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/008—Articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
    • A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments, e.g. catheter-type instruments
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports
    • 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
    • A61B2017/00296—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
    • 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
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00526—Methods of manufacturing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2906—Multiple forceps
    • 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
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Rehabilitation Therapy (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Surgical Instruments (AREA)
  • Rigid Pipes And Flexible Pipes (AREA)
  • Endoscopes (AREA)
JP2023538993A 2021-01-26 2022-01-21 内視鏡手術で使用する操縦可能なアーム Active JP7682514B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2025065965A JP2025111530A (ja) 2021-01-26 2025-04-12 内視鏡手術で使用する操縦可能なアーム
JP2025073807A JP2025111682A (ja) 2021-01-26 2025-04-27 内視鏡手術で使用する操縦可能なアーム

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202163141613P 2021-01-26 2021-01-26
US63/141,613 2021-01-26
PCT/CN2022/073108 WO2022161266A1 (en) 2021-01-26 2022-01-21 A steerable arm for use in endoscopic surgical procedures

Related Child Applications (2)

Application Number Title Priority Date Filing Date
JP2025065965A Division JP2025111530A (ja) 2021-01-26 2025-04-12 内視鏡手術で使用する操縦可能なアーム
JP2025073807A Division JP2025111682A (ja) 2021-01-26 2025-04-27 内視鏡手術で使用する操縦可能なアーム

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JP2024506235A JP2024506235A (ja) 2024-02-13
JP2024506235A5 JP2024506235A5 (https=) 2024-09-04
JP7682514B2 true JP7682514B2 (ja) 2025-05-26

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JP2023538993A Active JP7682514B2 (ja) 2021-01-26 2022-01-21 内視鏡手術で使用する操縦可能なアーム
JP2025065965A Pending JP2025111530A (ja) 2021-01-26 2025-04-12 内視鏡手術で使用する操縦可能なアーム
JP2025073807A Pending JP2025111682A (ja) 2021-01-26 2025-04-27 内視鏡手術で使用する操縦可能なアーム

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JP2025065965A Pending JP2025111530A (ja) 2021-01-26 2025-04-12 内視鏡手術で使用する操縦可能なアーム
JP2025073807A Pending JP2025111682A (ja) 2021-01-26 2025-04-27 内視鏡手術で使用する操縦可能なアーム

Country Status (10)

Country Link
US (1) US20240108422A1 (https=)
EP (3) EP4736791A2 (https=)
JP (3) JP7682514B2 (https=)
KR (3) KR20250130706A (https=)
CN (3) CN116963651A (https=)
AU (3) AU2022212070B2 (https=)
CA (1) CA3205258A1 (https=)
GB (3) GB2636953B (https=)
TW (2) TWI819471B (https=)
WO (1) WO2022161266A1 (https=)

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TWI893582B (zh) * 2023-02-03 2025-08-11 香港商巧捷力醫療機器人有限公司 內視鏡手術用之可操縱臂的管狀本體及其製造方法
EP4658151A1 (en) * 2023-02-03 2025-12-10 Agilis Robotics Limited Method of making steerable surgical arm for use in endoscopes during surgical procedures
CN116269777B (zh) * 2023-02-10 2026-04-21 杭州罗伯医疗科技有限公司 手术器械及手术机器人
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CN118000912B (zh) * 2023-12-22 2025-10-14 广州巧捷力医疗科技有限公司 具有用于可操纵臂的多个部分的手动驱动器的内窥镜手术器械耦合器
CN117838019B (zh) * 2024-03-08 2024-06-18 深圳科思明德医疗科技有限公司 一种可调弯导管组件及医疗器械
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CA3205258A1 (en) 2022-08-04
WO2022161266A1 (en) 2022-08-04
AU2022212070B2 (en) 2025-04-10
GB2636953A (en) 2025-07-02
CN120131091A (zh) 2025-06-13
KR20230107330A (ko) 2023-07-14
CN120788744A (zh) 2025-10-17
GB2636953B (en) 2026-01-21
JP2025111682A (ja) 2025-07-30
KR20250133464A (ko) 2025-09-05
AU2025202293A1 (en) 2025-04-17
US20240108422A1 (en) 2024-04-04
GB202504759D0 (en) 2025-05-14
GB202506851D0 (en) 2025-06-18
AU2022212070A9 (en) 2025-01-16
TW202228592A (zh) 2022-08-01
GB2637663A (en) 2025-07-30
AU2022212070A1 (en) 2023-06-29
EP4240220A1 (en) 2023-09-13
EP4736791A2 (en) 2026-05-06
TW202404525A (zh) 2024-02-01
AU2025202626A1 (en) 2025-05-01
GB2616180B (en) 2025-06-25
GB2637663B (en) 2026-02-25
KR20250130706A (ko) 2025-09-02
EP4240220A4 (en) 2024-03-20
CN116963651A (zh) 2023-10-27
KR102850884B1 (ko) 2025-08-26
EP4732792A2 (en) 2026-04-29
GB2616180A (en) 2023-08-30
TWI819471B (zh) 2023-10-21
GB202308465D0 (en) 2023-07-19
JP2025111530A (ja) 2025-07-30

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