JP7798789B2 - 同軸上に位置合わせされたロボット操縦可能なガイドワイヤにおける多自由度の屈曲および屈曲長さを制御するためのシステムおよび方法 - Google Patents

同軸上に位置合わせされたロボット操縦可能なガイドワイヤにおける多自由度の屈曲および屈曲長さを制御するためのシステムおよび方法

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Publication number
JP7798789B2
JP7798789B2 JP2022563876A JP2022563876A JP7798789B2 JP 7798789 B2 JP7798789 B2 JP 7798789B2 JP 2022563876 A JP2022563876 A JP 2022563876A JP 2022563876 A JP2022563876 A JP 2022563876A JP 7798789 B2 JP7798789 B2 JP 7798789B2
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Japan
Prior art keywords
tubular element
providing guide
length
notches
stiffness
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JP2022563876A
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English (en)
Japanese (ja)
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JP2023525475A5 (https=
JP2023525475A (ja
Inventor
ピー． デサイ，ジェイデブ
チェタン チタリア，ヤシュ
ジョン，ソクファン
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Georgia Tech Research Corp
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Georgia Tech Research Corp
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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
    • A61B34/70—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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B2017/00305—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
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00707—Dummies, phantoms; Devices simulating patient or parts of patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00982—General structural features
    • A61B2017/00991—Telescopic means
    • 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
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Pulmonology (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Biophysics (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)
JP2022563876A 2020-04-21 2021-04-21 同軸上に位置合わせされたロボット操縦可能なガイドワイヤにおける多自由度の屈曲および屈曲長さを制御するためのシステムおよび方法 Active JP7798789B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202063013425P 2020-04-21 2020-04-21
US63/013,425 2020-04-21
PCT/US2021/028493 WO2021216782A1 (en) 2020-04-21 2021-04-21 Systems and methods for the control of multiple degrees-of-freedom bending and the bending length of a coaxially aligned robotically steerable guidewire

Publications (3)

Publication Number Publication Date
JP2023525475A JP2023525475A (ja) 2023-06-16
JP2023525475A5 JP2023525475A5 (https=) 2024-05-01
JP7798789B2 true JP7798789B2 (ja) 2026-01-14

Family

ID=78270033

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022563876A Active JP7798789B2 (ja) 2020-04-21 2021-04-21 同軸上に位置合わせされたロボット操縦可能なガイドワイヤにおける多自由度の屈曲および屈曲長さを制御するためのシステムおよび方法

Country Status (9)

Country Link
US (1) US20230158279A1 (https=)
EP (1) EP4138977A4 (https=)
JP (1) JP7798789B2 (https=)
KR (1) KR20230004652A (https=)
CN (1) CN115916317B (https=)
AU (1) AU2021259459A1 (https=)
BR (1) BR112022021327A2 (https=)
CA (1) CA3175811A1 (https=)
WO (1) WO2021216782A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4349264A1 (en) 2022-10-05 2024-04-10 Caranx Medical SAS Medical device and system comprising a medical device
EP4434482A1 (en) 2023-03-21 2024-09-25 Caranx Medical A system and a robotic endoluminal device for advancement in a body duct of a patient

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004351005A (ja) 2003-05-29 2004-12-16 Japan Science & Technology Agency 屈曲チューブとその製造方法
JP2014516657A (ja) 2011-05-03 2014-07-17 シファメド・ホールディングス・エルエルシー 操縦可能な送達シース
JP2017504377A (ja) 2013-12-13 2017-02-09 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 入れ子式生検針
US20190083749A1 (en) 2015-05-26 2019-03-21 Vanderbilt University Surgical device tip with arc length varying curvature
JP2020509848A (ja) 2017-03-10 2020-04-02 ジョージア テック リサーチ コーポレイション ガイドワイヤを操縦するためのシステムおよび方法

Family Cites Families (11)

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Publication number Priority date Publication date Assignee Title
US7326236B2 (en) * 2003-12-23 2008-02-05 Xtent, Inc. Devices and methods for controlling and indicating the length of an interventional element
US20090082722A1 (en) * 2007-08-21 2009-03-26 Munger Gareth T Remote navigation advancer devices and methods of use
US7713215B2 (en) * 2008-01-31 2010-05-11 Shriver Edgar L Steering, piercing, anchoring, distending extravascular guidewire
US20110160680A1 (en) * 2009-12-29 2011-06-30 Cook Incorporated Wire guide with cannula
US20120191107A1 (en) * 2010-09-17 2012-07-26 Tanner Neal A Systems and methods for positioning an elongate member inside a body
JP6412505B2 (ja) * 2012-12-06 2018-10-24 インディアン ウェルズ メディカル インコーポレイテッドＩｎｄｉａｎ Ｗｅｌｌｓ Ｍｅｄｉｃａｌ，Ｉｎｃ． 操縦可能ガイドワイヤおよび使用方法
US9586029B2 (en) * 2013-05-20 2017-03-07 CardioSert Ltd. Guidewire having selectively adjustable stiffness and tip curvature
US10881385B2 (en) * 2016-09-13 2021-01-05 Intuitive Surgical Operations, Inc. Radial telescoping guide apparatus for delivery of a flexible instrument and methods of use
US11452541B2 (en) * 2016-12-22 2022-09-27 Scientia Vascular, Inc. Intravascular device having a selectively deflectable tip
US11723738B2 (en) * 2017-11-06 2023-08-15 University Of Tennessee Research Foundation Surgical device tip with deflectable joint
EP4344723A3 (en) * 2018-03-28 2024-06-12 Auris Health, Inc. Medical instruments with variable bending stiffness profiles

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004351005A (ja) 2003-05-29 2004-12-16 Japan Science & Technology Agency 屈曲チューブとその製造方法
JP2014516657A (ja) 2011-05-03 2014-07-17 シファメド・ホールディングス・エルエルシー 操縦可能な送達シース
JP2017504377A (ja) 2013-12-13 2017-02-09 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 入れ子式生検針
US20190083749A1 (en) 2015-05-26 2019-03-21 Vanderbilt University Surgical device tip with arc length varying curvature
JP2020509848A (ja) 2017-03-10 2020-04-02 ジョージア テック リサーチ コーポレイション ガイドワイヤを操縦するためのシステムおよび方法

Also Published As

Publication number Publication date
WO2021216782A1 (en) 2021-10-28
EP4138977A4 (en) 2024-06-05
US20230158279A1 (en) 2023-05-25
AU2021259459A1 (en) 2022-11-24
KR20230004652A (ko) 2023-01-06
JP2023525475A (ja) 2023-06-16
CN115916317B (zh) 2025-12-26
CA3175811A1 (en) 2021-10-28
CN115916317A (zh) 2023-04-04
EP4138977A1 (en) 2023-03-01
BR112022021327A2 (pt) 2022-12-06

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