KR20230004652A - 다중 자유도 벤딩 및 동축으로 정렬된 로봇 조종 가이드와이어의 벤딩 길이 제어를 위한 시스템 및 방법 - Google Patents

다중 자유도 벤딩 및 동축으로 정렬된 로봇 조종 가이드와이어의 벤딩 길이 제어를 위한 시스템 및 방법 Download PDF

Info

Publication number
KR20230004652A
KR20230004652A KR1020227040029A KR20227040029A KR20230004652A KR 20230004652 A KR20230004652 A KR 20230004652A KR 1020227040029 A KR1020227040029 A KR 1020227040029A KR 20227040029 A KR20227040029 A KR 20227040029A KR 20230004652 A KR20230004652 A KR 20230004652A
Authority
KR
South Korea
Prior art keywords
tubular element
providing guide
length
notches
stiffness
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
KR1020227040029A
Other languages
English (en)
Korean (ko)
Inventor
제이데브 피 데사이
야쉬 케탄 치탈리아
석완 정
Original Assignee
조지아 테크 리서치 코포레이션
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 조지아 테크 리서치 코포레이션 filed Critical 조지아 테크 리서치 코포레이션
Publication of KR20230004652A publication Critical patent/KR20230004652A/ko
Pending legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • 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
    • 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

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)
KR1020227040029A 2020-04-21 2021-04-21 다중 자유도 벤딩 및 동축으로 정렬된 로봇 조종 가이드와이어의 벤딩 길이 제어를 위한 시스템 및 방법 Pending KR20230004652A (ko)

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 (1)

Publication Number Publication Date
KR20230004652A true KR20230004652A (ko) 2023-01-06

Family

ID=78270033

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020227040029A Pending KR20230004652A (ko) 2020-04-21 2021-04-21 다중 자유도 벤딩 및 동축으로 정렬된 로봇 조종 가이드와이어의 벤딩 길이 제어를 위한 시스템 및 방법

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

Family Cites Families (16)

* 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
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
CN103764216B (zh) * 2011-05-03 2016-08-17 施菲姆德控股有限责任公司 可转向输送护套
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
EP3079597B1 (en) * 2013-12-13 2023-07-26 Intuitive Surgical Operations, Inc. Telescoping biopsy needle
US20160346513A1 (en) * 2015-05-26 2016-12-01 Vanderbilt University Surgical device tip with arc length varying 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
PL3592201T3 (pl) * 2017-03-10 2022-05-09 Georgia Tech Research Corporation Systemy oraz sposoby sterowania przewodami prowadzącymi
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

Also Published As

Publication number Publication date
WO2021216782A1 (en) 2021-10-28
EP4138977A4 (en) 2024-06-05
US20230158279A1 (en) 2023-05-25
JP7798789B2 (ja) 2026-01-14
AU2021259459A1 (en) 2022-11-24
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

Similar Documents

Publication Publication Date Title
Jeong et al. Design, modeling, and control of a coaxially aligned steerable (COAST) guidewire robot
JP6875438B2 (ja) ダイレーターシステムおよび方法
US20260115426A1 (en) Support structure for medical apparatus and method of manufacturing same
US12042135B2 (en) Steerable instrument comprising a radial spacer between coaxial cylindrical elements
AU2018220003B2 (en) Improved catheter stiffness adjustment system and method
US20190083749A1 (en) Surgical device tip with arc length varying curvature
JP6364016B2 (ja) 同軸両方向カテーテル
JP2022530067A (ja) 強化されたトルク操縦可能なガイドワイヤ
NL2028739B1 (en) Steerable instrument for endoscopic or invasive applications
JP2021532910A (ja) ジョイント
JP6560686B2 (ja) ガイドワイヤ
CN103654694A (zh) 可操纵管
US20240245284A1 (en) Steerable instrument for endoscopic or invasive applications
JP7191844B2 (ja) ガイドワイヤを操縦するためのシステムおよび方法
Xu et al. A novel extensible continuum robot with growing motion capability inspired by plant growth for path-following in transoral laryngeal surgery
KR20230004652A (ko) 다중 자유도 벤딩 및 동축으로 정렬된 로봇 조종 가이드와이어의 벤딩 길이 제어를 위한 시스템 및 방법
JPWO2017149843A1 (ja) ガイドワイヤ
JP2024539724A (ja) 再構成可能な操縦可能なカテーテル
JP7018398B2 (ja) カテーテル及びカテーテル組み立て体
KR102164495B1 (ko) 조향이 가능한 주름진 튜브를 이중으로 포함하는 카테터
JP2016064068A (ja) ガイドワイヤ
JP2023131174A (ja) 医療器具
Lis Design and Analysis of a Compact Mechanism for the Motion of Tendon-Driven Steerable Robotic Guidewires
JP2017158958A (ja) ガイドワイヤ

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

A201 Request for examination
P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

D21 Rejection of application intended

Free format text: ST27 STATUS EVENT CODE: A-1-2-D10-D21-EXM-PE0902 (AS PROVIDED BY THE NATIONAL OFFICE)

PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

E13 Pre-grant limitation requested

Free format text: ST27 STATUS EVENT CODE: A-2-3-E10-E13-LIM-X000 (AS PROVIDED BY THE NATIONAL OFFICE)

E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11 Amendment of application requested

Free format text: ST27 STATUS EVENT CODE: A-2-2-P10-P11-NAP-X000 (AS PROVIDED BY THE NATIONAL OFFICE)

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000