SG11201607930TA - Master - slave flexible robotic endoscopy system - Google Patents

Master - slave flexible robotic endoscopy system

Info

Publication number
SG11201607930TA
SG11201607930TA SG11201607930TA SG11201607930TA SG11201607930TA SG 11201607930T A SG11201607930T A SG 11201607930TA SG 11201607930T A SG11201607930T A SG 11201607930TA SG 11201607930T A SG11201607930T A SG 11201607930TA SG 11201607930T A SG11201607930T A SG 11201607930TA
Authority
SG
Singapore
Prior art keywords
master
endoscopy system
flexible robotic
robotic endoscopy
slave flexible
Prior art date
Application number
SG11201607930TA
Other languages
English (en)
Inventor
Tomonori Yamamoto
Issac David PENNY
Soon Christopher Lee Shih Hao Sam
Hoang-Ha Tran
Tae Zar Lwin
Tsun En Tan
Naoyuki Naito
Takahiro Kobayashi
Makio Oishi
Original Assignee
Endomaster Pte Ltd
Hoya Corp
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 Endomaster Pte Ltd, Hoya Corp filed Critical Endomaster Pte Ltd
Publication of SG11201607930TA publication Critical patent/SG11201607930TA/en

Links

Classifications

    • 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
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • A61B1/0053—Constructional details of control elements, e.g. handles using distributed actuators, e.g. artificial muscles
    • 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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • 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
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave 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
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)
SG11201607930TA 2014-03-19 2015-03-19 Master - slave flexible robotic endoscopy system SG11201607930TA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201461955232P 2014-03-19 2014-03-19
PCT/SG2015/050044 WO2015142290A1 (en) 2014-03-19 2015-03-19 Master – slave flexible robotic endoscopy system

Publications (1)

Publication Number Publication Date
SG11201607930TA true SG11201607930TA (en) 2016-12-29

Family

ID=54145078

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201607930TA SG11201607930TA (en) 2014-03-19 2015-03-19 Master - slave flexible robotic endoscopy system

Country Status (6)

Country Link
US (2) US20170127911A1 (ja)
EP (1) EP3119263A4 (ja)
JP (7) JP2017515615A (ja)
CN (5) CN108836234B (ja)
SG (1) SG11201607930TA (ja)
WO (1) WO2015142290A1 (ja)

Families Citing this family (61)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
WO2015023730A1 (en) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Preloaded surgical instrument interface
WO2015023834A1 (en) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
JP6426181B2 (ja) 2013-08-15 2018-11-21 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 可変器具予荷重機構コントローラ
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
CN108784838B (zh) 2013-08-15 2021-06-08 直观外科手术操作公司 器械无菌适配器驱动接口
EP3033031B1 (en) 2013-08-15 2019-03-20 Intuitive Surgical Operations, Inc. Actuator interface to instrument sterile adapter
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
CN105611892B (zh) 2013-08-15 2019-02-19 直观外科手术操作公司 机器人器械从动元件
KR20240134217A (ko) 2014-08-15 2024-09-06 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 가변 엔트리 가이드 구성을 가진 수술 시스템
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
KR20220138871A (ko) 2016-02-05 2022-10-13 보드 오브 리전츠 오브 더 유니버시티 오브 텍사스 시스템 외과용 장치
WO2017136729A1 (en) 2016-02-05 2017-08-10 Board Of Regents Of The University Of Texas System Steerable intra-luminal medical device
CN113854933A (zh) 2016-06-01 2021-12-31 恩达马斯特有限公司 内窥镜检查手术器械控制器
WO2018013316A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
WO2018013298A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
CN109688960B (zh) 2016-07-14 2022-04-01 直观外科手术操作公司 多线缆医疗器械
WO2018013187A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Instrument release
US11000345B2 (en) 2016-07-14 2021-05-11 Intuitive Surgical Operations, Inc. Instrument flushing system
CN106175849B (zh) * 2016-08-31 2019-03-01 北京术锐技术有限公司 一种基于柔性手术工具的单孔腔镜手术系统
US11241290B2 (en) 2016-11-21 2022-02-08 Intuitive Surgical Operations, Inc. Cable length conserving medical instrument
US11154373B2 (en) 2017-02-08 2021-10-26 Intuitive Surgical Operations, Inc. Control of computer-assisted tele-operated systems
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
IT201700041980A1 (it) * 2017-04-14 2018-10-14 Medical Microinstruments Spa Assieme robotico per microchirurgia
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
WO2019051005A1 (en) 2017-09-08 2019-03-14 Covidien Lp HIGH PRECISION INSTRUMENT CONTROL MODE FOR ROBOTIC SURGICAL SYSTEMS
US11540889B2 (en) 2017-11-10 2023-01-03 Intuitive Surgical Operations, Inc. Tension control in actuation of jointed instruments
US10271964B1 (en) * 2018-01-26 2019-04-30 Allosource System and methods of use for preparing and testing pre-sutured tendon constructs
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
WO2019164856A1 (en) 2018-02-20 2019-08-29 Intuitive Surgical Operations, Inc. Systems and methods for control of end effectors
CN108451608B (zh) * 2018-05-02 2019-12-24 中国人民解放军陆军军医大学第一附属医院 腹腔镜腔内镜头清洁穿刺器
CN109567927B (zh) * 2018-11-22 2021-06-29 清华大学 一种腔内操作工具
CN113365572B (zh) * 2019-01-31 2023-06-09 香港大学 紧凑的牙科机器人系统
AU2019430122B2 (en) * 2019-02-22 2023-03-30 W. L. Gore & Associates, Inc. Actuation line storage systems and methods
KR102281120B1 (ko) * 2019-04-10 2021-07-26 주식회사 이지엔도서지컬 내시경 모듈 및 이를 포함하는 모듈형 내시경 장치
CN114040727A (zh) 2019-06-28 2022-02-11 奥瑞斯健康公司 包括具有混合重定向表面的腕部的医疗器械
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
GB2586998B (en) * 2019-09-11 2022-07-13 Prec Robotics Limited A driver module
CN111123448B (zh) * 2019-12-25 2024-07-19 精微视达医疗科技(苏州)有限公司 用于探头插拔的插座及可插拔式探头
JP2023508718A (ja) 2019-12-31 2023-03-03 オーリス ヘルス インコーポレイテッド 高度バスケット駆動モード
JP7370007B2 (ja) * 2020-02-21 2023-10-27 国立大学法人 長崎大学 内視鏡操作支援システム及び内視鏡システム
JP7401075B2 (ja) * 2020-06-05 2023-12-19 学校法人産業医科大学 内視鏡操作システム
KR20230058117A (ko) 2020-08-27 2023-05-02 버브 서지컬 인크. 수술 로봇 시스템에서 외부 부하 하의 백래시, 마찰, 및 컴플라이언스를 갖는 수술 기구의 제어
WO2022099981A1 (zh) * 2020-11-13 2022-05-19 北京术锐技术有限公司 连接适配器、连接组件和手术机器人系统
USD1022197S1 (en) 2020-11-19 2024-04-09 Auris Health, Inc. Endoscope
KR102378015B1 (ko) * 2021-05-28 2022-03-24 주식회사 엔도로보틱스 텐던-쉬스 구동 장치 및 로봇팔 구동 장치
DE102021114429A1 (de) 2021-06-04 2022-12-08 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotersystem für minimalinvasive Chirurgie
IT202100015896A1 (it) * 2021-06-17 2022-12-17 Medical Microinstruments Inc Metodo di condizionamento di uno strumento chirurgico di un sistema robotizzato per chirurgia, con cicli di pre-allungamento di tendini di trasmissione di movimenti
IT202100015902A1 (it) * 2021-06-17 2022-12-17 Medical Microinstruments Inc Metodo di preparazione alla teleoperazione in un sistema robotico teleoperato per chirurgia
CN114668512B (zh) * 2022-03-29 2024-09-03 吉林省金博弘智能科技有限责任公司 一种主从式内镜手术机器人
CN116919613A (zh) * 2022-04-08 2023-10-24 北京大学 内窥镜控制设备
DE102022118388A1 (de) 2022-07-22 2024-01-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgiesystem für die minimalinvasive robotische Chirurgie
CN115554551B (zh) * 2022-10-08 2024-05-14 中国科学院自动化研究所 气管插管机器人及其控制方法
EP4389086A1 (en) * 2022-12-21 2024-06-26 Universität Heidelberg Tendon-driven wearable orthosis and method for calibrating a tendon-driven wearable orthosis
DE102023104936A1 (de) 2023-02-28 2024-08-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgiesystem für minimalinvasive robotische Chirurgie System
CN115944397B (zh) * 2023-03-10 2023-06-06 北京云力境安科技有限公司 一种内镜适配器
WO2024207005A1 (en) * 2023-03-31 2024-10-03 Vicarious Surgical Inc. Systems and methods for controlling elastic cable driven robot joints

Family Cites Families (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3628743B2 (ja) * 1995-02-22 2005-03-16 オリンパス株式会社 医療用マニピュレータ
JP3610110B2 (ja) * 1995-02-23 2005-01-12 オリンパス株式会社 医療用マニピュレータ
US5710870A (en) * 1995-09-07 1998-01-20 California Institute Of Technology Decoupled six degree-of-freedom robot manipulator
JP3578375B2 (ja) * 1997-03-17 2004-10-20 技術研究組合医療福祉機器研究所 ロボットアーム駆動装置およびロボットハンド
JP4503725B2 (ja) * 1999-05-17 2010-07-14 オリンパス株式会社 内視鏡治療装置
US7276044B2 (en) * 2001-05-06 2007-10-02 Stereotaxis, Inc. System and methods for advancing a catheter
JP4266582B2 (ja) * 2002-07-15 2009-05-20 オリンパス株式会社 外科手術用器具と外科手術システム
WO2005087128A1 (en) * 2004-03-05 2005-09-22 Hansen Medical, Inc. Robotic catheter system
US8439828B2 (en) * 2006-01-13 2013-05-14 Olympus Medical Systems Corp. Treatment endoscope
JP2007319954A (ja) * 2006-05-30 2007-12-13 Merry B:Kk 可動軸駆動装置およびロボット装置
US8062211B2 (en) * 2006-06-13 2011-11-22 Intuitive Surgical Operations, Inc. Retrograde instrument
JP4914735B2 (ja) * 2007-02-14 2012-04-11 オリンパスメディカルシステムズ株式会社 処置具の位置制御を行う内視鏡システム
JP5160549B2 (ja) * 2007-09-11 2013-03-13 オリンパス株式会社 内視鏡装置
JP4580973B2 (ja) * 2007-11-29 2010-11-17 オリンパスメディカルシステムズ株式会社 処置具システム
JP2009195489A (ja) * 2008-02-21 2009-09-03 Olympus Medical Systems Corp マニピュレータ操作システム
US8727966B2 (en) * 2008-03-31 2014-05-20 Intuitive Surgical Operations, Inc. Endoscope with rotationally deployed arms
JP5336760B2 (ja) 2008-05-01 2013-11-06 オリンパスメディカルシステムズ株式会社 内視鏡システム
US20090281378A1 (en) * 2008-05-09 2009-11-12 Kazuo Banju Medical system
US8343034B2 (en) * 2008-05-13 2013-01-01 Olympus Medical Systems Corp. Electric medical instrument fitting which is attached to a medical instrument holding device
JP5452813B2 (ja) * 2008-05-28 2014-03-26 国立大学法人東京工業大学 力覚提示機能を有する操縦システム
US8864652B2 (en) * 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
JP5407036B2 (ja) * 2008-09-02 2014-02-05 オリンパスメディカルシステムズ株式会社 処置用内視鏡
CN102131474B (zh) * 2008-11-14 2013-06-05 奥林巴斯医疗株式会社 医疗用系统
JP5323578B2 (ja) 2009-04-28 2013-10-23 テルモ株式会社 医療用ロボットシステム
JP5827219B2 (ja) * 2009-05-29 2015-12-02 ナンヤン テクノロジカル ユニヴァーシティＮａｎｙａｎｇ Ｔｅｃｈｎｏｌｏｇｉｃａｌ Ｕｎｉｖｅｒｓｉｔｙ 柔軟な内視鏡検査のためのロボットシステム
ES2388867B1 (es) * 2009-10-27 2013-09-18 Universitat Politècnica De Catalunya Pinzas para cirugia laparoscópica mínimamente invasiva.
JP4781492B2 (ja) * 2009-11-10 2011-09-28 オリンパスメディカルシステムズ株式会社 多関節マニピュレータ装置及びそれを有する内視鏡システム
CN102573600B (zh) * 2009-11-18 2014-10-08 奥林巴斯医疗株式会社 医疗装置
US8644988B2 (en) * 2010-05-14 2014-02-04 Intuitive Surgical Operations, Inc. Drive force control in medical instrument providing position measurements
US8672837B2 (en) * 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
JP5065546B2 (ja) * 2010-10-28 2012-11-07 オリンパスメディカルシステムズ株式会社 処置具
US20130035537A1 (en) * 2011-08-05 2013-02-07 Wallace Daniel T Robotic systems and methods for treating tissue
FR2987734B1 (fr) * 2012-03-08 2014-04-11 Univ Strasbourg Dispositif d'instrumentation motorise et modulable et systeme d'endoscope comprenant un tel dispositif
JP5948168B2 (ja) * 2012-07-03 2016-07-06 オリンパス株式会社 医療用マニピュレータ
JP6140950B2 (ja) * 2012-08-30 2017-06-07 オリンパス株式会社 医療用システム

Also Published As

Publication number Publication date
JP7019662B2 (ja) 2022-02-15
CN108968889B (zh) 2022-03-22
JP2017515615A (ja) 2017-06-15
EP3119263A1 (en) 2017-01-25
WO2015142290A1 (en) 2015-09-24
JP2022050387A (ja) 2022-03-30
CN106455916A (zh) 2017-02-22
US20170127911A1 (en) 2017-05-11
US20190191967A1 (en) 2019-06-27
CN108836234A (zh) 2018-11-20
JP2020072935A (ja) 2020-05-14
CN108968890A (zh) 2018-12-11
EP3119263A4 (en) 2018-06-27
CN108836233A (zh) 2018-11-20
JP7019661B2 (ja) 2022-02-15
CN108968890B (zh) 2021-10-12
JP2020075143A (ja) 2020-05-21
JP2022033844A (ja) 2022-03-02
CN108836234B (zh) 2021-02-05
JP2022133289A (ja) 2022-09-13
JP2020062418A (ja) 2020-04-23
CN108968889A (zh) 2018-12-11

Similar Documents

Publication Publication Date Title
SG11201607930TA (en) Master - slave flexible robotic endoscopy system
SG10202101464RA (en) Improved flexible robotic endoscopy system
HK1221884A1 (zh) 機器人系統
GB2538710B (en) Surgical robot driving mechanism
EP3232941C0 (en) SURGICAL SYSTEM
GB201611773D0 (en) Laryngoscopes
SG11201703982SA (en) Robot system
EP3155953A4 (en) Endoscope system
SG11201703889XA (en) Robot
SG11201707729QA (en) An enhanced flexible robotic endoscopy apparatus
RS59397B1 (sr) Robotski sistem
EP3045106A4 (en) Endoscope system
GB2553791B (en) Flexible battery
GB2540930B (en) Flexible robotic surgical instrument
GB201419205D0 (en) Flexible SENT device configuration
EP2950981A4 (en) ROBOT
EP3007770A4 (en) MEDICAL ROBOT
EP3111879A4 (en) Surgical manipulator system
EP3156194A4 (en) Manipulator
PL2990005T3 (pl) Manipulator urządzenia medycznego
EP3261515A4 (en) Flexible endoscope
EP3235461A4 (en) Manipulator system
EP3167823A4 (en) Manipulator
GB201414801D0 (en) Flexible coupling
SG11201803509XA (en) Magnetic-anchored robotic system