SG11201707729QA - An enhanced flexible robotic endoscopy apparatus - Google Patents

An enhanced flexible robotic endoscopy apparatus

Info

Publication number
SG11201707729QA
SG11201707729QA SG11201707729QA SG11201707729QA SG11201707729QA SG 11201707729Q A SG11201707729Q A SG 11201707729QA SG 11201707729Q A SG11201707729Q A SG 11201707729QA SG 11201707729Q A SG11201707729Q A SG 11201707729QA SG 11201707729Q A SG11201707729Q A SG 11201707729QA
Authority
SG
Singapore
Prior art keywords
flexible robotic
enhanced flexible
endoscopy apparatus
robotic endoscopy
enhanced
Prior art date
Application number
SG11201707729QA
Other languages
English (en)
Inventor
Tomonori Yamamoto
Isaac 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 Pte Ltd
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 Pte Ltd filed Critical Endomaster Pte Ltd
Publication of SG11201707729QA publication Critical patent/SG11201707729QA/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
    • A61B1/06—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 with illuminating arrangements
    • 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
    • A61B1/00066—Proximal part of endoscope body, e.g. handles
    • 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
    • A61B1/00105—Constructional details of the endoscope body characterised by modular construction
    • 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
    • A61B1/00112—Connection or coupling means
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
    • 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
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • 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
    • 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
    • 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
    • A61B1/012—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
    • 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
    • A61B1/0125—Endoscope within 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
    • A61B1/012—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
    • 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
    • A61B1/04—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 combined with photographic or television appliances
    • 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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00013—Operational features of endoscopes characterised by signal transmission using optical means
    • 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
    • A61B1/00135—Oversleeves mounted on the endoscope prior to insertion
    • 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
    • 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
    • A61B1/04—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 combined with photographic or television appliances
    • A61B1/044—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 combined with photographic or television appliances for absorption imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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

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)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Endoscopes (AREA)
SG11201707729QA 2015-03-19 2015-03-19 An enhanced flexible robotic endoscopy apparatus SG11201707729QA (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SG2015/050042 WO2016148642A1 (en) 2015-03-19 2015-03-19 An enhanced flexible robotic endoscopy apparatus

Publications (1)

Publication Number Publication Date
SG11201707729QA true SG11201707729QA (en) 2017-10-30

Family

ID=56920346

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201707729QA SG11201707729QA (en) 2015-03-19 2015-03-19 An enhanced flexible robotic endoscopy apparatus

Country Status (5)

Country Link
US (3) US10939804B2 (enrdf_load_stackoverflow)
JP (1) JP6606797B2 (enrdf_load_stackoverflow)
CN (2) CN107613832B (enrdf_load_stackoverflow)
SG (1) SG11201707729QA (enrdf_load_stackoverflow)
WO (1) WO2016148642A1 (enrdf_load_stackoverflow)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11419691B2 (en) * 2017-06-29 2022-08-23 The Board Of Regents Of The University Of Texas System Surgical apparatus
US11369399B2 (en) * 2017-07-14 2022-06-28 Actuated Medical, Inc. Device for aiding in the positioning and anchoring of an endoscope during gastrointestinal procedures
EP3691511A4 (en) 2017-10-06 2021-06-02 Endomaster Pte Ltd ENDOSCOPIC SYSTEM
CN118986243A (zh) 2019-04-23 2024-11-22 波士顿科学医学有限公司 模块化窥镜装置
US11918187B2 (en) 2019-05-17 2024-03-05 Boston Scientific Scimed, Inc. Systems and devices for an endoscope tubeless working channel
JP7329428B2 (ja) * 2019-12-04 2023-08-18 Hoya株式会社 内視鏡装置
US20230056943A1 (en) * 2019-12-13 2023-02-23 Dinesh Vyas Stapler apparatus and methods for use
USD1022197S1 (en) 2020-11-19 2024-04-09 Auris Health, Inc. Endoscope
WO2022201110A1 (en) * 2021-03-25 2022-09-29 Pitale Ashok Rahul Kumar Telescopic flexible tendon continuum endoscope and method of operation thereof
KR102378015B1 (ko) * 2021-05-28 2022-03-24 주식회사 엔도로보틱스 텐던-쉬스 구동 장치 및 로봇팔 구동 장치
CN115227189B (zh) * 2022-06-16 2025-03-14 中山大学附属第一医院 一种用于内窥镜握持机器人的自动冲洗内窥镜的装置及方法
CN115919475B (zh) * 2023-03-10 2023-05-23 北京云力境安科技有限公司 一种分体式软式内镜手术机器人系统

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6240567Y2 (enrdf_load_stackoverflow) * 1980-05-02 1987-10-17
US5025778A (en) * 1990-03-26 1991-06-25 Opielab, Inc. Endoscope with potential channels and method of using the same
US5197457A (en) * 1990-09-12 1993-03-30 Adair Edwin Lloyd Deformable and removable sheath for optical catheter
US5259366A (en) * 1992-11-03 1993-11-09 Boris Reydel Method of using a catheter-sleeve assembly for an endoscope
JP3679440B2 (ja) * 1995-02-22 2005-08-03 オリンパス株式会社 医療用マニピュレータ
US6419626B1 (en) * 1998-08-12 2002-07-16 Inbae Yoon Surgical instrument endoscope with CMOS image sensor and physical parameter sensor
US7819799B2 (en) * 2000-03-16 2010-10-26 Immersion Medical, Inc. System and method for controlling force applied to and manipulation of medical instruments
JP4451123B2 (ja) * 2003-11-27 2010-04-14 オリンパス株式会社 内視鏡
AU2005228956B2 (en) * 2004-03-23 2011-08-18 Boston Scientific Limited In-vivo visualization system
WO2006059721A1 (ja) 2004-12-03 2006-06-08 Olympus Corporation 挿入部着脱式電動湾曲内視鏡
US20060252993A1 (en) * 2005-03-23 2006-11-09 Freed David I Medical devices and systems
JP4728075B2 (ja) * 2005-09-28 2011-07-20 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
US7918783B2 (en) * 2006-03-22 2011-04-05 Boston Scientific Scimed, Inc. Endoscope working channel with multiple functionality
KR101477125B1 (ko) 2006-06-13 2014-12-29 인튜어티브 서지컬 인코포레이티드 미소절개 수술 시스템
US8986197B2 (en) 2007-02-20 2015-03-24 Olympus Medical Systems Corp. Medical system and endoscope system
US8591399B2 (en) 2007-04-25 2013-11-26 Karl Storz Endovision, Inc. Surgical method utilizing transluminal endoscope and instruments
US8529554B2 (en) * 2007-09-05 2013-09-10 Olympus Medical Systems Corp. Treatment instrument operation unit and medical system with treatment instrument operation unit
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
WO2010055745A1 (ja) * 2008-11-14 2010-05-20 オリンパスメディカルシステムズ株式会社 医療用システム
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
US9877744B2 (en) * 2010-02-12 2018-01-30 Intuitive Surgical Operations, Inc. Entry guide for multiple instruments in a single port surgical system
CN104936649B (zh) * 2012-09-06 2018-03-23 科林达斯公司 用于引导导管控制的系统
SG11201502034WA (en) * 2012-09-19 2015-05-28 Univ Nanyang Tech Flexible master - slave robotic endoscopy system
EP2964069B8 (en) 2013-02-26 2020-07-15 ELMED Electronics and Medical Industry and Trade Inc. (A.S.) A robotic manipulator system
JP6023872B2 (ja) * 2013-03-29 2016-11-09 富士フイルム株式会社 内視鏡手術装置
JP2014226374A (ja) * 2013-05-23 2014-12-08 オリンパス株式会社 内視鏡先端構造および内視鏡
JP6027947B2 (ja) 2013-07-26 2016-11-16 オリンパス株式会社 マニピュレータシステム
EP3245929A4 (en) * 2015-01-16 2018-11-07 Olympus Corporation Over tube and manipulator system

Also Published As

Publication number Publication date
JP2018509267A (ja) 2018-04-05
CN111528766A (zh) 2020-08-14
US20170332882A1 (en) 2017-11-23
US11696673B2 (en) 2023-07-11
CN107613832A (zh) 2018-01-19
US10939804B2 (en) 2021-03-09
CN107613832B (zh) 2020-07-28
WO2016148642A1 (en) 2016-09-22
US20210007583A1 (en) 2021-01-14
US20210186309A1 (en) 2021-06-24
JP6606797B2 (ja) 2019-11-20

Similar Documents

Publication Publication Date Title
SG10202101464RA (en) Improved flexible robotic endoscopy system
SG11201607930TA (en) Master - slave flexible robotic endoscopy system
EP3289424A4 (en) Flexible device
EP3146534A4 (en) Flexible sensor apparatus
SG11201707729QA (en) An enhanced flexible robotic endoscopy apparatus
GB201611773D0 (en) Laryngoscopes
EP3204172A4 (en) Flexible cleaning lance positioner guide apparatus
PL3641621T3 (pl) Urządzenie endoskopowe
GB201707771D0 (en) Propulsion apparatus
EP3261515A4 (en) Flexible endoscope
EP3123919A4 (en) Endoscope apparatus
EP3123923A4 (en) Electronic endoscope apparatus
GB2540930B (en) Flexible robotic surgical instrument
GB201416422D0 (en) Flexible tape-based chemistry apparatus
EP3278704A4 (en) ENDOSCOPE DEVICE
GB2561441B (en) Connection apparatus
SI2998963T1 (sl) Naprava za vodenje prožne cevi
GB201711904D0 (en) Morring apparatus
GB201519001D0 (en) Robotic seat-cleaning apparatus
GB201717560D0 (en) De-Trenching apparatus
GB2554385B8 (en) Connector apparatus
GB2556021B (en) Medical apparatus
GB201702400D0 (en) Drive apparatus
GB201819514D0 (en) Connection apparatus
GB201801452D0 (en) Drive apparatus