WO2008120422A1 - 多関節湾曲機構及び多関節湾曲機構を備える多関節医療器具 - Google Patents

多関節湾曲機構及び多関節湾曲機構を備える多関節医療器具 Download PDF

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Publication number
WO2008120422A1
WO2008120422A1 PCT/JP2007/074239 JP2007074239W WO2008120422A1 WO 2008120422 A1 WO2008120422 A1 WO 2008120422A1 JP 2007074239 W JP2007074239 W JP 2007074239W WO 2008120422 A1 WO2008120422 A1 WO 2008120422A1
Authority
WO
WIPO (PCT)
Prior art keywords
articulated
bending mechanism
bending portion
medicaldevice
operating wires
Prior art date
Application number
PCT/JP2007/074239
Other languages
English (en)
French (fr)
Inventor
Kimihiko Naito
Tsutomu Ishiguro
Jun Hasegawa
Toshio Nakamura
Original Assignee
Olympus Medical Systems 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 Olympus Medical Systems Corp. filed Critical Olympus Medical Systems Corp.
Priority to CN2007800515260A priority Critical patent/CN101610709B/zh
Priority to EP07850727A priority patent/EP2127591A4/en
Publication of WO2008120422A1 publication Critical patent/WO2008120422A1/ja
Priority to US12/557,007 priority patent/US20100004509A1/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
    • A61B1/0055—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
    • A61B1/00131—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
    • A61B1/0057—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
    • A61B1/04—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
    • A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biophysics (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Surgical Instruments (AREA)

Abstract

　先端側から順に配置される第１湾曲駒（５１），第２湾曲駒（５２），第３湾曲駒（５３）と、第１湾曲駒（５１）を回動させる操作ワイヤ（５６ａ，５６ｂ）と、第２湾曲駒（５２）を回動させる操作ワイヤ（５７ａ，５７ｂ）と、第３湾曲駒（５３）を回動させる操作ワイヤ（５８ａ，５８ｂ）において、操作ワイヤ（５６ａ，５６ｂ）と操作ワイヤ（５７ａ，５７ｂ）は、中心軸Ｌの方向に対して、同心円状に配置される。
PCT/JP2007/074239 2007-03-29 2007-12-17 多関節湾曲機構及び多関節湾曲機構を備える多関節医療器具 WO2008120422A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN2007800515260A CN101610709B (zh) 2007-03-29 2007-12-17 多关节弯曲机构以及具备多关节弯曲机构的多关节医疗器械
EP07850727A EP2127591A4 (en) 2007-03-29 2007-12-17 ARTICULATED BENDING MECHANISM AND ARTICULATED MEDICAL DEVICE WITH ANCHORED BENDING MECHANISM
US12/557,007 US20100004509A1 (en) 2007-03-29 2009-09-10 Multijointed bending mechanism and multijointed medical equipment having multijointed bending mechanism

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007086484A JP2008237812A (ja) 2007-03-29 2007-03-29 多関節湾曲機構及び多関節湾曲機構を備えた医療器具
JP2007-086484 2007-03-29

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/557,007 Continuation US20100004509A1 (en) 2007-03-29 2009-09-10 Multijointed bending mechanism and multijointed medical equipment having multijointed bending mechanism

Publications (1)

Publication Number Publication Date
WO2008120422A1 true WO2008120422A1 (ja) 2008-10-09

Family

ID=39808010

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/074239 WO2008120422A1 (ja) 2007-03-29 2007-12-17 多関節湾曲機構及び多関節湾曲機構を備える多関節医療器具

Country Status (5)

Country Link
US (1) US20100004509A1 (ja)
EP (1) EP2127591A4 (ja)
JP (1) JP2008237812A (ja)
CN (1) CN101610709B (ja)
WO (1) WO2008120422A1 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010220827A (ja) * 2009-03-24 2010-10-07 Olympus Corp 内視鏡装置
US10185139B2 (en) 2014-03-25 2019-01-22 Olympus Corporation Endoscope

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5258284B2 (ja) * 2007-12-28 2013-08-07 テルモ株式会社 医療用マニピュレータ及び医療用ロボットシステム
US20100262162A1 (en) 2007-12-28 2010-10-14 Terumo Kabushiki Kaisha Medical manipulator and medical robot system
GB0910951D0 (en) * 2009-06-24 2009-08-05 Imp Innovations Ltd Joint arrangement
WO2011043234A1 (ja) * 2009-10-09 2011-04-14 オリンパスメディカルシステムズ株式会社 内視鏡装置
EP2579798B1 (en) * 2010-06-11 2019-07-31 CareFusion 2200, Inc. Reduced backlash joint and method of making same
KR101146945B1 (ko) 2010-09-14 2012-05-23 주식회사 이턴 수술기구용 굴곡장치
JP5457318B2 (ja) * 2010-09-24 2014-04-02 富士フイルム株式会社 内視鏡
KR101064825B1 (ko) * 2010-11-18 2011-09-14 정창욱 최소 침습 수술 기구
EP2578139B1 (en) * 2011-03-08 2014-08-27 Olympus Medical Systems Corp. Insertion device
US9226741B2 (en) * 2012-01-09 2016-01-05 Covidien Lp Triangulation methods with hollow segments
WO2014110219A2 (en) 2013-01-09 2014-07-17 Inspectron, Inc. Remote inspection device
EP3238650B1 (en) 2013-06-19 2020-06-24 Titan Medical Inc. Articulated tool positioner and system employing same
JP6137976B2 (ja) * 2013-07-25 2017-05-31 オリンパス株式会社 マニピュレータシステム
JP6358811B2 (ja) * 2014-02-13 2018-07-18 オリンパス株式会社 マニピュレータ及びマニピュレータシステム
US9770216B2 (en) * 2014-07-02 2017-09-26 Covidien Lp System and method for navigating within the lung
EP3195784A4 (en) * 2014-09-17 2018-07-04 Olympus Corporation Bending tube and endoscope device provided with bending tube
CN104840172B (zh) * 2015-04-28 2016-07-06 常州延顺光电科技有限公司 内窥镜的蛇骨装置
WO2016199476A1 (ja) * 2015-06-08 2016-12-15 オリンパス株式会社 内視鏡
US10448805B2 (en) 2015-09-28 2019-10-22 Bio-Medical Engineering (HK) Limited Endoscopic systems, devices and methods
US10765304B2 (en) 2015-09-28 2020-09-08 Bio-Medical Engineering (HK) Limited Endoscopic systems, devices, and methods for performing in vivo procedures
US10136799B2 (en) 2015-09-28 2018-11-27 Bio-Medical Engineering (HK) Limited Endoscopic systems, devices, and methods
EP3359054A4 (en) * 2015-10-05 2019-08-14 Flexdex, Inc. MEDICAL DEVICES WITH JOINTS IN JOINT CLUSTERS WITH FLEXIBILITY
US11896255B2 (en) 2015-10-05 2024-02-13 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
JP6712646B2 (ja) * 2016-10-14 2020-06-24 株式会社メディカロイド 医療用器具および手術システム
JP6979025B2 (ja) 2016-10-14 2021-12-08 株式会社メディカロイド 手術システム
US10758298B2 (en) * 2017-01-20 2020-09-01 Ethicon Llc Articulating electrosurgical tools
WO2018150617A1 (ja) * 2017-02-20 2018-08-23 オリンパス株式会社 内視鏡の湾曲部
CN106963330A (zh) * 2017-04-20 2017-07-21 珠海嘉润医用影像科技有限公司 气管镜导管弯曲结构
US11234783B2 (en) 2018-12-28 2022-02-01 Titan Medical Inc. Articulated tool positioner for robotic surgery system
WO2020157866A1 (ja) * 2019-01-30 2020-08-06 オリンパス株式会社 可撓管挿入装置
US11123146B2 (en) 2019-05-30 2021-09-21 Titan Medical Inc. Surgical instrument apparatus, actuator, and drive
CN110444978B (zh) * 2019-09-06 2024-07-26 深圳市道通科技股份有限公司 线管转接组件及内窥镜
JP7039063B2 (ja) * 2020-07-06 2022-03-22 朝日音響株式会社 操作装置
EP4307983A1 (en) * 2021-03-15 2024-01-24 Covidien LP Robotic surgical systems with dexterous endoscope
EP4342358A1 (en) * 2022-09-21 2024-03-27 Ambu A/S An endoscope

Citations (7)

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JPS4712398B1 (ja) * 1967-04-20 1972-04-17
JPS62265612A (ja) * 1986-03-05 1987-11-18 サ−コン・コ−ポレ−シヨン 耐ねじれ脊柱状組立体
JPH04170930A (ja) * 1990-11-06 1992-06-18 Fuji Photo Optical Co Ltd 内視鏡
JPH06105797A (ja) 1992-09-29 1994-04-19 Olympus Optical Co Ltd 湾曲装置
JP2002102152A (ja) * 2000-10-02 2002-04-09 Olympus Optical Co Ltd 内視鏡
JP2003126024A (ja) 2001-10-23 2003-05-07 Olympus Optical Co Ltd 内視鏡装置
JP2003220022A (ja) * 2002-01-28 2003-08-05 Olympus Optical Co Ltd 内視鏡

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JPS62192134A (ja) * 1986-02-17 1987-08-22 オリンパス光学工業株式会社 内視鏡装置用湾曲部装置
JPH045126Y2 (ja) * 1987-09-03 1992-02-14
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Patent Citations (7)

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JPS4712398B1 (ja) * 1967-04-20 1972-04-17
JPS62265612A (ja) * 1986-03-05 1987-11-18 サ−コン・コ−ポレ−シヨン 耐ねじれ脊柱状組立体
JPH04170930A (ja) * 1990-11-06 1992-06-18 Fuji Photo Optical Co Ltd 内視鏡
JPH06105797A (ja) 1992-09-29 1994-04-19 Olympus Optical Co Ltd 湾曲装置
JP2002102152A (ja) * 2000-10-02 2002-04-09 Olympus Optical Co Ltd 内視鏡
JP2003126024A (ja) 2001-10-23 2003-05-07 Olympus Optical Co Ltd 内視鏡装置
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Non-Patent Citations (1)

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Title
See also references of EP2127591A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010220827A (ja) * 2009-03-24 2010-10-07 Olympus Corp 内視鏡装置
US10185139B2 (en) 2014-03-25 2019-01-22 Olympus Corporation Endoscope

Also Published As

Publication number Publication date
CN101610709B (zh) 2011-06-01
CN101610709A (zh) 2009-12-23
EP2127591A1 (en) 2009-12-02
JP2008237812A (ja) 2008-10-09
EP2127591A4 (en) 2012-06-06
US20100004509A1 (en) 2010-01-07

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