WO2015088142A1 - Dispositif de commande pour cathéter ou endoscope - Google Patents

Dispositif de commande pour cathéter ou endoscope Download PDF

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Publication number
WO2015088142A1
WO2015088142A1 PCT/KR2014/010549 KR2014010549W WO2015088142A1 WO 2015088142 A1 WO2015088142 A1 WO 2015088142A1 KR 2014010549 W KR2014010549 W KR 2014010549W WO 2015088142 A1 WO2015088142 A1 WO 2015088142A1
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WO
WIPO (PCT)
Prior art keywords
coupled
planetary gear
gear
catheter
unit
Prior art date
Application number
PCT/KR2014/010549
Other languages
English (en)
Korean (ko)
Inventor
단친유알렉세이
송경애
Original Assignee
주식회사 현주인테크
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.)
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Application filed by 주식회사 현주인테크 filed Critical 주식회사 현주인테크
Publication of WO2015088142A1 publication Critical patent/WO2015088142A1/fr

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    • 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
    • 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
    • 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
    • A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
    • A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
    • 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
    • A61B1/01—Guiding arrangements therefore
    • 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
    • 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
    • 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
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0136—Handles therefor

Definitions

  • the present invention relates to a catheter or endoscope control device, in more detail, the catheter or the endoscope soft part through the control device can be multi-directional bending, as well as entering the affected area, as well as precise diagnosis and treatment of the affected area It relates to a catheter or control device for endoscopy.
  • the conventional steerable catheter is limited in catheter adjustment, making it difficult to access the affected area, as well as poor precision.
  • a catheter or endoscope control device capable of multidirectional bending so that a catheter or endoscope can easily enter the body, and furthermore, the catheter or endoscope can be maintained in a curved state as well as multidirectional bending.
  • the development of a catheter or endoscopy control device that requires a clear diagnosis and a safe procedure is urgently needed.
  • the present invention has been made in order to solve the problems described above, it is possible to multi-directional bending of the soft portion through the control device, it is easy to enter the affected area, and thus for catheter or endoscope for precise diagnosis and treatment of the affected area To provide a control device.
  • the present invention by applying a structure in which a plurality of gears interlock with each other, the power transmission is easy to be able to smoothly bend the soft portion only by the operation of the stick, as well as control for the catheter or endoscope capable of precise control To provide a device.
  • the present invention is provided with a stopper for fixing the elastic portion and the stick supporting the stick, to provide a catheter or endoscope control device that can improve the ease of diagnosis and procedure for the affected area by continuing the elastic restoration and flexion of the soft portion There is.
  • the present invention provides a catheter or endoscope control apparatus, wherein the control apparatus is inherently embedded in four wire holes in a radially centered path of the catheter or endoscope, and one end of each of the catheter or A wire part fixed to the endoscope end; A towing part connected to the other end of the wire part and provided with a first towing part configured to pull the wire part by driving to bend the soft part in the X direction, and a second towing part configured to be bent in the Y direction; And a single operation unit axially coupled to the towing unit and operable in both the X direction and the Y direction to drive the first towing unit and the second towing unit, respectively.
  • the wire part may include a first wire part comprising a pair of wires, each other end of which is connected to the first towing part through a first fastening member, such that the soft part is pulled in the X direction; And a second wire portion formed of a pair of wires, each other end of which is connected to the second towing portion through a second fastening member so that the soft portion is pulled in the Y direction.
  • the operation unit the upper body is open, the main body that accommodates the ball is coupled to the inside stick; A lower supporter supporting a lower portion of the ball in the main body; An upper support coupled to an upper portion of the main body and supporting an upper portion of the ball; And a guide axially coupled to the tow portion and transmitting a driving force to the tow portion in conjunction with the operation of the stick.
  • the guide is a rectangular plate having a curved shape surrounding the outside of the ball.
  • the guide includes a first guide having a long hole formed in a longitudinal direction between both ends, and a second guide, wherein the first guide and the second guide are formed on the upper portion of the ball. It is preferable that the stick is installed on the support in the form of top / bottom cross, and the stick is coupled to the ball through the long holes of the overlapping regions.
  • the first guide is rotatably installed through the first towing unit and the first X-axis, and preferably rotates together with the first towing unit during rotation.
  • the second guide is rotatably installed through the second towing unit and the first Y axis, and preferably rotates together with the second towing unit during rotation.
  • the operation unit is preferably configured to further include; an elastic unit for elastically supporting the operation of the stick.
  • the elastic part includes an elastic plate axially coupled to the guide and elastically coupled to the base plate via a spring.
  • the elastic plate may include: a first elastic plate coupled to the first guide and the first pin to elastically support the stick from the X direction; And a first elastic plate coupled to the second guide and the second pin to elastically support the stick from the Y direction.
  • the operation unit is provided between the lower support and the base plate, the lower supporter to be in close contact with the ball to limit the rotation of the ball; preferably further comprises a configuration.
  • the stopper may have a ring shape and is provided between the bottom surface of the main body and the lower supporter, and a lift formed with wedges on one surface facing the protrusion provided on the lower supporter surface; And a lever coupled to the leaf through the outside of the main body to rotate the leaf, and when the lever is rotated, the wedge engages the protrusion to push the lower support upwards, thereby lowering the lower support. It is preferable to press the ball to be fixed.
  • the stopper further includes a friction part that increases mutual frictional force on any one surface where the lower supporter and the ball contact each other.
  • the friction part is a region in which at least one surface selected from the lower supporter or the ball is roughened or the surface roughened is fastened.
  • the first towing unit may include a first driving gear coupled to the first guide through a first X axis; A first driven gear to which the first fastening member is coupled; And a first planetary gear unit configured to transfer power between the first driving gear and the first driven gear, wherein the second towing unit includes: a second driving gear coupled to the second guide through a first Y axis; A second driven gear to which the second fastening member is coupled; And a second planetary gear unit 195 configured to transfer power between the second driving gear and the second driven gear, wherein the first driven gear and the second driven gear are sprocket gears.
  • the first fastening member and the second fastening member are chains.
  • the first planetary gear unit may include: a first planetary gear-1 rotating in engagement with the first driving gear; A first planetary gear-2 coupled to and rotated through the first planetary gear-1 and the second X-axis; And a first planetary gear-3 engaged with the first planetary gear-2 and coupled to the first driven gear through a third X-axis, wherein the first and second planetary gears are 2 It is a bevel gear having a gear ratio of 1: 1 to 6: 1, and the first planetary gear-2 and the first planetary gear-3 are spur gears having a gear ratio of 2: 1 to 6: 1. Is preferable.
  • the second planetary gear unit 195 may include: a second planetary gear-1 meshing with the second driving gear to rotate; A second planetary gear-2 coupled to and rotated through the second planetary gear-1 and the first Y-axis; And a second planetary gear-3 engaged with the second planetary gear-2 and coupled to the second driven gear through a third Y-axis, wherein the second driving gear and the second planetary gear-1 and the first planetary gear are coupled to each other. It is preferable that the two planetary gear-2 and the second planetary gear-3 are spur gears each having a gear ratio of 2: 1 to 6: 1.
  • the catheter or endoscopic soft portion of the soft part through the control device can be bent, it is easy to enter the affected area, and thus can be expected the effect of accurate diagnosis and treatment for the affected area.
  • the present invention by applying a structure in which a plurality of gears interlock with each other, the power can be easily transferred to bend smoothly to the soft portion only by the operation of the stick, as well as can be expected the effect that can be precise control .
  • the present invention is provided with an elastic portion for supporting the stick and a stopper for fixing, it can be expected to maintain the elastic recovery and soft state of the soft portion to increase the convenience of diagnosis and treatment for the affected area.
  • FIG. 1 is an overall view showing a preferred embodiment of the present invention for explaining a catheter or endoscope control device
  • FIG. 2 is a perspective view illustrating a wire part according to a preferred embodiment of the present invention.
  • FIG. 3 is an exploded view showing an operation unit according to a preferred embodiment of the present invention.
  • FIG. 4 is a plan view showing a traction unit according to an embodiment of the present invention.
  • FIG. 5 is a detailed view showing for explaining the driven gear according to an embodiment of the present invention.
  • Figure 6 is a plan view showing to explain the first operating state of the towing unit according to an embodiment of the present invention.
  • FIG. 7 is a plan view showing a second operation state of the towing unit according to an embodiment of the present invention.
  • FIG. 8 is a side view illustrating the first plate of the elastic part according to the preferred embodiment of the present invention.
  • FIG. 9 is a front view illustrating the second plate of the elastic part according to the preferred embodiment of the present invention.
  • FIG. 10 is a cross-sectional view for explaining a stopper according to an embodiment of the present invention.
  • FIG. 11 is a perspective view illustrating an example of a wedge according to a preferred embodiment of the present invention.
  • the catheter has been described, and it can be applied to the endoscope.
  • FIG. 1 is an overall view showing a preferred embodiment of the catheter or the control device for the endoscope
  • Figure 2 is a perspective view showing the back state of the control device.
  • the catheter or endoscope control device 100 enables multi-directional bending of the catheter 10 and the soft part 11 to allow entry into the affected part, as well as precise diagnosis and treatment of the affected part. It is to.
  • the catheter is not limited to the conventional drug injection, it may be applied to the catheter applied to the laser treatment or imaging as well as the injection of the drug through the passage.
  • the control device 100 is embedded in each of the four wire grooves 13 in the radially centered passage 15 of the catheter 10, each end of the wire portion 110 is fixed to the end of the catheter 10, It comprises a towing unit 170 to bend the wire unit 110 in the X and Y direction and the operation unit 120 for driving the towing unit 170 through the shaft coupling.
  • X and Y are an example of the expression for showing directionality, It is preferable that a direction is not restrict
  • the wire part 110 is formed of a pair of wires, and the other end is connected to the first towing part 180 through the first fastening member 115, so that the soft part 11 is in the X direction. It is composed of a first wire portion 111 and a pair of wires to be pulled, and the other end is connected to the second towing portion 190 through a second fastening member 117 so that the soft portion 11 is Y It is configured to include a second wire portion 113 to be pulled in the direction.
  • the first fastening member 115 and the second fastening member 117 are means for connecting the wire part 110 and the traction part 170.
  • the first fastening member 115 and the second fastening member 117 are provided.
  • the operation unit 120 is to drive the towing unit 170 so that the wire can be towed, as shown in Figure 3, the upper opening is open, the ball 123 is coupled to the stick 135 therein
  • the main body 121 is accommodated, the lower support 125 for supporting the lower portion of the ball 123 in the main body 121, the upper support coupled to the upper portion of the main body 121, and supports the upper portion of the ball 123 ( 131 is coupled to the traction unit 170, and comprises a guide 140 for transmitting the driving force to the traction unit 170 in conjunction with the operation of the stick (135).
  • the main body 121 is a housing in which the lower support 125 and the ball 123 are accommodated, and is fixed to the base plate 101 through the lower support 125 and the fixing plate 109, where the base plate 101 is It is a flat plate that the operation unit 120 and the towing unit 170 is installed.
  • the lower support 125 has a lower curved portion 127 is formed on one surface supporting the lower portion of the ball 123, the other surface penetrates the bottom surface and the base perforation portion 104 of the main body 121 and fixed plate 109
  • a locking groove 128 is formed to be detachably coupled to the fixing hole 109-1 of FIG. 6), and the main body 121 and the base plate 101 are coupled thereto.
  • the fixing plate 109 is coupled to the locking groove 128 through the base groove 105 provided on the bottom surface of the base plate 101, which is to prevent the fixing plate 109 from protruding to the outside.
  • the upper support 131 is coupled to the upper portion of the main body 121 to support the upper portion of the ball 123 to prevent the ball 123 from being separated, and the curvature of the ball 123 on one surface in contact with the ball 123.
  • the upper curved portion 133 is formed to correspond to the body 121 is detachably coupled to the body 121 through a conventional fastening means.
  • the conventional fastening means is a conventional combination such as a screw.
  • the guide 140 is a rectangular plate having a curved shape surrounding the outside of the ball 123, and includes a first guide 145 and a second guide 147 having a long hole 141 formed in a longitudinal direction between both ends thereof.
  • the first guide 145 and the second guide 147 are installed in the upper support 131 and the upper / lower row cross shape through the axial coupling holes 143 provided at each end, and overlaps the long hole 141
  • the stick 135 is coupled with the ball 123 through.
  • the ball 123 and the stick 135 is detachably coupled to each other through the coupling structure of the male, the stick coupling groove 124 and the stick fastening portion 137 provided in the ball 123 as shown in the male It consists of a screw fastening structure, which is coupled to each other detachably.
  • the first guide 145 is installed to be rotatable through the first towing unit 180 and the first X-axis 210, and is rotated together with the first towing unit 180 during the rotation, and the second guide 147. Is rotatably installed through the second towing unit 190 and the first Y-axis 220, and is rotatably installed together with the second towing unit 190.
  • the operation unit 120 is to limit the movement of the stick 135 to maintain the bending of the soft portion 11, or the elastic recovery of the stopper 160 and the stick 135 as shown in FIG. It further includes an elastic portion 150 to enable, a detailed description thereof will be described later.
  • the first towing unit 180 and the second fastening member 180 are connected to the first wire member 111 through the first fastening member 115 to allow the soft portion 11 to be bent in the X direction.
  • the second wire part 113 is connected to the second wire part 113 to include a second towing part 190 configured to bend the soft part 11 in the Y direction, which will be described with reference to FIG. 4. Explain.
  • FIG. 4 is a plan view illustrating the towing unit according to the preferred embodiment of the present invention.
  • the towing unit 170 is driven according to the movement direction of the stick 135 to pull the wire unit 110 in the X or Y direction, and is driven in conjunction with the first guide 145. It comprises a first towing unit 180, and a second towing unit 190 in conjunction with the second guide 147.
  • the first towing unit 180 is a first driven gear 181 coupled to the first guide 145 and the first X-axis 210, and a first driven gear 183 to which the first fastening member 115 is coupled. And a first planetary gear unit 185 transmitting power between the first driving gear 181 and the second driven gear 193.
  • the first planetary gear unit 185 is configured to rotate the first planetary gear-1 (185-1), the first planetary gear-1 (185-1), and the second X-axis 211, which rotate in engagement with the first drive gear 181. Rotating through engagement with the first planetary gear-2 (185-2) and the first planetary gear-2 (185-2) rotated through the coupling, coupled through the first driven gear 183 and the X3 axis (223) It is configured to include a first planetary gear-3 (185-3).
  • the first driving gear 181 and the first planetary gear-1 (185-1) are bevel gears, and preferably have a gear ratio of about 2: 1 to 6: 1.
  • the gear ratio is a conventional coupling ratio for smooth power transmission, and a detailed description thereof will be omitted.
  • first planetary gear-2 (185-2) and the first planetary gear-3 (185-3) are spur gears, and preferably have a gear ratio of approximately 2: 1 to 6: 1.
  • the first driven gear 183 is preferably a sprocket gear (sprocket gear) to achieve a smooth power transmission to each other.
  • the second towing unit 190 includes a second drive gear 191 coupled to the second guide 147 and the first Y-axis 220, and a second driven gear 193 to which the second fastening member 117 is coupled. And a second planetary gear unit 195 that transmits power between the second driving gear 191 and the second driven gear 193.
  • the second planetary gear unit 195 is configured to rotate the second planetary gear-1 (195-1), the second planetary gear-1 (195-1), and the first Y-axis 220 which rotate in engagement with the second drive gear 191. It rotates in engagement with the second planetary gear-2 (195-2) and the second planetary gear-2 (195-2) which are coupled and rotated, and are coupled through the second driven gear 193 and the third Y-axis 213. And a second planetary gear-3 (195-3).
  • the second driving gear 191, the second planetary gear-1 (195-1), the second planetary gear-2 (195-2) and the second planetary gear-3 (195-3) are each 2: It is preferable that it is a spur gear having a gear ratio of 1 to 6: 1.
  • the third X-axis 213 and the third Y-axis 223 are present on the same axis, but as shown in Figure 5 is composed of a dual shaft coupling structure inside / outside. That is, the third X-axis 213 is a tubular body, and maintains a state spaced apart from the outer circumference of the third Y-axis 223, so that even if the coaxial axis exists independently of each other, it is not shown, but mutually smooth A bearing may be further provided between the third X axis 213 and the third Y axis 223 for rotation.
  • the towing unit 170 is further provided with partition walls for partitioning and axial coupling of each region, and these partition walls are the second X axis 211, the first Y axis 220, the second Y axis 221, and the third Y axis. And a first partition 107 supporting one end of 223, and a second partition 108 supporting the other end and the third X-axis 213.
  • the first partition 107 and the second partition 108 are installed in a state perpendicular to the base plate 101, although not shown on one surface to which each shaft is coupled, the bearing is further provided to enable smooth rotation of the shaft It is preferable.
  • Such a towing unit 170 is driven in the X to Y direction as shown in Figs. 6 and 7 by the operation of the stick 135, an example of each driving will be referred to the drawings, the reference is shown in Fig. To explain.
  • FIG. 4 is a plan view illustrating a first operating state of a control device according to an exemplary embodiment of the present invention.
  • the first guide gear 145 rotates in the axial direction, and the first driving gear 181 connected to the first X-axis 210 is connected thereto.
  • the first planetary gear-1 (185-1) rotated together and the first planetary gear-1 (185-1) connected to the first planetary gear-1 (185-1) and the second X-axis 211 and this
  • the first wire part is rotated by engaging the first planetary gear-3 (185-3) and the first driven gear 183 connected to the first planetary gear-3 (185-3) and the third X-axis 213.
  • 111 is pulled in one direction, and the soft part 11 can be bent in the X direction as shown in FIG. 4B.
  • FIG. 5 is a plan view illustrating a second operation state of a control device according to an embodiment of the present invention.
  • FIG. 5A illustrates a second drive gear 191 connected to the second guide 147 through the second Y axis 221 while the second guide 147 rotates in the axial direction when the stick 135 is operated in the Y direction as shown.
  • the second planetary gear-2 (195-2) connected to the second planetary gear-1 (195-1) and the second Y-axis 221 by rotating the meshed second planetary gear-1 (195-1) together and
  • the second wire part is rotated by engaging the second planetary gear-3 (195-3) and the second driven gear 193 connected to the second planetary gear-3 (195-3) and the third Y-axis 223.
  • 113 is towed in one direction, and the soft portion 11 can be bent in the Y direction as shown in FIG. 5B.
  • the operation of the stick 135 is not limited to the X or Y direction as shown in Figs. 4 and 5, as an application example thereof, although not shown, the stick 135 is moved in the XY or YX direction, i.e. oblique direction This is possible, and through this, the soft part 11 may implement bending in various directions such as X, Y, XY, and YX directions.
  • Such bending of the soft portion 11 can be bent in a variety of orientations by the operation of the stick 135, as well as a function for restoring the bending and maintaining the bent state, which will be described with reference to Figs. Do it.
  • FIG. 7 is a side view illustrating the first plate of the elastic part according to an exemplary embodiment of the present invention
  • FIG. 8 is a front view illustrating the second plate of the elastic part.
  • the stick 135 may be elastically restored to its original position through the elastic part 150.
  • the elastic part 150 is axially coupled to the guide 140, and comprises an elastic plate 153 and a bracket 159 elastically coupled through the base plate 101 and the spring 151.
  • the elastic plate 153 is coupled to the first guide 145 and the first pin 231 by the first elastic plate 155 and the second guide 147 to elastically support the stick 135 from the X direction. And a second elastic plate 157 coupled to the second pin 233 to elastically support the stick 135 from the Y direction.
  • the first elastic plate 155 is in the form of a semicircle as shown in FIG. 7, and is installed between the first guide 145 and the bracket 159 through the first pin 231, and one end of the spring 151 is provided at both sides thereof.
  • a first elastic hole 156 to be coupled is provided.
  • one end of the spring 151 is coupled to the first elastic hole 156, and the other end thereof is coupled to the base elastic hole 103 provided in the base plate 101 to elastically align the first elastic plate 155. I can support it.
  • the second elastic plate 157 has the same shape and configuration as the second elastic plate 157 (the second elastic hole 158), and acts on the Y direction through the elasticity of the spring 151. It can be supported elastically.
  • the operation unit 120 is provided with a stopper 160 to limit the operation to the stick 135 or to fix the position, as shown in Figure 1 to fix the bending of the soft portion 11, such a stopper 160 Will be described with reference to FIGS. 10 and 11 together.
  • FIG. 10 is a cross-sectional view illustrating a stopper according to a preferred embodiment of the present invention
  • FIG. 11 is a perspective view illustrating an example of a lift.
  • the stopper 160 has a ring shape and is provided between the bottom of the main body 121 and the lower support 125, and the wedge 163 on one surface facing the protrusion 129 provided on the bottom of the lower support 125.
  • the lift 161 is formed, coupled to the lift 161 through the outside of the main body 121 is configured to include a lever 165 for rotating the lift 161.
  • the wedge 163 is a protruding area formed of a slope, and when the lift 161 is rotated through the lever 165, the protrusion 129 is guided to the slope so as to be in close contact with the ball 123.
  • one end cut out as shown in FIG. 11A is upward, that is, in the form of a spring washer, or as shown in FIG. It may exist in various forms, such as a form provided with a member of the slope such as a group.
  • the stopper 160 may be further provided with a friction portion 167 to increase the mutual frictional force on any one surface where the lower support 125 and the ball 123 abuts.
  • the friction part 167 roughly processes at least one surface selected from the lower support 125 or the ball 123, or the lower curved part 127 and the ball are attached or combined by a member having a rough surface or a good frictional force. The friction force between the 123 is increased, so that the rotation of the ball 123 is limited.

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Abstract

L'invention concerne un dispositif de commande pour un cathéter ou un endoscope. Le dispositif de commande comprend : des fils intégrés dans quatre trous de fil, formés radialement autour du passage du cathéter ou de l'endoscope, respectivement, chaque fil ayant une première extrémité fixée à une partie d'extrémité du cathéter ou de l'endoscope ; une partie de traction, comprenant des première et seconde parties de traction qui sont reliées à l'autre extrémité de chaque fil et tirent les fils par entraînement pour les amener à courber une partie souple du cathéter ou de l'endoscope dans les directions X et Y, respectivement ; une partie d'actionnement unique, qui est accouplée de façon axiale à la partie de traction et peut être actionnée dans les directions X et Y pour entraîner les première et seconde parties de traction, respectivement.
PCT/KR2014/010549 2013-12-09 2014-11-05 Dispositif de commande pour cathéter ou endoscope WO2015088142A1 (fr)

Applications Claiming Priority (2)

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KR10-2013-0152485 2013-12-09
KR1020130152485A KR101432713B1 (ko) 2013-12-09 2013-12-09 카테터 또는 내시경용 제어장치

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WO2015088142A1 true WO2015088142A1 (fr) 2015-06-18

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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EP3434169A1 (fr) * 2017-07-29 2019-01-30 EndoScope sp. z o.o. Système mécanique pour pointe distale d'un tube d'insertion médical commandant, en particulier, un tube d'insertion d'endoscope et poignée d'endoscope
US20190125469A1 (en) * 2017-11-02 2019-05-02 National Chiao Tung University Minimally invasive surgical instruments with terminal steerable mechanism
WO2023124904A1 (fr) * 2021-12-30 2023-07-06 先健科技(深圳)有限公司 Cathéter orientable

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EP3434169A1 (fr) * 2017-07-29 2019-01-30 EndoScope sp. z o.o. Système mécanique pour pointe distale d'un tube d'insertion médical commandant, en particulier, un tube d'insertion d'endoscope et poignée d'endoscope
CN107374569A (zh) * 2017-08-14 2017-11-24 上海延顺内窥镜有限公司 内窥镜的旋转弯曲控制机构
US20190125469A1 (en) * 2017-11-02 2019-05-02 National Chiao Tung University Minimally invasive surgical instruments with terminal steerable mechanism
CN109745086A (zh) * 2017-11-02 2019-05-14 财团法人交大思源基金会 具末端转向机构的微创手术用具
US11020194B2 (en) * 2017-11-02 2021-06-01 National Chiao Tung University Minimally invasive surgical instruments with terminal steerable mechanism
WO2023124904A1 (fr) * 2021-12-30 2023-07-06 先健科技(深圳)有限公司 Cathéter orientable

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