WO2023085766A1 - Dispositif d'insertion d'endoscope anti-déformation - Google Patents

Dispositif d'insertion d'endoscope anti-déformation Download PDF

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Publication number
WO2023085766A1
WO2023085766A1 PCT/KR2022/017543 KR2022017543W WO2023085766A1 WO 2023085766 A1 WO2023085766 A1 WO 2023085766A1 KR 2022017543 W KR2022017543 W KR 2022017543W WO 2023085766 A1 WO2023085766 A1 WO 2023085766A1
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WO
WIPO (PCT)
Prior art keywords
endoscope
link
buckling
unit
moving
Prior art date
Application number
PCT/KR2022/017543
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English (en)
Korean (ko)
Inventor
사 로사뚜아니 데
양운제
이대성
김도완
이동호
Original Assignee
주식회사 로엔서지컬
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 로엔서지컬 filed Critical 주식회사 로엔서지컬
Priority to CN202280074136.XA priority Critical patent/CN118215427A/zh
Publication of WO2023085766A1 publication Critical patent/WO2023085766A1/fr

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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
    • 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
    • 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
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00087—Tools
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00154—Holding or positioning arrangements using guiding arrangements for 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
    • A61B1/005—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
    • A61B1/005—Flexible endoscopes
    • A61B1/01—Guiding arrangements therefore
    • 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

Definitions

  • the present invention relates to an anti-buckling endoscope insertion device, and more particularly, to an anti-buckling endoscope insertion device that is inserted while preventing buckling when the endoscope is inserted.
  • the endoscope When the endoscope is inserted into the human body, in order to implement the movement as intended, it is necessary to operate the endoscope so that buckling does not occur when the endoscope is inserted. If buckling occurs in the endoscope, the endoscope cannot be moved as intended. For example, when buckling occurs at the center of the endoscope while the user moves the endoscope toward (or forward of) the body, the endoscope does not move forward and only deforms. Therefore, there is a need for a technique capable of effectively preventing buckling of the endoscope.
  • Korean Registered Patent Publication No. 10-2252577 discloses a technical idea related to an anti-buckling device for an endoscope overtube.
  • the present invention has been created to solve the above-mentioned problems, and when the endoscope is inserted into the human body, the movement width between the equal link parts is equalized, and the endoscope is inserted into the endoscope insertion part and guided, thereby reducing buckling. Its purpose is to provide an invention that can prevent it.
  • An object of the present invention described above is to move the endoscope into the human body while the endoscope is inserted into the guide sheath moved according to the guide sheath moving unit, which moves the guide sheath toward the human body without moving the endoscope, and the guide sheath moving unit relative to the movement. It can be achieved by providing an anti-buckling endoscope insertion device comprising an endoscope moving unit.
  • the guide sheath moving unit moves in a horizontal direction relative to the endoscope moving unit, the guide sheath moves or retreats toward the human body, and as the endoscope moving unit moves in a horizontal direction relative to the guide sheath moving unit, the endoscope moves into the human body. Guides are inserted or retracted.
  • an anti-buckling unit for preventing buckling of the endoscope that is guided or retracted into the human body according to the horizontal movement of the moving unit of the endoscope is further included.
  • the anti-buckling unit includes an equal link unit coupled to uniformly narrow or widen a distance between the plurality of links according to horizontal movement of the link.
  • the anti-buckling unit includes a plurality of endoscope insertion units into which an endoscope is inserted into the inside, and a distance between each endoscope insertion unit is equally narrowed or widened by moving in a horizontal direction in conjunction with the horizontal movement of the equal link unit.
  • the guide sheath moving unit includes a guide sheath moving body that moves in a horizontal direction according to the driving of the driving unit, and each link of the equal link unit moves horizontally according to the horizontal movement of the guide sheath moving body.
  • the guide sheath moving unit further includes a guide sheath fixing unit in which the guide sheath is fixed and protrudes toward the human body, and the guide sheath is moved or retracted toward the human body by interlocking movement according to the horizontal movement of the moving guide sheath body.
  • the guide sheath moving body includes a plurality of horizontally moving guides arranged in parallel in a horizontal direction.
  • the equal link unit includes a first link unit that moves in the horizontal direction along the upper horizontal movement guide unit among the plurality of horizontal movement guide units, and a second link unit that moves in the horizontal direction along the lower horizontal movement guide unit among the plurality of horizontal movement guide units. Including, as the first and second link units move in the horizontal direction along each of the horizontal movement guide units, the width of the movement interval between the links of the equal link unit is kept constant.
  • equal link unit and the plurality of endoscope insertion units move interlockedly in the horizontal direction according to the movement of the guide sheath moving unit or the endoscope moving unit.
  • the moving part of the endoscope has one side of the endoscope fixed and moves in a horizontal direction according to the driving of the driving part so that the endoscopes inserted into the plurality of endoscope insertion parts can be inserted or retracted into the human body. It includes a power transmission link that moves in a horizontal direction together with the movable body, moves the equal link in the horizontal direction by being coupled with one end of the equal link, and moves the plurality of endoscope inserts in the horizontal direction in conjunction with each other.
  • It also includes a first driving unit that moves the guide sheath moving unit in a horizontal direction, and a second driving unit that is driven independently of the first driving unit and moves the endoscope moving unit in a horizontal direction.
  • an object of the present invention is an equal link portion coupled to each other so that the distance between a plurality of links is equally narrowed or widened when moving in the horizontal direction along a plurality of horizontal movement guides provided in the guide sheath moving body portion, and the horizontal direction of the equal link portion It includes a plurality of endoscope insertion parts that narrow or widen the distance between each endoscope insertion part by moving in the horizontal direction in conjunction with movement, and buckles of the endoscope by the equal link part and the plurality of endoscope insertion parts when inserted into the human body or retracted This can be achieved by providing an anti-buckling endoscopic insertion device characterized in that the ring is prevented.
  • a plurality of horizontal movement guide units are arranged in parallel in parallel in a horizontal direction.
  • the plurality of horizontal movement guides include an upper horizontal movement guide portion for horizontally guiding the first link portion of the equal link portion and a lower horizontal movement guide portion for guiding the second link portion of the equal link portion in the horizontal direction, As the first and second link units move in the horizontal direction along each of the horizontal movement guide units, the width of the movement interval between the links of the equal link unit is kept constant, thereby preventing buckling.
  • the equal link unit is guided in the horizontal direction by the first link unit that is guided in the horizontal direction by the upper horizontal movement guide unit among the plurality of horizontal movement guide units and the lower horizontal movement guide unit among the plurality of horizontal movement guide units. It includes a second link unit, and since the first and second link units are guided and moved in the horizontal direction by each of the horizontal movement guide units, the movement interval width between the links of the equal link unit is kept constant, thereby preventing buckling.
  • first link coupling part coupled to the center of the first link unit and moving in the horizontal direction along the upper horizontal movement guide unit, coupled to the center of the second link unit linked to the first link unit and moving horizontally along the lower horizontal movement guide unit It includes a second link coupling portion moving in the direction.
  • a plurality of interlocking coupling units that couple the equal link unit and the plurality of endoscope insertion units so that the plurality of endoscope insertion units move in the horizontal direction in conjunction with the horizontal movement of the equal link unit are further included.
  • the anti-buckling endoscope insertion device characterized in that the plurality of interlocking coupling portions are coupled to the center of the link of the equal link portion, and are coupled by crossing the links one by one.
  • FIG. 1 to 3 are views schematically showing the configuration of an anti-buckling endoscope insertion device according to an embodiment of the present invention
  • Figure 4 is a view schematically showing the 7th, 8th, and 9th link parts, the third interlocking coupling unit, the 6th and 7th link coupling units, the upper horizontal movement guide unit and the lower horizontal movement guide unit according to an embodiment of the present invention. ego,
  • FIG. 5 is a diagram schematically showing an equal link unit, a link coupling unit, and a plurality of interlocking coupling units according to an embodiment of the present invention
  • FIG. 6 is a view showing the movement of the guide sheath toward the human body according to the driving of the first driving unit according to an embodiment of the present invention
  • FIG. 7 is a diagram illustrating movement of an endoscope toward a human body according to driving of a second driving unit according to an embodiment of the present invention.
  • An anti-buckling endoscope insertion device 10 is a device for inserting an endoscope while preventing buckling when the endoscope is inserted into the human body.
  • an anti-buckling endoscope insertion device 10 according to an embodiment of the present invention will be described with reference to the accompanying drawings.
  • the guide sheath 11 has one side fixed to the guide sheath fixing part 130 and protrudes toward the human body.
  • the protruding guide sheath 11 horizontally moves or retreats toward the human body according to the horizontal movement of the guide sheath moving unit 100 .
  • One side of the endoscope 12 is fixed (including attachment/detachment) to the endoscope movable body 310, and the endoscope 12 is inserted into the guide sheath 11 according to the horizontal movement of the endoscope movable body 310 so that the human body inserted into or withdrawn.
  • a surgical tool such as a laser or a basket may be inserted into the endoscope 12 .
  • the guide sheath moving unit 100 includes a guide sheath moving body 110, a coupling link unit 120, and a guide sheath fixing unit 130.
  • the guide sheath moving body 110 moves in the horizontal direction according to the driving of the first driving unit 420 .
  • the coupling link portion 120 has one end coupled to the guide sheath movable body 110 and the other end coupled to the guide sheath fixing unit 130 . Therefore, when the guide sheath movable body 110 moves in the horizontal direction, the guide sheath fixing part 130 also moves horizontally in the same direction in conjunction with it. That is, when the guide sheath movable body 110 moves horizontally toward the human body, the guide sheath fixing portion 130 is also connected by the coupling link 120 and moves horizontally toward the human body, so the guide sheath 11 moves toward the human body do.
  • An upper horizontal movement guide part 111 and a lower horizontal movement guide part 112 are formed in the longitudinal direction of the guide sheath moving body part 110 as shown in FIGS. 4 and 5 .
  • the upper horizontal movement guide part 111 is formed on the upper side of the body part 110 in the longitudinal direction of the body part, and the lower horizontal movement guide part 112 is formed on the lower side of the body part 110 in the longitudinal direction of the body part. Therefore, the upper horizontal movement guide part 111 and the lower horizontal movement guide part 112 are formed in parallel and spaced apart from each other at a predetermined interval.
  • the upper horizontal movement guide part 111 allows the first, third, fifth and seventh link coupling parts 221, 223, 225 and 227 to move in a horizontal direction
  • the lower horizontal movement guide part 112 has the second, fourth, sixth and eighth links.
  • the coupling parts 222 , 224 , 226 , and 228 guide the movement in the horizontal direction.
  • each link 211 of the equal link unit 210, ., 219) is evenly widened because, as shown in FIG. 4, the interior angle ⁇ 1 formed by the seventh link portion 217 and the eighth link portion 218 and the eighth link portion 218 This means that the inner angles ⁇ 2 formed by the ninth link portion 219 are equal to each other and widened.
  • the interior angle ⁇ 1 formed by the seventh link portion 217 and the eighth link portion 218 and formed by the eighth link portion 218 and the ninth link portion 219 This means that the interior angles ⁇ 2 are equal and narrow.
  • An anti-buckling unit 200 includes an equal link unit 210, a link coupling unit 220, a plurality of endoscope insertion units 230, and a plurality of interlocking coupling units 240. .
  • the equal link unit 210 and the plurality of endoscope insertion units 230 move in a horizontal direction in pairs. That is, when the equal link unit 210 moves in one horizontal direction, the plurality of endoscope insertion units 230 also move horizontally in the same direction.
  • equal link unit 210 As shown in FIGS. 1 and 5, the first,..., and ninth link units 211,..., and 219 are linked to each other.
  • the first link part 211 is linked to the power transmission link part 320, and the ninth link part 219 is linked to the fourth interlocking coupling part 244.
  • a second, .,8 link part (212, .,218) are arranged and linked to each other.
  • first, third, fifth, and seventh link coupling parts 221, 223, 225, and 227 are respectively coupled to the center of the second, fourth, sixth, and eighth link parts 212, 214, 216, and 218, and the center of the third, fifth, and seventh link parts 213, 215, and 217, respectively.
  • the second, fourth and sixth link coupling parts 222,224 and 226 are respectively coupled.
  • the first, third, fifth, and seventh link coupling portions 221,223,225, and 227 are guided in a horizontal direction along the upper horizontal movement guide portion 111, and the second, fourth, sixth, and eighth link coupling portions 222,224,226, and 228 are horizontally moved at the lower portion.
  • the guide is moved in a horizontal direction along the guide part 112 . Therefore, the link coupling part is alternately guiding and coupled to the upper horizontal movement guide part and the lower horizontal movement guide part. In this way, the width between the plurality of link parts 211, ..., 219 may be uniformly widened or narrowed by moving the link coupling part along each of the horizontal movement guide parts divided up and down.
  • the first, ..., and eight link coupling parts 221, ..., 228 are the upper horizontal movement guide part 111 formed on the upper side along the longitudinal direction and the lower horizontal movement guide formed on the lower side. It may be guided in the horizontal direction along the portion 112, or in another embodiment, may be guided in the horizontal direction along one horizontal movement guide portion formed in the center along the longitudinal direction.
  • the width between each link of the equal link 210 is kept constant and narrowed, so that the endoscope 12 is prevented from buckling and the endoscope into the human body ( 12) can be inserted.
  • the buckling of the endoscope 12 may be prevented by the plurality of endoscope insertion parts 230 as well.
  • the endoscope 12 is inserted into the plurality of endoscope insertion parts 230 and moves in the horizontal direction in conjunction with the horizontal movement of the equal link part 210, so that the first, ., 4
  • the distance between the endoscope insertion parts 231, ..., 234 is evenly narrowed or widened.
  • .,4 endoscope insertion part (231, ., 234) is made of a conical shape to prevent buckling while the endoscope 12 is inserted inside.
  • the first .,4 endoscope insertion part (231, .,234) can be transformed into various shapes that can prevent buckling.
  • the plurality of interlocking coupling units 240 couple the link unit and the endoscope insertion unit so that when the link unit moves horizontally to one side, the endoscope insertion unit moves horizontally in the same direction.
  • one side of the first interlocking coupling part 241 is coupled to the center of the third link part 213, and the other side of the first interlocking coupling part 241 is the first endoscope insertion unit (231) is coupled to one side.
  • One side of the second interlocking coupling unit 242 is coupled to the center of the fifth link unit 215, and the other side of the second interlocking coupling unit 242 is coupled to one side of the second endoscope insertion unit 232.
  • One side of the third interlocking coupling unit 243 is coupled to the center of the seventh link unit 217, and the other side of the third interlocking coupling unit 243 is coupled to one side of the third endoscope insertion unit 233.
  • One side of the fourth interlocking coupling unit 244 is coupled to the center of the ninth link unit 219, and the other side of the fourth interlocking coupling unit 244 is coupled to one side of the fourth endoscope insertion unit 234.
  • one side of the plurality of interlocking coupling parts 240 is coupled to the center of the third, fifth, seventh, and ninth link parts 213, 215, 217, and 219 while crossing the fourth, sixth, and eighth link parts 214, 216, and 218.
  • the endoscope moving unit 300 includes an endoscope moving body 310, a force transmission link unit 320, and a surgical tool insertion unit 330.
  • the endoscope moving body 310 moves in the horizontal direction according to the driving of the second driving unit 430 .
  • One side of the endoscope 12 is fixed to the endoscope moving body 310 . Therefore, when the endoscope moving body 310 moves in the horizontal direction, the endoscope 12 also moves horizontally in the same direction.
  • the power transmission link unit 320 moves in the horizontal direction together with the endoscope moving body 310 according to the driving of the second driving unit 430 .
  • one side of the force transmission link unit 320 is linked to the first link unit 211 .
  • the surgical tool insertion unit 30 is formed and disposed on the endoscope moving body 310, and a surgical tool (such as an endoscope or a basket) inserted into the endoscope 12 is inserted.
  • a surgical tool such as an endoscope or a basket
  • the inserted surgical instrument can be operated independently.
  • the driving unit 400 includes a first driving unit 420 and a second driving unit 430 .
  • Each of the driving units 420 and 430 may be embodied as a linear screw and operate independently.
  • the guide sheath moving body 110 is horizontally moved toward the human body according to the driving of the first driving unit 420 When this is done, the guide sheath movable body 110 horizontally moves toward the human body in a relative motion with respect to the endoscope movable body 310 .
  • the guide sheath 11 can be inserted into the human body.
  • the width between the links of the equal link part 210 is equally widened, and the width between the plurality of endoscope insertion parts 230 is also equally widened.
  • the relative movement means that the endoscope moving body 310 can also move when the guide sheath moving body 110 moves. That is, the distance between the link and the endoscope insertion unit is adjusted according to the relative motion between them.
  • the endoscope movable body 310 moves relative to the guide sheath movable body 110.
  • the body part 310 moves horizontally toward the human body. Accordingly, the endoscope 12 can be inserted into the human body.
  • the width between the links of the equal link unit 210 is uniformly narrowed, and the width between the plurality of endoscope insertion units 230 is equally narrowed.
  • the relative motion means that the guide sheath movable body 110 can also move when the endoscope movable body 310 moves. That is, the distance between the link and the endoscope insertion unit is adjusted according to the relative motion between them.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)

Abstract

La présente invention concerne un dispositif d'insertion d'endoscope anti-déformation, et un dispositif d'insertion d'endoscope anti-déformation qui empêche la déformation pendant l'insertion d'un endoscope. À cet effet, la présente invention concerne un dispositif d'insertion d'endoscope anti-déformation, comprenant : une partie de déplacement de gaine de guidage qui déplace une gaine de guidage vers le côté humain sans bouger ; et une partie de déplacement d'endoscope qui insère et déplace un endoscope dans le corps humain lorsque l'endoscope est inséré dans la gaine de guidage qui est déplacée selon le déplacement relatif avec la partie de déplacement de gaine de guidage.
PCT/KR2022/017543 2021-11-09 2022-11-09 Dispositif d'insertion d'endoscope anti-déformation WO2023085766A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202280074136.XA CN118215427A (zh) 2021-11-09 2022-11-09 防屈曲内窥镜插入装置

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KR1020210153480A KR102642933B1 (ko) 2021-11-09 2021-11-09 버클링 방지 내시경 삽입 장치
KR10-2021-0153480 2021-11-09

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WO2023085766A1 true WO2023085766A1 (fr) 2023-05-19

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WO (1) WO2023085766A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009078150A (ja) * 1998-08-05 2009-04-16 Boston Scientific Ltd カテーテル用自動式／手動式長手軸位置変換器および回転式駆動システム
JP2010279688A (ja) * 2009-05-07 2010-12-16 Univ Of Occupational & Environmental Health Japan 内視鏡遠隔操作システム
US20140276391A1 (en) * 2013-03-15 2014-09-18 Hansen Medical, Inc. Catheter insertion system and method of fabrication
KR102194582B1 (ko) * 2017-12-29 2020-12-24 엑스케이스 인코포레이티드 조종 가능한 수술용 로봇 시스템
CN213310265U (zh) * 2020-07-17 2021-06-01 安徽航天生物科技股份有限公司 一种基于闭环反馈的软性内窥镜手术机器人模组

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102252577B1 (ko) 2020-06-30 2021-05-17 한국과학기술원 내시경의 오버튜브를 위한 버클링 방지 장치

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009078150A (ja) * 1998-08-05 2009-04-16 Boston Scientific Ltd カテーテル用自動式／手動式長手軸位置変換器および回転式駆動システム
JP2010279688A (ja) * 2009-05-07 2010-12-16 Univ Of Occupational & Environmental Health Japan 内視鏡遠隔操作システム
US20140276391A1 (en) * 2013-03-15 2014-09-18 Hansen Medical, Inc. Catheter insertion system and method of fabrication
KR102194582B1 (ko) * 2017-12-29 2020-12-24 엑스케이스 인코포레이티드 조종 가능한 수술용 로봇 시스템
CN213310265U (zh) * 2020-07-17 2021-06-01 安徽航天生物科技股份有限公司 一种基于闭环反馈的软性内窥镜手术机器人模组

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CN118215427A (zh) 2024-06-18
KR102642933B1 (ko) 2024-03-06

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