WO2012054829A3 - Highly articulated robotic probes and methods of production and use of such probes - Google Patents

Highly articulated robotic probes and methods of production and use of such probes Download PDF

Info

Publication number
WO2012054829A3
WO2012054829A3 PCT/US2011/057282 US2011057282W WO2012054829A3 WO 2012054829 A3 WO2012054829 A3 WO 2012054829A3 US 2011057282 W US2011057282 W US 2011057282W WO 2012054829 A3 WO2012054829 A3 WO 2012054829A3
Authority
WO
WIPO (PCT)
Prior art keywords
links
probes
inner core
outer sleeve
production
Prior art date
Application number
PCT/US2011/057282
Other languages
French (fr)
Other versions
WO2012054829A2 (en
Inventor
Joseph A. Stand
Robert A. Didomenico
Brett Zubiate
Ian J. Darisse
J. Christopher Flaherty
Original Assignee
Medrobotics Corporation
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 Medrobotics Corporation filed Critical Medrobotics Corporation
Priority to EP11835214.5A priority Critical patent/EP2629655B1/en
Priority to US13/880,525 priority patent/US8992421B2/en
Priority to AU2011316849A priority patent/AU2011316849B2/en
Priority to CA2815396A priority patent/CA2815396A1/en
Priority to JP2013535114A priority patent/JP5711380B2/en
Publication of WO2012054829A2 publication Critical patent/WO2012054829A2/en
Publication of WO2012054829A3 publication Critical patent/WO2012054829A3/en
Priority to US14/587,166 priority patent/US10238460B2/en
Priority to US16/296,690 priority patent/US20190307521A1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B1/005—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
    • 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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Abstract

A highly articulated robotic probe comprises an outer sleeve and an inner core. The outer sleeve and inner core include a plurality of links. The links of the outer sleeve and inner core are configured to pivot relative to one another. Various characteristics of the links determine the overall pivot angle of the articulated probe. Each of the plurality of links may have one or more channels. The channels form a semi-continuous passage from link to link and are configured to receive an elongated member such as an inner core, tool or cable. One or more cables may be used to control the outer links of the outer sleeve and the inner links of the inner core. Various characteristics of the cables determine the overall performance of the articulated probe.
PCT/US2011/057282 2010-10-22 2011-10-21 Highly articulated robotic probes and methods of production and use of such probes WO2012054829A2 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP11835214.5A EP2629655B1 (en) 2010-10-22 2011-10-21 Highly articulated robotic probes and methods of production and use of such probes
US13/880,525 US8992421B2 (en) 2010-10-22 2011-10-21 Highly articulated robotic probes and methods of production and use of such probes
AU2011316849A AU2011316849B2 (en) 2010-10-22 2011-10-21 Highly articulated robotic probes and methods of production and use of such probes
CA2815396A CA2815396A1 (en) 2010-10-22 2011-10-21 Highly articulated robotic probes and methods of production and use of such probes
JP2013535114A JP5711380B2 (en) 2010-10-22 2011-10-21 Articulated robotic probe
US14/587,166 US10238460B2 (en) 2010-10-22 2014-12-31 Highly articulated robotic probes and methods of production and use of such probes
US16/296,690 US20190307521A1 (en) 2010-10-22 2019-03-08 Highly articulated robotic probes and methods of production and use of such probes

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
US40603210P 2010-10-22 2010-10-22
US61/406,032 2010-10-22
US41273310P 2010-11-11 2010-11-11
US61/412,733 2010-11-11
US201161472344P 2011-04-06 2011-04-06
US61/472,344 2011-04-06
US201161492578P 2011-06-02 2011-06-02
US61/492,578 2011-06-02
US201161534032P 2011-09-13 2011-09-13
US61/534,032 2011-09-13

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US13/880,525 A-371-Of-International US8992421B2 (en) 2010-10-22 2011-10-21 Highly articulated robotic probes and methods of production and use of such probes
US14/587,166 Continuation US10238460B2 (en) 2010-10-22 2014-12-31 Highly articulated robotic probes and methods of production and use of such probes

Publications (2)

Publication Number Publication Date
WO2012054829A2 WO2012054829A2 (en) 2012-04-26
WO2012054829A3 true WO2012054829A3 (en) 2012-07-19

Family

ID=45975912

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2011/057282 WO2012054829A2 (en) 2010-10-22 2011-10-21 Highly articulated robotic probes and methods of production and use of such probes

Country Status (6)

Country Link
US (3) US8992421B2 (en)
EP (1) EP2629655B1 (en)
JP (2) JP5711380B2 (en)
AU (2) AU2011316849B2 (en)
CA (1) CA2815396A1 (en)
WO (1) WO2012054829A2 (en)

Families Citing this family (53)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9011318B2 (en) * 2004-06-25 2015-04-21 Carnegie Mellon University and University of Pittsburg—Of the Commonwealth System of Higher Education Steerable, follow the leader device
EP2793729B1 (en) * 2011-12-21 2019-04-17 Medrobotics Corporation Stabilizing apparatus for highly articulated probes with link arrangement
GB2500711A (en) * 2012-03-30 2013-10-02 Philip Michael Peter Beglan Structure of changeable shape
FR2991221B1 (en) * 2012-06-01 2015-02-27 Aldebaran Robotics VERTEBRAL COLUMN FOR HUMANOID ROBOT
US9144370B2 (en) 2013-02-28 2015-09-29 Canon Usa Inc. Mechanical structure of articulated sheath
AU2014259679B2 (en) * 2013-05-02 2018-03-22 Metrobotics Corporation A robotic system including a cable interface assembly
EP3046454B1 (en) * 2013-09-20 2024-04-03 Canon U.S.A., Inc. Control apparatus for tendon-driven device
AU2014354929A1 (en) 2013-11-27 2016-07-07 Medrobotics Corporation Oral retraction devices and methods
US20180228557A1 (en) * 2015-04-20 2018-08-16 Medrobotics Corporation Articulating robotic probes, systems and methods incorporating the same, and methods for performing surgical procedures
JP6592181B2 (en) * 2015-08-07 2019-10-16 アイ シン アジョイ Handheld device for treating an artery and arterial treatment method of a handheld device
WO2017041052A1 (en) 2015-09-03 2017-03-09 Neptune Medical Device for endoscopic advancement through the small intestine
US10434288B2 (en) * 2016-01-15 2019-10-08 Cook Medical Technologies Llc Locking medical guide wire
US20180193608A1 (en) * 2016-01-15 2018-07-12 Cook Medical Technologies Llc Modular medical guide wire assembly
CA3152869A1 (en) 2016-02-05 2017-08-10 Board Of Regents Of The University Of Texas System Surgical apparatus comprimising a steerable memeber and bending actuation wires
KR20230008220A (en) 2016-02-05 2023-01-13 보드 오브 리전츠, 더 유니버시티 오브 텍사스 시스템 The manipulatable intraruminal medical device
WO2017145340A1 (en) * 2016-02-25 2017-08-31 オリンパス株式会社 Manipulator system and operating method therefor
JP6188995B1 (en) * 2016-02-25 2017-08-30 オリンパス株式会社 Manipulator system and its operating method
JP6932727B2 (en) 2016-05-23 2021-09-08 マコ サージカル コーポレーション Medical device for cutting bone
CN110191667B (en) 2016-08-18 2022-06-03 海王星医疗公司 Device and method for enhancing the visual effects of the small intestine
CN110290738A (en) * 2017-02-13 2019-09-27 奥林巴斯株式会社 Endoscope-use bending section
US11103992B2 (en) 2017-02-28 2021-08-31 Canon Kabushiki Kaisha Apparatus of continuum robot
US11278366B2 (en) 2017-04-27 2022-03-22 Canon U.S.A., Inc. Method for controlling a flexible manipulator
US11241245B2 (en) * 2017-05-15 2022-02-08 Boston Scientific Scimed, Inc. Tissue deflecting devices and related methods of use
WO2018216117A1 (en) 2017-05-23 2018-11-29 オリンパス株式会社 Flexible tube for medical use and flexible manipulator for medical use
US11007641B2 (en) 2017-07-17 2021-05-18 Canon U.S.A., Inc. Continuum robot control methods and apparatus
WO2019018682A1 (en) * 2017-07-20 2019-01-24 Neptune Medical Inc. Dynamically rigidizing overtube
US20200261171A1 (en) 2017-11-06 2020-08-20 Medrobotics Corporation Robotic system with articulating probe and articulating camera
FR3073440B1 (en) * 2017-11-16 2019-10-25 Warein INFLATABLE TUBE WITH VARIABLE GEOMETRY AND CONSTANT VOLUME, ROBOTIC ARM AND ROBOT
WO2019136345A1 (en) * 2018-01-05 2019-07-11 Medrobotics Corporation Robotically controlled surgical tool
WO2019136348A2 (en) * 2018-01-05 2019-07-11 Medrobotics Corporation Robotic system
US20210068615A1 (en) * 2018-01-05 2021-03-11 Medrobotics Corporation Robotic surgical system
USD874655S1 (en) 2018-01-05 2020-02-04 Medrobotics Corporation Positioning arm for articulating robotic surgical system
CN108272429B (en) * 2018-02-09 2020-12-01 京东方科技集团股份有限公司 Endoscope with a detachable handle
US10962345B2 (en) * 2018-05-23 2021-03-30 General Electric Company Tool and method for inspecting an annular space of an engine
US11458641B2 (en) * 2018-05-23 2022-10-04 General Electric Company Robotic arm assembly construction
US11305420B2 (en) * 2018-05-31 2022-04-19 Virginia Tech Intellectual Properties, Inc. Articulated multi-link robotic tail systems and methods
AU2019307743A1 (en) 2018-07-19 2021-01-28 Neptune Medical Inc. Dynamically rigidizing composite medical structures
US20200114528A1 (en) * 2018-10-15 2020-04-16 General Electric Company Selectively Flexible Extension Tool
US11707819B2 (en) * 2018-10-15 2023-07-25 General Electric Company Selectively flexible extension tool
US10906173B2 (en) * 2018-11-15 2021-02-02 Zezhi Intellectual Property Service Smart cabinet
US11702955B2 (en) 2019-01-14 2023-07-18 General Electric Company Component repair system and method
CN109693246A (en) * 2019-01-18 2019-04-30 哈尔滨工业大学 Enhance the bridging arrangement of growth type soft robot rigidity
US11793392B2 (en) 2019-04-17 2023-10-24 Neptune Medical Inc. External working channels
US11692650B2 (en) 2020-01-23 2023-07-04 General Electric Company Selectively flexible extension tool
US11752622B2 (en) 2020-01-23 2023-09-12 General Electric Company Extension tool having a plurality of links
US11613003B2 (en) 2020-01-24 2023-03-28 General Electric Company Line assembly for an extension tool having a plurality of links
US11371437B2 (en) 2020-03-10 2022-06-28 Oliver Crispin Robotics Limited Insertion tool
US11571269B2 (en) 2020-03-11 2023-02-07 Verb Surgical Inc. Surgeon disengagement detection during termination of teleoperation
CN115666676A (en) 2020-03-30 2023-01-31 海王星医疗公司 Laminar wall for rigidifying device
EP3900650A1 (en) * 2020-04-23 2021-10-27 Microsure B.V. Surgical robotic system comprising spherical wrist
WO2022176841A1 (en) * 2021-02-18 2022-08-25 富士フイルム株式会社 Endoscope
US11654547B2 (en) 2021-03-31 2023-05-23 General Electric Company Extension tool
US20230346204A1 (en) 2022-04-27 2023-11-02 Neptune Medical Inc. Endoscope sheath apparatuses

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4479914A (en) * 1982-11-01 1984-10-30 Cashiers Plastics Process and mold for molding foamed plastic articles
US20020161281A1 (en) * 2000-04-03 2002-10-31 Ross Jaffe Endoscope having a guide tube
US20050065397A1 (en) * 2003-01-15 2005-03-24 Usgi Medical Inc. Endoluminal tool deployment system
US20080163603A1 (en) * 2006-10-24 2008-07-10 Innovention Technologies, Llc. Steerable multi-linked device having a modular link assembly
US20090171151A1 (en) * 2004-06-25 2009-07-02 Choset Howard M Steerable, follow the leader device

Family Cites Families (156)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2510198A (en) * 1947-10-17 1950-06-06 Earl B Tesmer Flexible positioner
US3060972A (en) 1957-08-22 1962-10-30 Bausch & Lomb Flexible tube structures
US3557780A (en) 1967-04-20 1971-01-26 Olympus Optical Co Mechanism for controlling flexure of endoscope
US3583393A (en) 1967-12-26 1971-06-08 Olympus Optical Co Bendable tube assembly
US3572325A (en) 1968-10-25 1971-03-23 Us Health Education & Welfare Flexible endoscope having fluid conduits and control
JPS4831554B1 (en) 1968-12-24 1973-09-29
US3638973A (en) 1969-06-04 1972-02-01 Charles Ellis Poletti Joint means for use in work supporting arm
US3625200A (en) 1969-08-26 1971-12-07 Us Catheter & Instr Corp Controlled curvable tip member
US3739770A (en) 1970-10-09 1973-06-19 Olympus Optical Co Bendable tube of an endoscope
US3703968A (en) 1971-09-20 1972-11-28 Us Navy Linear linkage manipulator arm
GB1372327A (en) 1971-10-11 1974-10-30 Commissariat Energie Atomique Articulated manipulator
US3892228A (en) 1972-10-06 1975-07-01 Olympus Optical Co Apparatus for adjusting the flexing of the bending section of an endoscope
US3920972A (en) 1974-07-16 1975-11-18 Cincinnati Milacron Inc Method and apparatus for programming a computer operated robot arm
FR2278457A1 (en) 1974-07-18 1976-02-13 Commissariat Energie Atomique MOTORIZED MANIPULATOR WITH CABLES
US4108211A (en) 1975-04-28 1978-08-22 Fuji Photo Optical Co., Ltd. Articulated, four-way bendable tube structure
SE401637B (en) 1976-03-29 1978-05-22 Asea Ab PROCEDURE AND DEVICE FOR BRINGING AN INDUSTRIAL ROBOT TO CARRY OUT A COMPLEX MOVEMENT
JPS54159964A (en) 1978-06-06 1979-12-18 Shiroyama Kogyo Kk Articulated arm type manipulator
JPS594266B2 (en) 1978-07-28 1984-01-28 元田電子工業株式会社 Advanced control robot
US4221997A (en) 1978-12-18 1980-09-09 Western Electric Company, Incorporated Articulated robot arm and method of moving same
US4494417A (en) 1979-03-16 1985-01-22 Robotgruppen Hb Flexible arm, particularly a robot arm
JPS6041203Y2 (en) 1979-04-03 1985-12-14 富士写真光機株式会社 Curved tube part of endoscope
DE3045295A1 (en) 1979-05-21 1982-02-18 American Cystoscope Makers Inc Surgical instrument for an endoscope
US4259876A (en) 1979-10-02 1981-04-07 Belyanin Petr N Mechanical arm
JPH0122641Y2 (en) 1979-10-20 1989-07-07
US4445184A (en) 1980-07-19 1984-04-24 Shin Meiwa Industry Co., Ltd. Articulated robot
JPS605432B2 (en) 1980-09-30 1985-02-12 ファナック株式会社 industrial robot
JPS598516B2 (en) * 1981-04-03 1984-02-24 茂男 広瀬 Multisegmented funicular apparatus
NO148986C (en) 1981-10-05 1984-01-25 Ole Molaug ROBOT MANIPULATOR DEVICE
JPS58177283A (en) 1982-04-07 1983-10-17 株式会社岡村製作所 Industrial robot with articulated type arm
SE450285B (en) 1982-06-24 1987-06-15 Asea Ab SAFETY DEVICE ON INDUSTRIROBOT MANOVER UNIT
SE436848B (en) 1982-06-28 1985-01-28 Asea Ab INDUSTRIROBOT CONTROL SYSTEM
US4806066A (en) 1982-11-01 1989-02-21 Microbot, Inc. Robotic arm
US4517963A (en) 1983-01-04 1985-05-21 Harold Unger Image-erecting barrel rotator for articulated optical arm
US4475375A (en) 1983-01-24 1984-10-09 Hill Ernest W Multi-flex tube bending mandrel
US4666366A (en) 1983-02-14 1987-05-19 Canon Kabushiki Kaisha Articulated arm transfer device
US4900218A (en) 1983-04-07 1990-02-13 Sutherland Ivan E Robot arm structure
US4564179A (en) 1984-04-12 1986-01-14 Hollingsworth Ashley J Articulated support arm apparatus
JPS6119593A (en) 1984-07-04 1986-01-28 フアナツク株式会社 Safety device for inner-pressure explosion-proof robot
US4600355A (en) 1984-08-29 1986-07-15 Cybot, Inc. Modular robotics system with basic interchangeable parts
JPS61146482A (en) 1984-12-20 1986-07-04 工業技術院長 Controller for different-structure different freedom-degree bilateral-master/slave-manipulator
JPH055529Y2 (en) 1985-03-25 1993-02-15
JPS61249286A (en) 1985-04-27 1986-11-06 フアナツク株式会社 Industrial robot
JPS61281305A (en) 1985-06-06 1986-12-11 Toyota Motor Corp Articulated robot control device
US4700693A (en) 1985-12-09 1987-10-20 Welch Allyn, Inc. Endoscope steering section
JPS62192134A (en) 1986-02-17 1987-08-22 オリンパス光学工業株式会社 Curved part device for endoscope
EP0239409A1 (en) 1986-03-28 1987-09-30 Life Technology Research Foundation Robot for surgical operation
US5078140A (en) 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
JPS63196388A (en) 1987-02-06 1988-08-15 株式会社東芝 Teaching device for remote control robot
SE462645B (en) 1987-03-31 1990-08-06 Asea Ab DEVICE FOR INDUSTRIAL ROBOTS WITH REGARD TO TOOLS
JPS63256387A (en) 1987-04-13 1988-10-24 三菱電機株式会社 Joint mechanism of industrial robot
US4838859A (en) 1987-05-19 1989-06-13 Steve Strassmann Steerable catheter
US4863133A (en) 1987-05-26 1989-09-05 Leonard Medical Arm device for adjustable positioning of a medical instrument or the like
US4796607A (en) 1987-07-28 1989-01-10 Welch Allyn, Inc. Endoscope steering section
US4790294A (en) 1987-07-28 1988-12-13 Welch Allyn, Inc. Ball-and-socket bead endoscope steering section
IT1235460B (en) 1987-07-31 1992-07-30 Confida Spa FLEXIBLE ENDOSCOPE.
US4787369A (en) 1987-08-14 1988-11-29 Welch Allyn, Inc. Force relieving, force limiting self-adjusting steering for borescope or endoscope
US4804897A (en) 1987-08-19 1989-02-14 Hewlett-Packard Company Orientation-dependant robot controller
US4805477A (en) 1987-10-22 1989-02-21 Gmf Robotics Corporation Multiple joint robot part
US4780045A (en) 1987-11-09 1988-10-25 Gmf Robotics Corporation Robot with improved cable routing system
US5046375A (en) 1988-04-21 1991-09-10 Massachusetts Institute Of Technology Compact cable transmission with cable differential
US4979949A (en) 1988-04-26 1990-12-25 The Board Of Regents Of The University Of Washington Robot-aided system for surgery
US5005558A (en) 1988-05-16 1991-04-09 Kabushiki Kaisha Toshiba Endoscope
US5012169A (en) 1988-07-20 1991-04-30 Yokogawa Electric Corporation Motor drive system
US4950116A (en) 1988-08-18 1990-08-21 Kabushiki Kaisha Toshiba Manipulator controlling apparatus
DE3829603A1 (en) 1988-09-01 1990-03-15 Kontron Holding Ag ULTRASONIC DOSCOPE DEVICE
US4947827A (en) 1988-12-30 1990-08-14 Opielab, Inc. Flexible endoscope
US5037391A (en) 1989-01-09 1991-08-06 Pilot Cardiovascular Systems, Inc. Steerable angioplasty device
US5203772A (en) 1989-01-09 1993-04-20 Pilot Cardiovascular Systems, Inc. Steerable medical device
US5108368A (en) 1990-01-04 1992-04-28 Pilot Cardiovascular System, Inc. Steerable medical device
US4998916A (en) 1989-01-09 1991-03-12 Hammerslag Julius G Steerable medical device
US5064340A (en) 1989-01-20 1991-11-12 Genmark Automation Precision arm mechanism
US4941457A (en) 1989-08-17 1990-07-17 Olympus Optical Co., Ltd. Endoscope using an optical guide twisted on the tip side to have the visual field direction and curvature axis coincide with each other
US5201325A (en) 1989-09-01 1993-04-13 Andronic Devices Ltd. Advanced surgical retractor
US5203380A (en) 1989-10-13 1993-04-20 Kabushiki Kaisha Machida Seisakusho Bending device
JPH03128028A (en) 1989-10-13 1991-05-31 Machida Seisakusho:Kk Angle for curving operation device
US4949927A (en) 1989-10-17 1990-08-21 John Madocks Articulable column
JP2938486B2 (en) 1989-12-28 1999-08-23 株式会社町田製作所 Curved tube and manufacturing method thereof
JPH03218723A (en) 1990-01-24 1991-09-26 Toshiba Corp Endoscope
US5254088A (en) 1990-02-02 1993-10-19 Ep Technologies, Inc. Catheter steering mechanism
US5195968A (en) 1990-02-02 1993-03-23 Ingemar Lundquist Catheter steering mechanism
US5200679A (en) 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
JPH03264041A (en) 1990-03-14 1991-11-25 Machida Endscope Co Ltd Curving operating device
JP2852785B2 (en) 1990-03-14 1999-02-03 株式会社町田製作所 Angle for flexible tube
US5086401A (en) 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
JP2987452B2 (en) 1990-05-17 1999-12-06 オリンパス光学工業株式会社 Endoscope
US5193963A (en) 1990-10-31 1993-03-16 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Force reflecting hand controller
US5044063A (en) 1990-11-02 1991-09-03 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Robotic tool change mechanism
JPH04194406A (en) * 1990-11-28 1992-07-14 Toshiba Corp Actuator
US5217453A (en) 1991-03-18 1993-06-08 Wilk Peter J Automated surgical system and apparatus
US5217003A (en) 1991-03-18 1993-06-08 Wilk Peter J Automated surgical system and apparatus
US5180276A (en) 1991-04-18 1993-01-19 Brooks Automation, Inc. Articulated arm transfer device
US5251611A (en) * 1991-05-07 1993-10-12 Zehel Wendell E Method and apparatus for conducting exploratory procedures
US5266875A (en) 1991-05-23 1993-11-30 Massachusetts Institute Of Technology Telerobotic system
US5271381A (en) 1991-11-18 1993-12-21 Vision Sciences, Inc. Vertebrae for a bending section of an endoscope
ATE155059T1 (en) 1992-01-21 1997-07-15 Stanford Res Inst Int TELEOPERATOR SYSTEM AND TELEPRESENCE METHOD
US5257669A (en) 1992-02-10 1993-11-02 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Climbing robot
US5327905A (en) 1992-02-14 1994-07-12 Boaz Avitall Biplanar deflectable catheter for arrhythmogenic tissue ablation
US5297443A (en) 1992-07-07 1994-03-29 Wentz John D Flexible positioning appendage
US5524180A (en) 1992-08-10 1996-06-04 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5337732A (en) 1992-09-16 1994-08-16 Cedars-Sinai Medical Center Robotic endoscopy
US5318526A (en) 1992-09-29 1994-06-07 Neuro Navigational Corporation Flexible endoscope with hypotube activating wire support
DE4305376C1 (en) 1993-02-22 1994-09-29 Wolf Gmbh Richard Medical instrument shaft
US5386741A (en) 1993-06-07 1995-02-07 Rennex; Brian G. Robotic snake
US5649956A (en) 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
US6210337B1 (en) * 1995-06-07 2001-04-03 Atl Ultrasound Inc. Ultrasonic endoscopic probe
US5759151A (en) 1995-06-07 1998-06-02 Carnegie Mellon University Flexible steerable device for conducting exploratory procedures
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
WO1998049944A1 (en) * 1997-05-02 1998-11-12 Pilling Weck Incorporated Adjustable supporting bracket having plural ball and socket joints
US5916147A (en) * 1997-09-22 1999-06-29 Boury; Harb N. Selectively manipulable catheter
US7789875B2 (en) 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
US7169141B2 (en) 1998-02-24 2007-01-30 Hansen Medical, Inc. Surgical instrument
WO2000007503A1 (en) 1998-08-04 2000-02-17 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
US6852107B2 (en) 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
US6234958B1 (en) 1998-11-30 2001-05-22 Medical Access Systems, Llc Medical device introduction system including medical introducer having a plurality of access ports and methods of performing medical procedures with same
US6450948B1 (en) * 1999-11-02 2002-09-17 Vista Medical Technologies, Inc. Deflecting tip for surgical cannula
US6440061B1 (en) 2000-03-24 2002-08-27 Donald E. Wenner Laparoscopic instrument system for real-time biliary exploration and stone removal
US6610007B2 (en) 2000-04-03 2003-08-26 Neoguide Systems, Inc. Steerable segmented endoscope and method of insertion
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US6743239B1 (en) 2000-05-25 2004-06-01 St. Jude Medical, Inc. Devices with a bendable tip for medical procedures
AU2001280635B2 (en) 2000-07-20 2006-09-21 Kinetic Surgical Llc Hand-actuated articulating surgical tool
US6916306B1 (en) 2000-11-10 2005-07-12 Boston Scientific Scimed, Inc. Steerable loop structures for supporting diagnostic and therapeutic elements in contact with body tissue
WO2002062199A2 (en) 2001-01-16 2002-08-15 Microdexterity Systems, Inc. Surgical manipulator
US7699835B2 (en) 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
US20030135204A1 (en) 2001-02-15 2003-07-17 Endo Via Medical, Inc. Robotically controlled medical instrument with a flexible section
US7250027B2 (en) * 2002-05-30 2007-07-31 Karl Storz Endovision, Inc. Articulating vertebrae with asymmetrical and variable radius of curvature
US6790173B2 (en) 2002-06-13 2004-09-14 Usgi Medical, Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US7344543B2 (en) 2003-07-01 2008-03-18 Medtronic, Inc. Method and apparatus for epicardial left atrial appendage isolation in patients with atrial fibrillation
US20060100610A1 (en) 2004-03-05 2006-05-11 Wallace Daniel T Methods using a robotic catheter system
EP1737335B1 (en) 2004-03-23 2013-05-15 Boston Scientific Limited In-vivo visualization system
US8075476B2 (en) * 2004-07-27 2011-12-13 Intuitive Surgical Operations, Inc. Cannula system and method of use
US8827899B2 (en) 2004-09-24 2014-09-09 Vivid Medical, Inc. Disposable endoscopic access device and portable display
EP1838223A2 (en) * 2004-11-23 2007-10-03 Novare Surgical Systems, Inc. Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools
EP1815949A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
US8518024B2 (en) 2006-04-24 2013-08-27 Transenterix, Inc. System and method for multi-instrument surgical access using a single access port
AU2007257754A1 (en) 2006-06-08 2007-12-21 Bannerman, Brett Medical device with articulating shaft
WO2008022114A2 (en) 2006-08-14 2008-02-21 Cardiorobotics, Inc. Steerable multi-linked device having multiple working ports
EP2081711A4 (en) 2006-10-20 2013-03-27 Apparatus for positioning a device
US8025670B2 (en) 2006-11-22 2011-09-27 Minos Medical Methods and apparatus for natural orifice vaginal hysterectomy
US8715270B2 (en) 2006-12-01 2014-05-06 Boston Scientific Scimed, Inc. Multi-part instrument systems and methods
US8459138B2 (en) 2007-02-27 2013-06-11 Carnegie Mellon University System for releasably attaching a disposable device to a durable device
JP2010527653A (en) * 2007-05-18 2010-08-19 ボストン サイエンティフィック リミテッド Hollow device connected to torque
JP2009045428A (en) 2007-07-25 2009-03-05 Terumo Corp Operating mechanism, medical manipulator and surgical robot system
US8105233B2 (en) 2007-10-24 2012-01-31 Tarek Ahmed Nabil Abou El Kheir Endoscopic system and method for therapeutic applications and obtaining 3-dimensional human vision simulated imaging with real dynamic convergence
CA2721495C (en) 2008-04-14 2017-12-12 Carnegie Mellon University Articulated device with visualization system
EP2296526B1 (en) 2008-06-05 2017-12-06 Carnegie Mellon University Extendable articulated probe device
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
JP5384869B2 (en) 2008-07-24 2014-01-08 オリンパスメディカルシステムズ株式会社 Endoscopic treatment system
EP3443911A1 (en) 2008-09-05 2019-02-20 Carnegie Mellon University Multi-linked endoscopic device with spherical distal assembly
KR100944412B1 (en) 2008-10-13 2010-02-25 (주)미래컴퍼니 Surgical slave robot
KR101075363B1 (en) 2008-10-31 2011-10-19 정창욱 Surgical Robot System Having Tool for Minimally Invasive Surgery
US8348834B2 (en) 2008-12-18 2013-01-08 Ethicon Endo-Surgery, Inc. Steerable surgical access devices and methods
US20100280325A1 (en) 2009-04-30 2010-11-04 Tamer Ibrahim Retractors and surgical systems including the same
FR2960468B1 (en) * 2010-05-31 2013-03-29 Commissariat Energie Atomique ARTICULATED INFLATABLE STRUCTURE AND ROBOTIC ARM COMPRISING SUCH A STRUCTURE
US9113862B2 (en) * 2010-09-30 2015-08-25 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with a variable staple forming system
JP5253676B2 (en) * 2011-05-20 2013-07-31 オリンパスメディカルシステムズ株式会社 Endoscope
CN103764010B (en) * 2012-08-14 2015-12-30 奥林巴斯株式会社 Endoscope

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4479914A (en) * 1982-11-01 1984-10-30 Cashiers Plastics Process and mold for molding foamed plastic articles
US20020161281A1 (en) * 2000-04-03 2002-10-31 Ross Jaffe Endoscope having a guide tube
US20050065397A1 (en) * 2003-01-15 2005-03-24 Usgi Medical Inc. Endoluminal tool deployment system
US20090171151A1 (en) * 2004-06-25 2009-07-02 Choset Howard M Steerable, follow the leader device
US20080163603A1 (en) * 2006-10-24 2008-07-10 Innovention Technologies, Llc. Steerable multi-linked device having a modular link assembly

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2629655A4 *

Also Published As

Publication number Publication date
US20190307521A1 (en) 2019-10-10
EP2629655A4 (en) 2016-09-14
CA2815396A1 (en) 2012-04-26
US20140005683A1 (en) 2014-01-02
AU2011316849B2 (en) 2016-05-26
JP2014500152A (en) 2014-01-09
JP2015120034A (en) 2015-07-02
JP5711380B2 (en) 2015-04-30
EP2629655A2 (en) 2013-08-28
AU2011316849A1 (en) 2013-05-23
WO2012054829A2 (en) 2012-04-26
US10238460B2 (en) 2019-03-26
AU2016208441A1 (en) 2016-08-18
EP2629655B1 (en) 2018-12-19
US20150313449A1 (en) 2015-11-05
US8992421B2 (en) 2015-03-31
JP5864002B2 (en) 2016-02-17

Similar Documents

Publication Publication Date Title
WO2012054829A3 (en) Highly articulated robotic probes and methods of production and use of such probes
EP3852668A4 (en) Highly articulated laparoscopic joint including electrical signal transmission therethrough
EP3285634A4 (en) Articulated robotic probes
EP3432834A4 (en) Fluid-actuated sheath displacement and articulation behavior improving systems, devices, and methods for catheters, continuum manipulators, and other uses
WO2009114357A3 (en) Shape memory alloy cables
WO2008116567A3 (en) Flexible guide device for a welding rod with individual elements that can pivot in relation to each other in all directions
JP2014500152A5 (en)
WO2015073394A3 (en) Introducer with steerable distal tip section
WO2011146286A3 (en) Tweezers
EP2557444B8 (en) Optical fiber tape core wire, optical fiber cable, and wiring pattern
EP2558918A4 (en) Robotic garden tool following wires at a distance using multiple signals
EP3541871A4 (en) Fiber optic cable having low thermal strain and methods of manufacturing the same
EP3555639A4 (en) Method for measuring an impedance of an electric cable, a coupler arrangement and uses thereof
EP3938964A4 (en) Deep causal learning for continuous testing, diagnosis, and optimization
EP3521883A4 (en) Optical fiber colored core, optical fiber cable, and method for manufacturing optical fiber colored core
EP3521884A4 (en) Optical fiber ribbon, optical fiber cable, and method for manufacturing optical fiber ribbon
WO2015195511A3 (en) Loose-tube fiber optic cables
WO2012156075A3 (en) System cabling for a multiple relay arrangement
EP3465312A4 (en) Optical fiber cable with wrapped, welded jacket and method of manufacturing
EP4014020A4 (en) Airfoil performance monitor
WO2012130883A3 (en) Power conducting device for large angles of twist
WO2017012858A3 (en) Stripping tool
WO2014071305A3 (en) Bending strain relief assembly for marine cables
WO2017061875A3 (en) Hoisting system
EP3300184A4 (en) Led lan cable connector allowing high speed data transmission, led lan cable allowing high speed data transmission, and led lan cable system allowing high speed data transmission

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11835214

Country of ref document: EP

Kind code of ref document: A2

ENP Entry into the national phase

Ref document number: 2815396

Country of ref document: CA

ENP Entry into the national phase

Ref document number: 2013535114

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2011835214

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2011316849

Country of ref document: AU

Date of ref document: 20111021

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 13880525

Country of ref document: US