CA3215568A1 - Dispositif robotise compact et ensembles pour la manipulation d'outils chirurgicaux allonges - Google Patents

Dispositif robotise compact et ensembles pour la manipulation d'outils chirurgicaux allonges Download PDF

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Publication number
CA3215568A1
CA3215568A1 CA3215568A CA3215568A CA3215568A1 CA 3215568 A1 CA3215568 A1 CA 3215568A1 CA 3215568 A CA3215568 A CA 3215568A CA 3215568 A CA3215568 A CA 3215568A CA 3215568 A1 CA3215568 A1 CA 3215568A1
Authority
CA
Canada
Prior art keywords
tool
channel
driving
surgical tool
elongate surgical
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CA3215568A
Other languages
English (en)
Inventor
Simon Sharon
Idan Boader
Evgeny KOFMAN
Zev Sohn
Moshe Shoham
Eran Cohen
Eyal Morag
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Technion Research and Development Foundation Ltd
Microbot Medical Ltd
Original Assignee
Individual
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
Priority claimed from US17/233,774 external-priority patent/US11291515B2/en
Application filed by Individual filed Critical Individual
Publication of CA3215568A1 publication Critical patent/CA3215568A1/fr
Pending legal-status Critical Current

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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
    • A61M2025/0042—Microcatheters, cannula or the like having outside diameters around 1 mm or less
    • 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
    • A61M25/09—Guide wires

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Manipulator (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un ensemble pour entraîner le mouvement d'un outil chirurgical allongé, comprenant : une pluralité de paires adjacentes de roues motrices, chaque paire de roues motrices ayant un espace entre celles-ci de telle sorte que des espaces de la pluralité de paires de roues motrices sont alignés axialement pour former un canal afin que l'outil chirurgical allongé puisse s'étendre à travers ; au moins une paire de roues motrices parmi la pluralité de paires étant agencée pour se trouver sur un plan différent d'un plan sur lequel se trouve au moins une autre paire de roues motrices.
CA3215568A 2021-04-19 2022-03-17 Dispositif robotise compact et ensembles pour la manipulation d'outils chirurgicaux allonges Pending CA3215568A1 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US17/233,774 US11291515B2 (en) 2019-11-28 2021-04-19 Device for automatically inserting and manipulating a medical tool into and within a bodily lumen
US17/233,774 2021-04-19
US202163195020P 2021-05-30 2021-05-30
US63/195,020 2021-05-30
PCT/IL2022/050303 WO2022224234A1 (fr) 2021-04-19 2022-03-17 Dispositif robotisé compact et ensembles pour la manipulation d'outils chirurgicaux allongés

Publications (1)

Publication Number Publication Date
CA3215568A1 true CA3215568A1 (fr) 2022-10-27

Family

ID=83722765

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3215568A Pending CA3215568A1 (fr) 2021-04-19 2022-03-17 Dispositif robotise compact et ensembles pour la manipulation d'outils chirurgicaux allonges

Country Status (6)

Country Link
EP (1) EP4326183A4 (fr)
JP (1) JP2024517106A (fr)
CN (1) CN117529291A (fr)
CA (1) CA3215568A1 (fr)
IL (2) IL307982A (fr)
WO (1) WO2022224234A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4064954A4 (fr) 2019-11-28 2024-02-14 Microbot Medical Ltd. Manipulation robotique d'une poignée d'outil chirurgical
CN115814241B (zh) * 2022-12-02 2025-07-18 上海交通大学 一种摩擦轮驱动的可拆卸介入器械操控装置
EP4437995A1 (fr) * 2023-03-31 2024-10-02 Caranx Medical Module de manipulation d'instrument robotique pour manipulation d'instruments médicaux
CN116712289B (zh) * 2023-05-25 2026-01-27 杭州程天科技发展有限公司 分布式多模组外骨骼驱动关节
CN117442345B (zh) * 2023-12-25 2024-03-15 中国人民解放军总医院第一医学中心 一种软式内镜器械机器人工作站

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10212067A (ja) * 1996-11-28 1998-08-11 Harness Sogo Gijutsu Kenkyusho:Kk 電線加工設備における電線送り込み機構
IL123646A (en) * 1998-03-11 2010-05-31 Refael Beyar Remote control catheterization
EP1442720A1 (fr) * 2003-01-31 2004-08-04 Tre Esse Progettazione Biomedica S.r.l Appareil pour la manoeuvre de cathéters flexibles dans le système cardiovasculaire humain
DE102004007935A1 (de) * 2004-02-18 2005-05-25 Siemens Ag Verfahren zur fernsteuerbaren Navigation einer in einen Körper einführbaren Sonde und Rollenantrieb zur Durchführung des Verfahrens
EP3406291B8 (fr) 2008-05-06 2020-01-15 Corindus, Inc. Système de cathéter
JP5403785B2 (ja) * 2008-10-15 2014-01-29 国立大学法人 名古屋工業大学 挿入装置
US20140276647A1 (en) * 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
WO2018071505A1 (fr) * 2016-10-11 2018-04-19 St. Jude Medical, Cardiology Division, Inc. Appareil et procédé de navigation pour un dispositif médical
KR102184889B1 (ko) * 2018-04-19 2020-12-01 (주)엘엔로보틱스 의료 로봇용 롤러 모듈, 의료 로봇용 구동 기기 및 의료 로봇
CN113195045A (zh) * 2018-10-01 2021-07-30 约塔莫绅有限公司 模块化植入物位置操纵器系统
JP2022169814A (ja) * 2019-09-30 2022-11-10 テルモ株式会社 アクチュエータ及びロボットカテーテルシステム
CN111529065B (zh) * 2020-05-09 2021-08-31 中国科学院自动化研究所 血管介入器械操控装置

Also Published As

Publication number Publication date
CN117529291A (zh) 2024-02-06
EP4326183A1 (fr) 2024-02-28
EP4326183A4 (fr) 2025-04-02
JP2024517106A (ja) 2024-04-19
IL307982A (en) 2023-12-01
WO2022224234A1 (fr) 2022-10-27
IL307833A (en) 2023-12-01

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