FR3016512B1 - Dispositif d'interface maitre pour systeme endoscopique motorise et installation comprenant un tel dispositif - Google Patents

Dispositif d'interface maitre pour systeme endoscopique motorise et installation comprenant un tel dispositif Download PDF

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Publication number
FR3016512B1
FR3016512B1 FR1450560A FR1450560A FR3016512B1 FR 3016512 B1 FR3016512 B1 FR 3016512B1 FR 1450560 A FR1450560 A FR 1450560A FR 1450560 A FR1450560 A FR 1450560A FR 3016512 B1 FR3016512 B1 FR 3016512B1
Authority
FR
France
Prior art keywords
installation
endoscopic system
master interface
interface device
motorized endoscopic
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.)
Active
Application number
FR1450560A
Other languages
English (en)
Other versions
FR3016512A1 (fr
Inventor
Michel De Mathelin
Florent Le Bastard
Florent Nageotte
Philippe Zanne
Lucile Zorn
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.)
Institut De Rech Sur Les Cancers De Lappareil Digestif Ircad
Centre National de la Recherche Scientifique CNRS
Universite de Strasbourg
Institut de Recherche contre les Cancers de l'Appareil Digestif (IRCAD)
Original Assignee
Institut De Rech Sur Les Cancers De Lappareil Digestif Ircad
Centre National de la Recherche Scientifique CNRS
Universite de Strasbourg
Institut de Recherche contre les Cancers de l'Appareil Digestif (IRCAD)
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 Institut De Rech Sur Les Cancers De Lappareil Digestif Ircad, Centre National de la Recherche Scientifique CNRS, Universite de Strasbourg, Institut de Recherche contre les Cancers de l'Appareil Digestif (IRCAD) filed Critical Institut De Rech Sur Les Cancers De Lappareil Digestif Ircad
Priority to FR1450560A priority Critical patent/FR3016512B1/fr
Priority to PCT/EP2015/051189 priority patent/WO2015110495A1/fr
Priority to US15/113,820 priority patent/US10660719B2/en
Priority to EP15701740.1A priority patent/EP3096706B1/fr
Publication of FR3016512A1 publication Critical patent/FR3016512A1/fr
Application granted granted Critical
Publication of FR3016512B1 publication Critical patent/FR3016512B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • A61B34/25—User interfaces for surgical systems
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/37—Master-slave robots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • 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
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04714—Mounting of controlling member with orthogonal axes

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Manipulator (AREA)
FR1450560A 2014-01-23 2014-01-23 Dispositif d'interface maitre pour systeme endoscopique motorise et installation comprenant un tel dispositif Active FR3016512B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR1450560A FR3016512B1 (fr) 2014-01-23 2014-01-23 Dispositif d'interface maitre pour systeme endoscopique motorise et installation comprenant un tel dispositif
PCT/EP2015/051189 WO2015110495A1 (fr) 2014-01-23 2015-01-22 Dispositif d'interface maître pour un système endoscopique motorisé, et installation comprenant un tel dispositif
US15/113,820 US10660719B2 (en) 2014-01-23 2015-01-22 Master interface device for a motorised endoscopic system and installation comprising such a device
EP15701740.1A EP3096706B1 (fr) 2014-01-23 2015-01-22 Dispositif d'interface maître pour un système endoscopique motorisé, et installation comprenant un tel dispositif

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1450560A FR3016512B1 (fr) 2014-01-23 2014-01-23 Dispositif d'interface maitre pour systeme endoscopique motorise et installation comprenant un tel dispositif
FR1450560 2014-01-23

Publications (2)

Publication Number Publication Date
FR3016512A1 FR3016512A1 (fr) 2015-07-24
FR3016512B1 true FR3016512B1 (fr) 2018-03-02

Family

ID=50489328

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1450560A Active FR3016512B1 (fr) 2014-01-23 2014-01-23 Dispositif d'interface maitre pour systeme endoscopique motorise et installation comprenant un tel dispositif

Country Status (4)

Country Link
US (1) US10660719B2 (fr)
EP (1) EP3096706B1 (fr)
FR (1) FR3016512B1 (fr)
WO (1) WO2015110495A1 (fr)

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US9962229B2 (en) 2009-10-12 2018-05-08 Corindus, Inc. System and method for navigating a guide wire
CN111494008A (zh) 2014-12-05 2020-08-07 科林达斯公司 用于引导导线的***和方法
CN106572791B (zh) * 2014-12-19 2018-11-13 奥林巴斯株式会社 内窥镜***
US11896255B2 (en) 2015-10-05 2024-02-13 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
EP3417901A1 (fr) 2017-06-20 2018-12-26 Siemens Healthcare GmbH Ensemble de cathétérisation autonome
CN107361849B (zh) * 2017-07-31 2023-11-21 成都博恩思医学机器人有限公司 用于操纵执行机构的控制台
US11490981B2 (en) * 2019-03-15 2022-11-08 Cilag Gmbh International Robotic surgical controls having feedback capabilities
US11701190B2 (en) 2019-03-15 2023-07-18 Cilag Gmbh International Selectable variable response of shaft motion of surgical robotic systems
EP3937818A1 (fr) * 2019-03-15 2022-01-19 Cilag GmbH International Commandes d'entrée pour chirurgie robotique
US11992282B2 (en) 2019-03-15 2024-05-28 Cilag Gmbh International Motion capture controls for robotic surgery
US11666401B2 (en) 2019-03-15 2023-06-06 Cilag Gmbh International Input controls for robotic surgery
US11583350B2 (en) 2019-03-15 2023-02-21 Cilag Gmbh International Jaw coordination of robotic surgical controls
US11690690B2 (en) 2019-03-15 2023-07-04 Cilag Gmbh International Segmented control inputs for surgical robotic systems
CN111513853B (zh) * 2020-05-11 2021-10-01 绍兴梅奥心磁医疗科技有限公司 导管的操控装置及***
WO2021247719A1 (fr) 2020-06-02 2021-12-09 Flexdex, Inc. Outil chirurgical et ensemble chirurgical
US11813746B2 (en) 2020-12-30 2023-11-14 Cilag Gmbh International Dual driving pinion crosscheck
CN117813036A (zh) * 2021-08-02 2024-04-02 杭安医学科技(杭州)有限公司 一种软内窥镜***、软内窥镜辅助装置和操作方法
CN115715702B (zh) * 2023-01-09 2023-04-18 北京云力境安科技有限公司 一种软式内窥镜手术机器人***

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DE2504663C2 (de) 1975-02-05 1982-10-14 Karl 7200 Tuttlingen Storz Flexibles Endoskop
DE3278275D1 (en) 1981-10-22 1988-05-05 Olympus Optical Co Endoscope apparatus with motor-driven bending mechanism
FR2519894A1 (fr) * 1982-01-19 1983-07-22 Calhene Telemanipulateur telescopique du type maitre-esclave et ses moyens d'equilibrage
DE3928532A1 (de) 1989-08-29 1991-03-07 Storz Karl Flexibles operationsendoskop, insbesondere fuer den magen- und darmbereich
JP3065702B2 (ja) 1991-04-23 2000-07-17 オリンパス光学工業株式会社 内視鏡システム
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US8641663B2 (en) * 2008-03-27 2014-02-04 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system input device
WO2009151206A1 (fr) * 2008-06-09 2009-12-17 (주)미래컴퍼니 Interface maîtresse d'un robot chirurgical et procédé de commande
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Also Published As

Publication number Publication date
EP3096706B1 (fr) 2020-10-21
US20160338789A1 (en) 2016-11-24
FR3016512A1 (fr) 2015-07-24
US10660719B2 (en) 2020-05-26
EP3096706A1 (fr) 2016-11-30
WO2015110495A1 (fr) 2015-07-30

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