JP5897109B2 - 制御装置 - Google Patents
制御装置 Download PDFInfo
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- JP5897109B2 JP5897109B2 JP2014504232A JP2014504232A JP5897109B2 JP 5897109 B2 JP5897109 B2 JP 5897109B2 JP 2014504232 A JP2014504232 A JP 2014504232A JP 2014504232 A JP2014504232 A JP 2014504232A JP 5897109 B2 JP5897109 B2 JP 5897109B2
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- 230000033001 locomotion Effects 0.000 claims description 17
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- HLXZNVUGXRDIFK-UHFFFAOYSA-N nickel titanium Chemical compound [Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni] HLXZNVUGXRDIFK-UHFFFAOYSA-N 0.000 claims description 4
- 229910001000 nickel titanium Inorganic materials 0.000 claims description 4
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 2
- 238000010348 incorporation Methods 0.000 claims 1
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- 239000000203 mixture Substances 0.000 description 1
- 239000011224 oxide ceramic Substances 0.000 description 1
- 229910052574 oxide ceramic Inorganic materials 0.000 description 1
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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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C2270/00—Control; Monitoring or safety arrangements
- F04C2270/04—Force
- F04C2270/041—Controlled or regulated
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Veterinary Medicine (AREA)
- Optics & Photonics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
- Ophthalmology & Optometry (AREA)
- Endoscopes (AREA)
- Surgical Instruments (AREA)
- Prostheses (AREA)
Description
Da’=内側シャフト32の外径、
Di’’=長手方向要素52の半径方向内側縁部を通る円k i の直径、
Da’’=長手方向要素52の半径方向外側縁部を通る円k a の直径、
Di’’’=外側シャフト36の内径、
b1、b2、…=直径Di'’の円に沿って周方向で測定した、長手方向要素52の、互いからの距離。
Da’>Di’’−1/π*Σ(b1+b2+…bn) (1)
Di’’’−Da’<1.5*(Da’’−Di’’) (2)
Claims (18)
- 精密機器用器具又は外科用器具に組み込むための制御装置であって、
関節帯を各々含む近位端区域及び遠位端区域と、
前記区域間に配置された中央区域と、
内径Di’’’の中空円筒形の外側シャフトと、
外径Da’の内側シャフトと、
遠位端区域の運動と近位関節区域の運動とを機械的に連結するための、前記外側シャフトと前記内側シャフトの間に配置されると共に前記制御装置の前記近位端区域から前記遠位端区域までほぼ延びる2つ以上(n)の力伝達長手方向要素とを含み、
前記力伝達長手方向要素が、前記制御装置の周方向で略均一な角距離b1、b2、…、bnにて互いに対して離間されて配置されると共に、その近位端区域及び遠位端区域において周方向で互いに対して固定される、
制御装置において、
前記力伝達長手方向要素の互いに対する前記角距離b1、b2、…、bnが、周方向で測定すると、前記力伝達長手方向要素が、周方向で接触せずに案内されるように選択されること、及び
前記力伝達長手方向要素が、直径Di’’の円上に位置する半径方向内側縁部及び直径Da’’の円上に位置する半径方向外側縁部を有する矩形の形状の断面を備えて構成され、且つ、
前記内側シャフトの外径Da’が、直径Di’’及び周方向で測定された前記角距離b 1 、b 2 、…、b n について、Da’>Di’’−1/π*Σ(b 1 +b 2 +…b n )を満たし、前記外側シャフトの内径Di’’’及び前記内側シャフトの外径Da’が、前記直径Da’’及び前記直径Di’’について、Di’’’−Da’<1.5*(Da’’−Di’’)を満たすこと
を特徴とする制御装置。 - 請求項1に記載の制御装置であって、前記力伝達長手方向要素が、前記外側シャフト及び/又は前記内側シャフトに半径方向で接触して案内されること、を特徴とする制御装置。
- 請求項1又は2に記載の制御装置であって、前記力伝達長手方向要素が、前記外側シャフト及び前記内側シャフトと半径方向で接触し且つ該シャフトにより案内されること、を特徴とする制御装置。
- 請求項1〜3のいずれか1項に記載の制御装置であって、前記力伝達長手方向要素が、長手方向溝付き管により形成される、又は、管に変形される長手方向溝付きシート材料により形成される、又は、その近位端及び遠位端において周方向で互いに対して固定される個々の棒形要素により形成されること、を特徴とする制御装置。
- 請求項1〜3のいずれか1項に記載の制御装置であって、前記外側シャフトの外径が約1mm〜約20mmの範囲であるように選択され、前記内側シャフトの内径が約0.05mm〜約5mmの範囲であるように選択されること、を特徴とする制御装置。
- 請求項1〜5のいずれか1項に記載の制御装置であって、前記力伝達長手方向要素の遠位端が、該遠位端に関連付けられた近位端が固定される角位置とは異なる角位置に周方向で固定されること、を特徴とする制御装置。
- 請求項1〜6のいずれか1項に記載の制御装置であって、前記力伝達長手方向要素が、前記外側シャフトと前記内側シャフトの間で、その長さの少なくとも一部に亘って螺旋の形状に配置されること、を特徴とする制御装置。
- 請求項7に記載の制御装置であって、前記力伝達長手方向要素が、近位端及び/又は遠位端において前記制御装置の長手方向に対して略平行に配置され、前記近位端と前記遠位端の間に位置する領域において螺旋の形態に配置されること、を特徴とする制御装置。
- 請求項7に記載の制御装置であって、前記力伝達長手方向要素が、前記制御装置の長手方向に対して平行に配置されるその近位端と遠位端との間の領域において、螺旋の形状に配置される1つ以上の区域を有すること、を特徴とする制御装置。
- 請求項1〜9のいずれか1項に記載の制御装置であって、
前記内側シャフト及び/又は前記外側シャフトの関節区域が、軸方向に第1及び第2端部領域を各々有する複数の別個の環状切片を含み、
前記第1端部領域が、軸方向に突出する2つ以上の突起を含み、前記第2端部領域が、前記突起を受容する2つ以上の凹部を含み、
前記突起及び前記凹部が、各環状切片上に周方向で均一な距離をおいて配置され、
前記環状切片が、前記突起及び前記凹部を介して互いに関節式に係合し、
前記環状切片が、前記突起及び前記凹部を介して、形状ロック式のやり方で共に接続されること、
を特徴とする制御装置。 - 請求項10に記載の制御装置であって、
前記突起が、周方向において、半径方向内側よりも半径方向外側の方が大きい拡張部を有すること、及び
前記凹部が、周方向において、対応する前記突起の半径方向外側における拡張部よりも小さい拡張部を半径方向内側に有すること、
を特徴とする制御装置。 - 請求項10又は11に記載の制御装置であって、
前記突起が、周方向において、前記環状切片から離れる方を向くその自由端に、その固定端における拡張部よりも大きい拡張部を有すること、及び
前記凹部が、周方向において、前記凹部に係合する前記突起の自由端における前記拡張部よりも小さい拡張部をその開放端に有すること、
を特徴とする制御装置。 - 請求項10〜12のいずれか1項に記載の制御装置であって、前記突起及び前記凹部が、周方向及び/又は半径方向で略台形の断面形状を有するように構成されること、を特徴とする制御装置。
- 請求項1〜9のいずれか1項に記載の制御装置であって、前記外側シャフト及び/又は前記内側シャフトの前記関節帯が、互いから離間された周方向に延びる複数の溝が配置される壁区域を含むこと、を特徴とする制御装置。
- 請求項14に記載の制御装置であって、前記3つ以上の溝が、軸方向において、隣り合って配置されること、を特徴とする制御装置。
- 請求項1〜15のいずれか1項に記載の制御装置であって、前記関節帯の少なくとも1つが、弾性であるように構成されること、を特徴とする制御装置。
- 請求項1〜16のいずれか1項に記載の制御装置であって、前記力伝達長手方向要素が、合金鋼製又はニチノール製であること、を特徴とする制御装置。
- 請求項1〜17のいずれか1項に記載の制御装置であって、前記外側シャフト及び前記内側シャフトのうちの少なくとも1つが、近位関節帯と遠位関節帯との間に配置された曲げ剛性のある区域を有すること、を特徴とする制御装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011001973A DE102011001973A1 (de) | 2011-04-12 | 2011-04-12 | Steuerungsvorrichtung |
DE102011001973.1 | 2011-04-12 | ||
PCT/EP2012/055114 WO2012139869A2 (de) | 2011-04-12 | 2012-03-22 | Steuerungsvorrichtung |
Publications (2)
Publication Number | Publication Date |
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JP2014511734A JP2014511734A (ja) | 2014-05-19 |
JP5897109B2 true JP5897109B2 (ja) | 2016-03-30 |
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Application Number | Title | Priority Date | Filing Date |
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JP2014504232A Active JP5897109B2 (ja) | 2011-04-12 | 2012-03-22 | 制御装置 |
Country Status (7)
Country | Link |
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US (1) | US9468359B2 (ja) |
EP (2) | EP2696741B1 (ja) |
JP (1) | JP5897109B2 (ja) |
CN (1) | CN103476322B (ja) |
AU (1) | AU2012242103A1 (ja) |
DE (1) | DE102011001973A1 (ja) |
WO (1) | WO2012139869A2 (ja) |
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WO2008100590A1 (en) * | 2007-02-14 | 2008-08-21 | Flex Technology Inc | Flexible spine components |
US10842535B2 (en) * | 2007-02-14 | 2020-11-24 | William R. Krause | Flexible spine components having multiple slots |
WO2014169132A1 (en) * | 2013-04-11 | 2014-10-16 | Faculty Physicians And Surgeons Of Loma Linda University School Of Medicine | Minimally invasive surgical devices and methods |
JP6791846B2 (ja) | 2014-08-27 | 2020-11-25 | スティーラブル インストゥルメンツ エヌヴイSteerable Instruments Nv | 操縦可能器具用のトルク伝達操縦機構 |
EP3593700A1 (en) * | 2014-12-05 | 2020-01-15 | Fortimedix Surgical B.V. | Method for manufacturing a steerable instrument and such steerable instrument |
CA2960354A1 (en) | 2016-03-09 | 2017-09-09 | Memic Innovative Surgery Ltd. | Modular device comprising mechanical arms |
NL2016900B1 (en) | 2016-06-06 | 2017-12-13 | Fortimedix Surgical B V | Steerable instrument comprising a cylindrical diameter adaptation section |
US11779410B2 (en) | 2017-03-09 | 2023-10-10 | Momentis Surgical Ltd | Control console including an input arm for control of a surgical mechanical arm |
GB2564124B (en) * | 2017-07-04 | 2021-08-25 | Creo Medical Ltd | Control device for an electrosurgical instrument |
NL2019175B1 (en) | 2017-07-04 | 2019-01-14 | Fortimedix Surgical B V | Steerable instrument comprising a radial spacers between coaxial cylindrical elements |
CN112472016B (zh) * | 2020-12-09 | 2021-07-20 | 江苏济远医疗科技有限公司 | 一种一次性子宫内窥镜 |
NL2030159B1 (en) * | 2021-12-16 | 2023-06-28 | Fortimedix Assets Ii B V | Steerable instrument for endoscopic or invasive applications |
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-
2011
- 2011-04-12 DE DE102011001973A patent/DE102011001973A1/de not_active Withdrawn
-
2012
- 2012-03-22 CN CN201280018241.8A patent/CN103476322B/zh active Active
- 2012-03-22 WO PCT/EP2012/055114 patent/WO2012139869A2/de active Application Filing
- 2012-03-22 EP EP12710268.9A patent/EP2696741B1/de active Active
- 2012-03-22 AU AU2012242103A patent/AU2012242103A1/en not_active Abandoned
- 2012-03-22 EP EP16191510.3A patent/EP3138466A1/de not_active Withdrawn
- 2012-03-22 JP JP2014504232A patent/JP5897109B2/ja active Active
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Also Published As
Publication number | Publication date |
---|---|
CN103476322B (zh) | 2016-08-03 |
AU2012242103A1 (en) | 2013-10-10 |
DE102011001973A1 (de) | 2012-10-18 |
CN103476322A (zh) | 2013-12-25 |
US9468359B2 (en) | 2016-10-18 |
EP3138466A1 (de) | 2017-03-08 |
US20140052061A1 (en) | 2014-02-20 |
EP2696741A2 (de) | 2014-02-19 |
WO2012139869A3 (de) | 2013-01-10 |
EP2696741B1 (de) | 2016-11-23 |
WO2012139869A2 (de) | 2012-10-18 |
JP2014511734A (ja) | 2014-05-19 |
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