WO2001010292A1 - Endoscope - Google Patents
Endoscope Download PDFInfo
- Publication number
- WO2001010292A1 WO2001010292A1 PCT/NL2000/000533 NL0000533W WO0110292A1 WO 2001010292 A1 WO2001010292 A1 WO 2001010292A1 NL 0000533 W NL0000533 W NL 0000533W WO 0110292 A1 WO0110292 A1 WO 0110292A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- lens holder
- inspection tube
- lens
- light source
- endoscope
- Prior art date
Links
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
- A61B1/00147—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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/05—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 combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
Definitions
- the invention relates to an endoscope for use in minimally invasive surgery, comprising an inspection tube, which is provided with a light source and which at its distal end opens into a lens .
- Such an endoscope is known, for example, from the article Human sense of vision : a guide to future endo- scopic imaging systems by the authors M.O. Schurr, G. Buess, E. Kunert, E. Fleming, H. Henmeking and L. Gumb, published in Minimally Invasive Therapy and Allied Technologies; 1996; No. 5, p. 410-418.
- the endoscope disclosed in this article is formed as a straight inspection tube with the lens looking ahead. Around the lens light conductors are provided for the illumination of the object to be inspected. The image obtained by such an endoscope is projected onto a monitor in order to provide the surgeon with visual information during the performance of the minimally invasive surgery.
- this type of the imaging entails problems with regard to the perception of distances and movements perpendicularly to the focal plane.
- a first problem is that the surgeon accommodates to the focal plane of the monitor and not to the actual objects. Depth perception is therefore problematic.
- a further problem is that although the light source mounted around the lens provides a brighter image, it has an adverse effect on the surgeon's depth perception because of the absence of shadows .
- An endoscope according to the preamble of claim 1 is known from US-A-3 , 572 , 325. In the endoscope known from US-A-3 , 572 , 325 the lens is positioned in the plane of the lens holder connected to the inspection tube, which lens holder is adjustable at an angle in relation to a substan- tial part of the inspection tube.
- This feature makes it possible for the lens together with the light source to be repositioned without moving the inspection tube of the endoscope, so as to allow the image on the monitor connected to the endoscope to change in a natural manner.
- the adjustability of the lens holder with respect to the inspec- tion tube thus provides an additional degree of freedom.
- the measures of freedom provided by said known endoscope are :
- the endoscope according to the invention is characterized in that the light source is positioned near the distal end at some distance from the lens holder, such that there is sufficient distance from the light source to the lens to form silhouettes which the lens is able to perceive. Using a light source in such a manner assists the endoscope ' s depth perception due to the shadow effect created as a result of the positioning of the light source .
- the light source in relation to the inspection tube be adjustable at an angle. In this way the shadow effect can always be obtained for the respective direction of viewing.
- the light source is adjustable simultaneously with the lens holder, to avoid the necessity of separate adjustment devices for operating the light source and the lens holder.
- the lens holder is continuously adjustable in relation to the inspection tube between a ) ) t H H
- Said endoscope 1 comprises an inspection tube 2 through which image signals are conveyed.
- the distal end of the inspection tube 2 opens into a lens 3.
- the lens 3 is positioned on a lens holder 4 con- nected with the inspection tube 2, which lens holder 4 can be adjusted at an angle in relation to the inspection tube 2.
- the images received via the lens 3 are processed further in the usual manner.
- the lens 3 may be part of a camera that converts the image data into elec- tronic signals.
- These electronic signals are subsequently processed in the usual manner and displayed on a video display unit.
- the person skilled in the art is quite familiar with this and there is no need for any further explanation.
- the lens holder 4 is continuously adjustable in relation to the inspection tube 2 between a first position in the extended direction of the inspection tube 2, and a second position in which the lens holder 4 forms an angle t
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU65998/00A AU6599800A (en) | 1999-08-06 | 2000-07-26 | Endoscope |
JP2001514822A JP2003506127A (en) | 1999-08-06 | 2000-07-26 | Endoscope |
EP00953573A EP1207776A1 (en) | 1999-08-06 | 2000-07-26 | Endoscope |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL1012790 | 1999-08-06 | ||
NL1012790A NL1012790C2 (en) | 1999-08-06 | 1999-08-06 | Endoscope. |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001010292A1 true WO2001010292A1 (en) | 2001-02-15 |
Family
ID=19769709
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/NL2000/000533 WO2001010292A1 (en) | 1999-08-06 | 2000-07-26 | Endoscope |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1207776A1 (en) |
JP (1) | JP2003506127A (en) |
AU (1) | AU6599800A (en) |
NL (1) | NL1012790C2 (en) |
WO (1) | WO2001010292A1 (en) |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1381159A2 (en) * | 2002-07-08 | 2004-01-14 | Kabushiki Kaisha Toshiba | Time limit function utilization apparatus |
US7410483B2 (en) | 2003-05-23 | 2008-08-12 | Novare Surgical Systems, Inc. | Hand-actuated device for remote manipulation of a grasping tool |
US7678117B2 (en) | 2004-06-07 | 2010-03-16 | Novare Surgical Systems, Inc. | Articulating mechanism with flex-hinged links |
US7682307B2 (en) | 2003-05-23 | 2010-03-23 | Novare Surgical Systems, Inc. | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
US7785252B2 (en) | 2004-11-23 | 2010-08-31 | Novare Surgical Systems, Inc. | Articulating sheath for flexible instruments |
US7828808B2 (en) | 2004-06-07 | 2010-11-09 | Novare Surgical Systems, Inc. | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
US7862554B2 (en) | 2007-04-16 | 2011-01-04 | Intuitive Surgical Operations, Inc. | Articulating tool with improved tension member system |
US8100824B2 (en) | 2003-05-23 | 2012-01-24 | Intuitive Surgical Operations, Inc. | Tool with articulation lock |
US8116886B2 (en) | 2005-10-14 | 2012-02-14 | The Trustees Of Columbia University In The City Of New York | Electrode arrays and systems for inserting same |
US8182417B2 (en) | 2004-11-24 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Articulating mechanism components and system for easy assembly and disassembly |
US8409244B2 (en) | 2007-04-16 | 2013-04-02 | Intuitive Surgical Operations, Inc. | Tool with end effector force limiter |
US8465475B2 (en) | 2008-08-18 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Instrument with multiple articulation locks |
US8562640B2 (en) | 2007-04-16 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Tool with multi-state ratcheted end effector |
US9161771B2 (en) | 2011-05-13 | 2015-10-20 | Intuitive Surgical Operations Inc. | Medical instrument with snake wrist structure |
US9221179B2 (en) | 2009-07-23 | 2015-12-29 | Intuitive Surgical Operations, Inc. | Articulating mechanism |
US9561045B2 (en) | 2006-06-13 | 2017-02-07 | Intuitive Surgical Operations, Inc. | Tool with rotation lock |
US9700334B2 (en) | 2004-11-23 | 2017-07-11 | Intuitive Surgical Operations, Inc. | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
US10500002B2 (en) | 2012-04-20 | 2019-12-10 | Vanderbilt University | Dexterous wrists |
US10967504B2 (en) | 2017-09-13 | 2021-04-06 | Vanderbilt University | Continuum robots with multi-scale motion through equilibrium modulation |
US11793394B2 (en) | 2016-12-02 | 2023-10-24 | Vanderbilt University | Steerable endoscope with continuum manipulator |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3572325A (en) | 1968-10-25 | 1971-03-23 | Us Health Education & Welfare | Flexible endoscope having fluid conduits and control |
US4905082A (en) * | 1987-05-06 | 1990-02-27 | Olympus Optical Co., Ltd. | Rigid video endoscope having a detachable imaging unit |
EP0369937A1 (en) * | 1988-11-18 | 1990-05-23 | Effner Biomet GmbH | Endoscope, in particular an arthroscope |
WO1999042028A1 (en) * | 1998-02-19 | 1999-08-26 | California Institute Of Technology | Apparatus and method for providing spherical viewing during endoscopic procedures |
US5976075A (en) * | 1997-12-15 | 1999-11-02 | University Of Massachusetts | Endoscope deployment apparatus |
DE19839188A1 (en) * | 1998-08-28 | 2000-03-09 | Storz Endoskop Gmbh | endoscope |
-
1999
- 1999-08-06 NL NL1012790A patent/NL1012790C2/en not_active IP Right Cessation
-
2000
- 2000-07-26 AU AU65998/00A patent/AU6599800A/en not_active Abandoned
- 2000-07-26 JP JP2001514822A patent/JP2003506127A/en active Pending
- 2000-07-26 EP EP00953573A patent/EP1207776A1/en not_active Withdrawn
- 2000-07-26 WO PCT/NL2000/000533 patent/WO2001010292A1/en not_active Application Discontinuation
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3572325A (en) | 1968-10-25 | 1971-03-23 | Us Health Education & Welfare | Flexible endoscope having fluid conduits and control |
US4905082A (en) * | 1987-05-06 | 1990-02-27 | Olympus Optical Co., Ltd. | Rigid video endoscope having a detachable imaging unit |
EP0369937A1 (en) * | 1988-11-18 | 1990-05-23 | Effner Biomet GmbH | Endoscope, in particular an arthroscope |
US5976075A (en) * | 1997-12-15 | 1999-11-02 | University Of Massachusetts | Endoscope deployment apparatus |
WO1999042028A1 (en) * | 1998-02-19 | 1999-08-26 | California Institute Of Technology | Apparatus and method for providing spherical viewing during endoscopic procedures |
DE19839188A1 (en) * | 1998-08-28 | 2000-03-09 | Storz Endoskop Gmbh | endoscope |
Cited By (56)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1381159A2 (en) * | 2002-07-08 | 2004-01-14 | Kabushiki Kaisha Toshiba | Time limit function utilization apparatus |
EP1381159A3 (en) * | 2002-07-08 | 2004-01-21 | Kabushiki Kaisha Toshiba | Time limit function utilization apparatus |
US7075284B2 (en) | 2002-07-08 | 2006-07-11 | Kabushiki Kaisha Toshiba | Time limit function utilization |
US7208933B2 (en) | 2002-07-08 | 2007-04-24 | Kabushiki Kaisha Toshiba | Time limit function utilization apparatus |
US7224157B2 (en) | 2002-07-08 | 2007-05-29 | Kabushiki Kaisha Toshiba | Time limit function utilization apparatus |
US7248034B2 (en) | 2002-07-08 | 2007-07-24 | Kabushiki Kaisha Toshiba | Time limit function utilization apparatus |
US10722314B2 (en) | 2003-05-23 | 2020-07-28 | Intuitive Surgical Operations, Inc. | Articulating retractors |
US9085085B2 (en) | 2003-05-23 | 2015-07-21 | Intuitive Surgical Operations, Inc. | Articulating mechanisms with actuatable elements |
US7682307B2 (en) | 2003-05-23 | 2010-03-23 | Novare Surgical Systems, Inc. | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
US9737365B2 (en) | 2003-05-23 | 2017-08-22 | Intuitive Surgical Operations, Inc. | Tool with articulation lock |
US9370868B2 (en) | 2003-05-23 | 2016-06-21 | Intuitive Surgical Operations, Inc. | Articulating endoscopes |
US9550300B2 (en) | 2003-05-23 | 2017-01-24 | Intuitive Surgical Operations, Inc. | Articulating retractors |
US8100824B2 (en) | 2003-05-23 | 2012-01-24 | Intuitive Surgical Operations, Inc. | Tool with articulation lock |
US11547287B2 (en) | 2003-05-23 | 2023-01-10 | Intuitive Surgical Operations, Inc. | Surgical instrument |
US7410483B2 (en) | 2003-05-23 | 2008-08-12 | Novare Surgical Systems, Inc. | Hand-actuated device for remote manipulation of a grasping tool |
US9440364B2 (en) | 2003-05-23 | 2016-09-13 | Intuitive Surgical Operations, Inc. | Articulating instrument |
US9498888B2 (en) | 2003-05-23 | 2016-11-22 | Intuitive Surgical Operations, Inc. | Articulating instrument |
US9072427B2 (en) | 2003-05-23 | 2015-07-07 | Intuitive Surgical Operations, Inc. | Tool with articulation lock |
US10342626B2 (en) | 2003-05-23 | 2019-07-09 | Intuitive Surgical Operations, Inc. | Surgical instrument |
US9434077B2 (en) | 2003-05-23 | 2016-09-06 | Intuitive Surgical Operations, Inc | Articulating catheters |
US8535347B2 (en) | 2003-05-23 | 2013-09-17 | Intuitive Surgical Operations, Inc. | Articulating mechanisms with bifurcating control |
US10729885B2 (en) | 2004-06-07 | 2020-08-04 | Intuitive Surgical Operations, Inc. | Articulating mechanism with flex-hinged links |
US8920429B2 (en) | 2004-06-07 | 2014-12-30 | Intuitive Surgical Operations, Inc. | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
US8419747B2 (en) | 2004-06-07 | 2013-04-16 | Intuitive Surgical Operations, Inc. | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
US11491310B2 (en) | 2004-06-07 | 2022-11-08 | Intuitive Surgical Operations, Inc. | Articulating mechanism with flex-hinged links |
US7678117B2 (en) | 2004-06-07 | 2010-03-16 | Novare Surgical Systems, Inc. | Articulating mechanism with flex-hinged links |
US9095253B2 (en) | 2004-06-07 | 2015-08-04 | Intuitive Surgical Operations, Inc. | Articulating mechanism with flex hinged links |
US8323297B2 (en) | 2004-06-07 | 2012-12-04 | Intuitive Surgical Operations, Inc. | Articulating mechanism with flex-hinged links |
US9517326B2 (en) | 2004-06-07 | 2016-12-13 | Intuitive Surgical Operations, Inc. | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
US9861786B2 (en) | 2004-06-07 | 2018-01-09 | Intuitive Surgical Operations, Inc. | Articulating mechanism with flex hinged links |
US7828808B2 (en) | 2004-06-07 | 2010-11-09 | Novare Surgical Systems, Inc. | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
US7785252B2 (en) | 2004-11-23 | 2010-08-31 | Novare Surgical Systems, Inc. | Articulating sheath for flexible instruments |
US10321927B2 (en) | 2004-11-23 | 2019-06-18 | Intuitive Surgical Operations, Inc. | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
US9155449B2 (en) | 2004-11-23 | 2015-10-13 | Intuitive Surgical Operations Inc. | Instrument systems and methods of use |
US8277375B2 (en) | 2004-11-23 | 2012-10-02 | Intuitive Surgical Operations, Inc. | Flexible segment system |
US11638590B2 (en) | 2004-11-23 | 2023-05-02 | Intuitive Surgical Operations, Inc. | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
US9700334B2 (en) | 2004-11-23 | 2017-07-11 | Intuitive Surgical Operations, Inc. | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
US8182417B2 (en) | 2004-11-24 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Articulating mechanism components and system for easy assembly and disassembly |
US8116886B2 (en) | 2005-10-14 | 2012-02-14 | The Trustees Of Columbia University In The City Of New York | Electrode arrays and systems for inserting same |
US9561045B2 (en) | 2006-06-13 | 2017-02-07 | Intuitive Surgical Operations, Inc. | Tool with rotation lock |
US8562640B2 (en) | 2007-04-16 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Tool with multi-state ratcheted end effector |
US7862554B2 (en) | 2007-04-16 | 2011-01-04 | Intuitive Surgical Operations, Inc. | Articulating tool with improved tension member system |
US8409244B2 (en) | 2007-04-16 | 2013-04-02 | Intuitive Surgical Operations, Inc. | Tool with end effector force limiter |
US8465475B2 (en) | 2008-08-18 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Instrument with multiple articulation locks |
US9033960B2 (en) | 2008-08-18 | 2015-05-19 | Intuitive Surgical Operations, Inc. | Instrument with multiple articulation locks |
US11234694B2 (en) | 2008-08-18 | 2022-02-01 | Intuitive Surgical Operations, Inc. | Instrument with multiple articulation locks |
US9737298B2 (en) | 2008-08-18 | 2017-08-22 | Intuitive Surgical Operations, Inc. | Instrument with articulation lock |
US11998195B2 (en) | 2008-08-18 | 2024-06-04 | Intuitive Surgical Operations, Inc. | Instrument with multiple articulation locks |
US9221179B2 (en) | 2009-07-23 | 2015-12-29 | Intuitive Surgical Operations, Inc. | Articulating mechanism |
US10335177B2 (en) | 2011-05-13 | 2019-07-02 | Intuitive Surgical Operations, Inc. | Medical instrument with snake wrist structure |
US11357526B2 (en) | 2011-05-13 | 2022-06-14 | Intuitive Surgical Operations, Inc. | Medical instrument with snake wrist structure |
US9161771B2 (en) | 2011-05-13 | 2015-10-20 | Intuitive Surgical Operations Inc. | Medical instrument with snake wrist structure |
US10500002B2 (en) | 2012-04-20 | 2019-12-10 | Vanderbilt University | Dexterous wrists |
US11793394B2 (en) | 2016-12-02 | 2023-10-24 | Vanderbilt University | Steerable endoscope with continuum manipulator |
US10967504B2 (en) | 2017-09-13 | 2021-04-06 | Vanderbilt University | Continuum robots with multi-scale motion through equilibrium modulation |
US11897129B2 (en) | 2017-09-13 | 2024-02-13 | Vanderbilt University | Continuum robots with multi-scale motion through equilibrium modulation |
Also Published As
Publication number | Publication date |
---|---|
JP2003506127A (en) | 2003-02-18 |
AU6599800A (en) | 2001-03-05 |
EP1207776A1 (en) | 2002-05-29 |
NL1012790C2 (en) | 2001-02-07 |
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