Flexible master - slave robotic endoscopy system

An endoscopy, endoscopy technology, applied in the directions of robots, endoscopes, surgical robots, etc., can solve problems such as not being able to easily help capture

Inactive Publication Date: 2015-09-02
NANYANG TECH UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Unfortunately, the way imaging devices are integrated into existing robotic endoscopy systems does not readily facilitate capturing images at or in close proximity to the distal end of the endoscope, and / or at or across endoscopic settings. enough space in the environment at the far end of the mirror to capture images of the scope of the image

Method used

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  • Flexible master - slave robotic endoscopy system
  • Flexible master - slave robotic endoscopy system
  • Flexible master - slave robotic endoscopy system

Examples

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Embodiment Construction

[0096] In the present invention, the description of a given element or the reference or use of a particular element number in a particular figure or in the corresponding descriptive material may be included in other figures or in the corresponding descriptive material. Identical, equivalent or similar elements or element numbers identified in descriptive material associated with other figures. The use of " / " in a figure or in related text should be understood as meaning "and / or", unless otherwise specified. Herein, references to specific values ​​or numerical ranges should be understood to include, or are references to, approximate numbers or numerical ranges, for example, within + / - 10% or A value or range of values ​​within a range of + / - 5%.

[0097] As used herein, the term "group" corresponds to, or is defined as, according to known mathematical definitions (e.g., as described in "An Introduction to Mathematical Reasoning: Numbers, Groups, and Functions" ("An Introducti...

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Abstract

A master-slave robotic endoscopy system includes a flexible primary endoscope probe having at least one tool channel for carrying a tendon-sheath driven robot arm and corresponding end effector, and a secondary endoscope probe channel for carrying an imaging endoscope. The imaging endoscope provides enhanced image capture range relative to a distal end of the primary endoscope probe by way of a secondary endoscope probe channel distal opening proximally offset from the primary endoscope probe distal end; a ramp structure distally carried by the primary endoscope probe; and/or one or more actuatable distal imaging endoscope regions. Robot arms can include joint primitives that enable robot arm/end effector manipulation in accordance with intended degrees of freedom. A set of quick connect/disconnect interfaces couple an actuation controller to one or more actuation assemblies insertable into the tool channel(s), where each actuation assembly includes tendon-sheath elements, a robot arm, and its corresponding end effector.

Description

technical field [0001] The present invention relates to a master-slave robotic endoscopy system in which (a) a flexible primary endoscopic probe carries a secondary endoscopic probe configured for use with respect to the distal end of the primary endoscopic probe (b) the sheath-driven robotic arm carrying the end effector includes one or more types of joint primitives that enable manipulation of the robotic arm / end effector according to predetermined degrees of freedom; And / or (c) a quick connect / disconnect interface couples the actuation controller and the actuation assembly including the tendon sheath element, robotic arm, corresponding end effector insertable into the main endoscopic probe. Background technique [0002] Surgical robots have revolutionized surgical techniques, especially minimally invasive surgeries. The advent of soft robotic endoscopy has enabled procedures such as natural orifice endoscopic surgery (NOTES) or "no-incision" procedures in which the soft ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/94A61B1/05A61B17/29A61B19/00B25J18/06
CPCA61B2019/2242A61B2019/2219A61B2019/2223A61B1/0057A61B1/00135A61B8/4466A61B1/00183A61B1/0125A61B2017/2906A61B1/018A61B1/00098A61B8/12A61B19/2203A61B34/71A61B34/30A61B2034/303A61B34/37F04C2270/0421Y10S901/02Y10S901/41A61B1/0051A61B1/05
Inventor 彭树捷黄樊安王峥艾萨克·戴维·佩尼何克裕
Owner NANYANG TECH UNIV
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