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
CN104883991BInactive Publication Date: 2018-08-28NANYANG TECH UNIV +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NANYANG TECH UNIV
Publication Date
2018-08-28
Estimated Expiration
Not applicable · inactive patent

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Abstract

A master-slave robotic endoscopy system includes: a flexible master endoscope probe having at least one tool channel for carrying a tendon-sheath driven robotic arm and corresponding end effector; and a flexible master endoscope probe for carrying an imaging endoscope. Secondary endoscope probe channel. The imaging endoscope provides an enhanced image capture range relative to the distal end of the primary endoscopic probe by means of the secondary endoscopic probe channel distal opening offset proximally from the distal end of the primary endoscopic probe, at the distal end by a ramp structure carried by the main endoscopic probe; and / or one or more actuatable distal imaging endoscopic regions. The robotic arm may include joint primitives that enable manipulation of the robotic arm / end effector according to predetermined degrees of freedom. A set of quick connect / disconnect interfaces couples the actuation controller to one or more actuation assemblies insertable into the tool channel, each actuation assembly including a tendon sheath element, a robotic arm, and its corresponding end effector.
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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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