[go: up one dir, main page]

WO2022201110A1 - Endoscope télescopique à continuum à armature flexible et son procédé de fonctionnement - Google Patents

Endoscope télescopique à continuum à armature flexible et son procédé de fonctionnement Download PDF

Info

Publication number
WO2022201110A1
WO2022201110A1 PCT/IB2022/052743 IB2022052743W WO2022201110A1 WO 2022201110 A1 WO2022201110 A1 WO 2022201110A1 IB 2022052743 W IB2022052743 W IB 2022052743W WO 2022201110 A1 WO2022201110 A1 WO 2022201110A1
Authority
WO
WIPO (PCT)
Prior art keywords
tendon
continuum
endoscope
segment
flexible
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.)
Ceased
Application number
PCT/IB2022/052743
Other languages
English (en)
Inventor
Rahul Kumar PITALE ASHOK
Sunil V MANJILA
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of WO2022201110A1 publication Critical patent/WO2022201110A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • 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

Definitions

  • the present invention relates to a telescopic flexible tendon continuum equipped endoscope and a method of operation thereof. More specifically, the invention provides the system and method for providing desired position and orientation to the endoscope using external control.
  • An endoscope is a medical device comprises of a flexible or rigid tube, a camera or fiber optics mounted on the distal end of the tube and adjacent one or more longitudinal channels, which may be used for irrigation or suction, or through which any instrument can be transported to the target for taking samples of suspicious tissues or to perform other surgical procedures such as polypectomy, tissue ablation, or administer drugto the target.
  • the endoscope can be inserted into an internal body cavity through a body orifice or a surgical incision to examine the body cavity and tissues as part of a diagnosis or therapeutic procedure.
  • endoscopes There are many types of endoscopes based on the site of operation, for example, ENT endoscopes are used for visualization needed for the ENT practice; gastroscopes are used for examination and treatment of the esophagus, stomach, and duodenum; colonoscopes are used for examination and treatment of the colon; bronchoscopes are used for examination and treatment of the lungs and bronchi; laparoscopes are used for examination and treatment of the peritoneal cavity; sigmoidoscopes are used for examination and treatment of the rectum and the sigmoid colon; arthroscopes are used for examination and treatment of joints; cystoscopes are used for examination and treatment of the urinary bladder; ureteroscopes are used for examination and treatment of the ureters and kidneys; and angioscopes are used for examination and treatment of blood vessels.
  • ENT endoscopes are used for visualization needed for the ENT practice
  • gastroscopes are used for examination and treatment of the esophagus
  • Many conventional endoscopes include a single camera mounted at the distal end of the endoscope that captures and transmits an image to an eyepiece, or to a video display monitor at the proximal end.
  • the image is used to assist a medical professional in advancing the endoscope to target and look for abnormalities.
  • the camera provides the medical professional with a two-dimensional view from the distal end of the endoscope.
  • the field of capture and resolution is limited by the distance to an object, hence image capture from different angle and/or from different portionsare required. Therefore, the endoscope must be maneuvered, repositioned, articulated, or moved back and forth. All these maneuvers of the endoscope prolong the procedure and cause added discomfort, complications, and risks to the patient.
  • flexures, tissue folds and unusual geometries of the organ may prevent the endoscope's camera from viewing behind tissue folds, flexures, and other “hidden” areas of the organ.
  • the inability to obtain a retrograde view limits a medical professional's ability to view and examine these organs and may even affect the ability to deliver or safely perform a treatment procedure.
  • endoscopic imaging catheter is configured for insertion via a longitudinal channel
  • the endoscopic imaging catheter includes an optical element, an imaging element, and a rotatable tubular shaft comprises an optical element and an imaging element, which comprise a side-looking imaging component.
  • An endoscopic imaging catheter may alternatively comprise reflecting and optical elements and an imaging element.
  • the reflecting element reflects onto the imaging element through the optical element side and rear views of at least a portion or the entire 360° view of a wall encircling an intra-body lumen around the axis of said the longitudinal channel.
  • the main object of the present invention is to provide asystem and method of operating dual or multiple flexible tendon continuum endoscopefor providing desired position and orientation of the endoscope using computer controlledmethods.
  • Yet another object of the present invention is to provide a telescopic flexible tendon continuum endoscopeconfiguredwith at least two cameras for capturing and collating better images of examination area.
  • Yet another object of the present invention is to provide a telescopic flexible tendon continuum endoscopeconfiguredin variable diameter ranging from 1.5mm to 20mm with customizable length depending on variable endoscopic procedure.
  • Yet another object of the present invention is to provide a telescopic flexible tendon continuum endoscopewith LIDAR sensor that facilitate in calculating distance from tissue/ surface to alert surgeon, allowing faster focus and prevent collision.
  • Yet another object of the present invention is to provide a method for configuring position and orientation of a flexible tendon endoscope attached on a robotic arm through a control device such as but not limited to a joystick, keyboard, foot controller, voice command or any similar movement controlling equipped method for adapting the flexible tendon endoscope apparatus as well as robotic arm in real-time dynamic working environment.
  • a control device such as but not limited to a joystick, keyboard, foot controller, voice command or any similar movement controlling equipped method for adapting the flexible tendon endoscope apparatus as well as robotic arm in real-time dynamic working environment.
  • Yet another object of the present invention is to provide a drive control unit to configure position and orientation of a flexible tendon endoscope attached on a robotic arm through a control device such as but not limited to a joystick, keyboard, foot controller, or any similar movement controlling device for adapting the flexible tendon endoscope as well as robotic arm in real-time dynamic working environment.
  • a control device such as but not limited to a joystick, keyboard, foot controller, or any similar movement controlling device for adapting the flexible tendon endoscope as well as robotic arm in real-time dynamic working environment.
  • Yet another object of the present invention is to provide a method to configure position and orientation of a flexible tendon endoscope attached on a robotic arm through voice commands for adapting the flexible tendon endoscope apparatus as well as robotic arm in real-time dynamic working environment.
  • the system comprise of a longitudinally extending hollow tubular shaft having a proximal end, a distal end, and a motor housings first flexible tendon continuum segment positioned at distal end of the hollow tubular shaft;plurality of second flexible tendon continuum segment positioned at different length of the hollow tubular shaft;plurality of motors positioned in the motor housing to control the first and second tendon continuum segments ;a distal tip further comprising instrument / suction channel for removing fluid from a objective lens and a light guide which act as a light source, plurality of objective lens allowing visualization of the target area and a proximity sensor(lidar) to maintain safe distance of tip from operating area; and an instrument channel port to incorporate different instruments.
  • the first tendon continuum segment positioned at distal end can be positioned in or out in the hollow tubular shaft using the motors incorporated.
  • the plurality of second tendon continuum segment allows the positioning of longitudinally extending hollow tubular shaft in clockwise and anti-clockwise direction; andthe repositioning of longitudinally extending hollow tubular shaft at center allow more working area to the operating surgeon.
  • the instrument channel port used can be equipped with air nozzle, water nozzle, vacuum nozzle, etc.
  • the system may include plurality of proximity sensors at distal end to define a virtual safety zone and to establish a collision prevention function by locking the tendon segment.
  • longitudinal movement of tendon continuum segment makes it possible for the camera to focus accurately and further adjust the depth of field is also adjusted via longitudinal movement by using a multiple camera such as stereoscopic cameras within the distal end.
  • a method of operating telescopic flexible tendon continuum equipped endoscopefor providing desired position and orientation to the endoscope assembly using computer control device comprisingreceiving at least one command generated by user to move any one second tendon continuum segment; selectively steering the second tendon continuum segment to a desired angle ;positioningthe second tendon continuum segmentfrom a first fixed position to new fixed position;receiving at least one command generated by user to activate motor of the first tendon continuum segment; andpositioningthe first tendon continuum segmentfrom a first fixed position to new fixed position; wherein, the first tendon continuum segment positioned at distal end can be repositioned in or out in the hollow tubular shaft using the motors incorporated;the plurality of second tendon continuum segment allows the repositioning of longitudinally
  • a telescopic flexible tendon continuum segment for endoscope.
  • the telescopic flexible tendon continuum segment includesplurality of elliptical discs with pivot holes, tendon grooves and hinges at one vertex ;plurality of elliptical discs with pivot holes, tendon grooves and hinges at two opposite vertex; plurality of tendons assembled through the tendon grooves provided in the elliptical discs; plurality of control motors; and a drive control unit that controls operation of plurality of control motors; wherein, the plurality of elliptical discs are engaged in a criss-cross “X” pattern through a pin engaged in pivothole; the pivot hole and the hinge can be either equidistant or at variable distant from each other to determine the curvature of the criss-cross “X” pattern mechanism; the plurality of elliptical discs have step or cut-out profile to form a pivot area around the pivot hole to support
  • the drive control unit may include a joystick with buttons, voice recognition sensor configured to detect voice commands of the user with a processor configured to convert a voice signal to a predetermined set of operative instructions associated to movement in the flexible tendon segment.
  • a dual flexible tendon continuum equipped endoscope fixed on a robot arm apparatus including an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively.
  • the drive control unit uses relative position information of a reference position with respect to the flexible tendon endoscope, the relative position information being based on a state of the flexible tendon endoscope and distance information about a distance between the flexible tendon endoscope and the reference position, to control the driving of the flexible tendon endoscope in a manner that the reference position is positioned according to the distal tip tendon segment of the flexible tendon endoscope.
  • the provides telescopic flexible tendon continuum which not only can be used for endoscope/cameras, it can also be used for surgical tissue manipulation such as endoscopic instruments which can be grasping forceps, cautery, biopsy, suction and irrigation, endoscopic scissors, laser, debriders, coblation, cryoprobes etc.
  • Fig. la is a perspective view of the telescopic flexible tendon continuum endoscopeaccording to the embodiments of the present invention.
  • Fig. lb is a front view of the telescopic flexible tendon continuum endoscopeaccording to the embodiments of the present invention.
  • Fig. lc is a bottom view of the telescopic flexible tendon continuum endoscopeaccording to the embodiments of the present invention.
  • Fig. 2a shows extended position of the first tendon continuum segment according to the embodiments of the present invention
  • Fig. 2b shows collapsed position of the first tendon continuum segment according to the embodiments of the present invention
  • Fig. 2c shows clock wise bending of the first tendon continuum segment according to the embodiments of the present invention
  • Fig. 2d shows anti-clock wise bending of the first tendon continuum segment according to the embodiments of the present invention
  • Fig. 3a and 3b show different views of elliptical disc with step or cut-out profile around the outer circumference according to the embodiments of the present invention
  • Fig. 4a and 4b show different views of elliptical disc with step or cut-out profile around the inner circumference according to the embodiments of the present invention
  • Fig. 5a and 5b show different views of another elliptical disc with step or cut-out profile around the outer circumference according to the embodiments of the present invention
  • Fig. 6a and 6b show different views of another elliptical disc with step or cut-out profile around the inner circumference according to the embodiments of the present invention.
  • Fig. 7a and 7b showdifferentviews of tendon continuum segments of the telescopic flexible tendon continuum endoscopeaccording to the embodiments of the present invention.
  • surgeon or “user” or “operator” refers hereinafter to any professional person in the operating room e.g., the operating surgeon or any of the operating staff (personnel).
  • telescopic refers hereinafter to a mechanism that provides a long output travel from a very compact retracted length. Further, it may act in single stage or multiple to stage in forward - backward movement or front - back movement.
  • criss cross X pattern refers hereinafter to a scissor mechanism that provides extension by applying pressure to a set of supports result in elongating the criss cross X pattern.
  • the present invention providessystem and method of operating telescopic flexible tendon continuum endoscopefor providing desired position and orientation to the endoscope using computer control methods.
  • Thetelescopic flexible tendon continuum equipped endoscope 10 comprises a longitudinally extending hollow tubular shaftl2 having a proximal endl4, a distal end 16, and a motor housing 18 to position plurality of motors that control first tendon continuum segments 20 and second tendon continuum segments 22.
  • All the constructional material of hollow tubular shaftl2 and motor housing 18 is of FDA approved list such as, but not limited to like stainless steel, titanium, etc.
  • the first tendon continuum segment 20 is positioned at distal end 16 of the hollow tubular shaft 12 and plurality of second tendon continuum segment 22 is positioned at different length of the hollow tubular shaft 12. All the tendon segments comprise of series of ellipticaldiscs 24 and tendons 26. Tendons 26 are the tensioning members, used to articulate the controllable segments of the endoscope, including the distal and center steerable portion. Examples of appropriate tendons26are push-pull cables that are flexible but minimally compressible or extensible.
  • the entire tendon continuum segment 20, 22 may be encased in a sheath or covering28 of a biocompatible material, e.g. a polymer, that is also preferably lubricious to allow for minimal friction resistance during endoscope insertion and advancement into a patient. Because the endoscope is used medically, it may be desirable that this covering being removable, replaceable and/or sterilizable.
  • a biocompatible material e.g. a polymer
  • a distal tip 30 is provided at the end of first tendon continuum segment 20 and consists of an instrument / suction channel 32, a light guide 34 which act as a light source, plurality of objective lens36 allows visualization of the target area.
  • another instrument can be provided at distal tip 30 according to requirement such as, but not limited to a proximity sensor(lidar) to maintain safe distance of tip from operating area.
  • an instrument channel port 38 is provided which facilitates the utility of the dual flexible tendon continuum equipped endoscope 10.
  • FIG. 2a shows extended position of the first tendon continuum segment 20 performed by inbuilt motor according to the embodiments of the present invention. In extension position both the motors are OFF thus there is no tension in the tendons 26.
  • FIG. 2b shows collapsed position of the first tendon continuum segment 20 performed by inbuilt motor according to the embodiments of the present invention. In collapsed position both the motors are ON thus there is full tension in the tendons 26.
  • FIG. 2c shows clockwise bending of the first tendon continuum segment 20 performed by inbuilt motor according to the embodiments of the present invention. In order to bend tendon continuum segment 20 in clockwise position, motor 1 will turn ONand motor 2 will remains OFF thus there is full tension in the left side of tendons 26.
  • FIG. 2d shows anti-clockwise bending of the first tendon continuum segment 20 performed by inbuilt motor according to the embodiments of the present invention.
  • motor 2 In order to bend tendon continuum segment 20 in anti clockwise position, motor 2 will turn ON and motor 1 will remains OFF thus there is full tension in the right side of tendons 26.
  • second tendon continuum segments 22 can rotate in clockwise or anti-clockwise direction as mentioned for first tendon continuum segment 20.
  • Fig. 3a and 3b shows different views of elliptical disc 24 with step or cut-out profile 38to form a pivot area around the outer circumference 40according to the embodiments of the present invention.
  • the elliptical disc 24 further have parallel pivot holes48 to support criss-cross “X” pattern assembly and the step or cut-out profile 38 will be a smooth profile running from the center of the disc to both the direction in order to facilitate the kinematics of criss-cross “X” pattern formed after assembling of discs.
  • a hinge 42 at one vertex is provided to accommodate the counter hinge of another disc.
  • two parallel grooves 44 are also provided on the both the vertex of elliptical disc 24 to accommodate the said tendons.
  • Fig. 4a and 4b shows different views of elliptical disc 24 with step or cut-out profile 38to form a pivot area around the inner circumference 46 according to the embodiments of the present invention.
  • the elliptical disc 24 further have parallel pivot holes48 to support criss-cross “X” pattern assembly and the step or cut-out profile 38 will be a smooth profile running from the center of the disc to both the direction in order to facilitate the kinematics of criss- cross“X” pattern formed after assembling of discs.
  • a hinge 42 at one vertex is provided to accommodate the counter hinge of another disc.
  • two parallel grooves 44 are also provided on the both the vertex of elliptical disc 24 to accommodate the said tendons.
  • Fig. 5a and 5b shows different views of elliptical disc 24 with step or cut-out profile 38to form a pivot area around the outer circumference 40according to the embodiments of the present invention.
  • the elliptical disc 24 further have parallel pivot holes48 to support criss-cross “X” pattern assembly and the step or cut-out profile 38 will be a smooth profile running from the center of the disc to both the direction in order to facilitate the kinematics of criss-cross “X” pattern formed after assembling of discs.
  • hinge 42 are provided at both the vertex to accommodate the counter hinge of another disc.
  • two parallel grooves 44 are also provided on the both the vertex of elliptical disc 24 to accommodate the said tendons.
  • Fig. 6a and 6b shows different views of elliptical disc 24 with step or cut-out profile 38to form a pivot area around the inner circumference 46 according to the embodiments of the present invention.
  • the elliptical disc 24 further have parallel pivot holes48 to support criss-cross “X” pattern assembly and the step or cut-out profile 38 will be a smooth profile running from the center of the disc to both the direction in order to facilitate the kinematics of criss-cross “X” pattern formed after assembling of discs.
  • hinge 42 are provided at both the vertex to accommodate the counter hinge of another disc.
  • two parallel grooves 44 are also provided on the both the vertex of elliptical disc 24 to accommodate the said tendons.
  • Fig. 7a and 7b shows different views of tendon continuum segments of the telescopic flexible tendon continuum endoscope according to the embodiments of the present invention.
  • thetelescopic flexible tendon continuum segmentemploysplurality flexible elements comprising of elliptical discs 24 with pivot holes48, tendon grooves44 and hinge 42 at one or two opposite vertex.
  • the plurality of elliptical discs 24 are engaged in a criss cross “X” pattern through a pin engaged in pivot hole48.
  • Plurality of tendons 26 are assembled through the tendon grooves 44 provided in the elliptical discs 24 which are pulled or released by plurality of control motors.
  • the plurality of elliptical discs 24 have step or cut-out profile 38to form a pivot area around the inner circumference or outer circumference to support the kinematics of criss cross “X” pattern when tension are provided through the said control motors.
  • the flexible tendon continuum mechanism will perform extension and collapsing when plurality of control motor are operated at same time andwill perform clockwise or anti-clockwise rotation when only a single control motor is operated.
  • a drive control unit is provided that controls operation of control motors.
  • the drive control unit may include a joystick with buttons to switch ON-OFF different motors, or a voice recognition sensor configured to detect voice commands of the user with a processor configured to convert a voice signal to a predetermined set of operative instructions associated to movement in the flexible tendon segment.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)

Abstract

La présente invention concerne un endoscope télescopique à continuum à armature flexible 10, comprenant une tige tubulaire creuse 12 ayant une extrémité proximale 14, une extrémité distale 16 avec une pointe distale 30, un segment de continuum à armature flexible 20, 22 positionné à l'extrémité distale 16 de la tige tubulaire 12, un élément flexible, une pluralité de moteurs située dans le boîtier de moteur 18 pour commander le premier segment de continuum à armature flexible 20, 22 par le biais d'une pluralité d'armatures 26 ; le segment de continuum à armature flexible 20, 22 comprenant en outre de multiples éléments flexibles empilés, chaque élément flexible comprenant en outre une pluralité de disques elliptiques 24 avec un trou de pivotement 48, des rainures d'armature 44 et une charnière 42 au sommet opposé dans un motif en « X » entrecroisé ; et chaque armature 26 reliant l'élément flexible par le biais de multiples rainures d'armature 44 sur un axe qui est en outre relié à un moteur séparé dans le boîtier du moteur.
PCT/IB2022/052743 2021-03-25 2022-03-25 Endoscope télescopique à continuum à armature flexible et son procédé de fonctionnement Ceased WO2022201110A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IN202141012961 2021-03-25
IN202141012961 2021-03-25

Publications (1)

Publication Number Publication Date
WO2022201110A1 true WO2022201110A1 (fr) 2022-09-29

Family

ID=83395234

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2022/052743 Ceased WO2022201110A1 (fr) 2021-03-25 2022-03-25 Endoscope télescopique à continuum à armature flexible et son procédé de fonctionnement

Country Status (1)

Country Link
WO (1) WO2022201110A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119055171A (zh) * 2024-11-05 2024-12-03 湖南省华芯医疗器械有限公司 蛇骨单元、主动弯曲段和内窥镜
CN119427328A (zh) * 2024-12-24 2025-02-14 西安电子科技大学 一种结构式布局螺旋肌腱连续体机器人及使用方法
CN119770182A (zh) * 2024-12-31 2025-04-08 武汉大学 一种面向神经外科微创手术的连续体机器人

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150011830A1 (en) * 2010-08-27 2015-01-08 Massachusetts Institute Of Technology Tip actuated disposable endoscope
US20210007583A1 (en) * 2015-03-19 2021-01-14 Endomaster Pte Ltd Enhanced flexible robotic endoscopy apparatus

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150011830A1 (en) * 2010-08-27 2015-01-08 Massachusetts Institute Of Technology Tip actuated disposable endoscope
US20210007583A1 (en) * 2015-03-19 2021-01-14 Endomaster Pte Ltd Enhanced flexible robotic endoscopy apparatus

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119055171A (zh) * 2024-11-05 2024-12-03 湖南省华芯医疗器械有限公司 蛇骨单元、主动弯曲段和内窥镜
CN119427328A (zh) * 2024-12-24 2025-02-14 西安电子科技大学 一种结构式布局螺旋肌腱连续体机器人及使用方法
CN119770182A (zh) * 2024-12-31 2025-04-08 武汉大学 一种面向神经外科微创手术的连续体机器人

Similar Documents

Publication Publication Date Title
US20220233055A1 (en) Endoscopic imaging system
US20230076439A1 (en) Methods and systems for disposable endoscope
US5025778A (en) Endoscope with potential channels and method of using the same
JP7752136B2 (ja) トリプル画像化ハイブリッドプローブのためのシステム及び方法
EP2596742B1 (fr) Mécanisme d'articulation avec des liaisons articulées souples
US12035881B2 (en) Systems and methods for responsive insertion and retraction of robotic endoscope
WO2022201110A1 (fr) Endoscope télescopique à continuum à armature flexible et son procédé de fonctionnement
US20080208001A1 (en) Conforming endoscope
WO2023150497A1 (fr) Systèmes et dispositifs médicaux, et méthodes associées
EP3811842B1 (fr) Endoscope
US20230113687A1 (en) Systems and methods for robotic endoscopic submucosal dissection
EP4084717A1 (fr) Système de poulie dynamique
JP2025535275A (ja) 内視鏡的外科装置の自動閉ループナビゲーション及び制御のためのシステム及び方法
WO2023129458A1 (fr) Systèmes et procédés pour gaine d'endoscope robotique
WO2025117590A1 (fr) Appareil médical pliable comportant des actionneurs modulaires
JP2026016400A (ja) トリプル画像化ハイブリッドプローブのためのシステム及び方法
CN120417850A (zh) 具有联接器以提供平移构件的径向过渡的细长构件

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22774482

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22774482

Country of ref document: EP

Kind code of ref document: A1