发明名称 |
FLEXIBLE MASTER - SLAVE ROBOTIC ENDOSCOPY SYSTEM |
摘要 |
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. |
申请公布号 |
EP2897543(A4) |
申请公布日期 |
2016.09.07 |
申请号 |
EP20130838406 |
申请日期 |
2013.09.19 |
申请人 |
NANYANG TECHNOLOGICAL UNIVERSITY;NATIONAL UNIVERSITY OF SINGAPORE |
发明人 |
PHEE SOO JAY LOUIS;HUYHN VAN AN;WANG ZHENG;PENNY ISSAC DAVID;HO KHEK YU |
分类号 |
A61B17/94;A61B1/00;A61B1/005;A61B1/012;A61B1/018;A61B1/05;A61B8/00;A61B8/12;A61B17/29;A61B34/00;A61B34/30;A61B34/37 |
主分类号 |
A61B17/94 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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