DE102004007935A1 - Method for moving probe in body of patient with remote control, using friction drive with rollers positioned parallel to probe - Google Patents
Method for moving probe in body of patient with remote control, using friction drive with rollers positioned parallel to probe Download PDFInfo
- Publication number
- DE102004007935A1 DE102004007935A1 DE102004007935A DE102004007935A DE102004007935A1 DE 102004007935 A1 DE102004007935 A1 DE 102004007935A1 DE 102004007935 A DE102004007935 A DE 102004007935A DE 102004007935 A DE102004007935 A DE 102004007935A DE 102004007935 A1 DE102004007935 A1 DE 102004007935A1
- Authority
- DE
- Germany
- Prior art keywords
- probe
- roller
- adjustment
- roller drive
- connection
- 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
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
-
- 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
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
-
- 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
- A61B1/267—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 for the respiratory tract, e.g. laryngoscopes, bronchoscopes
- A61B1/2676—Bronchoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00469—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for insertion of instruments, e.g. guide wire, optical fibre
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22072—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with an instrument channel, e.g. for replacing one instrument by the other
- A61B2017/22074—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with an instrument channel, e.g. for replacing one instrument by the other the instrument being only slidable in a channel, e.g. advancing optical fibre through a channel
- A61B2017/22075—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with an instrument channel, e.g. for replacing one instrument by the other the instrument being only slidable in a channel, e.g. advancing optical fibre through a channel with motorized advancing or retracting means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
Abstract
Description
Die Erfindung betrifft ein Verfahren zur fernsteuerbaren Navigation einer in einen Körper einführbaren Sonde gemäß Patentanspruch 1 und einen Rollenantrieb zur Durchführung des Verfahrens gemäß Anspruch 4.The The invention relates to a method for remote-controlled navigation one in one body insertable Probe according to claim 1 and a roller drive for carrying out the method according to claim 4th
Untersuchungen des Körperinneren mittels einer von außen in den Körper einführbaren Sonde gehören zu den Standardmethoden in der diagnostischen und therapeutischen Medizin. So werden zum Beispiel von außen eingeführte Katheter zur Untersuchung intravaskulärer Erkrankungen und Endoskope zur Untersuchung von Bronchien eingesetzt. Üblicherweise steht der Arzt bei der Durchführung der Untersuchung direkt neben dem Patienten. Unter Sicht oder ständiger Röntgenkontrolle wird hierbei die Sonde manuell im Körper navigiert, wodurch der zu behandelnde Arzt einer ständigen Strahlenbelastung ausgesetzt ist. Bei neuartigen Systemen für die endoskopische Diagnostik und Therapie werden aus diesem Grund fernsteuerbare Sonden eingesetzt, die von dem Arzt aus einem benachbarten Raum mittels einer externen Steuereinheit kontrolliert werden. Der Erfolg einer Untersuchung hängt im wesentlichen davon ab, wie gut und genau die ferngesteuerte Sonde in den Körper bei komplexen anatomischen Verhältnissen eingeführt werden kann.investigations of the interior of the body by means of an outside in the body insertable Belong to the probe to the standard methods in the diagnostic and therapeutic Medicine. For example, externally inserted catheters are used for examination intravascular Diseases and endoscopes used for the examination of bronchi. Usually is the doctor in the implementation the examination directly next to the patient. Under view or continuous X-ray inspection In this case, the probe is navigated manually in the body, whereby the zu attending physician of a permanent Radiation exposure is exposed. In novel systems for endoscopic For this reason, diagnostics and therapy become remote-controlled probes used by the doctor from a neighboring room by means of a external control unit are controlled. The success of an investigation hangs in the essential of how well and exactly the remote-controlled probe in the body in complex anatomical conditions introduced can be.
Ein Verfahren zur Fernsteuerung einer von außen von einer Hülle umgebenen, in den Körper einführbaren Sonde ist aus der Patentschrift US 2002/0177789 A1 bekannt. Im vorgenannten Fall erfolgt der Vorschub und der Rückzug von Hülle und Sonde mittels eines ersten und zweiten motorangetriebenen Schlittens, während die Navigationsbewegungen in den anderen Dimensionen durch ein von außen auf die Sondenspitze wirkendes und nur aufwendig steuerbares Magnetfeld eingestellt werden. Zur Verminderung einer unerwünschten, bewegungsbehindernden Rotation ist eine Bewegung der die Sonde umgebenden Hülle durch einen weiteren Motor vorgesehen.One Method for the remote control of a shell surrounded by a shell, insertable into the body Probe is known from the patent US 2002/0177789 A1. In the aforementioned Case, the feed and the withdrawal of sheath and probe by means of a first and second motor-driven carriage while the Navigation movements in the other dimensions through an outside the probe tip acting and only consuming controllable magnetic field be set. To reduce unwanted, movement-obstructing Rotation is a movement of the envelope surrounding the probe provided another engine.
Der vorliegenden Erfindung liegt die Aufgabe zu Grunde, eine hohe Flexibilität in der Navigation einer fernsteuerbaren Sonde mit einfachen Einstellmitteln zu erhalten.Of the The present invention is based on the object, a high flexibility in the Navigation of a remotely controllable probe with simple adjustment means to obtain.
Die Lösung der Aufgabe gelingt durch ein Verfahren gemäß Patentanspruch 1 bzw. durch einen Antrieb zur Durchführung des Verfahrens gemäß Patentanspruch 4; vorteilhafte Ausgestaltungen des Verfahrens bzw. des Antriebs zur Durchführung des Verfahrens sind jeweils Gegenstand der Unteransprüche 2; 3 bzw. 4–13.The solution The object is achieved by a method according to claim 1 or by a drive for implementation the method according to claim 4; advantageous embodiments of the method or the drive to carry out the method are each the subject of the subclaims 2; 3 or 4-13.
Durch die erfindungsgemäße fernsteuerbare Drehung der Sonde mittels eines außerhalb des Körpers vorgesehenen Antriebs, der im Sinne eines genauen Einstellwinkels steuerbar ist, kann eine hohe Flexibilität in der Navigation ohne ein dazu ansonsten notwendiges Magnetfeld erzielt werden; insbesondere bei einer gekrümmten Sondenspitze führt die erfindungsgemäße Drehung der Sonde zu einer Richtungsänderung der Sondenspitze und somit zur Abdeckung eines großen Raumwinkels. Durch die erfindungsgemäße genauen Dreh-Einstellung des Winkels ist somit eine Navigation auch bei schwierigen anatomischen Verhältnissen, wie zum Beispiel im Bereich des menschlichen Herzens oder stark sich verzweigenden Blutbahnen, mit einfachen Mitteln möglich. Eine positionsgenaue Sondeneinstellung ermöglicht dem Arzt, das zu untersuchende Gewebe aus nahezu beliebigen Richtungen zu betrachten.By the remote controllable rotation according to the invention the probe by means of an outside of the body provided drive, in the sense of a precise adjustment angle is controllable, can be a high flexibility in navigation without a otherwise necessary magnetic field can be achieved; especially in a curved Probe tip leads the rotation of the invention the probe to a change of direction the probe tip and thus to cover a large solid angle. By the exact invention Rotary adjustment of the angle is thus also a navigation difficult anatomical conditions, such as in the area of the human heart or strong branching bloodstreams, possible with simple means. A position-accurate probe adjustment allows the physician to examine the To look at tissue from almost any direction.
Nach einer Ausgestaltung der Erfindung wird die Dreh-Einstellung eines Winkels der Sonde durch einen außerhalb des Körpers befindlichen Antrieb zur Erzielung eines weiteren Freiheitsgrades mit einem Vorschubantrieb kombiniert.To An embodiment of the invention is the rotational adjustment of an angle of the probe through an outside of the body located drive to achieve a further degree of freedom combined with a feed drive.
Nach einer weiteren Ausgestaltung der Erfindung ist eine besonders einfache und trotzdem genaue Einstellung des Drehwinkels der Sonde durch einen Antrieb in Form eines Rollen-Antriebs vorgesehen. Der Rollen-Antrieb kann je nach Ausgestaltung in formschlüssiger oder in besonders einfacher Weise in reibschlüssiger Verbindung mit der Sonde zur Einstellung des Drehwinkels stehen. Eine derartige Reibschlussverbindung ist konstruktiv einfach aufbaubar und in besonders vorteilhafter Weise gegebenenfalls für eine vorhandene Vorrichtung mit einfachen Mitteln nachrüstbar. Eine Entkopplung zwischen der Dreh-Einstellung einerseits und der Vorschub-Einstellung andererseits ist bei der Reibschlussverbindung durch Deaktivierung bzw. Aktivierung eines Rollenantriebs lediglich durch Abheben bzw. Andrücken der Rollen an die Sonde auf einfache Weise zu erreichen.To Another embodiment of the invention is a particularly simple and still accurate adjustment of the angle of rotation of the probe by a Drive in the form of a roller drive intended. The roller drive can depending on the configuration in positive or in a particularly simple manner in frictional connection with the probe to adjust the angle of rotation. Such a frictional connection is structurally simple to construct and in particularly advantageous If necessary for an existing device retrofitted with simple means. A Decoupling between the rotation setting on the one hand and the feed setting on the other hand, in the frictional connection by deactivation or activation of a roller drive only by lifting or press To achieve the roles of the probe in a simple manner.
Auf eine Aktivierung bzw. Deaktivierung kann bei einer weiteren Ausgestaltung der Erfindung durch Einsatz einer formschlüssigen Dreh-Einstellverbindung verzichtet werden. Der Formschluss ist dazu vorteilhaft so ausgestaltet, dass der Rollen-Antrieb in Vorschub-Einstellrichtung in längs verschieblicher und in Dreh-Einstellrichtung in fester Verbindung mit der Sonde steht.On an activation or deactivation can in a further embodiment the invention by using a positive rotational adjustment connection be waived. The form-fit is advantageously configured to that the roller drive in feed adjustment direction in longitudinally displaceable and in rotational adjustment in fixed connection with the probe stands.
Eine Erhöhung der Übertragungskraft kann auf einfache Weise durch Anordnen mehrerer Rollen über den Umfang der Sonde erreicht werden, wobei die Rollen zweckmäßigerweise im Sinne eines gegenseitigen Andruckausgleichs verteilt sind, so dass bei aktiviertem Rollenantrieb nicht die Gefahr einer Verformung der Rollen bzw. der Sonde besteht.An increase in the transmission force can be achieved in a simple manner by arranging a plurality of rollers over the circumference of the probe, wherein the rollers are expediently distributed in the sense of mutual pressure compensation, so that there is no risk of deformation of the rollers or the probe when the roller drive is activated.
Die Erfindung sowie weitere vorteilhafte Ausgestaltungen der Erfindung gemäß den Unteransprüchen werden im Folgenden anhand von schematisch dargestellten Ausführungsbeispielen in der Zeichnung näher erläutert; darin zeigen:The Invention and further advantageous embodiments of the invention according to the subclaims below with reference to schematically illustrated embodiments closer in the drawing explains; show in it:
Die
Vorrichtung gemäß
Die
Vorrichtung gemäß
In
Der
wesentliche Erfindungsgedanke lässt sich
wie folgt zusammenfassen:
Trotz Einfachheit des Aufbaus erhält man eine
hohe Flexibilität
bei der Navigation einer in den Körper einführbaren, fernsteuerbaren Sonde
(
Despite the simplicity of the construction, one obtains a high flexibility in the navigation of a body-insertable, remotely controllable probe (
Nach
einer Ausgestaltung ist die Dreh-Einstellung mit einem Antrieb zur
Vorschub-Einstellung (
Claims (13)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004007935A DE102004007935A1 (en) | 2004-02-18 | 2004-02-18 | Method for moving probe in body of patient with remote control, using friction drive with rollers positioned parallel to probe |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004007935A DE102004007935A1 (en) | 2004-02-18 | 2004-02-18 | Method for moving probe in body of patient with remote control, using friction drive with rollers positioned parallel to probe |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102004007935A1 true DE102004007935A1 (en) | 2005-05-25 |
Family
ID=34485671
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102004007935A Ceased DE102004007935A1 (en) | 2004-02-18 | 2004-02-18 | Method for moving probe in body of patient with remote control, using friction drive with rollers positioned parallel to probe |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102004007935A1 (en) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2123211A1 (en) * | 2008-05-14 | 2009-11-25 | Olympus Medical Systems Corporation | electric bending operation device and medical treatment system including electric bending operation device |
WO2011058493A1 (en) * | 2009-11-12 | 2011-05-19 | Koninklijke Philips Electronics N.V. | A steering system and a catcher system |
CN103599586A (en) * | 2013-11-20 | 2014-02-26 | 中国科学院深圳先进技术研究院 | Vascular intervention operation guide-wire and catheter remote control device |
CN104840257A (en) * | 2015-05-22 | 2015-08-19 | 林健泽 | Guide robot for conveying and reclaiming intervention catheters |
CN110960183A (en) * | 2019-12-06 | 2020-04-07 | 中国科学院大学宁波华美医院(宁波市第二医院) | Bronchoscope support |
NL1043050B1 (en) * | 2018-10-23 | 2020-06-02 | Soteria Medical B V | Device for moving and rotating an elongated body such as a catheter under remote control |
CN111544114A (en) * | 2020-04-23 | 2020-08-18 | 绍兴梅奥心磁医疗科技有限公司 | Mechanical arm assembly of magnetic navigation radio frequency ablation catheter, remote control device and control method of mechanical arm assembly |
CN111643236A (en) * | 2020-06-15 | 2020-09-11 | 闫爱玲 | Heart stent conveying and releasing device |
US11266424B2 (en) | 2017-06-20 | 2022-03-08 | Siemens Healthcare Gmbh | Autonomous catheterization assembly |
WO2022224234A1 (en) * | 2021-04-19 | 2022-10-27 | Microbot Medical Ltd. | Compact robotic device and assemblies for manipulation of elongate surgical tools |
DE102021205547A1 (en) | 2021-05-31 | 2022-12-01 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein | Clamp actuator, moving mechanism and method for moving an elongate object |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5060632A (en) * | 1989-09-05 | 1991-10-29 | Olympus Optical Co., Ltd. | Endoscope apparatus |
US5243967A (en) * | 1991-03-26 | 1993-09-14 | Olympus Optical Co., Ltd. | Endoscope system providing mutual operative communication between the drive control means and the video signal control means |
US5623582A (en) * | 1994-07-14 | 1997-04-22 | Immersion Human Interface Corporation | Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects |
DE29808180U1 (en) * | 1998-05-06 | 1998-07-23 | Stm Medtech Starnberg | Drive device for slip hose system |
EP0970663A1 (en) * | 1998-07-10 | 2000-01-12 | Mitsubishi Denki Kabushiki Kaisha | Master/slave system for the manipulation of tubular medical tools |
US6377011B1 (en) * | 2000-01-26 | 2002-04-23 | Massachusetts Institute Of Technology | Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus |
US20020177789A1 (en) * | 2001-05-06 | 2002-11-28 | Ferry Steven J. | System and methods for advancing a catheter |
EP1442720A1 (en) * | 2003-01-31 | 2004-08-04 | Tre Esse Progettazione Biomedica S.r.l | Apparatus for the maneuvering of flexible catheters in the human cardiovascular system |
-
2004
- 2004-02-18 DE DE102004007935A patent/DE102004007935A1/en not_active Ceased
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5060632A (en) * | 1989-09-05 | 1991-10-29 | Olympus Optical Co., Ltd. | Endoscope apparatus |
US5243967A (en) * | 1991-03-26 | 1993-09-14 | Olympus Optical Co., Ltd. | Endoscope system providing mutual operative communication between the drive control means and the video signal control means |
US5623582A (en) * | 1994-07-14 | 1997-04-22 | Immersion Human Interface Corporation | Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects |
DE29808180U1 (en) * | 1998-05-06 | 1998-07-23 | Stm Medtech Starnberg | Drive device for slip hose system |
EP0970663A1 (en) * | 1998-07-10 | 2000-01-12 | Mitsubishi Denki Kabushiki Kaisha | Master/slave system for the manipulation of tubular medical tools |
US6377011B1 (en) * | 2000-01-26 | 2002-04-23 | Massachusetts Institute Of Technology | Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus |
US20020177789A1 (en) * | 2001-05-06 | 2002-11-28 | Ferry Steven J. | System and methods for advancing a catheter |
EP1442720A1 (en) * | 2003-01-31 | 2004-08-04 | Tre Esse Progettazione Biomedica S.r.l | Apparatus for the maneuvering of flexible catheters in the human cardiovascular system |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101579225B (en) * | 2008-05-14 | 2012-09-19 | 奥林巴斯医疗株式会社 | Electric bending operation device and medical treatment system including the same |
US8409079B2 (en) | 2008-05-14 | 2013-04-02 | Olympus Medical Systems Corp. | Electric bending operation device and medical treatment system including electric bending operation device |
EP2123211A1 (en) * | 2008-05-14 | 2009-11-25 | Olympus Medical Systems Corporation | electric bending operation device and medical treatment system including electric bending operation device |
WO2011058493A1 (en) * | 2009-11-12 | 2011-05-19 | Koninklijke Philips Electronics N.V. | A steering system and a catcher system |
CN102596306A (en) * | 2009-11-12 | 2012-07-18 | 皇家飞利浦电子股份有限公司 | A steering system and a catcher system |
CN102596306B (en) * | 2009-11-12 | 2014-06-25 | 皇家飞利浦电子股份有限公司 | A steering system and a catcher system |
US8870815B2 (en) | 2009-11-12 | 2014-10-28 | Koninklijke Philips N.V. | Steering system and a catcher system |
CN103599586B (en) * | 2013-11-20 | 2016-03-23 | 中国科学院深圳先进技术研究院 | Blood vessel intervention operation wire catheter remote operation controller |
CN103599586A (en) * | 2013-11-20 | 2014-02-26 | 中国科学院深圳先进技术研究院 | Vascular intervention operation guide-wire and catheter remote control device |
CN104840257A (en) * | 2015-05-22 | 2015-08-19 | 林健泽 | Guide robot for conveying and reclaiming intervention catheters |
US11266424B2 (en) | 2017-06-20 | 2022-03-08 | Siemens Healthcare Gmbh | Autonomous catheterization assembly |
NL1043050B1 (en) * | 2018-10-23 | 2020-06-02 | Soteria Medical B V | Device for moving and rotating an elongated body such as a catheter under remote control |
CN110960183A (en) * | 2019-12-06 | 2020-04-07 | 中国科学院大学宁波华美医院(宁波市第二医院) | Bronchoscope support |
CN110960183B (en) * | 2019-12-06 | 2022-04-12 | 中国科学院大学宁波华美医院(宁波市第二医院) | Bronchoscope support |
CN111544114A (en) * | 2020-04-23 | 2020-08-18 | 绍兴梅奥心磁医疗科技有限公司 | Mechanical arm assembly of magnetic navigation radio frequency ablation catheter, remote control device and control method of mechanical arm assembly |
CN111643236A (en) * | 2020-06-15 | 2020-09-11 | 闫爱玲 | Heart stent conveying and releasing device |
WO2022224234A1 (en) * | 2021-04-19 | 2022-10-27 | Microbot Medical Ltd. | Compact robotic device and assemblies for manipulation of elongate surgical tools |
DE102021205547A1 (en) | 2021-05-31 | 2022-12-01 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein | Clamp actuator, moving mechanism and method for moving an elongate object |
WO2022253802A1 (en) | 2021-05-31 | 2022-12-08 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Clamping actuator, movement mechanism, and method for moving an elongate object |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE69919851T2 (en) | REMOTE CATHETERIZATION | |
DE4202302C2 (en) | Computer tomograph | |
DE69632006T2 (en) | Guide wire unit | |
EP0632706B1 (en) | Device for moving an endoscope through a channel-like cavity | |
DE102004052265B4 (en) | Medical examination and therapy device with a storage device | |
DE19756910A1 (en) | Catheter used for producing ultrasonic picture of heart | |
CH676204A5 (en) | ||
EP1267732A1 (en) | Medical device with a drive unit for a needle | |
EP0612496A1 (en) | Handle for medical instruments | |
DE10042606A1 (en) | Medical instrument has two interfitting cannulas with curvature altered by twisting by means of cog wheels, or drive mechanism. | |
DE4340707A1 (en) | manipulator | |
DE10147145A1 (en) | Multifunctional instrument for microinvasive surgery | |
DE102004007935A1 (en) | Method for moving probe in body of patient with remote control, using friction drive with rollers positioned parallel to probe | |
DE102017118468A1 (en) | Catheter system for performing an intervention in the vascular system of the human or animal body | |
DE10030507C2 (en) | Manipulator for interventional and operative interventions under CT / MRI control | |
DE102010044106A1 (en) | instrument system | |
DE2626179A1 (en) | RECTOSCOPE, IN PARTICULAR FOR AIR INFLATION AND METHOD OF APPLYING THE SAME | |
EP1075216B1 (en) | Magnetic resonance tomograph | |
WO2010105649A1 (en) | Tubular shaft of a surgical instrument and use of the same | |
DE69728006T2 (en) | Surgical device | |
WO2016116538A1 (en) | Device for retaining and moving a laparoscopic instrument during an operation | |
DE10015510C2 (en) | Medical device with a drive device for a needle | |
DE10063566C1 (en) | Manipulator for a closed magnetic resonance tomograph | |
DE102006055166A1 (en) | X-ray device i.e. C-arc X-ray device, for examining bone fractures, has retaining mechanism comprising rotatably supported telescopic arms for supporting support device at retaining mechanism, where length of arms is adjustable | |
WO1994019048A1 (en) | Catheter |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
OAV | Applicant agreed to the publication of the unexamined application as to paragraph 31 lit. 2 z1 | ||
OP8 | Request for examination as to paragraph 44 patent law | ||
8131 | Rejection |