公开(公告)号：EP2787895A1

公开(公告)日：2014-10-15

申请号：EP12795486.5

申请日：2012-12-06

申请人： Université Pierre et Marie Curie (Paris 6) ,  Koelis ,  Centre National de la Recherche Scientifique

发明人： POQUET, Cécile ,  MOZER, Pierre ,  BAUMANN, Michael ,  VITRANI, Marie-Aude ,  MOREL, Guillaume ,  LEROY, Antoine ,  HENRI, Patrick ,  COFFIN, Grégoire

IPC分类号： A61B10/02

CPC分类号： H04N5/2251 ,  A61B10/0241 ,  A61B34/76 ,  A61B2034/2065 ,  A61B2090/378 ,  G06T7/0012

摘要： The invention relates to an assistive device for positioning a medical instrument (2) inserted into a natural duct (100) or an artificial duct of a patient relative to an internal organ (P) of a patient, wherein the device comprises a support (1) that is to be inserted at least in part into the body of the patient and supports the medical instrument, means for moving the support, wherein said movement means comprise an articulated arm (9) that includes a plurality of degrees of freedom for moving a proximal end (1a) of the support, means for acquiring images of the internal organ for positioning the medical instrument relative to the internal organ, wherein the image acquisition means comprise a probe (5) supported by the support such that the medical instrument and the probe are rigidly connected, and a control unit (10) for controlling the movement means, which is connected to the image acquisition means and comprises image analyzing means (11) for generating control commands for the articulated arm in order to control at least one movement of the medical instrument relative to the internal organ. The invention further relates to a method for controlling such a device.

公开(公告)号：EP2760361B1

公开(公告)日：2017-11-15

申请号：EP12766104.9

申请日：2012-09-28

申请人： Université Pierre et Marie Curie (Paris 6) ,  Koelis ,  Centre National de la Recherche Scientifique

发明人： POQUET, Cécile ,  MOZER, Pierre ,  BAUMANN, Michael ,  VITRANI, Marie-Aude ,  MOREL, Guillaume ,  LEROY, Antoine ,  HENRI, Patrick

IPC分类号： A61B34/00 ,  A61B90/50

CPC分类号： A61B34/74 ,  A61B10/0241 ,  A61B90/50 ,  A61B2017/00199 ,  A61B2017/00203 ,  A61B2017/00274 ,  A61B2017/00398 ,  A61B2017/00694 ,  A61B2018/00547 ,  A61B2034/2065 ,  A61B2090/065 ,  A61B2090/08021 ,  A61B2090/0808 ,  A61B2090/508

公开(公告)号：EP2760361A1

公开(公告)日：2014-08-06

申请号：EP12766104.9

申请日：2012-09-28

申请人： Université Pierre et Marie Curie (Paris 6) ,  Koelis ,  Centre National de la Recherche Scientifique

发明人： POQUET, Cécile ,  MOZER, Pierre ,  BAUMANN, Michael ,  VITRANI, Marie-Aude ,  MOREL, Guillaume ,  LEROY, Antoine ,  HENRI, Patrick

IPC分类号： A61B19/00

CPC分类号： A61B34/74 ,  A61B10/0241 ,  A61B90/50 ,  A61B2017/00199 ,  A61B2017/00203 ,  A61B2017/00274 ,  A61B2017/00398 ,  A61B2017/00694 ,  A61B2018/00547 ,  A61B2034/2065 ,  A61B2090/065 ,  A61B2090/08021 ,  A61B2090/0808 ,  A61B2090/508

摘要： The invention relates to a device for guiding a medical instrument (2) inserted into a natural duct (101) or an artificial duct of a patient in order to bring at least a distal end (1) of the instrument in proximity to an internal organ (100), the device comprising an articulated arm (3) with a plurality of degrees of freedom, for moving a proximal end (4) of the instrument, and controlled blocking means (7) for blocking the degrees of freedom of the articulated arm. According to the invention, the blocking means are designed in such a way that, for at least one of the degrees of freedom, a blockage imposed on said degree of freedom can be enforced when an outer stress exerted on the instrument (2) exceeds a predetermined threshold.

公开(公告)号：EP2413818B8

公开(公告)日：2017-12-20

申请号：EP10712448.9

申请日：2010-04-02

申请人： Université Pierre et Marie Curie (Paris 6) ,  Endocontrol ,  Centre National de la Recherche Scientifique

发明人： PAIK, Jamie ,  MOREL, Guillaume ,  VIDAL, Clément ,  HENRI, Patrick ,  COLLET, Hervé

IPC分类号： A61B17/00 ,  A61B17/29

CPC分类号： A61B17/29 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0069 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2929

公开(公告)号：EP3253323A2

公开(公告)日：2017-12-13

申请号：EP16705060.8

申请日：2016-02-05

申请人： Université Pierre et Marie Curie (Paris 6) ,  Centre National de la Recherche Scientifique (CNRS) ,  Endocontrol

发明人： MOREL, Guillaume ,  DONG, Lin ,  RICHER, Florian ,  PERRIN, Nicolas ,  VIDAL, Clément ,  BARDOU, Bérengère

IPC分类号： A61B34/30 ,  B25J9/16 ,  B25J18/00 ,  A61B34/37 ,  A61B34/00

CPC分类号： A61B34/37 ,  A61B34/30 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B2090/062 ,  A61B2090/067 ,  B25J18/007

摘要： The invention relates to a device and a method to assist with the operation of an instrument by means of said device, the device and the method using leverage effects in order to calculate the data relative to any point of an instrument axis, instead of using low-accuracy sensors. Other improvements are also described that allow higher-quality usage performance for the operator, which reduces the risk of errors and simplifies the operations.

公开(公告)号：EP2725961A1

公开(公告)日：2014-05-07

申请号：EP12730914.4

申请日：2012-06-25

申请人： Université Pierre et Marie Curie (Paris 6) ,  Centre National de la Recherche Scientifique ,  Mauna Kea Technologies ,  Endocontrol

发明人： ROSA, Benoît ,  HERMAN, Benoît ,  SZEWCZYK, Jérôme ,  MOREL, Guillaume ,  VIDAL, Clément ,  HENRI, Patrick ,  LACOMBE, François ,  LOPEZ, Jérôme

IPC分类号： A61B1/00 ,  A61B17/00

摘要： The invention relates to an endoscopic instrument (1) having an elongate body with a distal end (4) designed to be introduced into the body of the patient so as to come into proximity with an internal organ, the distal end carrying a tool (7) for intervention on the internal organ. The endoscopic instrument has a foot (10) rigidly connected to the distal end and designed to bear on the internal organ, and also controllable means (13) for conferring movements on the tool, at least in directions transverse to a longitudinal axis (X) of the distal end of the endoscopic instrument, when the foot is bearing against the internal organ.

公开(公告)号：EP2413818B1

公开(公告)日：2017-11-08

申请号：EP10712448.9

申请日：2010-04-02

申请人： Université Pierre et Marie Curie (Paris 6) ,  Endocontrol ,  Centre National de la Recherche Scientifique

发明人： PAIK, Jamie ,  MOREL, Guillaume ,  VIDAL, Clément ,  HENRI, Patrick ,  COLLET, Hervé

IPC分类号： A61B17/00 ,  A61B17/29

CPC分类号： A61B17/29 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0069 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2929

公开(公告)号：EP2725961B1

公开(公告)日：2020-09-02

申请号：EP12730914.4

申请日：2012-06-25

申请人： Université Pierre et Marie Curie (Paris 6) ,  Centre National de la Recherche Scientifique ,  Mauna Kea Technologies ,  Endocontrol

发明人： ROSA, Benoît ,  HERMAN, Benoît ,  SZEWCZYK, Jérôme ,  MOREL, Guillaume ,  VIDAL, Clément ,  HENRI, Patrick ,  LACOMBE, François ,  LOPEZ, Jérôme

IPC分类号： A61B1/00 ,  A61B17/00

公开(公告)号：EP2413818A1

公开(公告)日：2012-02-08

申请号：EP10712448.9

申请日：2010-04-02

申请人： Université Pierre et Marie Curie - Paris 6 ,  Endocontrol ,  Centre National De La Recherche Scientifique

发明人： PAIK, Jamie ,  MOREL, Guillaume ,  VIDAL, Clément ,  HENRI, Patrick ,  COLLET, Hervé

IPC分类号： A61B17/29

CPC分类号： A61B17/29 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0069 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2929

摘要： The invention relates to a surgical instrument (1) comprising: an elongated arm (11; 307) according to a longitudinal axis and having a distal end (2; 305) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis; a drive shaft (3) substantially coaxial with the elongated arm comprising means forming a universal joint facing the pivot joint; and, a distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degree of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool; characterised in that the elongated arm comprises a plurality of linking elements mounted in series to form the pivot joint and in that the means forming a universal joint comprise a Cardan joint.

摘要翻译： 本发明涉及一种外科器械（1），包括：根据纵向轴线的细长臂（11; 307），并具有远端（2; 305），所述远端根据基本正交的轴线在细长臂上安装有枢转接头 到纵轴; 与细长臂大致共轴的驱动轴（3），其包括形成面向枢转接头的万向节的装置; 和远端工具（9），所述远端工具（9）牢固地紧固在所述驱动轴上并且可旋转地安装在所述细长臂的所述远端的延伸部上并延伸到所述延伸部中，使得所述远端工具具有彼此不同且彼此独立的两个旋转自由度， 一个围绕基本上垂直于细长臂的纵向轴线的轴线而另一个围绕与远侧工具的自身轴线基本共线的轴线; 其特征在于，细长臂包括多个串联安装以形成枢转接头的连接元件，并且形成万向节的装置包括万向节。

公开(公告)号：EP2413819A1

公开(公告)日：2012-02-08

申请号：EP10713181.5

申请日：2010-04-02

申请人： Université Pierre et Marie Curie - Paris 6 ,  Endocontrol

发明人： PAIK, Jamie ,  MOREL, Guillaume ,  VIDAL, Clément ,  HENRI, Patrick

IPC分类号： A61B17/29 ,  A61B17/00

CPC分类号： A61B17/29 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00323 ,  A61B2017/0069 ,  A61B2017/2905 ,  A61B2017/2908 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2947

摘要： The invention relates to a surgical instrument (100; 200) comprising: an elongated arm (111; 207) according to a longitudinal axis and having a distal end (105; 204) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis; a drive shaft (103; 3), substantially coaxial with the elongated arm, comprising means forming a universal joint (104; 206) facing the pivot joint; and, distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degrees of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool, characterized in that the means forming a universal joint comprise a flexible drive sleeve (104; 206).

摘要翻译： 本发明涉及一种外科器械（100; 200），其包括： - 根据纵向轴线的细长臂（111; 207），并且具有远端（105; 204），所述远端根据 基本垂直于所述纵向轴线的轴线; - 与所述细长臂基本同轴的驱动轴（103; 3），其包括形成面向所述枢转接头的万向接头（104; 206）的装置; 和远端工具（9），所述远端工具（9）牢固地紧固在所述驱动轴上并且可旋转地安装在所述细长臂的所述远端的延伸部上并延伸到所述延伸部中，使得所述远端工具具有两个旋转自由度，彼此不同且彼此独立 ，其中一个围绕基本上垂直于细长臂的纵向轴线的轴线而另一个围绕与远端工具的自身轴线基本共线的轴线，其特征在于形成万向接头的装置包括柔性驱动套筒（104 ; 206）。