公开(公告)号：US10939804B2

公开(公告)日：2021-03-09

申请号：US15127398

申请日：2015-03-19

Applicant: ENDOMASTER PTE LTD

Inventor： Tomonori Yamamoto ,  Isaac David Penny ,  Christopher Lee Shih Hao Sam Soon ,  Hoang-Ha Tran ,  Tae Zar Lwin ,  Tsun En Tan ,  Naoyuki Naito ,  Takahiro Kobayashi ,  Makio Oishi

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/012 ,  A61B34/30 ,  A61B1/04 ,  A61B1/018 ,  A61B1/06 ,  A61B17/00 ,  A61B34/37

Abstract: An enhanced flexible robotic endoscopy apparatus includes a main body and flexible elongate shaft. The main body comprises a proximal end, a distal end and a housing that extends to the proximal end and the housing comprises a plurality of surfaces and a plurality of insertion inlets which reside on at least one of the surface of the housing at the proximal end of the main body, through which a plurality of channels for endoscopy are accessible. Each of the insertion inlets has insertion axis corresponding thereto, along which flexible elongate assemblies are insertable, with the insertion axes of the insertion inlets being parallel to the central axis of the flexible elongate shaft at the proximal end of the flexible elongate shaft.

公开(公告)号：US20200315716A1

公开(公告)日：2020-10-08

申请号：US16757223

申请日：2018-11-09

Applicant: EndoMaster Pte Ltd.

Inventor： Isaac David Penny ,  Tae Zar Lwin ,  Jen Hui Teo

IPC: A61B34/30 ,  A61B1/00

Abstract: An endoscope system is provided, which comprises an endoscope having a hollow tube formed therein, a flexible elongate member having a first end for operational control and a second distal end for operation of robotic members, one or more actuators coupleable to the flexible elongate member at the first end thereof, and an anti-buckling tube arranged with respect to the hollow tube at the first end of the endoscope to prevent buckling of the flexible elongate member during translation of the one or more actuators. Different embodiments are also disclosed, including an endoscope comprising one or more flexible tendons having a wire coil sheath which includes wire having a substantially rectangular cross section, or an endoscope comprising a rotational-motion transmitting device, one or more flexible tendons and one or more electrical wires having anti-kink support thereon, a coupling means constraining the robotic member to an asymmetric range of motion, or torque joint means comprising a centrally aligned pulley for coupling the robotic member.

公开(公告)号：US20170127911A1

公开(公告)日：2017-05-11

申请号：US15127397

申请日：2015-03-19

Applicant: ENDOMASTER PTE LTD ,  HOYA CORPORATION

Inventor： Tomonori Yamamoto ,  Isaac David Penny ,  Christopher Lee Shih Hao Sam Soon ,  Hoang-Ha Tran ,  Tae Zar Lwin ,  Tsun En Tan ,  Naoyuki Naito ,  Takahiro Kobayashi ,  Makio Oishi

IPC: A61B1/005 ,  A61B34/37 ,  A61B34/00 ,  A61B1/00

CPC classification number: A61B1/0053 ,  A61B1/00133 ,  A61B1/0052 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/715

Abstract: A flexible robotic endoscopy slave system includes an endoscope body and a flexible elongate shaft extending therefrom into which at least one tendon driven robotic endoscopic instrument is insertable; a docking station with which the endoscope body is releasably dockable; and a translation mechanism for selectively longitudinally displacing the endoscopic instrument(s) within the flexible elongate shaft when the endoscope body is docked. The translation mechanism can carry and selectively displace actuators that drive each robotic endoscopic instrument by way of tendons. At least one degree of freedom (DOF) of robotic instrument motion is controlled by a pair of actuators and a corresponding pair of tendons. Actuation engagement structures releasably couple the actuators to an adapter structure for driving each endoscopic instrument. Tendon pretensioning can occur automatically under programmable control. A roll joint without tendon crimping structures can be employed in a robotic endoscopic instrument for reducing tendon wear and roll joint spatial volume.