公开(公告)号：US20210186309A1

公开(公告)日：2021-06-24

申请号：US17194183

申请日：2021-03-05

Applicant: ENDOMASTER PTE LTD

Inventor： Tae Zar Lwin ,  Isaac David Penny ,  Tomonori Yamamoto ,  Tsun En Tan ,  Naoyuki Naito ,  Takahiro Kobayashi ,  Makio Oishi

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

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：US20190191967A1

公开(公告)日：2019-06-27

申请号：US16228634

申请日：2018-12-20

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 ,  A61B1/00 ,  A61B34/37 ,  A61B34/00

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.

公开(公告)号：US20220241035A1

公开(公告)日：2022-08-04

申请号：US17719540

申请日：2022-04-13

Applicant: ENDOMASTER PTE LTD

Inventor： Tomonori Yamamoto ,  Christopher Lee Shih Hao Sam Soon ,  Isaac David Penny ,  Naoyuki Naito ,  Tetsu Hirayama ,  Takahiro Kobayashi

IPC: A61B34/30 ,  A61B1/005 ,  A61B1/00 ,  A61B1/015 ,  A61B1/018 ,  A61B1/012 ,  A61B1/05 ,  A61B1/06

Abstract: An embodiment of the invention is an endoscopy system with newly designed docking block, brake control, wire tension adjustment, bending angle sensor, memory chip data storage, valve control, imaging lens cleaning, optimized lumen arrangement and distal position sensor. The docking block can have a one-touch retaining mechanism. Braking control can be accessed by the endoscopist at the hand grip or knobs. Wire tension can be relaxed or tightened in response to surgeon or endoscopist control. Bending angle sensors can protect surgical instruments. Memory chip can store usage data of the endoscope. Multiple valves can have priority control. Lenses can be cleaned with one touch of a button. Lumens can be arranged to maximize imaging and lighting angles. Position markers accompanied with sensors can position the distal end of the endoscope automatically in the optimal position.

公开(公告)号：US20200315720A1

公开(公告)日：2020-10-08

申请号：US16946374

申请日：2020-06-18

Applicant: ENDOMASTER PTE LTD ,  HOYA CORPORATION

Inventor： Tae Zar Lwin ,  Isaac David Penny ,  Christopher Lee Shih Hao Sam Soon ,  Tomonori Yamamoto ,  Naoyuki Naito ,  Tetsu Hirayama ,  Takahiro Kobayashi

IPC: A61B34/30 ,  A61B1/005 ,  A61B1/00 ,  A61B1/012 ,  A61B1/015 ,  A61B1/018 ,  A61B1/05 ,  A61B1/06

Abstract: An embodiment of the invention is an endoscopy system with newly designed docking block, brake control, wire tension adjustment, bending angle sensor, memory chip data storage, valve control, imaging lens cleaning, optimized lumen arrangement and distal position sensor. The docking block can have a one-touch retaining mechanism. Braking control can be accessed by the endoscopist at the hand grip or knobs. Wire tension can be relaxed or tightened in response to surgeon or endoscopist control. Bending angle sensors can protect surgical instruments. Memory chip can store usage data of the endoscope. Multiple valves can have priority control. Lenses can be cleaned with one touch of a button. Lumens can be arranged to maximize imaging and lighting angles. Position markers accompanied with sensors can position the distal end of the endoscope automatically in the optimal position.

公开(公告)号：US20170332882A1

公开(公告)日：2017-11-23

申请号：US15127398

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 ,  A61B1/00 ,  A61B34/30

CPC classification number: A61B1/00147 ,  A61B1/00013 ,  A61B1/00066 ,  A61B1/00105 ,  A61B1/00112 ,  A61B1/00121 ,  A61B1/00128 ,  A61B1/00131 ,  A61B1/00133 ,  A61B1/00135 ,  A61B1/00149 ,  A61B1/0016 ,  A61B1/005 ,  A61B1/0051 ,  A61B1/0052 ,  A61B1/0057 ,  A61B1/012 ,  A61B1/0125 ,  A61B1/018 ,  A61B1/04 ,  A61B1/06 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/302

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：US20230036248A1

公开(公告)日：2023-02-02

申请号：US17960292

申请日：2022-10-05

Applicant: EndoMaster Pte Ltd.

Inventor： Isaac David Penny

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：US11490973B2

公开(公告)日：2022-11-08

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: A61B1/00 ,  A61B34/37 ,  A61M25/00 ,  A61B34/30 ,  A61B34/00

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：US11311343B2

公开(公告)日：2022-04-26

申请号：US15760399

申请日：2016-09-16

Applicant: ENDOMASTER PTE LTD ,  HOYA CORPORATION

Inventor： Tae Zar Lwin ,  Isaac David Penny ,  Christopher Lee Shih Hao Sam Soon ,  Tomonori Yamamoto ,  Naoyuki Naito ,  Tetsu Hirayama ,  Takahiro Kobayashi

IPC: A61B1/015 ,  A61B1/018 ,  A61B1/05 ,  A61B34/30 ,  A61B1/005 ,  A61B1/00 ,  A61B1/012 ,  A61B1/06 ,  A61B34/20

Abstract: An embodiment of the invention is an endoscopy system with newly designed docking block, brake control, wire tension adjustment, bending angle sensor, memory chip data storage, valve control, imaging lens cleaning, optimized lumen arrangement and distal position sensor. The docking block can have a one-touch retaining mechanism. Braking control can be accessed by the endoscopist at the hand grip or knobs. Wire tension can be relaxed or tightened in response to surgeon or endoscopist control. Bending angle sensors can protect surgical instruments. Memory chip can store usage data of the endoscope. Multiple valves can have priority control. Lenses can be cleaned with one touch of a button. Lumens can be arranged to maximize imaging and lighting angles. Position markers accompanied with sensors can position the distal end of the endoscope automatically in the optimal position.

公开(公告)号：US20210007583A1

公开(公告)日：2021-01-14

申请号：US16911348

申请日：2020-06-24

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: A61B1/00 ,  A61B1/005 ,  A61B1/012 ,  A61B34/30 ,  A61B1/04 ,  A61B1/018

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：US11696673B2

公开(公告)日：2023-07-11

申请号：US16911348

申请日：2020-06-24

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

CPC classification number: A61B1/00133 ,  A61B1/0016 ,  A61B1/0051 ,  A61B1/0052 ,  A61B1/0057 ,  A61B1/00066 ,  A61B1/00105 ,  A61B1/00112 ,  A61B1/00121 ,  A61B1/00128 ,  A61B1/00131 ,  A61B1/00147 ,  A61B1/00149 ,  A61B1/012 ,  A61B1/018 ,  A61B1/0125 ,  A61B1/04 ,  A61B34/30 ,  A61B1/005 ,  A61B1/00013 ,  A61B1/00135 ,  A61B1/044 ,  A61B1/06 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/302

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.