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.

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.

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：US12207791B2

公开(公告)日：2025-01-28

申请号：US17775044

申请日：2020-11-24

Applicant: HOYA CORPORATION

Inventor： Takahiro Kobayashi

IPC: A61B1/00 ,  A61B1/012

Abstract: Provided is an endoscope device capable of enhancing mechanical strength and durability against various operations and attachment to and detachment from a hanger in the endoscope device in which an endoscope can be suspended on the hanger. This endoscope device includes: an insertion portion; an operation unit that has a joint section configured to be suspendable from a hanger and is connected to the hanger through the joint section; a treatment tool channel that is arranged inside the joint section and the operation unit and allows passage of a treatment tool; a plate fixed to the operation unit; and a frame that is provided inside the joint section, includes a plurality of partition structural members coupled to each other and having a longitudinal direction along an arrangement direction of the treatment tool channel, and is fixed to the plate.

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：US20190053861A1

公开(公告)日：2019-02-21

申请号：US15760399

申请日：2016-09-16

Applicant: ENDOMASTER PTE LTD ,  HOYA CORPORATION

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

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

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：US12171402B2

公开(公告)日：2024-12-24

申请号：US17637217

申请日：2020-08-24

Applicant: HOYA CORPORATION

Inventor： Takahiro Kobayashi

IPC: A61B1/012 ,  A61B1/00 ,  A61B1/015

Abstract: Provided is an endoscope that allows improving assembly workability to assemble various types of conduits inside an insertion portion and facilitating maintenance. The endoscope includes an insertion portion, a hand operating unit coupled to the insertion portion, a plurality of conduits disposed inside the insertion portion and the hand operating unit, a base plate as a fixing member fixedly disposed to the hand operating unit, and a relay portion (a first relay portion and a second relay portion) that relays the plurality of conduits. The relay portion has a structure fixable to the base plate.

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.