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    FLEXIBLE MASTER - SLAVE ROBOTIC ENDOSCOPY SYSTEM
    1.
    发明申请
    FLEXIBLE MASTER - SLAVE ROBOTIC ENDOSCOPY SYSTEM 审中-公开
    灵活的主人 - 从动机器人内窥镜系统

    公开(公告)号：US20150230697A1

    公开(公告)日：2015-08-20

    申请号：US14429132

    申请日：2013-09-19

    Applicant: Nanyang Technological University ,  National University of Singapore

    Inventor： Soo Jay Louis Phee ,  Van An Huynh ,  Zheng Wang ,  Isaac David Penny ,  Khek Yu Ho

    IPC: A61B1/012 ,  A61B1/005 ,  A61B1/05 ,  A61B1/018

    CPC classification number: A61B1/0125 ,  A61B1/00098 ,  A61B1/00135 ,  A61B1/00183 ,  A61B1/0051 ,  A61B1/0057 ,  A61B1/018 ,  A61B1/05 ,  A61B8/12 ,  A61B8/4466 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/2906 ,  A61B2034/303 ,  F04C2270/0421 ,  Y10S901/02 ,  Y10S901/41

    Abstract: A master-slave robotic endoscopy system includes a flexible primary endoscope probe having at least one tool channel for carrying a tendon-sheath driven robot arm and corresponding end effector, and a secondary endoscope probe channel for carrying an imaging endoscope. The imaging endoscope provides enhanced image capture range relative to a distal end of the primary endoscope probe by way of a secondary endoscope probe channel distal opening proximally offset from the primary endoscope probe distal end; a ramp structure distally carried by the primary endoscope probe; and/or one or more actuatable distal imaging endoscope regions. Robot arms can include joint primitives that enable robot arm/end effector manipulation in accordance with intended degrees of freedom. A set of quick connect/disconnect interfaces couple an actuation controller to one or more actuation assemblies insertable into the tool channel(s), where each actuation assembly includes tendon-sheath elements, a robot arm, and its corresponding end effector.

    Abstract translation: 主从机器人内窥镜系统包括具有至少一个用于承载腱鞘驱动的机器人手臂和相应的末端执行器的工具通道的柔性主内窥镜探针和用于承载成像内窥镜的辅助内窥镜探针通道。 成像内窥镜通过从主内窥镜探针远端向近侧偏移的第二内窥镜探针通道远侧开口提供相对于主内窥镜探针的远端的增强的图像捕获范围; 由主内窥镜探针远端承载的斜坡结构; 和/或一个或多个可致动的远端成像内窥镜区域。 机器人手臂可以包括根据预期的自由度使机器人手臂/末端执行器操纵的关节基元。 一组快速连接/断开接口将致动控制器耦合到可插入到工具通道中的一个或多个致动组件，其中每个致动组件包括腱鞘元件，机器人臂及其对应的端部执行器。

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