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

Applicant: Université Pierre et Marie Curie - Paris 6 ,  Endocontrol

Inventor： PAIK, Jamie ,  MOREL, Guillaume ,  VIDAL, Clément ,  HENRI, Patrick

IPC: A61B17/29 ,  A61B17/00

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

Abstract: 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).

Abstract translation: 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）。

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

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

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

IPC: A61B17/29

CPC classification number: A61B17/29 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0069 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2929

Abstract: 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.

Abstract translation: 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：EP3253323A2

公开(公告)日：2017-12-13

申请号：EP16705060.8

申请日：2016-02-05

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

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

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

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B2090/062 ,  A61B2090/067 ,  B25J18/007

Abstract: 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：EP2836110A2

公开(公告)日：2015-02-18

申请号：EP13731159.3

申请日：2013-04-08

Applicant: Mauna Kea Technologies ,  Endocontrol ,  Université Pierre et Marie Curie ,  Centre National de la Recherche Scientifique (CNRS)

Inventor： ERDEN, Mustafa Suphi ,  ROSA, Benoit ,  SZEWCZYK, Jérôme ,  MOREL, Guillaume ,  VIDAL, Clément ,  HENRI, Patrick ,  BOULAROT, Nicolas

IPC: A61B5/00 ,  A61B1/00 ,  G02B6/00

CPC classification number: A61B1/0057 ,  A61B1/00133 ,  A61B1/00165 ,  A61B1/00172 ,  A61B5/0062 ,  A61B5/0068 ,  A61B5/0084 ,  G02B6/0008 ,  G02B6/04 ,  G02B2006/0098

Abstract: A miniaturized scanning system to generate movement of a flexible device positioned at a distal part of a medical tool. The miniaturized scanning system includes an inner shaft with a longitudinal axis, adapted to guide said flexible device along the longitudinal axis, an abutment comprising an external surface and adapted to maintain said device, and a pusher mechanism adapted to engage with said abutment. The miniaturized scanning system includes at least one end portion adapted to contact said external surface of the abutment at a contact point, wherein said end portion is configured to translate along said longitudinal axis of the inner shaft and wherein the translation of said end portion results in a bending of the device in a bending plane defined by the longitudinal axis of the inner shaft and said contact point.

Abstract translation: 一种微型扫描系统，用于产生位于医疗工具的远端部分的柔性装置的运动。 小型化扫描系统包括具有纵向轴线的内轴，其适于沿着纵向轴线引导所述柔性装置，包括外表面并适于维持所述装置的支座以及适于与所述支座接合的推动器机构。 小型化扫描系统包括适于在接触点处接触所述邻接件的所述外表面的至少一个端部部分，其中所述端部部分构造成沿着所述内轴的所述纵向轴线平移，并且其中所述端部部分的平移导致 所述装置在由所述内轴和所述接触点的纵向轴线限定的弯曲平面中弯曲。

公开(公告)号：EP2747675A1

公开(公告)日：2014-07-02

申请号：EP12751328.1

申请日：2012-08-24

Applicant: Endocontrol

Inventor： VIDAL, Clément ,  COLLET, Hervé ,  HENRI, Patrick

IPC: A61B17/29 ,  A61B17/00

CPC classification number: A61B17/2909 ,  A61B17/00 ,  A61B17/00234 ,  A61B2017/00017 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/00367 ,  A61B2017/00398 ,  A61B2017/0042 ,  A61B2017/0069 ,  A61B2017/00738 ,  A61B2017/2903 ,  A61B2017/2908 ,  A61B2017/291 ,  A61B2017/2923 ,  A61B2017/2927 ,  A61B2017/2929

Abstract: The invention relates to a surgical instrument comprising: - a distal tool (5)securely fastened t a distal end of a rotation shaft (4) and rotatably mounted on and in the extension of a distal member(30) rotatably mounted at an end of an elongated arm (3), - an comprising motorized means (20) for actuating the distal motion of the distal tool (5) and further comprising controlling means (21) for a user to control the motorized means (20); - a handle (1) extending from the actuation unit (2) and comprising a lever (11) mechanically coupled to the distal tool (5) for actuation of said distal tool (5); characterized in that the handle (1) has a non-axially-symmetric shape and is mounted on and in the extension of the actuation unit (2) with coupling means (12,22) enabling rotation of the handle (1) relative to the actuation unit (2) around the longitudinal axis, and wherein the controlling means (21) are adapted to be operated by the user whatever the rotational position of the handle (1) relative to the actuation unit (2).

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

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

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

IPC: A61B1/00 ,  A61B17/00

Abstract: 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：EP2190376A2

公开(公告)日：2010-06-02

申请号：EP08803100.0

申请日：2008-08-20

Applicant: Endocontrol ,  Universite Joseph Fourier - Grenoble 1

Inventor： CINQUIN, Philippe ,  MOZER, Pierre ,  VOROS, Sandrine ,  LONG, Jean-Alexandre ,  DUCHATEAU, Josselin ,  MOREAU-GAUDRY, Alexandre ,  VIDAL, Clément ,  HENRI, Patrick

IPC: A61B19/00 ,  A61B1/04 ,  A61B8/00

CPC classification number: A61B19/52 ,  A61B90/36 ,  A61B2090/364 ,  A61B2090/373 ,  A61B2090/3782 ,  A61B2090/3908 ,  A61B2090/3925 ,  A61B2090/3929 ,  A61B2090/3937 ,  A61B2090/3945 ,  A61B2090/3995

Abstract: The invention relates to an imaging system for following at least one surgical tool (5, 6) in an operation field inside a space (1) in the body of an animal, that comprises: at least one endoscopic camera (9) for obtaining endoscopic information of the operation field; at least one ultrasound imaging device (12) for obtaining ultrasound information on the operation field; an endoscopic and ultrasound information processing device (13), characterised in that it further comprises at least three markers (15, 16, 17) to be positioned in the operation field, said markers (15, 16, 17) being mobile relative to the tool (5, 6), and each marker being adapted to be captured both by the endoscopic camera (9) and the ultrasound imaging device (12) so that the processing means (13) can match the endoscopic information and the ultrasound information.