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WO1998024017A2 - Moyen de commande - Google Patents

Moyen de commande Download PDF

Info

Publication number
WO1998024017A2
WO1998024017A2 PCT/GB1997/003166 GB9703166W WO9824017A2 WO 1998024017 A2 WO1998024017 A2 WO 1998024017A2 GB 9703166 W GB9703166 W GB 9703166W WO 9824017 A2 WO9824017 A2 WO 9824017A2
Authority
WO
WIPO (PCT)
Prior art keywords
finger
membrane
actuator
feedback
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/GB1997/003166
Other languages
English (en)
Other versions
WO1998024017A3 (fr
Inventor
Mansel Valmond Griffiths
Peter Nigel Brett
Giuseppe Tritto
Rhodri Simon Watcyn Stone
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Bristol
Original Assignee
University of Bristol
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Bristol filed Critical University of Bristol
Publication of WO1998024017A2 publication Critical patent/WO1998024017A2/fr
Publication of WO1998024017A3 publication Critical patent/WO1998024017A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/741—Glove like input devices, e.g. "data gloves"

Definitions

  • This invention relates to control means and actuators with feed-back sensors suitable for use in tele-operated systems, especially surgical tools and endoscopes.
  • Endoscopes are used increasingly in minimally invasive surgery for the delivery of surgical tools for internal inspection and treatment of patients.
  • endoscopes and tools should be steerable, and should incorporate sensors to produce position and/or force feedback signals to an operator.
  • the control means provided to steer or operate endoscopes or tools should be natural and simple to operate so as to make them easier and safer to use.
  • the steering actuators and sensors used must also be designed with safety in mind, and would preferably be fail-safe.
  • all equipment should be sterilisable, and would preferably be disposable if it would be made low cost.
  • the invention consists in a control process and apparatus involving provision of a membrane to move with an operator's finger so as to flex with it, and a sensor responsive to longitudinal flexing of the membrane so as to produce an output signal dependent on the position of the finger .
  • This arrangement makes use of the finger's natural ability to make precise control movements, and harnesses this ability using an associated membrane and sensor without impairing the finger's sensitivity.
  • the membrane is resilient and is fitted to the finger in a longitudinally pre-tensioned state so as to closely follow bending movement of the finger.
  • the membrane may be attached to the operator's wrist.
  • the membrane covers the finger like the finger of a glove, and preferably extends from the finger across the back of the hand.
  • control means according to the invention may be incorporated in a full glove. Multiple sensors may then be attached to the back of the glove to sense the position of one or more fingers .
  • the senor preferably comprises a nonelectrical sensing element.
  • an optic fibre may be arranged longitudinally to flex with the finger so that light transmitted through it is attenuated by such flexing.
  • two lengths of optic fibre can be attached to the membrane with adjacent ends spaced apart in longitudinal alignment so that the spacing therebetween varies with strain in the membrane as the finger flexes, thereby attenuating the light transmitted between said ends.
  • An advantage of this arrangement is that the optic fibres can be located remote from the finger, for example, in an extension of the membrane on the back of the hand.
  • the senor may comprise a non-optical form of sensor and may be adapted to sense strain in the membrane. This sensor may be located remotely from the finger .
  • a signal processor is provided to receive the output signal from the sensor and produce an output control signal to control an actuator in accordance with the position of the finger.
  • the actuator may be an actuator that steers an endoscope or which operates a surgical tool .
  • the movement of an operator's finger is used to select modes of operation of equipment and operate switch devices . This is useful where the operator is already manipulating equipment by hand control and a suitable finger is free for use in this manner. If required, two or more fingers can be used each to control a separate operation.
  • the invention consists in a fluid-operated actuator comprising a corrugated tube with a length-restraining member along one side so that the tube curves cowards said one side when it is extended by internal fluid pressure.
  • An actuator may comprise a single corrugated tube to allow steering in one plane through the tube's longitudinal axis.
  • multiple tubes can be combined extending alongside one another so as to allow steering in multiple different planes depending on fluid pressure applied to the tubes.
  • the actuator is provided with a feedback sensor that is responsive to the position of the tube and/or lateral force experienced by the tube in engagement with an external object .
  • the feedback sensor may be attached to a resilient restraining member, and may comprise an optic fibre or non-optic fibre sensor responsive to strain in the restraining member. Two or more feedback sensors may be provided along the length of the restraining member to determine the position and/or force experienced by the actuator in use.
  • the feedback sensor may comprise a cover or envelope that covers the corrugated tube or tubes, and which incorporates one or more sensors that sense strain in the cover as it flexes with the tube.
  • a feedback processor is provided to process a feedback signal received from the feedback sensor and produce a corresponding feedback control signal which operates a feedback force generator in contact with an operator's finger controlling the actuator .
  • the actuator may be an actuator that steers an endoscope br which operates a surgical tool.
  • the invention consists in an aid for an injured hand comprising a membrane adapted to fit one finger of the hand so as to flex with it, a sensor responsive to longitudinal flexing of the membrane so as to produce an output signal dependent on the position of said one finger, and an actuator that stimulates an injured finger of said hand or operates a prosthetic finger so that it flexes in synchronism with said one finger.
  • the injured finger or prosthetic finger may have a membrane adapted to fit it so as to flex therewith, and a feedback sensor responsive to the position and/or lateral force experienced by the injured finger or prosthetic finger so as to produce a feedback signal operating a feedback force generator to apply a corresponding force to the hand or arm.
  • the invention may involve a glove having one finger to receive said one finger, and another finger to receive said injured finger or prosthetic finger, the finger of the glove in each case comprising the associated membrane.
  • the sensor associated with each of said fingers is preferably attached to the back of the glove and may comprise optic fibre sensors .
  • the feedback force generator may comprise a braille output transducer .
  • the invention consist in an aid for an injured limb comprising a membrane adapted to fit a finger of a patient's hand so as to flex with it, a sensor responsive to longitudinal flexing of the membrane so as to produce an output signal dependent on the position of said one finger, and an actuator that stimulates said injured limb or a prosthetic limb so that it flexes in accordance with movement of said one finger.
  • the injured limb or prosthetic limb may have a membrane adapted to fit it so as to flex therewith, and a feedback sensor responsive to the position and/or lateral force experienced by the injured limb or prosthetic limb so as to produce a feedback signal operating a feedback force generator to apply a corresponding force to the patient's hand or arm or other part of the body.
  • the invention consists in means to measure movement of a member comprising a membrane attached to said member, and a sensor responsive to flexing of the membrane so as to produce an output measuring signal dependent on the position of said member.
  • Said member may comprise a limb so that the measuring means serves as physiotherapy apparatus to measure movement and force exerted by an injured limb.
  • said member may comprise any member that needs monitoring.
  • the invention consists in a process and apparatus for sensing movement of a member involving provision of a membrane to move with the member so as to be strained by said movement, and two lengths of optic fibre attached to the membrane with adjacent ends spaced apart in longitudinal alignment so that the spacing therebetween varies with strain in the membrane as the member moves, thereby attenuating the light transmitted betv.'een said ends.
  • the two lengths of optic fibre are guided in a closely fitting sleeve so that they are held in alignment as they move longitudinally relative to one another with flexing of the membrane.
  • the sleeve may be the cover normally provided on optic fibres, the ends of the two fibres being stripped and inserted into a short length of the cover.
  • the two lengths of optic fibre may conveniently be produced by cutting a length of fibre into two and rejoining the ends via the sleeve.
  • a suitable adhesive is used to attach the sleeve and optic fibres to the membrane, the adhesive being resilient to accommodate strain in the membrane and movement of the fibres .
  • FIG. 1 A schematic of a steerable endoscope is shown in Figure 1.
  • the endoscope consists of a steering actuator 1 with integral sensing 5.
  • the sensing requires interpretation to enable the data to be converted to indicate both position and force distribution .
  • the user control interface 2 has sensing to determine the position required by the user.
  • the interface also has feedback actuation 3 to enable force feedback to be felt by the operator .
  • the system operates via a controller 4 which receives the position input from the user interface 2 in accordance with the position of the operator's finger. In response to a change in position, the controller 4 moves the actuator 1 to the position required.
  • the endoscope tip Whilst under actuation, the endoscope tip may come into contact with an object. The position of contact and force is detected by the tactile sensor 5. This information is used by the user interface to resist the movement of the operator's finger in proportion to the measured feedback force.
  • the design of the actuator as incorporated in the steerable tip of the endoscope is shown in Figure 2.
  • the actuator is manufactured from bellowed polymer tube 7 and incorporates a machined nylon insert 6.
  • the insert is fixed in place with adhesive and forms an air-tight chamber within the bellowed tube.
  • the insert has a restraining strip 8 that runs up one side of the tubing.
  • the bellowed tube attempts to expand longitudinally. As one edge is restrained by the insert this has the effect instead of curling the tubing.
  • the result is a controllable finger action that may be actuated by either pneumatic or by hydraulic pressure .
  • the sensor 5 is used to determine both position and force and uses the known deformation characteristics of the restraining strip 8 whilst the chamber is under pressure.
  • the sensor 5 may comprise a strain gauge, but is preferably an optic fibre sensor.
  • optic fibre enables an inexpensive form of sensing to be utilised that is also electrically isolated.
  • the fibres used are plastic and the light source and receiver are infra-red light emitting diodes and receivers.
  • the fibres may be attached to the restraining strip 8 within the chamber of the endoscope.
  • the sensing system relies on the attenuation of light transmitted through the fibre when bending occurs.
  • the resulting output from the sensor is non-linear but gives a good indication of bending by varying light levels . It is possible to instrument a number of positions on the restraining strip to enable the shape of the beam to be determined.
  • the user interface 2 requires a method of control that is natural to the user, thus allowing control of the device to be mastered quickly and enabling the user to become skilled in its operation. This will also reduce the likelihood of an operator error occurring while using the device.
  • control means is proposed in the form of a "skin" that the user wears.
  • the skin 9 is thin and is constructed from a rubber material and is worn on the operator's finger as shown in Figure 3.
  • a sensor is attached to the skin to give accurate information about the position of the finger.
  • the fibres are fixed to the skin in a similar arrangement to the endoscope tip.
  • the tension created in the skin when the user's finger is flexed, generates a signal by attenuation of the light transmitted through the waveguide and detection of this by the receiving photo-transistor .
  • a calibration procedure allows adjustment for the size of the user's finger. This procedure enables the system to calculate the range of operation by values obtained when the finger is straight and flexed to the maximum position.
  • This instrumented skin also may be used in the same way to instrument the endoscope tip.
  • feedback actuation 3 is provided to relay the forces measured at the endoscope tip to the user's finger.
  • This utilises an air bag that can be inflated to preset pressure.
  • the system operates at a very low pressure of maximum 37kpa.
  • the arrangement is shown in Figure 4.
  • the air bag 10 is contained within a vessel so as to direct the force of inflation onto the user's finger.
  • a fibre 13 can be cut at a measuring point along its length, as shown in Figure 5, so that adjacent ends are spaced apart, and the distance therebetween varies with flexing of the substrate to which it is attached.
  • An optic fibre sleeve 11 is provided as a close fit to hold the two ends of the fibre in longitudinal alignment, and the sleeve
  • Figure 6 illustrates an alternative form of steerable endoscope tip in which two chambers are formed at spaced sections along the length of the bellowed tube 7 to allow independent operation of these respective sections and vary the overall curvature of the tip.
  • Figure 7 illustrates a steerable endoscope or tool which is steered in more than one direction by virtue of multiple corrugated tubes that can be selectively pressurised.
  • Four such tubes 7 are provided extending alongside one another, and a single restraining tie 8 is provided along the centre of the tubes so that the tip bends to the side in any direction depending upon the pressurisation of the four tubes 7.
  • an elastic cover 15 is provided over the four tubes 7, and multiple sensors 16 are attached to the cover to sense strain in the cover 15.
  • the sensors are preferably optic fibre sensors shown in Figure 5. Signals derived from the sensors 16, and pressurisation values of the four tubes 7, are combined with a knowledge of the bending characteristics of the tip to determine the position of the tip and resulting applied force.
  • the tie 8 can be made of elastic material so that the tip is extensible and its length is controlled by the combined forces produced in pressurising the tubes 7.
  • the invention is applicable to a wide range of surgical operations of which the following are typical:
  • Figure 8 illustrates a hand 17 fitted with a prosthetic finger 18 that is controlled according to the invention.
  • An elastic glove 19 fits over the hand including the prosthetic finger, and multiple fibre-optic sensors 20 are attached to the back of the hand to monitor movement of a healthy finger 21 and to produce output signals which are converted by a controller 22 to a position signal in accordance with the position of the finger 21.
  • This position signal in turn is used to control movement of the prosthetic finger 18 via an associated actuator, which may take the form shown in Figure 2.
  • the sensors 20 are also located to produce output signals that can be processed by the controller 22 to determine the position of the prosthetic finger 18 and/or the force experienced by it.
  • a feedback signal is therefore generated by the controller 22 which allows closed-loop control and also allows a feedback actuator 23 to be operated to give the patient a tactile experience of the force applied by the prosthetic finger.
  • This feedback actuator may take the form of a braille output transducer .

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

L'invention concerne un moyen de commande et des actionneurs (1) munis de capteurs de réaction (5) et pouvant être utilisés dans des systèmes commandés à distance, en particulier des instruments chirurgicaux et des endoscopes. Une membrane (9) est soumise à une flexion suivant le doigt d'un opérateur et un capteur (20) réagit à une flexion longitudinale de la membrane en émettant un signal de sortie, selon la position du doigt. La membrane (9) recouvre le doigt comme un gant et s'étend le long du dos de la main. Le capteur (20) comprend, de préférence, une fibre optique (13). L'actionneur (1) fonctionne par commande de fluide et comprend un tube annelé (7) équipé d'un élément modérateur de la longueur (8) sur un côté, ce qui fait que le tube se courbe lorsqu'il est déployé sous l'effet de la pression de fluide interne. Un capteur de réaction (5) réagit à la position du tube (7) et/ou à la force latérale imprimée au tube (7) lorsque celui-ci vient au contact d'un objet extérieur. Un signal de réaction émanant du capteur (5) déclenche un générateur de force (3) de réaction au contact du doigt de l'opérateur.
PCT/GB1997/003166 1996-11-26 1997-11-26 Moyen de commande Ceased WO1998024017A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9624486.8 1996-11-26
GBGB9624486.8A GB9624486D0 (en) 1996-11-26 1996-11-26 Control means

Publications (2)

Publication Number Publication Date
WO1998024017A2 true WO1998024017A2 (fr) 1998-06-04
WO1998024017A3 WO1998024017A3 (fr) 1998-10-08

Family

ID=10803442

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1997/003166 Ceased WO1998024017A2 (fr) 1996-11-26 1997-11-26 Moyen de commande

Country Status (2)

Country Link
GB (1) GB9624486D0 (fr)
WO (1) WO1998024017A2 (fr)

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002027456A1 (fr) * 2000-09-29 2002-04-04 Senseboard Technologies Ab Interface entree de donnees portable
WO2002007608A3 (fr) * 2000-07-20 2002-06-20 Tiva Medical Inc Instrument chirurgical articule a commande manuelle
DE102004009135B3 (de) * 2004-02-25 2005-12-22 Siemens Ag Vorrichtung zur von Hand fernsteuerbaren Navigation einer in einen menschlichen Körper einführbaren Sonde
WO2007087004A3 (fr) * 2005-11-23 2008-02-28 Neoguide Systems Inc Assistance au guidage
US8062212B2 (en) 2000-04-03 2011-11-22 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8083879B2 (en) 2005-11-23 2011-12-27 Intuitive Surgical Operations, Inc. Non-metallic, multi-strand control cable for steerable instruments
US8182418B2 (en) 2008-02-25 2012-05-22 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
US8361090B2 (en) 2002-01-09 2013-01-29 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US8517923B2 (en) 2000-04-03 2013-08-27 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US8568299B2 (en) 2006-05-19 2013-10-29 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US8721530B2 (en) 2000-04-03 2014-05-13 Intuitive Surgical Operations, Inc. Tendon-driven endoscope and methods of use
US8845524B2 (en) 2000-04-03 2014-09-30 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US8882657B2 (en) 2003-03-07 2014-11-11 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
WO2015082904A1 (fr) 2013-12-02 2015-06-11 Brunel University Procédé et ensemble pour différencier un attribut, un état ou une caractéristique
US9220398B2 (en) 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments
WO2016008041A1 (fr) * 2014-07-15 2016-01-21 Synaptive Medical (Barbados) Inc. Interface de dispositif médical commandée au doigt
CN105997252A (zh) * 2016-06-20 2016-10-12 深圳市罗伯医疗科技有限公司 机器人在手术中反馈触摸力的方法和机器人
US11096563B2 (en) 2005-11-22 2021-08-24 Intuitive Surgical Operations, Inc. Method of determining the shape of a bendable instrument
CN118259759A (zh) * 2024-05-28 2024-06-28 南昌虚拟现实研究院股份有限公司 力触觉反馈装置

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US4972074A (en) * 1989-04-10 1990-11-20 Scott M. Wright Optical attenuator movement detection system

Cited By (50)

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US10327625B2 (en) 2000-04-03 2019-06-25 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US10893794B2 (en) 2000-04-03 2021-01-19 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US12076102B2 (en) 2000-04-03 2024-09-03 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US11026564B2 (en) 2000-04-03 2021-06-08 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US9138132B2 (en) 2000-04-03 2015-09-22 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US10736490B2 (en) 2000-04-03 2020-08-11 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US10105036B2 (en) 2000-04-03 2018-10-23 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US9808140B2 (en) 2000-04-03 2017-11-07 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US9427282B2 (en) 2000-04-03 2016-08-30 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US8062212B2 (en) 2000-04-03 2011-11-22 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US8845524B2 (en) 2000-04-03 2014-09-30 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US8834354B2 (en) 2000-04-03 2014-09-16 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8517923B2 (en) 2000-04-03 2013-08-27 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US8827894B2 (en) 2000-04-03 2014-09-09 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8721530B2 (en) 2000-04-03 2014-05-13 Intuitive Surgical Operations, Inc. Tendon-driven endoscope and methods of use
US8641602B2 (en) 2000-04-03 2014-02-04 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
JP2004504095A (ja) * 2000-07-20 2004-02-12 ティヴァ　メディカル　インコーポレイテッド 手作動で関節運動する外科器具
US7470268B2 (en) 2000-07-20 2008-12-30 Allegiance Corporation Hand-actuated articulating surgical tool
WO2002007608A3 (fr) * 2000-07-20 2002-06-20 Tiva Medical Inc Instrument chirurgical articule a commande manuelle
US6748281B2 (en) * 2000-09-29 2004-06-08 Gunilla Alsio Wearable data input interface
WO2002027456A1 (fr) * 2000-09-29 2002-04-04 Senseboard Technologies Ab Interface entree de donnees portable
US10349816B2 (en) 2002-01-09 2019-07-16 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US8361090B2 (en) 2002-01-09 2013-01-29 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US8696694B2 (en) 2002-01-09 2014-04-15 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US9421016B2 (en) 2002-01-09 2016-08-23 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US9980778B2 (en) 2003-03-07 2018-05-29 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US8882657B2 (en) 2003-03-07 2014-11-11 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US10959807B2 (en) 2003-03-07 2021-03-30 Intuitive Surgical Operations, Inc. Systems and methods for determining the state of motion of an instrument
US7641650B2 (en) 2004-02-25 2010-01-05 Siemens Aktiengesellschaft Remote control device for a medical probe
DE102004009135B3 (de) * 2004-02-25 2005-12-22 Siemens Ag Vorrichtung zur von Hand fernsteuerbaren Navigation einer in einen menschlichen Körper einführbaren Sonde
CN1660019B (zh) * 2004-02-25 2010-05-26 西门子公司 用于由手对可插入到人体内的探针进行遥控导航的装置
US11096563B2 (en) 2005-11-22 2021-08-24 Intuitive Surgical Operations, Inc. Method of determining the shape of a bendable instrument
US11617499B2 (en) 2005-11-22 2023-04-04 Intuitive Surgical Operations, Inc. System for determining the shape of a bendable instrument
US8083879B2 (en) 2005-11-23 2011-12-27 Intuitive Surgical Operations, Inc. Non-metallic, multi-strand control cable for steerable instruments
WO2007087004A3 (fr) * 2005-11-23 2008-02-28 Neoguide Systems Inc Assistance au guidage
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