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WO2024241348A1 - Urétéroscope - Google Patents

Urétéroscope Download PDF

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Publication number
WO2024241348A1
WO2024241348A1 PCT/IN2024/050611 IN2024050611W WO2024241348A1 WO 2024241348 A1 WO2024241348 A1 WO 2024241348A1 IN 2024050611 W IN2024050611 W IN 2024050611W WO 2024241348 A1 WO2024241348 A1 WO 2024241348A1
Authority
WO
WIPO (PCT)
Prior art keywords
ureteroscope
handle assembly
tube assembly
assembly
driving pin
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.)
Pending
Application number
PCT/IN2024/050611
Other languages
English (en)
Inventor
Debasish Pradhan
Anshuman MATHUR
Aman Saxena
Saurabh Singh
Giriraj OZA
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.)
Biorad Medisys Private Ltd
Original Assignee
Biorad Medisys Private Ltd
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 Biorad Medisys Private Ltd filed Critical Biorad Medisys Private Ltd
Publication of WO2024241348A1 publication Critical patent/WO2024241348A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/307—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00066—Proximal part of endoscope body, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires

Definitions

  • the present invention relates generally to a field of medical instruments. More specifically, the present invention relates to an endoscopic device particularly a ureteroscope having disposable and reusable components and method of assembling them.
  • Endoscopic devices for surgical or diagnostic procedure are already known. Endoscopes have gained widespread acceptance in the medical community because they provide a means for performing surgery with minimal trauma to the patient while allowing the physician to view internal anatomy of the patient. Over the years, many endoscopes have been developed and classified according to specific applications, such as ureteroscopes, cystoscopes, colonoscopes, laparoscopes, upper gastrointestinal endoscopes, and the like. The endoscope may be inserted into a natural opening in the body, or through an incision in the skin.
  • a conventional endoscope is generally an instrument with a handle and an insertion part wherein, various working components for observation like an optical or electronic imaging system and the like are provided at a distal end of the insertion part, a proximal end at handle with controls for manipulating the tool and devices for viewing the image and a solid or tubular elongate shaft connecting the ends is provided.
  • an endoscope To use an endoscope, a surgeon inserts the distal end into a patient through a natural orifice or an artificial incision to diagnose or treat a disease state of the patient using the working components at a distal end of the insertion part.
  • the proximal end remains outside the patient and typically connects to an eyepiece, video monitor, or other equipment.
  • the insertion part uses a complex lens system for transmitting the image from the distal tip of the endoscope to a viewer.
  • the maneuverability of an endoscope and its suitability for accessing small and delicate regions of the body are in part determined by the size of the endoscope tip, which in turn is determined by the sizes of various components the tip contains.
  • Endoscopes may also incorporate additional features for observation or operation within the body, such as a working channel for passing diagnostic, monitoring, treatment, or surgical tools through the endoscope, where the working channel has an opening located at the distal end portion of the endoscope to provide access to a site within the patient.
  • laser lithotripsy operation needs to be performed for crushing kidney stones in a water-containing environment (such as saline, contrast agents, etc.) the use of water in the operation can cause the change of the internal pressure of the organ, and can cause great harm to the human body when the internal pressure of the organ is too high or too low.
  • High intraluminal pressure in some instances, may make it easier for bacteria and endotoxins to be absorbed into the blood, possibly resulting in postoperative fever. High pressure may also cause lymph node and venous reflux which may lease to fluid leakage, post-operative pain, urosepsis and renal injury.
  • rapidly rising intrarenal pressures may increase the risk of extravasation with the potential to cause pyelosinus, pyelovenous, and/or pyelolymphatic backflow of an irrigant provided to the kidney which severely endangers the life of the patient.
  • disposable endoscopy is an emerging category of endoscopic instruments, in some cases the manufacture of single use endoscopes can be expensive enough to be used on a single patient only, because after a single use the whole device is thrown eventually increasing material wastage.
  • disposable or single-use endoscopy lessens the risk of cross-contamination and hospital acquired diseases, but sometimes these single use endoscopes are not disposed and used multiple times on different patients.
  • the endoscope In order to use the same endoscope multiple times, after an endoscope is used on a particular patient, the endoscope must be sterilized before it can be used again. The goal of sterilization is to remove all foreign matter and all pathogens.
  • An object of the present invention is to provide an improved ureteroscope with a combination of disposable and reusable components which can be easily used by the physician.
  • Another object of the present invention is to provide an improved ureteroscope having a disposable part adapted to detachably engage to a reusable part, such that an interface or operative connection is established between the internal components of both reusable and disposable part when engaged together.
  • Yet another object of the invention is to provide a ureteroscope which is simple in structure, easy to attach and detach, easy and convenient to operate, saves operation time and high in working efficiency.
  • Still another object of the invention is to provide an improved ureteroscope tip structure for traumatically navigating a passageway that resolves or improves on one or more of the above-described drawbacks.
  • Another object of the invention is to provide an improved ureteroscope having a tip structure of a ureteroscope with a camera and LED module for illumination thereby eliminating fiber optics cable.
  • Embodiments of the present disclosure present technological improvements as solutions to one or more of the above-mentioned technical problems.
  • a ureteroscope comprises a handle assembly and a tube assembly.
  • the handle assembly comprises a casing and a motor.
  • the casing comprises a knob and a rotary encoder connected to the knob.
  • One end of the motor is connected to the rotary encoder and other end of the motor is connected with a driving pin via a shaft.
  • the tube assembly is coupled to the handle assembly.
  • the tube assembly comprises a differential gear mechanism and a plurality of wires.
  • the differential gear mechanism comprises a pair of meter gears and a meter pinion. The meter pinion is engaged with the driving pin.
  • a first end of each of the wires is connected with the pair of meter gears and a second end of each of the wire is connected with a bending section. During an operation, the bending section is articulated based on a rotation of the knob.
  • Figure 1(a) and 1(b) illustrate the assembled and disassembled view of a ureteroscope to observe internal organ of a patient with a Vision Processing Unit (VPU) in accordance with an exemplary embodiment of the present disclosure.
  • VPU Vision Processing Unit
  • Figure 2 illustrates the handle assembly with bevel gear mechanism for articulation of bending section in accordance with an exemplary embodiment of the present disclosure.
  • Figure 3 illustrates the handle assembly with rotary encoder and motor for articulation of bending section in accordance with another embodiment of the present disclosure.
  • Figure 4(a) and 4(b) illustrate an exploded view of disposable handle assembly in accordance with an exemplary embodiment of the present disclosure.
  • Figure 5 illustrates perspective view of bending section in accordance with an exemplary embodiment of the present disclosure.
  • Figure 6 illustrates exploded view of distal tip present at the distal end of the tube assembly of the ureteroscope in accordance with an exemplary embodiment of the present disclosure.
  • FIG. 7 illustrates perspective view of Vision Processing Unit (VPU) in accordance with an exemplary embodiment of the present disclosure.
  • VPU Vision Processing Unit
  • a non-underlined number relates to an item identified by a line linking the non-underlined number to the item.
  • the nonunderlined number is used to identify a general item at which the arrow is pointing.
  • a surgeon inserts the distal end of the ureteroscope into a patient’s body through a natural orifice or an artificial incision to diagnose or treat a disease state of the patient.
  • the endoscope In order to avoid cross contamination, the endoscope must be sterilized before it can be used again to remove all foreign matter and all pathogens.
  • it is difficult to clean and disinfect thoroughly every time which leads to potential problems of cross-contamination between patients and between patients and staff. Therefore, discarding the device after single use is recommended.
  • manufacturing of single use ureteroscope can be expensive enough to be used on a single patient only. Also, disposing the whole ureteroscope eventually increases the material wastage.
  • the present invention discloses a ureteroscope which is a split type disposable ureteroscope wherein the part of the ureteroscope which is in direct contact with the patient’ s fluid is disposed of and the part which is not in contact with the patient’s fluid can be reused again and again.
  • the embodiment of the present disclosure provides an ureteroscope configured with a combination of disposable and reusable components solving the problem of high renal pressure in the kidney by placing sensor to control the parameters and acts as assistive feedback to the user.
  • the present disclosure discloses a solution for solving the problem of stone management.
  • a ureteroscope comprises a handle assembly and a tube assembly.
  • the handle assembly is a reusable assembly and the tube assembly is a disposable assembly which is used to insert in a person’s body for diagnosing or treating a disease state of the patient.
  • the handle assembly comprises a casing and a motor.
  • the casing comprises a knob and a rotary encoder.
  • the knob is an articulation knob adapted to control the articulation of a bending section at desired angle with the help of a motor mechanism.
  • the rotary encoder is connected with the knob. When knob is rotated from its position between its specified angle range, feedback of this movement is given to the motor encoder/stepper motor. According to the feedback, the motor encoder/ stepper motor rotates either in clockwise or anti-clockwise direction.
  • the casing comprises a socket at a distal end of the handle assembly.
  • the socket is cylindrical in shape.
  • the socket comprises a plurality of pogo pins and a driving pin. Pogo pins are spring loaded electrical connection pins.
  • the driving pin is a projection in the shape of a tapered hexagonal.
  • One end of the motor is connected to the rotary encoder and other end of the motor is connected with a driving pin via shaft.
  • the socket comprises a geometry adapted to lock with the tube assembly.
  • the tube assembly is coupled to the handle assembly.
  • the tube assembly comprises tube casing with a working channel, an insertion tube, a bending section and a distal tip.
  • the tube casing comprises a differential gear mechanism and a plurality of wires.
  • the differential gear mechanism used in this disclosure is more precise and reliable.
  • the differential gear mechanism comprises a pair of meter gears and a meter pinion.
  • the meter pinion is engaged with the driving pin.
  • a first end of each of the wires from a plurality of wires is connected with the pair of meter gears and a second end of each of the wires is connected to a bending section. Second end of each of the wires is welded with the bending section.
  • the plurality of wires is made up of steel.
  • the plurality of wires passes through the tube assembly and wound around the pair of gears on the other end.
  • One end of the meter pinion comprises a tapered hexagonal cavity and other end of the meter pinion is engaged with the pair of meter gears.
  • the driving pin’s hexagonal tapered projection from the handle assembly is positively coupled with the tapered hexagonal cavity in the meter pinion via a bearing adapted to be at the centre of a pogo pin connector.
  • the pogo pin connector comprises same number of contact pads as that of plurality of pogo pins present on the handle assembly to transfer the electrical signals.
  • the tube casing also comprises a spring based lock that helps in quick engagement and disengagement of the handle assembly.
  • the main function of electromechanical coupling is to transfer mechanical motion and electronic signals for image, lighting, pressure etc.
  • the tube assembly comprises a spring based locking mechanism that helps to easily attach and detach the handle assembly.
  • the locking mechanism comprises a lock and a push button.
  • the ureteroscope has a coupling mechanism such that the handle assembly and the bending section of the tube assembly can be mutually attached and detached from each other wherein the coupling mechanism establishes an electrical interface/connection between the internal components of the handle assembly and internal components of the bending section.
  • the lock is easy to use, and is activated by pressing the push button against the spring load, which in turn creates the suitable space for a handle male geometry in the tube assembly. When the handle comes at the desired location, push button is released, the spring on the button provides sufficient force that helps to engage the geometry present on the push button with the geometry on the handle assembly. This arrangement locks the handle assembly and the tube assembly together. The lock ensures firm attachment and proper functioning during usage.
  • the knob is rotated from its position between its specified angle range. Feedback of this movement is given to the motor encoder/stepper motor. According to the feedback, the motor encoder/ stepper motor rotates either in clockwise or anti-clockwise direction and torque is transferred to the bending section thereby articulating the bending section using differential gear mechanism through the plurality of wires.
  • the differential gear mechanism helps to control pulling the plurality of wires more efficiently.
  • the differential gear mechanism helps to self-align the tube assembly and bring it back to the home position which makes easy attach and detach.
  • the technology used in the present invention provides self-positional locking so that the bending section can stay at the same position when articulated. This helps to reduce the stress level on the user hands.
  • the distal tip comprises a smallest trapezoidal shaped camera and LED module arrangement that helps in building a 7.5Fr ureteroscope, a working channel passage, a camera tip, and a pressure sensor on the camera tip.
  • the pressure sensor and the camera are connected to the timer PCB 422 present in the tube assembly by electrical wires. When the tube assembly and the handle assembly are attached to each other, pogo pins and contact pads come in contact and the image signal(s) from the camera and the signals from the pressure sensor are transferred.
  • the ureteroscope comprises a cable. One end of the cable is connected to the handle assembly and other end of the cable is connected to a Vision Processing Unit (VPU) via a connector.
  • VPU Vision Processing Unit
  • the VPU comprises a receptacle PCB to receive one or more images from the camera in RGB format, and then performs combination of image processing steps to enhance the image quality. Dedicated image processing devices are typically used to deliver optimal image quality at high resolution with minimal lag.
  • the VPU also comprises a processor board to manage data flow and to control the algorithms and functions of the PCB .
  • VPU further comprises a screen mainly used to display the image or video captured by the camera. It also has some options to control white balance, sharpness etc. It is also common to have multiple display monitors for a single system, where one or multiple display monitors are connected for viewing or control by Surgeons.
  • Figures 1-7 illustrate a ureteroscope to observe an internal organ according to present invention. It should be noted that Figure 1-7 are merely examples. A person skilled in the art will recognize many variations, alternatives, and modifications of the embodiments of the present disclosure.
  • FIG. 1(a) and 1(b) illustrate the assembled and disassembled view of a ureteroscope 100 respectively to observe internal organ of a patient for minimally invasive surgery (MIS) particularly urology, is disclosed according to an exemplary embodiment of the present invention.
  • a ureteroscope 102 comprises a handle assembly 102a and a tube assembly 102b.
  • the handle assembly 102a is a reusable assembly and the tube assembly is a disposable assembly, as the tube assembly is used for insertion.
  • the ureteroscope 100 further comprises a cable, wherein the cable is a scope handle cable 104.
  • the tube assembly 102(b) comprises insertion tube 110 having a bending section 112 with a distal tip 114 at the distal end of the ureteroscope 102.
  • the handle assembly 102a comprises a casing 202 having an articulation knob 204 adapted to control the articulation of bending section 112 at desired angle with the help of a bevel gear mechanism 206.
  • the casing 202 further comprises a socket 214 at a distal end of the handle assembly 102a.
  • Socket is a cylindrical part.
  • the socket 214 comprises a plurality of pogo pins 216 and a driving pin 218.
  • Each of the pogo pin 216 from the plurality of pogo pins 216 is a spring loaded electrical connection pin.
  • the driving pin 218 is a projection in the shape of a tapered hexagon.
  • the socket 214 comprises a geometry 220 adapted to lock with the tube assembly 102b.
  • the tube assembly 102b comprises spring based locking mechanism that helps to easily attach and detach the handle assembly 102a and tube assembly 102b.
  • the casing 202 further comprises a PCB with RF shielding 222.
  • the knob 204 at the handle assembly 102a is connected with a bevel pinion 208 in a handle housing 224.
  • Bevel gear 210 is engaged with bevel pinion 208.
  • the bevel gear 210 is further connected with one end of a straight driving shaft 212 and other end of the straight driving shaft has the driving pin 218 projected outside from handle housing 224.
  • a specific gear ratio has been maintained at the bevel gear 210.
  • the handle assembly 102a comprises a motor encoder/stepper motor for articulation.
  • the handle assembly 102a comprises a casing 302 having a knob 304 adapted to control the articulation of a bending section 112 at desired angle with the help of a motor mechanism 306.
  • the knob 304 at the casing 302 is connected with a rotary encoder 308 in handle housing 322.
  • motor encoder/stepper motor 310 rotates either in clockwise or anti-clockwise direction.
  • the casing 302 comprises a socket 314 at a distal end of the handle assembly 102a.
  • the socket is cylindrical shaped.
  • the socket 314 comprises a plurality of pogo pins 316 and a driving pin 318.
  • Each of the pogo pin from the plurality of pogo pins 316 is a spring loaded electrical connection pin.
  • the driving pin 318 is a projection in the shape of a tapered hexagon.
  • the shaft 312 of the motor 310 is connected with driving pin 318 projected outside from handle housing 322.
  • the driving pin 318 is engaged with the meter pinion 410 present in a tube assembly 102(b) by inserting it into the tapered hexagonal cavity 414.
  • the socket comprises a geometry 318 adapted to lock with the tube assembly 102b.
  • the tube assembly 102b comprises spring based locking mechanism that helps to easily attach and detach the handle assembly 102a and the tube assembly 102b.
  • the casing 302 further comprises a PCB with RF shielding 320.
  • the ureteroscope 100 has a coupling mechanism such that the handle assembly 102a and the tube assembly 102b can be mutually attached and detached from each other wherein the coupling mechanism establishes an electrical interface/connection between the internal components of the handle assembly 102a and internal components of the tube assembly 102b.
  • the lock 424 is easy to use, and is activated by pressing the push button against the spring load, which in turn creates the suitable space for a handle male geometry in the tube assembly 102b. When the handle comes at the desired location, push button is released. The spring on the button provides sufficient force that helps to engage the geometry present on the push button with the geometry on the handle. This arrangement locks the handle assembly 102a and the tube assembly 102b. The lock ensures firm attachment and proper functioning during usage.
  • FIG. 4(a) and 4(b) illustrate the exploded view 400 of tube assembly 102b.
  • the tube assembly 102b comprises a tube casing 402 with a working channel 404.
  • the insertion tube casing 402 houses a differential gear mechanism 406 having a pair of meter gears 408 and meter pinion 410 that is connected with the plurality of wires 412.
  • the plurality of wires 412 is made up of steel. One end of each of the wires 412 from the plurality of wires is welded with the bending section 112.
  • the plurality of wires 412 passes through the insertion tube 110 and is being wound around the pair of gears 408 on the other end.
  • One end of the meter pinion 410 comprises a tapered hexagonal cavity 414.
  • the other end of the meter pinion 410 is engaged with pair of meter gears 408.
  • the driving pin’s hexagonal tapered projection 212 from the handle assembly 102a is positively coupled with the tapered hexagonal cavity 414 in the meter pinion 410 via a bearing 416 adapted to be at the centre of a pogo pin connector 418.
  • the pogo pin connector 418 comprises same number of contact pads 420 as that of plurality of pogo pins 316 present on the handle assembly 102a to transfer the electrical signals.
  • the insertion tube casing 402 also comprises a spring based lock that helps in quick engagement and disengagement of the handle assembly 102a.
  • the contact pads 420 are connected to a timer PCB 422 which is directly connected to the camera and the pressure sensor.
  • the insertion tube casing 402 also comprises a spring based lock 424 that helps in quick engagement and disengagement of the ureteroscope handle assembly 102.
  • the main function of electromechanical coupling is to transfer mechanical motion and electronic signals for image, illumination, and pressure.
  • the components of ureteroscope 102 may be formed of any combination of a medical based polymer, metal or other known material, as known to those of skill in the art.
  • a disassembled view of tube assembly 500 comprising an insertion tube 110, a bending section 112 and a distal tip 114.
  • the distal tip 114 comprises a smallest trapezoidal shaped camera and led module arrangement 602 that helps in building a 7.5Fr endoscope, a camera tip 604a working channel passage 606, and a pressure sensor 608 on the camera tip 604.
  • the pressure sensor 608 and the camera 602 are connected to the Timer PCB 422 present in the tube assembly 102b by electrical wires.
  • pogo pins 318 and contact pads 420 come in contact and the image signal from the camera 602 and pressure sensor 608 are transferred.
  • FIG. 7 discloses the perspective view 700 of Vision Processing Unit (VPU) 108 that comprises a receptacle PCB (not shown) to receive one or more images from the camera in RGB format then performs combination of image processing steps to enhance the image quality.
  • VPU Vision Processing Unit
  • the VPU 108 also comprises a processor board (not shown) is employed to manage data flow and to control the algorithms and functions of the PCB.
  • the VPU 108 further comprises a screen 702 mainly used to display the image or video captured by camera. It also has some options to control white balance, sharpness etc. It is also common to have multiple display monitors for a single system, where one or multiple display monitors are connected for viewing or control by Surgeons.
  • Fig. 1 to 7 are mere examples. A person skilled in the art will recognize many variations, alternatives, and modifications of the embodiment of the present disclosure.
  • the present invention eliminates the repeated use of the ureteroscope as the disposable tube assembly is detached which reduces the infection rate.
  • the disposable part helps in reducing the carbon footprints as well as helps in reducing cost of surgery as the sterilization cost is reduced.
  • the present invention has both technical as well as economic significance with respect to the conventional ureteroscope or the like.
  • Some embodiments of the ureteroscope provide reduction in cost and material wastage by including partially reusable and partially disposable components.
  • ureteroscope provides a ureteroscope to solve the problem of high renal pressure in the kidney by placing sensor to control the parameters.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Urology & Nephrology (AREA)
  • Endoscopes (AREA)

Abstract

Un urétéroscope (100) comprend un ensemble poignée (102a) et un ensemble tube (102b). L'ensemble poignée (102a) comprend un boîtier (302) et un moteur (310). Le boîtier (302) comprend un bouton (304) et un codeur rotatif (308) connecté au bouton (304). Une extrémité du moteur (310) est connectée au codeur rotatif (308) et une autre extrémité du moteur est connectée à une broche d'entraînement (318). L'ensemble tube (102b) est couplé à l'ensemble poignée (102a). L'ensemble tube (102b) comprend un mécanisme d'engrenage différentiel (406) et une pluralité de fils (412). Le mécanisme d'engrenage différentiel (406) comprend une paire d'engrenages de compteur (408) et un pignon de compteur (410). Le pignon de compteur est en prise avec la broche d'entraînement (318). Pendant une opération, la section de flexion (112) est articulée sur la base d'une rotation du bouton (304).
PCT/IN2024/050611 2023-05-24 2024-05-24 Urétéroscope Pending WO2024241348A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IN202321035889 2023-05-24
IN202321035889 2023-05-24

Publications (1)

Publication Number Publication Date
WO2024241348A1 true WO2024241348A1 (fr) 2024-11-28

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210045626A1 (en) * 2019-08-15 2021-02-18 Auris Health, Inc. Medical device having multiple bending sections
US20220226048A1 (en) * 2021-01-21 2022-07-21 Ethicon Llc Robotic surgical instruments with rack-based translation and firing transmission

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210045626A1 (en) * 2019-08-15 2021-02-18 Auris Health, Inc. Medical device having multiple bending sections
US20220226048A1 (en) * 2021-01-21 2022-07-21 Ethicon Llc Robotic surgical instruments with rack-based translation and firing transmission

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