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WO2024261442A1 - Appareil - Google Patents

Appareil Download PDF

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Publication number
WO2024261442A1
WO2024261442A1 PCT/GB2023/051597 GB2023051597W WO2024261442A1 WO 2024261442 A1 WO2024261442 A1 WO 2024261442A1 GB 2023051597 W GB2023051597 W GB 2023051597W WO 2024261442 A1 WO2024261442 A1 WO 2024261442A1
Authority
WO
WIPO (PCT)
Prior art keywords
scaffold
robot
manipulator
actuator
soft actuator
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/GB2023/051597
Other languages
English (en)
Inventor
Mark RUNCIMAN
James Avery
George Mylonas
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.)
Ip2ipo Innovations Ltd
Original Assignee
Imperial College Innovations 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 Imperial College Innovations Ltd filed Critical Imperial College Innovations Ltd
Priority to PCT/GB2023/051597 priority Critical patent/WO2024261442A1/fr
Publication of WO2024261442A1 publication Critical patent/WO2024261442A1/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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • 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
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00098—Deflecting means for inserted tools
    • 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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
    • 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
    • A61B1/00151—Holding or positioning arrangements using everted tubes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00535—Surgical instruments, devices or methods pneumatically or hydraulically operated
    • A61B2017/00557—Surgical instruments, devices or methods pneumatically or hydraulically operated inflatable
    • 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
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0155—Tip steering devices with hydraulic or pneumatic means, e.g. balloons or inflatable compartments

Definitions

  • the present invention relates to apparatus and methods, and more particularly to robots for conducting medical procedures, such as procedures involving deployment in an internal body lumen of a human or animal subject, more particularly such robots may be used in minimally-invasive procedures such as those conducted using endoscopes .
  • Colorectal cancer was estimated to have caused the second highest number of cancer-related deaths globally in 2020, and the third highest number of incidences. As a result, there is an intense research focus on developing improved screening and treatment options .
  • ESD Endoscopic Submucosal Dissection
  • EMR Endoscopic Mucosal Resection
  • Robotic devices may simplify difficult ESD procedures, lessening the learning curve and/or reducing the staff required; however, there is no standard flexible robotic endoscope in spite of recent advances.
  • Challenges facing designers of robotic devices include reducing patient discomfort and achieving cecal intubation rates comparable to standard endoscopy. Cecal intubation is achieved when the endoscopist successfully reaches the cecum with the endoscope, and bulky robotic mechanisms can make navigation and insertion harder and cause increased patient discomfort, resulting in the need for sedation or longer procedure times.
  • the present disclosure aims to provide a soft robot which can be operated by pneumatic or hydraulic actuators and in which improved control of an end effector can be provided.
  • the present disclosure provides a collapsible, soft robot structure and actuators for the control of a medical device, such as a surgical implement during ESD.
  • This robot may be used with a flexible endoscope.
  • the robot of the present disclosure is capable of high accuracy and repeatability, and force exertion and optionally also sensing.
  • the robot structure may comprise a scaffold.
  • the scaffold and actuators may be composed of low-profile polymer sheets with sealed inflatable chambers disposed between the sheets. Such actuators may be referred to as "pouch actuators”. This usually is in reference to pneumatic actuators but the present disclosure envisages hydraulic actuation for improved control.
  • a surgical robot for deployment in an internal body lumen of a human or animal subject, the robot comprising: an inflatable scaffold having a collapsed state for delivery to a target site in the lumen and an inflated state in which the scaffold defines an open cavity, a manipulator movable in the cavity for manipulating a medical device; and a soft actuator operable by fluid pressure to move the manipulator by applying force between the scaffold and the manipulator, wherein the scaffold is arranged around the soft actuator, to be disposed between the soft actuator and the body lumen when the scaffold is inflated in the body lumen.
  • the soft actuator may be supported by the scaffold.
  • the soft actuator may be carried by a wall of the open cavity.
  • the soft actuator may be carried on an inward facing surface of said wall .
  • the scaffold may be configured to constrain a radial extent of the robot .
  • Application of fluid pressure to operate the actuator may cause a longitudinal expansion or contraction of the actuator to move the manipulator.
  • the actuator may be configured so that transverse expansion or contraction of the actuator (e.g. bulging of the pouch actuator) during said operation is directed in a radially inward direction away from a wall of the body lumen. This may assist in reducing likelihood of perforation of the lumen.
  • the scaffold may also be arranged to protect the soft actuator from force exerted by the body lumen, such as gut peristalsis.
  • the linkage may be anchored to the scaf fold by the actuator .
  • the actuator may be flexibly anchored by a tether .
  • the tether may be connected to an apex of the scaf fold .
  • a robotic arm for controlling an end effector of the surgical implement i s provided by a manipulator of the robot .
  • This manipulator i s moved by controlling control lines , such as wires or cables , attached to actuators which are carried by the scaf fold .
  • the scaf fold when inflated, may serve to stabili se the manipulator in the body lumen into which it i s deployed . It may al so carry line guide elements ( e . g . pulleys and capstans etc . ) which guide the control lines between the actuators and the manipulator .
  • the control lines may provide mechanical actuation force to move a medical instrument held in the manipulator relative to the scaf fold .
  • the manipulator and the control lines may both be provided inside an open cavity of the scaffold and the actuators may be provided inside that same cavity. Typically the actuators are proximal of the manipulator.
  • the actuators could be thought of as 'muscles' .
  • the supportive structure of the device referred to herein as a scaffold, is also pressurised with a fluid and acts as the 'skeleton' that allows the actuators to exert forces on the robot arm.
  • Embodiments of the disclosure provide local cable actuated movement driven by distal pressurised fluid tubes. These may not face the same issues as traditional Bowden cables. Namely that the curvature of the colon can make end-effector movement difficult to predict with Bowden cables and devices which use Bowden cables are generally limited to the sigmoid/descending colon. By contrast embodiments of the present disclosure may be able to access the whole colon with the same degree of end-effector functionality.
  • Embodiments of the disclosure are configured to allow control of any traditional surgical tool.
  • a tool may be threaded through the manipulator shaft of the devices described herein so that the surgical tool can be manipulated.
  • Embodiments of the disclosure are primarily concerned with medical and surgical applications.
  • the scaffold “skeleton” and actuator “muscles” could be used in other settings outside of gastrointestinal surgery, where precise and accurate movement is required in small, hard-to-reach places.
  • Figure 1 shows an isometric view of a surgical robot according to the present disclosure
  • Figure 3 shows a side view of a robot such as that shown in Figure 1;
  • Figure 1 shows a surgical robot 10 which comprises an inflatable scaffold 12, a manipulator 9, 11, 14, a soft actuator 16 (not visible in Figure 1) .
  • the soft actuator is connected to the manipulator 14 by a linkage 20 (shown in Figure 2) comprising a control line 15.
  • the scaffold 12 surrounds at least a proximal portion of the manipulator 9, 11, 14, which is positioned to be able to protrude distally from an open distal end face of an open cavity 18 provided by the scaffold 12.
  • the inflation pressure of the scaffold may be selected so that the inflated walls of the scaffold are at least semi-rigid.
  • the pressure may be selected so that the inflated walls are rigid enough to provide protection of the cavity 18 against forces, such as peristalsis of the gut, associated with deployment in a body lumen of a human or animal subject.
  • the inflatable sections of the walls are also configured so that, when they are deflated the scaffold can be collapsed (e.g. , rolled up) .
  • the collapsed configuration may be provide an arrangement suitable for allowing the robot to be carried on or in the shaft of a minimally-invasive medical device, such as an accessory for an endoscope.
  • scaf fold of the robot illustrated in Figure 1 is arranged so that the control lines 15 provide three transverse connections to the manipulator coupling 14 .
  • the control lines 15 may be angularly separated around the manipulator so that the manipulator coupling 14 can be controlled to move in two dimensions ( e . g . up-down, left right ) by applying tension to the control lines .
  • the manipulator coupling 14 i s connected to each of the three apices of the triangular scaf fold 12 by each of three separate control lines 15 , one line 15 to each apex .
  • Each control line 15 i s connected at one end to the manipulator coupling 14 , and then i s routed via the corresponding apex of the scaf fold 12 to a respective corresponding actuator 16 .
  • the actuators 16 typically each comprise an inflatable structure which i s configured to contract longitudinally when it i s inflated .
  • a structure in which transverse expansion causes longitudinal contraction and vice versa is illustrated in Figure 2 .
  • the actuator 16 may compri se a series of flat hexagonal chambers formed between two flexible sheet-like elements , and j oined at their edges in a line to form a flat shape with a concertina appearance when viewed in plan .
  • the flexible sheet like elements may be of a material which i s flexible but substantially non-extensible .
  • transverse ( outward) bulging of the sheetlike elements causes longitudinal contraction of the actuator as a whole .
  • such an actuator may contract by a fixed percentage of its total length .
  • the actuators 16 may be protected by the scaf fold, for example they may be di sposed in the open cavity 18 and may be positioned proximal of the manipulator coupling in that cavity . They may, for example , be carried by an internal surface of a wall of the scaf fold 12 . Thi s may provide both protection of and support to the actuator 16 .
  • the actuator i s connected at one end by a tether 26 to an apex of the scaf fold 12 .
  • the other end of the actuator 16 is connected by a control line 15 to the manipulator 14 .
  • the control line i routed via one or more line guide elements 22 , 24 to the manipulator 14 .
  • each control line 15 may provide an actuator linkage which enables the operation of the actuator to move the manipulator . It can thus be seen that each control line 15 can be independently controlled by its corresponding actuator 16 .
  • the number of control lines 15 and the number of actuators 16 may vary according to the nature and extent of positional control of the manipulator which i s desired .
  • at least one actuator and actuator linkage is provided on each wall of the scaf fold, the control wire 15 of each actuator linkage being routed to the manipulator coupling 14 via a guide element disposed on a di f ferent one of the apices of the scaf fold from the other control wires .
  • the actuator 16 i s aligned with a wall of the scaffold may lie flat against an internal surface of the wall of the scaf fold .
  • the actuator 16 is tethered at one of the apices and a control line extends from the other end of the actuator to a guide element at the adj acent apex of the scaf fold .
  • contraction of the actuator may exert a force which i s aligned with the wall of the scaf fold .
  • the tether and the control line may each be arranged so that the force i s substantially perpendicular to the apex of the scaf fold and in the plane of the wall .
  • Thi s i one way to ensure that operation of the actuator does not cause longitudinal buckling of the scaffold structure , or unwanted deflection of the manipulator .
  • the scaf fold 12 compri ses a first fluid port , arranged for supplying inflation fluid to the scaf fold .
  • This may be couplable to a lumen of an elongate medical device such a catheter .
  • the scaffold may also carry a second fluid port for supplying inflation fluid to the soft actuator.
  • the second fluid port may be inside the scaffold 12.
  • the manipulator 14 may be connected to three separate control lines 15 each of these three lines may be controlled by a separate corresponding one of a plurality of actuator linkages and actuators 16.
  • Each such actuation arrangement being disposed on a different internal wall of the scaffold.
  • the scaffold 12 is not shown to assist clarity.
  • the line guide elements 22, 24 are typically disposed on the apices of the scaffold, for example longitudinally spaced apart along the length of the scaffold.
  • the line guide elements may comprise channels for guiding a control line, and the control line may be routed through the channel.
  • the channel may comprise a tube and may be lined with a lubricious material to facilitate sliding of the control line through the channel.
  • the line guide elements may provide the function of a pulley or capstan, allowing the control line to slide or run around the line guide element to provide a bend in the control line.
  • the actuation arrangement shown in Figure 2 comprises a tether 26 an actuator 16 a first control line 15' a second control line 15, a first line guide element 22, a second line guide element 24, a movable member 28, a third line guide element 30, a fourth line guide element 32, and a fifth line guide element 34.
  • the tether 26 connects the rear side of the actuator 16 to an apex of the scaffold 12.
  • the other end of the actuator 16 is connected to the first control line 15' .
  • the first control line 15' is then routed to the first line guide element 22 which provides a 90-degree bend in the first control line 15' .
  • the first control line 15' is then routed to the second line guide element 24 which is disposed on the same apex of the scaffold 12, longitudinally spaced apart from the first line guide element 22.
  • the second line guide element 24 carries the first control line 15 prime through a further 90-degree bend where it terminates with a connection to the moveable member 28.
  • the moveable member 28 carries a third line guide element 30.
  • the third line guide element 30 is configured to provide a 180-degree bend in a line.
  • Disposed on the opposite adjacent apex of the scaffold is the fourth line guide element 32.
  • the second control line 15 is anchored to the apex adjacent to the fourth line guide element 32 and then routed through the third line guide element 30 on the moveable member before passing around the fourth line guide element 32 and optionally back through the third line guide element 30 through a further 180-degree bend from where it returns to the fourth line guide element 32.
  • the control line then follows a further 90-degree bend around the fourth line guide element 32 from where it is routed along the apex of the scaffold to the fifth line guide element 34.
  • the fifth line guide element 34 provides a further bend in the second control line 15 to allow it to connect to the manipulator 14.
  • the control lines 15, 15 prime may be predominantly positioned along the surface of, or along the apices of the walls of the scaffold 12. This is one way in which the embodiments of the present disclosure may be arranged to reduce buckling (e.g. longitudinal deflection) of the scaffold.
  • the actuator arrangement shown in Figure 2 provides a block-and-tackle arrangement of control lines. Other ways of providing mechanical advantage to the actuators 16 may be employed.
  • FIG. 4 there can be seen a side view of a soft robot such as that illustrated in Figure 1.
  • the walls of the scaffold 12 are shown as being partially transparent to enable the position of the manipulator to be more clearly seen.
  • the manipulator 14, 11, 9 comprises a manipulator coupling to which the control lines 15 can be connected. It also comprises a shaft 11 which may be provided by a substantially rigid elongate member having a lumen there through. A medical device 7 may be passed through this lumen so that it is supported by the shaft 11 and can be moveably controlled by the manipulator coupling 14.
  • An instrument guide 3 may also be provided, for example coupled to one of the apices of the scaffold toward the proximal end of the scaffold. This instrument guide 3 may enable a medical instrument 7 to be passed from the proximal end of the scaffold and routed towards the shaft 11.
  • the instrument guide 3 may be substantially flexible and/pivotable to enable the instrument 7 to be easily advanced and retracted through the guide whilst also stabilising the instrument relative to the scaffold.
  • the manipulator shaft 11 may comprise an extension portion 9 which is operable to extend and retract from a distal end of the shaft 11.
  • the extension portion and the shaft may be concentrically arranged so that the two can be extended telescopically, one from the other. It can thus be seen that the shaft and extension portion provide an extensible rigid member.
  • a distal end of the extension portion may carry an instrument coupling configured to latch on to a part of a medical instrument disposed through it. Examples of such arrangements include magnets, detents, spring latches, interference fits, and other arrangements.
  • This detachable coupling of the medical device 7 to the extensible portion 9 of the shaft 11 may enable advancement and retraction of the medical instrument 7 to cause a corresponding extension or retraction of the manipulator shaft 11, 9.
  • an otherwise flexible medical device can be rigidly supported along an extensible length of its distal end.
  • this can provide 3D control of the medical device 7. This can enable an end effector of the device to be manipulated in three dimensions.
  • an elongate medical device suitable for deployment in a minimally-invasive procedure is advanced through the instrument guide 3 and the shaft 7, 9 of the manipulator.
  • the scaffold and actuators, in a deflated state are then collapsed around the shaft of the medical device and the shaft of the manipulator. For example, they may be rolled into a low-profile configuration.
  • the minimally-invasive medical device is advanced to a target site in a human or animal patient. For example, it may be advanced to the target site in an accessory channel of an endoscope or by similar means.
  • a pressurized fluid is supplied to the scaffold to cause the walls of the scaffold to inflate.
  • the scaffold walls are inflated until they become at least semi rigid .
  • the actuator linkages connected between the manipulator and the actuators which are carried by each of these wall s are arranged so that , when the scaf fold i s fully inflated, the manipulator i s held in a predetermined position (such as in the centre of the open cavity formed by the inflated scaf fold) .
  • Thi s may be done by appropriate selection of the length of the control lines .
  • the medical device can be advanced or retracted slightly to cause the instrument coupling at the di stal end of the shaft 7 , 9 to engage with the medical device . Once thi s has been done advancement and/or retraction of the medical device causes a corresponding extension or contraction of the shaft 7 , 9 .
  • a selected one of the actuators can be provided with a pres suri zed fluid to cause a transverse expansion of the actuator and a corresponding longitudinal contraction .
  • Thi s longitudinal contraction causes the actuator 16 to pull on the first control line 15 prime .
  • the tension in the first control line 15 prime causes the moveable member 28 to be pulled away from the fourth line guide element 32 .
  • the length of the second control line 15 which i s looped around the third line guide element 30 ( on the moveable member ( 28 ) ) and the fourth line guide element 32 i s therefore extended .
  • thi s provides a four to one mechanical advantage , but other force scaling' s may be provided by other types of arrangement .
  • Thi s causes a corresponding movement of the manipulator 14 due to the tension in the second control line 15 .
  • the mechanical advantage provided by the actuator linkage is selected based on the extent of longitudinal contraction of the corresponding actuator so that a complete operation of the actuator 16 corresponds to a movement of the manipulator 14 across substantially all of the available range of movement . It can be seen that, because the shaft 7, 9 is pivotably coupled between the manipulator 14 and the instrument coupling 3 tension in the control wires provides a pivoting/leaver like movement of the shaft 7, 9.
  • the actuators 16 are disposed inside the scaffold (protected by the scaffold) they are shielded from external forces which may be applied to them during medical procedures. It will be appreciated that such external forces may cause distortion of the actuators such as compression and this might give rise to unwanted movement or deflection of the manipulator. It can therefore be seen that one advantage of the present disclosure is to provide improved control of the manipulator.
  • the actuators are arranged to provide forces transvers (e.g. , perpendicular) to a longitudinal axis of the scaffold and/or the medical instrument 7 then operation of the actuators does not tend to cause a buckling or transverse stress on the shaft of the medical instrument 7. This may also provide improved control of the manipulator 14.
  • the scaffold may comprise two flat sheets of material such as a polymer. Typically, these sheets are flexible but not extensible (e.g. not ductile or elastic) .
  • the two sheets may be held together in a layered structure, one on top of the other, with welds around their peripheral edges to provide an inflatable pouch between the two sheets.
  • a series of further welds may also be provided to subdivide this pouch into a set of compartments. These welds may comprise short straight linear welds spaced apart across the width of the sheet and aligned with the length of the sheet.
  • These straight linear welds may be broken into three sections, each section corresponding to one wall of the scaffold when inflated. Between these breaks in the welds apertures through the sheets may be provided and arranged so that , when the scaf fold is inflated these apertures are provided at the apices of the scaf fold . These apertures at the apices provide anchor points for the guide elements and/or the control lines which are used to tether the actuators .
  • Thi s has advantages over cable-driven systems that suf fer from friction that i s hard to predict .
  • i f long, force transmitting cables were used to move the shaft of the current robot instead of the soft actuators , measuring the tensions of the cables at the proximal end would not allow enable force estimation because of friction ef fects along the cable lengths .
  • Thi s i s especially true when the long cables pass through very curved paths , such as in the colon/gastrointestinal tract .
  • thi s would be possible with fluid actuation because equilibrium of the pres sure in the supply tube will be reached after any movement , adj usting for changes in elevation of the ends of the tube .
  • any feature of any one of the examples di sclosed herein may be combined with any selected features of any of the other examples described herein .
  • features of methods may be implemented in suitably configured hardware
  • the configuration of the specific hardware described herein may be employed in methods implemented using other hardware .

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

Abstract

Un aspect de la divulgation concerne un robot chirurgical (10) destiné à être déployé dans une lumière corporelle interne d'un sujet humain ou animal, le robot comprenant : un échafaudage gonflable (12) ayant un état plié pour l'administration à un site cible dans la lumière et un état gonflé dans lequel l'échafaudage définit une cavité ouverte (18), un manipulateur (14) mobile dans la cavité pour manipuler un dispositif médical ; et un actionneur souple (16) actionnable par pression de fluide pour déplacer le manipulateur (14) par application d'une force entre l'échafaudage (12) et le manipulateur, l'échafaudage (12) étant disposé autour de l'actionneur souple (16) pour fournir une protection entre l'actionneur souple et la lumière corporelle.
PCT/GB2023/051597 2023-06-19 2023-06-19 Appareil Pending WO2024261442A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/GB2023/051597 WO2024261442A1 (fr) 2023-06-19 2023-06-19 Appareil

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/GB2023/051597 WO2024261442A1 (fr) 2023-06-19 2023-06-19 Appareil

Publications (1)

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WO2024261442A1 true WO2024261442A1 (fr) 2024-12-26

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220061636A1 (en) * 2020-08-28 2022-03-03 Boston Scientific Scimed, Inc. Stabilization and leverage devices, systems, and methods
US20230165648A1 (en) * 2020-01-15 2023-06-01 Fractyl Health, Inc. Automated tissue treatment devices, systems, and methods

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230165648A1 (en) * 2020-01-15 2023-06-01 Fractyl Health, Inc. Automated tissue treatment devices, systems, and methods
US20220061636A1 (en) * 2020-08-28 2022-03-03 Boston Scientific Scimed, Inc. Stabilization and leverage devices, systems, and methods

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
MARK RUNCIMANJAMES AVERYGEORGE MYLONAS: "Hamlyn Symposium on Medical Robotics", 2022, HAMLYN CENTRE, IMPERIAL COLLEGE LONDON, article "Pop-Up Soft Robot for Minimally Invasive Surgery"
RUNCIMAN MARK ET AL: "Pop-Up Soft Robot for Minimally Invasive Surgery", PROCEEDINGS OF THE 14TH HAMLYN SYMPOSIUM ON MEDICAL ROBOTICS 2022, 26 June 2022 (2022-06-26), pages 11 - 12, XP093117386, DOI: 10.31256/HSMR2022.6 *

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