WO2008052064A3 - Steerable multi-linked device having a modular link assembly - Google Patents

Steerable multi-linked device having a modular link assembly Download PDF

Info

Publication number
WO2008052064A3
WO2008052064A3 PCT/US2007/082401 US2007082401W WO2008052064A3 WO 2008052064 A3 WO2008052064 A3 WO 2008052064A3 US 2007082401 W US2007082401 W US 2007082401W WO 2008052064 A3 WO2008052064 A3 WO 2008052064A3
Authority
WO
WIPO (PCT)
Prior art keywords
link assembly
modular link
linked device
linked
steerable multi
Prior art date
Application number
PCT/US2007/082401
Other languages
French (fr)
Other versions
WO2008052064A2 (en
WO2008052064A9 (en
Inventor
Brett Zubiate
Howie Choset
Amir Degani
Michael Schwerin
Original Assignee
Innovention Technologies Llc
Brett Zubiate
Howie Choset
Amir Degani
Michael Schwerin
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 Innovention Technologies Llc, Brett Zubiate, Howie Choset, Amir Degani, Michael Schwerin filed Critical Innovention Technologies Llc
Priority to ES07863475T priority Critical patent/ES2420962T3/en
Priority to EP07863475.5A priority patent/EP2079564B1/en
Priority to CA2667576A priority patent/CA2667576C/en
Priority to AU2007308935A priority patent/AU2007308935B2/en
Publication of WO2008052064A2 publication Critical patent/WO2008052064A2/en
Publication of WO2008052064A9 publication Critical patent/WO2008052064A9/en
Publication of WO2008052064A3 publication Critical patent/WO2008052064A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G13/00—Chains
    • F16G13/18—Chains having special overall characteristics
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20213—Interconnected
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm

Abstract

A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base.
PCT/US2007/082401 2006-10-24 2007-10-24 Steerable multi-linked device having a modular link assembly WO2008052064A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
ES07863475T ES2420962T3 (en) 2006-10-24 2007-10-24 Adjustable multi-articulated device that has a modular joint assembly
EP07863475.5A EP2079564B1 (en) 2006-10-24 2007-10-24 Steerable multi-linked device having a modular link assembly
CA2667576A CA2667576C (en) 2006-10-24 2007-10-24 Steerable multi-linked device having a modular link assembly
AU2007308935A AU2007308935B2 (en) 2006-10-24 2007-10-24 Steerable multi-linked device having a modular link assembly

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US86263606P 2006-10-24 2006-10-24
US60/862,636 2006-10-24

Publications (3)

Publication Number Publication Date
WO2008052064A2 WO2008052064A2 (en) 2008-05-02
WO2008052064A9 WO2008052064A9 (en) 2008-09-25
WO2008052064A3 true WO2008052064A3 (en) 2008-11-13

Family

ID=39325392

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/082401 WO2008052064A2 (en) 2006-10-24 2007-10-24 Steerable multi-linked device having a modular link assembly

Country Status (6)

Country Link
US (5) US7854109B2 (en)
EP (1) EP2079564B1 (en)
AU (1) AU2007308935B2 (en)
CA (2) CA2667576C (en)
ES (1) ES2420962T3 (en)
WO (1) WO2008052064A2 (en)

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Also Published As

Publication number Publication date
ES2420962T3 (en) 2013-08-28
US7854109B2 (en) 2010-12-21
WO2008052064A2 (en) 2008-05-02
US20110056320A1 (en) 2011-03-10
US20130247537A1 (en) 2013-09-26
CA2667576C (en) 2013-10-22
EP2079564A4 (en) 2011-09-07
AU2007308935A1 (en) 2008-05-02
CA2667576A1 (en) 2008-05-02
US20120180591A1 (en) 2012-07-19
US20100294071A1 (en) 2010-11-25
US7918080B2 (en) 2011-04-05
AU2007308935B2 (en) 2014-07-17
US20080163603A1 (en) 2008-07-10
US8656697B2 (en) 2014-02-25
CA2823492A1 (en) 2008-05-02
CA2823492C (en) 2016-03-29
EP2079564B1 (en) 2013-04-24
WO2008052064A9 (en) 2008-09-25
US8397481B2 (en) 2013-03-19
US8099939B2 (en) 2012-01-24
EP2079564A2 (en) 2009-07-22

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