Endoscope manipulator and method for controlling the same
US11633087B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 7, 2019 |
| Grant date | Apr 25, 2023 |
| Priority date | — |
| Expiry date | Feb 19, 2042 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/301
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
An endoscope manipulator for performing robot-assisted endoscope manipulation comprises a movable robot base with a hollow trunk and a vertical lifting joint; a passive joint set with one end mounted to an upper end of the vertical lifting joint, for manually setting an initial pose of the endoscope; an active joint set mounted to another end of the passive joint set, for adjusting pose control of the endoscope intra-operatively; and a compliant endoscope holder mountable to an end-effector of the active joint set, which passively changes to a compliant state upon an external force exceeding a threshold being applied to an endoscopic lens held by the compliant endoscope holder.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.