US 11,986,197 B2
Autonomous endoscopic system and control method therefor
Byung Sik Cheon, Daejeon (KR); Dong Soo Kwon, Daejeon (KR); and Deok Gyoon Chung, Daejeon (KR)
Assigned to ROEN Surgical, Inc., Daejeon (KR); and KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, Daejeon (KR)
Filed by ROEN Surgical, Inc., Daejeon (KR); and KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, Daejeon (KR)
Filed on Nov. 12, 2021, as Appl. No. 17/525,549.
Application 17/525,549 is a continuation of application No. 17/030,331, filed on Sep. 23, 2020, granted, now 11,172,950.
Application 17/030,331 is a continuation of application No. PCT/KR2019/004453, filed on Apr. 12, 2019.
Claims priority of application No. 10-2018-0042794 (KR), filed on Apr. 12, 2018; and application No. 10-2019-0043033 (KR), filed on Apr. 12, 2019.
Prior Publication US 2022/0061868 A1, Mar. 3, 2022
Int. Cl. A61B 17/221 (2006.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/307 (2006.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01); A61B 17/22 (2006.01)
CPC A61B 17/221 (2013.01) [A61B 1/00045 (2013.01); A61B 1/00085 (2013.01); A61B 1/00108 (2013.01); A61B 1/00142 (2013.01); A61B 1/00147 (2013.01); A61B 1/00154 (2013.01); A61B 1/0052 (2013.01); A61B 1/307 (2013.01); A61B 90/06 (2016.02); A61B 90/36 (2016.02); A61B 2017/00212 (2013.01); A61B 2017/0034 (2013.01); A61B 2017/22038 (2013.01); A61B 2017/22084 (2013.01); A61B 2017/2215 (2013.01); A61B 2090/061 (2016.02)] 13 Claims
OG exemplary drawing
 
1. An autonomous endoscopic system capable of controlling movement of an endoscope inserted into a protective sheath installed in a body of a patient, the autonomous endoscopic system comprising:
an endoscope operating device capable of adjusting a relative position of the endoscope with respect to the protective sheath, a rolling angle of the endoscope, and a bending angle of a bending portion which is located at an end of the endoscope and is bendable; and
a controller for controlling the endoscope operating device,
a display for outputting an image of an inside of the body of the patient to an operator,
a clutch operable by the operator and capable of allowing or stopping a continuous drive of the endoscope operating device,
a master device located at a site spaced apart from the endoscope operating device and configured to be operated by the operator to remotely operate the endoscope operating device,
wherein the controller is configured to control the endoscope operating device on the basis of a driving record of the endoscope,
wherein a basket for gripping a stone present inside the body of the patient is configured to be inserted into the endoscope, and
the controller is configured to control the endoscope operating device such that the endoscope automatically returns to the site where the endoscope was located at a point in time the basket completes a gripping operation.