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1. (WO2018197872) MICROMANIPULATION APPARATUS FOR CLINICAL APPLICATIONS

Pub. No.:    WO/2018/197872    International Application No.:    PCT/GB2018/051086
Publication Date: Fri Nov 02 00:59:59 CET 2018 International Filing Date: Thu Apr 26 01:59:59 CEST 2018
IPC: A61B 18/14
A61B 18/22
A61B 90/00
A61B 1/00
Applicants: IMPERIAL INNOVATIONS LIMITED
Inventors: GIATAGANAS, Petros
YANG, Guang-Zhong
PAYNE, Christopher James
Title: MICROMANIPULATION APPARATUS FOR CLINICAL APPLICATIONS
Abstract:
A micromanipulation apparatus comprises an outer tube defining a longitudinal z-axis of the apparatus and an inner tube is at least partially disposed within the outer tube. The inner tube has a continuous working channel and an endoscopy probe extending therethrough. A steering mechanism controllably varies the lateral x, y position of a distal end of the inner tube, relative to the device z-axis, and an ablation energy delivery device extends through the apparatus along the z-axis. A contrast agent delivery mechanism delivers contrast agent to the distal end of the inner tube via the continuous working channel or via a lumen of the outer tube. An image processor analyses images from the endoscopy probe and a controller optically determines magnitudes of displacements of the distal end of the inner tube based on said analysed images which is used as feedback to the steering mechanism.