JP4749703B2 - 内視鏡挿入形状検出装置 - Google Patents
内視鏡挿入形状検出装置 Download PDFInfo
- Publication number
- JP4749703B2 JP4749703B2 JP2004348945A JP2004348945A JP4749703B2 JP 4749703 B2 JP4749703 B2 JP 4749703B2 JP 2004348945 A JP2004348945 A JP 2004348945A JP 2004348945 A JP2004348945 A JP 2004348945A JP 4749703 B2 JP4749703 B2 JP 4749703B2
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- JP
- Japan
- Prior art keywords
- magnetic field
- unit
- signal
- coil
- sense coil
- 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.)
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- 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
- A61B1/31—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 for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00137—Details of operation mode
-
- 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
- A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
- A61B2090/3958—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI emitting a signal
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Human Computer Interaction (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Endoscopes (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Description
図1から図4は、本発明の第1の実施形態に係るものである。図1は、第1の実施形態に係る内視鏡システムの全体構成を示す図である。図2は、第1の実施形態に係るセンスコイルユニットの構成を示す図である。図3は、第1の実施形態に係る内視鏡挿入形状検出装置の内部構成を示すブロック図である。図4は、第1の実施形態に係る内視鏡挿入形状検出装置が行う制御の内容を示すフローチャートである。
図5から図13は、本発明の第2の実施形態に係るものである。なお、第1の実施形態と同様の構成を持つ部分については、詳細説明は省略する。また、第1の実施形態と同様の構成要素については、同一の符号を用いて説明は省略する。
代理人 弁理士 伊 藤 進
Claims (2)
- 内視鏡の挿入部に設けられた複数の磁界発生素子が発した磁界を検出するための複数の磁界検出素子が配置された磁界検出部と、
前記磁界検出素子が検出した前記磁界を磁界信号として出力する信号検出部と、
前記磁界信号に基づき、前記磁界発生素子の位置を推定する磁界発生位置推定部と、
前記磁界発生位置推定部の推定結果に基づき、前記磁界信号の検出に用いる前記磁界検出素子を選択し、さらに、前記磁界信号に基づき、前記磁界信号の検出に用いる前記磁界検出素子の配置を選択するとともに、前記磁界検出素子が配置される位置を変化させるための制御を行う制御部と、
を有することを特徴とする内視鏡挿入形状検出装置。 - さらに、前記制御部は、複数の前記磁界検出素子のうち、所定の磁界検出素子からの磁界信号のみを出力するように、前記信号検出部に対して制御を行うことにより、前記磁界検出素子の配置を選択することを特徴とする請求項1記載の内視鏡挿入形状検出装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004348945A JP4749703B2 (ja) | 2004-12-01 | 2004-12-01 | 内視鏡挿入形状検出装置 |
EP05811281.4A EP1818004B1 (en) | 2004-12-01 | 2005-11-30 | Endoscope inserted-shape detecting apparatus |
PCT/JP2005/021988 WO2006059644A1 (ja) | 2004-12-01 | 2005-11-30 | 内視鏡挿入形状検出装置 |
CN2005800388853A CN101056573B (zh) | 2004-12-01 | 2005-11-30 | 内窥镜***形状检测装置 |
US11/807,496 US8192354B2 (en) | 2004-12-01 | 2007-05-29 | Endoscope inserted-shape detecting apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004348945A JP4749703B2 (ja) | 2004-12-01 | 2004-12-01 | 内視鏡挿入形状検出装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006149972A JP2006149972A (ja) | 2006-06-15 |
JP4749703B2 true JP4749703B2 (ja) | 2011-08-17 |
Family
ID=36565077
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004348945A Expired - Fee Related JP4749703B2 (ja) | 2004-12-01 | 2004-12-01 | 内視鏡挿入形状検出装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8192354B2 (ja) |
EP (1) | EP1818004B1 (ja) |
JP (1) | JP4749703B2 (ja) |
CN (1) | CN101056573B (ja) |
WO (1) | WO2006059644A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4914574B2 (ja) * | 2005-04-18 | 2012-04-11 | オリンパスメディカルシステムズ株式会社 | 内視鏡形状検出装置 |
CN101511258B (zh) * | 2006-09-14 | 2011-07-20 | 奥林巴斯医疗株式会社 | 医疗用引导***以及医疗装置的控制方法 |
WO2011155383A1 (ja) * | 2010-06-09 | 2011-12-15 | オリンパスメディカルシステムズ株式会社 | プローブ形状検出装置及びプローブ形状検出方法 |
JP5918548B2 (ja) | 2012-01-24 | 2016-05-18 | 富士フイルム株式会社 | 内視鏡画像診断支援装置およびその作動方法並びに内視鏡画像診断支援プログラム |
WO2015025731A1 (ja) * | 2013-08-22 | 2015-02-26 | オリンパスメディカルシステムズ株式会社 | 位置検出装置及び位置検出システム |
JP5687788B1 (ja) * | 2014-03-27 | 2015-03-18 | 株式会社マコメ研究所 | カテーテル検出装置 |
CN104142119B (zh) * | 2014-08-20 | 2017-06-09 | 广州市易轩生物科技有限公司 | 软管三维形状传感装置 |
US10383543B2 (en) * | 2015-11-11 | 2019-08-20 | Biosense Webster (Israel) Ltd. | Symmetric short contact force sensor with four coils |
DE102017008148A1 (de) * | 2017-08-29 | 2019-02-28 | Joimax Gmbh | Sensoreinheit, intraoperatives Navigationssystem und Verfahren zur Detektion eines chirurgischen Instruments |
CN110731746A (zh) * | 2019-09-10 | 2020-01-31 | 中山大学附属第一医院 | 一种内窥镜形状推定装置 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5681260A (en) * | 1989-09-22 | 1997-10-28 | Olympus Optical Co., Ltd. | Guiding apparatus for guiding an insertable body within an inspected object |
US5253647A (en) * | 1990-04-13 | 1993-10-19 | Olympus Optical Co., Ltd. | Insertion position and orientation state pickup for endoscope |
US6059718A (en) * | 1993-10-18 | 2000-05-09 | Olympus Optical Co., Ltd. | Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope |
US5729129A (en) | 1995-06-07 | 1998-03-17 | Biosense, Inc. | Magnetic location system with feedback adjustment of magnetic field generator |
US5997473A (en) * | 1996-09-06 | 1999-12-07 | Olympus Optical Co., Ltd. | Method of locating a coil which consists of determining the space occupied by a source coil generating a magnetic field |
JP3571675B2 (ja) * | 1998-03-18 | 2004-09-29 | オリンパス株式会社 | コイル位置測定装置およびコイル位置測定方法 |
JP3236565B2 (ja) | 1998-03-18 | 2001-12-10 | オリンパス光学工業株式会社 | 位置推定装置 |
US6511417B1 (en) | 1998-09-03 | 2003-01-28 | Olympus Optical Co., Ltd. | System for detecting the shape of an endoscope using source coils and sense coils |
JP3746617B2 (ja) | 1998-09-04 | 2006-02-15 | オリンパス株式会社 | 位置推定装置 |
US6773393B1 (en) * | 1999-08-05 | 2004-08-10 | Olympus Optical Co., Ltd. | Apparatus and method for detecting and displaying form of insertion part of endoscope |
US6745065B2 (en) * | 2001-08-02 | 2004-06-01 | Olympus Corporation | Endoscope apparatus |
US20040204645A1 (en) * | 2003-04-10 | 2004-10-14 | Vahid Saadat | Scope position and orientation feedback device |
DE60336769D1 (de) * | 2003-08-22 | 2011-05-26 | Olympus Corp | Vorrichtung zum Erkennen einer Endoskopform |
-
2004
- 2004-12-01 JP JP2004348945A patent/JP4749703B2/ja not_active Expired - Fee Related
-
2005
- 2005-11-30 CN CN2005800388853A patent/CN101056573B/zh not_active Expired - Fee Related
- 2005-11-30 EP EP05811281.4A patent/EP1818004B1/en not_active Expired - Fee Related
- 2005-11-30 WO PCT/JP2005/021988 patent/WO2006059644A1/ja active Application Filing
-
2007
- 2007-05-29 US US11/807,496 patent/US8192354B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP1818004A4 (en) | 2009-01-21 |
US20070232854A1 (en) | 2007-10-04 |
US8192354B2 (en) | 2012-06-05 |
CN101056573A (zh) | 2007-10-17 |
EP1818004A1 (en) | 2007-08-15 |
CN101056573B (zh) | 2010-11-03 |
WO2006059644A1 (ja) | 2006-06-08 |
JP2006149972A (ja) | 2006-06-15 |
EP1818004B1 (en) | 2015-10-07 |
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