JP5775881B2 - 触覚的フィードバックをもった最小侵襲性外科手術ツールのためのシステムと方法 - Google Patents
触覚的フィードバックをもった最小侵襲性外科手術ツールのためのシステムと方法 Download PDFInfo
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- JP5775881B2 JP5775881B2 JP2012549125A JP2012549125A JP5775881B2 JP 5775881 B2 JP5775881 B2 JP 5775881B2 JP 2012549125 A JP2012549125 A JP 2012549125A JP 2012549125 A JP2012549125 A JP 2012549125A JP 5775881 B2 JP5775881 B2 JP 5775881B2
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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- 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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/7455—Details of notification to user or communication with user or patient ; user input means characterised by tactile indication, e.g. vibration or electrical stimulation
-
- 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
-
- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
-
- 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
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/25—Bioelectric electrodes therefor
- A61B5/279—Bioelectric electrodes therefor specially adapted for particular uses
- A61B5/28—Bioelectric electrodes therefor specially adapted for particular uses for electrocardiography [ECG]
- A61B5/283—Invasive
-
- 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
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- 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
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
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- Heart & Thoracic Surgery (AREA)
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- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Surgical Instruments (AREA)
Description
触覚的フィードバックをもった最小侵襲性外科手術ツールのための1つの描写的システムでは、システムは、生きている患者上での最小侵襲性外科手術(MIS)中に外科医を支援するように構成されている。例えば、外科医は、あらゆる異常を検出するためまたは不整脈に対処するために心臓組織を切除するために、心臓発作に引き続いてのような、患者の心臓の内部表面上の電位(即ち、電圧)の変化を測定するための心臓電気生理学を行うようにMISを行っても良い。
Claims (18)
- 外科手術中に患者の身体内に部分的に挿入されるように構成された挿入鞘であって、外科手術ツールを受け入れるように構成された挿入鞘と、
挿入鞘に解放可能に結合され且つ外科手術ツールを受け入れて接触するように構成されるサブアッセンブリーと
を含み、サブアッセンブリーはアクチュエータを備え、
アクチュエータは、挿入鞘に、または外科手術ツールが挿入鞘の中に挿入されている間には外科手術ツールに触覚的効果を出力するように構成される、システム。 - サブアッセンブリーは、挿入鞘内に挿入された外科手術ツールと接触するように構成されたローラーを更に含み、
アクチュエータはローラーに結合されており、アクチュエータは、アクチュエータ信号を受け取り、アクチュエータ信号に基づいて触覚的効果を出力するように構成されている、請求項1のシステム。 - サブアッセンブリーは、第2のアクチュエータを更に含み、第2のアクチュエータは、振動触覚アクチュエータ信号を受け取り、振動触覚アクチュエータ信号に基づいて振動触覚効果を出力するように構成されている、請求項2のシステム。
- 外科手術ツールの動きを指し示すセンサー信号を生成するように構成されたセンサーを更に含む、請求項1のシステム。
- アクチュエータおよびセンサーと通信しているホストプロセッサを更に含み、ホストプロセッサは、
センサー信号を受け取り、
センサー信号に基づいてアクチュエータ信号を生成し、
アクチュエータ信号をアクチュエータに伝送する
ように構成されている、請求項4のシステム。 - 外科手術ツールは、遠位端を有し、外科手術ツールの遠位端において配置されたセンサーを含み、センサーはセンサー信号を生成するように構成されており、
システムは、アクチュエータおよびセンサーと通信しているホストプロセッサを更に含み、ホストプロセッサは、
センサー信号を受け取り、
センサー信号に基づいてアクチュエータ信号を生成し、
アクチュエータ信号をアクチュエータに伝送する
ように構成されている、請求項1のシステム。 - センサーは、外科手術ツールの迎え角または曲げの量を検出するように構成されている、請求項6のシステム。
- センサー信号は、外科手術ツールと障害物の間の接触力と関連付けられた感知された力を含み、アクチュエータは、第1の閾値と第2の閾値の間に接触力を維持するように構成された力を出力するように構成されている、請求項7のシステム。
- センサーは、電圧、温度、流体フロー、または粘度の1つを検出するように構成されている、請求項6のシステム。
- サブアッセンブリーは、圧電アクチュエータ、偏心回転質量、または線形共鳴アクチュエータを含む第2のアクチュエータを更に含み、第2のアクチュエータは、振動触覚アクチュエータ信号を受け取り、振動触覚アクチュエータ信号に基づいて振動触覚効果を出力するように構成されており、
ホストプロセッサは更に、
センサー信号に基づいて振動触覚アクチュエータ信号を生成し、
振動触覚アクチュエータ信号を第2のアクチュエータに伝送する
ように構成されている、請求項9のシステム。 - 外科手術ツールは、
外科医によって操作されるように構成されたハンドルを有するガイドワイヤと、
ハンドルに結合された第2のアクチュエータであって、ハンドルに触覚的効果を出力するように構成された第2のアクチュエータと、
を含む、請求項1のシステム。 - ハンドルは、トリガーと第3のアクチュエータを含み、第3のアクチュエータは、トリガーに触覚的効果を出力するように構成されている、請求項11のシステム。
- ハンドルと第2のアクチュエータは、外科手術手順に引き続いてガイドワイヤから取り外されて廃棄されるように構成されている、請求項11のシステム。
- 外科手術ツールは、
治療的外科手術ツールと、
治療的外科手術ツールに結合されたパワーサプライであって、パワーサプライは、治療的外科手術ツールによって提供された治療的効果の強度を制御するように構成されており、
トリガーと、
トリガーに結合された第2のアクチュエータであって、第2のアクチュエータ信号を受け取り、第2のアクチュエータ信号に基づいてトリガーにトリガー触覚的効果を出力するように構成された第2のアクチュエータを含むパワーサプライと、
を含む、請求項1のシステム。 - トリガー触覚的効果は振動からなる、請求項14のシステム。
- トリガー触覚的効果は、トリガーの動きに抵抗するように構成された運動感覚性力からなる、請求項14のシステム。
- 患者のステータスを感知するために患者に外部結合されるように構成されたセンサーと、
外科手術ツールに振動触覚効果を出力するように構成された振動触覚アクチュエータと、
振動触覚アクチュエータおよびセンサーと通信しているホストプロセッサであって、ホストプロセッサは、
センサー信号を受け取り、
センサー信号に基づいて振動触覚アクチュエータ信号を生成し、
振動触覚アクチュエータ信号を振動触覚アクチュエータに伝送する
ように構成されている、請求項1のシステム。 - センサーは、血圧モニターまたは心拍数モニターを含む、請求項17のシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US29543810P | 2010-01-15 | 2010-01-15 | |
US61/295,438 | 2010-01-15 | ||
PCT/US2011/021349 WO2011088357A1 (en) | 2010-01-15 | 2011-01-14 | Systems and methods for minimally invasive surgical tools with haptic feedback |
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JP2013517065A JP2013517065A (ja) | 2013-05-16 |
JP5775881B2 true JP5775881B2 (ja) | 2015-09-09 |
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JP2012549125A Expired - Fee Related JP5775881B2 (ja) | 2010-01-15 | 2011-01-14 | 触覚的フィードバックをもった最小侵襲性外科手術ツールのためのシステムと方法 |
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US (1) | US9358072B2 (ja) |
EP (1) | EP2523613B1 (ja) |
JP (1) | JP5775881B2 (ja) |
CN (1) | CN102711635B (ja) |
WO (1) | WO2011088357A1 (ja) |
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- 2011-01-14 US US13/007,251 patent/US9358072B2/en not_active Expired - Fee Related
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CN102711635A (zh) | 2012-10-03 |
US9358072B2 (en) | 2016-06-07 |
US20110178508A1 (en) | 2011-07-21 |
EP2523613A1 (en) | 2012-11-21 |
JP2013517065A (ja) | 2013-05-16 |
WO2011088357A1 (en) | 2011-07-21 |
CN102711635B (zh) | 2015-06-10 |
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