JP6387367B2 - 血管穿孔機の内視鏡支援による配置 - Google Patents
血管穿孔機の内視鏡支援による配置 Download PDFInfo
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- JP6387367B2 JP6387367B2 JP2016082201A JP2016082201A JP6387367B2 JP 6387367 B2 JP6387367 B2 JP 6387367B2 JP 2016082201 A JP2016082201 A JP 2016082201A JP 2016082201 A JP2016082201 A JP 2016082201A JP 6387367 B2 JP6387367 B2 JP 6387367B2
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- 230000002792 vascular Effects 0.000 title description 5
- 238000005553 drilling Methods 0.000 claims description 59
- 239000012636 effector Substances 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000004080 punching Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 description 13
- 210000003484 anatomy Anatomy 0.000 description 9
- 238000001356 surgical procedure Methods 0.000 description 9
- 238000003384 imaging method Methods 0.000 description 5
- 238000012977 invasive surgical procedure Methods 0.000 description 5
- 238000002674 endoscopic surgery Methods 0.000 description 4
- 210000004351 coronary vessel Anatomy 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 210000000709 aorta Anatomy 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 206010020772 Hypertension Diseases 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 241000270295 Serpentes Species 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 238000013131 cardiovascular procedure Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 210000004115 mitral valve Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
-
- 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
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3205—Excision instruments
- A61B17/32053—Punch like cutting instruments, e.g. using a cylindrical or oval knife
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00087—Tools
-
- 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
- A61B1/00131—Accessories for endoscopes
- A61B1/0014—Fastening element for attaching accessories to the outside of an endoscope, e.g. clips, clamps or bands
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
- A61B1/313—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 introducing through surgical openings, e.g. laparoscopes
-
- 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
- A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
-
- 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
- A61B2090/3614—Image-producing devices, e.g. surgical cameras using optical fibre
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Endoscopes (AREA)
- Surgical Instruments (AREA)
Description
ロボットと、前記ロボットに備え付けられた内視鏡穿孔機とを含むロボットユニットであって、前記内視鏡穿孔機は内視鏡と穿孔機との較正された空間調整を含む、ロボットユニットと;
解剖学的組織の穿孔を実行するときに前記ロボットにコマンドを出し前記内視鏡穿孔機を配置するよう動作可能な制御ユニットと、を含んでいてもよい。
前記穿孔機は前記内視鏡の遠心端部から伸びてもよい。
前記穿孔機は前記作業チャンネルの内部に配置されてもよい。
前記内視鏡ベースは前記内視鏡と前記穿孔機とを支持してもよい。
前記内視鏡は前記内視鏡チャンネルの内部に配置され;及び、
前記穿孔機は前記穿孔機チャンネルの遠心端部から伸びてもよい。
ロボットと、
前記ロボットに備え付けられた内視鏡穿孔機であって、前記内視鏡穿孔機は内視鏡と穿孔機の較正された空間調整を含む、内視鏡穿孔機とを有してもよい。
前記穿孔機は前記内視鏡の遠心端部から伸びてもよい。
前記穿孔機は前記作業チャンネルの内部に配置されてもよい。
前記内視鏡ベースは前記内視鏡と前記穿孔機とを支持してもよい。
前記内視鏡は前記内視鏡チャンネルの内部に配置され;及び、
前記穿孔機は前記穿孔機チャンネルの遠心端部から伸びてもよい。
ロボットに内視鏡穿孔機を備え付けるステップであって、前記内視鏡穿孔機は内視鏡と穿孔機との較正された空間調整を含む、ステップと;
解剖学的組織上の目標穿孔部位を通って、前記内視鏡穿孔機を配置するように前記ロボットを操作するステップと、を含んでもよい。
Claims (6)
- 内視鏡穿孔機とロボットとを有するロボットユニットであって、
前記内視鏡穿孔機は、内視鏡及び作業チャンネルを内部に形成する内視鏡マウントと、前記内視鏡マウントの前記作業チャンネル内において部分的に配置され、前記内視鏡マウントの遠位端を超えて固定して延在し、バネ/解除機構を持たない穿孔機と、を有し、
前記ロボットは、アクチュエータにより姿勢の制御が可能なエンドエフェクタを有し、
前記内視鏡マウントは前記エンドエフェクタに付けられる、
ロボットユニット。 - 前記内視鏡及び前記穿孔機は前記内視鏡マウント内において、測定される空間アライメントを有する、
請求項1に記載のロボットユニット。 - 前記穿孔機は前記内視鏡の視野内に存在する、
請求項1に記載のロボットユニット。 - 内視鏡及び作業チャンネルを内部に形成する内視鏡マウントと、
前記内視鏡マウントの前記作業チャンネル内において部分的に配置され、前記内視鏡マウントの遠位端を超えて固定して延在し、バネ/解除機構を持たない穿孔機と、
エンドエフェクタ及び前記エンドエフェクタのポジションを動かすモータを有し、前記内視鏡マウントは前記エンドエフェクタに付けられる、ロボットと、
前記ロボットの前記モータの各々のための駆動電流を生成し、前記穿孔機を所望の三次元位置に動かすように対応する前記駆動電流を前記ロボットの前記モータの各々に伝達する制御回路と、を有する、
内視鏡穿孔機システム。 - 前記内視鏡及び前記穿孔機は前記内視鏡マウント内において、測定される空間アライメントを有する、
請求項4に記載の内視鏡穿孔機システム。 - 前記穿孔機は前記内視鏡の視野内に存在する、
請求項4に記載の内視鏡穿孔機システム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US39114310P | 2010-10-08 | 2010-10-08 | |
US61/391,143 | 2010-10-08 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013532301A Division JP6170432B2 (ja) | 2010-10-08 | 2011-10-04 | 血管穿孔機の内視鏡支援による配置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016185326A JP2016185326A (ja) | 2016-10-27 |
JP6387367B2 true JP6387367B2 (ja) | 2018-09-05 |
Family
ID=44898090
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013532301A Expired - Fee Related JP6170432B2 (ja) | 2010-10-08 | 2011-10-04 | 血管穿孔機の内視鏡支援による配置 |
JP2016082201A Expired - Fee Related JP6387367B2 (ja) | 2010-10-08 | 2016-04-15 | 血管穿孔機の内視鏡支援による配置 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013532301A Expired - Fee Related JP6170432B2 (ja) | 2010-10-08 | 2011-10-04 | 血管穿孔機の内視鏡支援による配置 |
Country Status (5)
Country | Link |
---|---|
US (2) | US9788901B2 (ja) |
EP (1) | EP2624779B1 (ja) |
JP (2) | JP6170432B2 (ja) |
CN (1) | CN103249370B (ja) |
WO (1) | WO2012046182A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2624779B1 (en) * | 2010-10-08 | 2018-05-30 | Koninklijke Philips N.V. | Endoscopy-guided deployment of vessel punch |
WO2014001981A1 (en) * | 2012-06-28 | 2014-01-03 | Koninklijke Philips N.V. | Evaluation of patency using photo-plethysmography on endoscope images |
JP6521707B2 (ja) * | 2014-07-10 | 2019-05-29 | キヤノン株式会社 | 穿刺プランニング装置及び穿刺システム |
CN104983467B (zh) * | 2015-07-14 | 2017-07-04 | 中国人民解放军总医院 | 一种利用ct透视引导遥控实时穿刺的机器人装置 |
CN110522491B (zh) * | 2018-05-24 | 2021-04-20 | 武汉联影智融医疗科技有限公司 | 医用设备 |
USD1022197S1 (en) | 2020-11-19 | 2024-04-09 | Auris Health, Inc. | Endoscope |
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CN2580910Y (zh) * | 2002-11-13 | 2003-10-22 | 邹春花 | 带活检针的上颌窦内窥镜 |
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WO2006073121A1 (ja) * | 2005-01-07 | 2006-07-13 | Olympus Medical Systems Corp. | 内視鏡用挿入部 |
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JP5336760B2 (ja) | 2008-05-01 | 2013-11-06 | オリンパスメディカルシステムズ株式会社 | 内視鏡システム |
JP5182627B2 (ja) | 2008-06-24 | 2013-04-17 | 株式会社Ihi | ピストンリング摺動状態モニタリング装置及び方法 |
CN100579479C (zh) * | 2008-07-03 | 2010-01-13 | 哈尔滨工程大学 | 内镜操作手术机器人穿刺孔定位装置 |
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EP2624779B1 (en) * | 2010-10-08 | 2018-05-30 | Koninklijke Philips N.V. | Endoscopy-guided deployment of vessel punch |
-
2011
- 2011-10-04 EP EP11776547.9A patent/EP2624779B1/en not_active Not-in-force
- 2011-10-04 CN CN201180059098.2A patent/CN103249370B/zh not_active Expired - Fee Related
- 2011-10-04 JP JP2013532301A patent/JP6170432B2/ja not_active Expired - Fee Related
- 2011-10-04 WO PCT/IB2011/054354 patent/WO2012046182A1/en active Application Filing
- 2011-10-04 US US13/877,475 patent/US9788901B2/en active Active
-
2016
- 2016-04-15 JP JP2016082201A patent/JP6387367B2/ja not_active Expired - Fee Related
-
2017
- 2017-09-08 US US15/699,625 patent/US10667872B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US9788901B2 (en) | 2017-10-17 |
CN103249370B (zh) | 2017-04-19 |
WO2012046182A1 (en) | 2012-04-12 |
CN103249370A (zh) | 2013-08-14 |
JP2016185326A (ja) | 2016-10-27 |
EP2624779B1 (en) | 2018-05-30 |
US20180055585A1 (en) | 2018-03-01 |
US20130325028A1 (en) | 2013-12-05 |
JP2013540014A (ja) | 2013-10-31 |
US10667872B2 (en) | 2020-06-02 |
EP2624779A1 (en) | 2013-08-14 |
JP6170432B2 (ja) | 2017-07-26 |
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