WO2008099881A1 - 処置具の位置制御を行う内視鏡システム及びその位置制御方法 - Google Patents

処置具の位置制御を行う内視鏡システム及びその位置制御方法 Download PDF

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Publication number
WO2008099881A1
WO2008099881A1 PCT/JP2008/052441 JP2008052441W WO2008099881A1 WO 2008099881 A1 WO2008099881 A1 WO 2008099881A1 JP 2008052441 W JP2008052441 W JP 2008052441W WO 2008099881 A1 WO2008099881 A1 WO 2008099881A1
Authority
WO
WIPO (PCT)
Prior art keywords
endoscope
controlling
shift
knife
endoscope system
Prior art date
Application number
PCT/JP2008/052441
Other languages
English (en)
French (fr)
Inventor
Jun Hasegawa
Michifumi Yoshie
Original Assignee
Olympus Medical Systems Corp.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Olympus Medical Systems Corp. filed Critical Olympus Medical Systems Corp.
Priority to EP08711283.5A priority Critical patent/EP2123210A4/en
Priority to CN2008800051260A priority patent/CN101610713B/zh
Publication of WO2008099881A1 publication Critical patent/WO2008099881A1/ja
Priority to US12/539,778 priority patent/US8858424B2/en

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Classifications

    • 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
    • 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
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/018—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 characterised by internal passages or accessories therefor for receiving instruments
    • 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
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • 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
    • A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
    • 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
    • A61B17/3209—Incision instruments
    • A61B17/3211—Surgical scalpels, knives; Accessories therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation

Landscapes

  • 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)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Endoscopes (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Surgical Instruments (AREA)

Abstract

内視鏡システムでは、体腔内を内視鏡で時系列的に撮像された画像を観察しつつ、内視鏡内を連通して先端部から移動可能に延出したナイフと把持鉗子で画像内の生体組織の病変部に処置を施す際に、ナイフにより生体組織から剥離された病変部を把持鉗子が把持する処置を行い、画像に含まれる内視鏡の先端部に動きが検出された際には、動きによる内視鏡の先端部の動き方向と動き量を検出し、ナイフを元の処置位置に戻すように内視鏡の先端部が湾曲する。
PCT/JP2008/052441 2007-02-14 2008-02-14 処置具の位置制御を行う内視鏡システム及びその位置制御方法 WO2008099881A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08711283.5A EP2123210A4 (en) 2007-02-14 2008-02-14 ENDOSCOPE SYSTEM FOR CONTROLLING THE POSITION OF TREATMENT TOOL AND METHOD OF CONTROLLING ITS POSITION
CN2008800051260A CN101610713B (zh) 2007-02-14 2008-02-14 进行处理器具的位置控制的内窥镜***及其位置控制方法
US12/539,778 US8858424B2 (en) 2007-02-14 2009-08-12 Endoscopic system for surgical instrument position control and position control method thereof

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007033824A JP4914735B2 (ja) 2007-02-14 2007-02-14 処置具の位置制御を行う内視鏡システム
JP2007-033824 2007-02-14

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/539,778 Continuation US8858424B2 (en) 2007-02-14 2009-08-12 Endoscopic system for surgical instrument position control and position control method thereof

Publications (1)

Publication Number Publication Date
WO2008099881A1 true WO2008099881A1 (ja) 2008-08-21

Family

ID=39690108

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/052441 WO2008099881A1 (ja) 2007-02-14 2008-02-14 処置具の位置制御を行う内視鏡システム及びその位置制御方法

Country Status (5)

Country Link
US (1) US8858424B2 (ja)
EP (1) EP2123210A4 (ja)
JP (1) JP4914735B2 (ja)
CN (1) CN101610713B (ja)
WO (1) WO2008099881A1 (ja)

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WO2011070846A1 (ja) * 2009-12-10 2011-06-16 オリンパスメディカルシステムズ株式会社 医療用マニピュレータ
JP2012506721A (ja) * 2008-10-28 2012-03-22 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 位置測定システムを持つ光学プローブ
JP2015139552A (ja) * 2014-01-29 2015-08-03 オリンパス株式会社 医療装置及び医療システム

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Publication number Publication date
US8858424B2 (en) 2014-10-14
CN101610713A (zh) 2009-12-23
JP4914735B2 (ja) 2012-04-11
US20090299136A1 (en) 2009-12-03
JP2008194302A (ja) 2008-08-28
CN101610713B (zh) 2011-04-06
EP2123210A1 (en) 2009-11-25
EP2123210A4 (en) 2015-06-24

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