WO2008120508A1 - 内視鏡の処置具位置制御装置 - Google Patents

内視鏡の処置具位置制御装置 Download PDF

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Publication number
WO2008120508A1
WO2008120508A1 PCT/JP2008/053087 JP2008053087W WO2008120508A1 WO 2008120508 A1 WO2008120508 A1 WO 2008120508A1 JP 2008053087 W JP2008053087 W JP 2008053087W WO 2008120508 A1 WO2008120508 A1 WO 2008120508A1
Authority
WO
WIPO (PCT)
Prior art keywords
endoscope
movement
treatment
treatment instrument
controlling position
Prior art date
Application number
PCT/JP2008/053087
Other languages
English (en)
French (fr)
Inventor
Jun Hasegawa
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 CN2008800051222A priority Critical patent/CN101610712B/zh
Priority to EP08711855.0A priority patent/EP2130479B1/en
Publication of WO2008120508A1 publication Critical patent/WO2008120508A1/ja
Priority to US12/568,057 priority patent/US20100016666A1/en

Links

Classifications

    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Manipulator (AREA)

Abstract

内視鏡の移動に伴い撮像された画像から対象部位に対する内視鏡本体３の動きを推定し、その動きから一体的に移動する処置具２１の動きを推定する。この処置具２１の移動量は、内視鏡移動後の位置から処置位置に移動させるための処置アーム部２１ｃの各関節における屈曲、回転及び進退等の動作量を算出し、各関節を屈曲させて処置部２１ｃを元の処置位置に移動するように、内視鏡の移動毎に処置具２１の位置保持を行う処置具位置制御装置を搭載する内視鏡システムである。
PCT/JP2008/053087 2007-03-29 2008-02-22 内視鏡の処置具位置制御装置 WO2008120508A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN2008800051222A CN101610712B (zh) 2007-03-29 2008-02-22 内窥镜的处置器械位置控制装置
EP08711855.0A EP2130479B1 (en) 2007-03-29 2008-02-22 Device for controlling position of treatment instrument for endoscope
US12/568,057 US20100016666A1 (en) 2007-03-29 2009-09-28 Surgical instrument position control apparatus for endoscope

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007089715A JP5030639B2 (ja) 2007-03-29 2007-03-29 内視鏡装置の処置具位置制御装置
JP2007-089715 2007-03-29

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/568,057 Continuation US20100016666A1 (en) 2007-03-29 2009-09-28 Surgical instrument position control apparatus for endoscope

Publications (1)

Publication Number Publication Date
WO2008120508A1 true WO2008120508A1 (ja) 2008-10-09

Family

ID=39808092

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/053087 WO2008120508A1 (ja) 2007-03-29 2008-02-22 内視鏡の処置具位置制御装置

Country Status (5)

Country Link
US (1) US20100016666A1 (ja)
EP (1) EP2130479B1 (ja)
JP (1) JP5030639B2 (ja)
CN (1) CN101610712B (ja)
WO (1) WO2008120508A1 (ja)

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WO2015012082A1 (ja) * 2013-07-26 2015-01-29 オリンパス株式会社 医療システム及び医療用器具制御方法
CN104394794A (zh) * 2012-07-03 2015-03-04 奥林巴斯株式会社 医疗用机械手
CN104869937A (zh) * 2013-02-25 2015-08-26 奥林巴斯株式会社 医疗用机械手和医疗用机械手控制方法

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US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US9504372B2 (en) 2009-11-13 2016-11-29 Daniel H. Kim Intradural endoscope
CN102470003B (zh) * 2009-12-10 2014-08-06 奥林巴斯医疗株式会社 医疗用机械手
JP5231681B2 (ja) * 2010-06-09 2013-07-10 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装置の作動方法
JP6012950B2 (ja) * 2011-10-14 2016-10-25 オリンパス株式会社 湾曲動作システム
KR101360476B1 (ko) * 2012-04-06 2014-02-11 울산대학교 산학협력단 내시경용 세침 회전 장치
CN104718054B (zh) 2012-08-15 2017-03-01 直观外科手术操作公司 操纵机械体的活动的假想自由度(dof)
WO2014028563A1 (en) * 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom in joint estimation and control
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
JP6093850B2 (ja) * 2013-03-29 2017-03-08 富士フイルム株式会社 内視鏡下外科手術装置
CN105188506B (zh) * 2013-03-29 2017-04-12 富士胶片株式会社 内窥镜下外科手术装置
US20160220313A1 (en) * 2013-09-09 2016-08-04 Covidien Lp Instrumation for throacic surgery
JP6000928B2 (ja) * 2013-10-24 2016-10-05 オリンパス株式会社 医療用マニピュレータおよび医療用マニピュレータの初期化方法
JP6150130B2 (ja) 2014-01-30 2017-06-21 ソニー株式会社 内視鏡システム、内視鏡画像処理装置、画像処理方法、およびプログラム
JP2015154814A (ja) * 2014-02-20 2015-08-27 オリンパス株式会社 マニピュレータシステムとその制御方法
DE112014006902T5 (de) * 2014-10-09 2017-05-24 Olympus Corporation Medizinisches System
WO2017014303A1 (ja) * 2015-07-23 2017-01-26 オリンパス株式会社 医療システム及びその作動方法
WO2017014308A1 (ja) 2015-07-23 2017-01-26 オリンパス株式会社 マニピュレータ及び医療システム
DE112016003481T5 (de) * 2015-07-31 2018-04-12 Olympus Corporation Manipulatorsystem
JP6629639B2 (ja) * 2016-03-07 2020-01-15 富士フイルム株式会社 内視鏡システム、プロセッサ装置、及び、内視鏡システムの作動方法
JP6437943B2 (ja) * 2016-03-07 2018-12-12 富士フイルム株式会社 内視鏡システム、プロセッサ装置、及び、内視鏡システムの作動方法
KR101922927B1 (ko) * 2016-12-26 2018-11-28 가톨릭관동대학교 산학협력단 내시경용 처치구
WO2019063055A1 (en) 2017-09-28 2019-04-04 Ambu A/S Borescope
JP6685052B2 (ja) * 2018-08-30 2020-04-22 リバーフィールド株式会社 推定装置、推定方法およびプログラム
CN110638601B (zh) * 2019-10-10 2021-11-23 南方医科大学第五附属医院 一种耳鼻喉综合诊疗台
CN113627219A (zh) * 2020-05-07 2021-11-09 杭州海康慧影科技有限公司 器械检测方法、装置和计算机设备
CN113143170A (zh) * 2021-05-28 2021-07-23 北京天星博迈迪医疗器械有限公司 一种内窥镜定位的方法、装置、电子设备和可读存储介质
CN114010318B (zh) * 2021-09-15 2022-09-23 苏州中科华影健康科技有限公司 一种内镜手术器械输送装置、控制方法及机器人***

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JPS637715B2 (ja) 1981-02-25 1988-02-18 Pioneer Electronic Corp
JPH0926547A (ja) 1995-07-10 1997-01-28 Olympus Optical Co Ltd 内視鏡画像処理装置
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Publication number Priority date Publication date Assignee Title
CN104394794A (zh) * 2012-07-03 2015-03-04 奥林巴斯株式会社 医疗用机械手
CN104869937A (zh) * 2013-02-25 2015-08-26 奥林巴斯株式会社 医疗用机械手和医疗用机械手控制方法
WO2015012082A1 (ja) * 2013-07-26 2015-01-29 オリンパス株式会社 医療システム及び医療用器具制御方法
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Also Published As

Publication number Publication date
CN101610712A (zh) 2009-12-23
EP2130479A4 (en) 2013-04-03
EP2130479A1 (en) 2009-12-09
JP5030639B2 (ja) 2012-09-19
CN101610712B (zh) 2011-02-02
JP2008245839A (ja) 2008-10-16
EP2130479B1 (en) 2019-04-10
US20100016666A1 (en) 2010-01-21

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