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 PDFInfo
- 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
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。
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) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
Families Citing this family (36)
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US9295525B2 (en) | 1999-09-17 | 2016-03-29 | Intuitive Surgical Operations, Inc. | Phantom degrees of freedom for manipulating the movement of surgical systems |
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*** |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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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 |
JP3347385B2 (ja) | 1992-03-27 | 2002-11-20 | オリンパス光学工業株式会社 | 内視鏡画像処理装置 |
JP2003127076A (ja) | 1993-12-28 | 2003-05-08 | Olympus Optical Co Ltd | 医療器具 |
JP2004141486A (ja) * | 2002-10-25 | 2004-05-20 | Olympus Corp | 内視鏡手術システム |
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 |
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US20070161854A1 (en) * | 2005-10-26 | 2007-07-12 | Moshe Alamaro | System and method for endoscopic measurement and mapping of internal organs, tumors and other objects |
US7930065B2 (en) * | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
-
2007
- 2007-03-29 JP JP2007089715A patent/JP5030639B2/ja active Active
-
2008
- 2008-02-22 CN CN2008800051222A patent/CN101610712B/zh active Active
- 2008-02-22 EP EP08711855.0A patent/EP2130479B1/en active Active
- 2008-02-22 WO PCT/JP2008/053087 patent/WO2008120508A1/ja active Application Filing
-
2009
- 2009-09-28 US US12/568,057 patent/US20100016666A1/en not_active Abandoned
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS637715B2 (ja) | 1981-02-25 | 1988-02-18 | Pioneer Electronic Corp | |
JP3347385B2 (ja) | 1992-03-27 | 2002-11-20 | オリンパス光学工業株式会社 | 内視鏡画像処理装置 |
JP2003127076A (ja) | 1993-12-28 | 2003-05-08 | Olympus Optical Co Ltd | 医療器具 |
JPH0926547A (ja) | 1995-07-10 | 1997-01-28 | Olympus Optical Co Ltd | 内視鏡画像処理装置 |
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 |
JP2004141486A (ja) * | 2002-10-25 | 2004-05-20 | Olympus Corp | 内視鏡手術システム |
Cited By (4)
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 |
US9895143B2 (en) | 2013-07-26 | 2018-02-20 | Olympus Corporation | Medical system and method of controlling medical instruments |
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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