WO2020225839A1 - Système opto-haptique pour mesurer et représenter des forces s'opposant à la pénétration d'un cathéter ou d'un fil-guide dans le système vasculaire destiné à des robots de chirurgie endovasculaire - Google Patents

Système opto-haptique pour mesurer et représenter des forces s'opposant à la pénétration d'un cathéter ou d'un fil-guide dans le système vasculaire destiné à des robots de chirurgie endovasculaire Download PDF

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Publication number
WO2020225839A1
WO2020225839A1 PCT/IT2020/050109 IT2020050109W WO2020225839A1 WO 2020225839 A1 WO2020225839 A1 WO 2020225839A1 IT 2020050109 W IT2020050109 W IT 2020050109W WO 2020225839 A1 WO2020225839 A1 WO 2020225839A1
Authority
WO
WIPO (PCT)
Prior art keywords
force
slave
fixed
catheter
opto
Prior art date
Application number
PCT/IT2020/050109
Other languages
English (en)
Inventor
Guido Danieli
Original Assignee
Guido Danieli
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
Priority claimed from IT102019000006657A external-priority patent/IT201900006657A1/it
Priority claimed from IT102019000020478A external-priority patent/IT201900020478A1/it
Application filed by Guido Danieli filed Critical Guido Danieli
Priority to EP20737294.7A priority Critical patent/EP3993726A1/fr
Priority claimed from IT102020000010354A external-priority patent/IT202000010354A1/it
Publication of WO2020225839A1 publication Critical patent/WO2020225839A1/fr

Links

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
    • A61B34/70—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
    • A61B34/25—User interfaces for surgical 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
    • A61B34/30—Surgical robots
    • 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
    • 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

Definitions

  • Opto-haptic system to measure and represent forces opposing catheter or guide wire penetration into the vascular system for robots for endovascular surgery.
  • the basic idea is first of all to fix the hemostatic valve firmly to the robotic actuator, called Slave, while the Slave itself is fixed by pins fitted with ball bearings to a rod placed above the Slave itself, so as to result tilting in the direction perpendicular to that of motion of the catheter (or guide), or placed on a moderately inclined slide and free to slide in the direction of movement of the same.
  • the sensor placed inside the Slave or outside but firmly fixed to it, is connected to an external fixed point or the Slave is connected to the external sensor but fixed in position, so that the actuation system is slightly tilted forward.
  • a rather weak force acts on the sensor due precisely to the maintenance of the Slave in an inclined position.
  • Now all the internal forces of the Slave are self-balanced and the sensor only feels the force transmitted by the wire that keeps it weakly inclined, constant and small, which varies only if there is external resistance to the advancement of the catheter.
  • Figure 2 shows the scheme of a pair of Slaves mounted at 90 °, hung from the usual upper pins and pulled by a wire connected to the sensor which is this time placed between the two coupled Slaves, which are as before connected to the hemostatic valves, which if the Slaves are placed in parallel, they should be two connected to a single initial catheter.
  • Figure 3 shows instead the case of a Slave mounted on a slide with variable inclination (6) and connected to a sensor placed in a fixed position.
  • the Slaves must be mounted on a single frame, on which it is also possible to vary the mutual position between them, it is sufficient that this same frame in this case is weakly inclined towards the patient and free to scroll (with very limited travel for safety reasons), fixing the frame to an external sensor (or vice versa the sensor placed on the frame and connected to an external fixed point) to have exactly the same previous situation, possibly keeping account of any dynamic effects due to motion between the Slaves.
  • the senor connected to the Slave microprocessor or to an independent one, transmits its signals to the system console, called the Master, which shows them on its screen as columns of increasing height.
  • Figure 5 shows the display of the Master which shows the column in this case horizontal and increasing as a function of the force applied; obviously the definitive edition may present itself in a different way, just as there may be a column on the right and one on the left to show separately the effects of the advancements of the catheter (on the left) and of the guide (on the right) what matters is to show how it could the entity of the acting force be represented, including a numerical representation of the force measured.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Media Introduction/Drainage Providing Device (AREA)

Abstract

La présente invention concerne un système opto-haptique pour mesurer et représenter les forces qui s'opposent à l'avancée d'un cathéter ou d'un guide à l'intérieur du système. Ledit système est obtenu essentiellement en suspendant des actionneur(s) (1), auxquels sont fixées des valves hémostatiques (5), à une charnière à axe horizontal équipé de roulements à billes ou à rouleaux placés sur le lit (8) ou fixés à une glissière (6) inclinée vers le patient, et en reliant un capteur de force (13) situé à l'intérieur du système asservi (1) ou placé sur un point fixe à l'extérieur du système, à un fil (3) qui relie la partie fixe et la partie mobile, de sorte à produire une force fixe agissant sur le capteur, une force qui variera si le guide ou le cathéter rencontre une résistance, tandis que la variation de force est présentée sur le dispositif d'affichage changeant du vert au rouge si la force devient excessive, ou de toute autre manière, y compris la représentation de la valeur numérique de la force elle-même.
PCT/IT2020/050109 2019-05-08 2020-05-08 Système opto-haptique pour mesurer et représenter des forces s'opposant à la pénétration d'un cathéter ou d'un fil-guide dans le système vasculaire destiné à des robots de chirurgie endovasculaire WO2020225839A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20737294.7A EP3993726A1 (fr) 2019-05-08 2020-05-08 Système opto-haptique pour mesurer et représenter des forces s'opposant à la pénétration d'un cathéter ou d'un fil-guide dans le système vasculaire destiné à des robots de chirurgie endovasculaire

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
IT102019000006657A IT201900006657A1 (it) 2019-05-08 2019-05-08 Robot per chirurgia endovascolare dotato di sistema opto-aptico per misurare e rappresentare le forze che si oppongono all’avanzamento di un catetere o una guida all’interno del sistema endovascolare
IT102019000006657 2019-05-08
IT102019000020478 2019-11-06
IT102019000020478A IT201900020478A1 (it) 2019-11-06 2019-11-06 Estensione del metodo di misura delle forze che si oppongono all’avanzamento di un catetere o una guida all’interno del sistema endovascolare del paziente ai robot per chirurgia endovascolare
IT102020000010354A IT202000010354A1 (it) 2020-05-08 2020-05-08 Sistema opto-aptico per misurare e rappresentare le forze che si oppongono all'avanzamento di un catetere o una guida all'interno del sistema endovascolare per robot per chirurgia endovascolare
IT102020000010354 2020-05-08

Publications (1)

Publication Number Publication Date
WO2020225839A1 true WO2020225839A1 (fr) 2020-11-12

Family

ID=71523195

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT2020/050109 WO2020225839A1 (fr) 2019-05-08 2020-05-08 Système opto-haptique pour mesurer et représenter des forces s'opposant à la pénétration d'un cathéter ou d'un fil-guide dans le système vasculaire destiné à des robots de chirurgie endovasculaire

Country Status (1)

Country Link
WO (1) WO2020225839A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999050721A1 (fr) * 1997-09-19 1999-10-07 Massachusetts Institute Of Technology Appareil robotique
EP1061990A1 (fr) * 1998-03-11 2000-12-27 Dalia Beyar Catheterisme telecommande
WO2009092059A2 (fr) * 2008-01-16 2009-07-23 Catheter Robotics, Inc. Système d'insertion de cathéter télécommandé
US20100274087A1 (en) * 2007-06-13 2010-10-28 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
EP2294988A1 (fr) * 2008-05-29 2011-03-16 NTN Corporation Dispositif et procédé d'introduction d'une bobine
US20150272684A1 (en) * 2014-03-31 2015-10-01 Panasonic Intellectual Property Management Co., Ltd. Apparatus for flexible elongate member, method for flexible elongate member, and storage medium
WO2017060792A1 (fr) * 2015-10-09 2017-04-13 Koninklijke Philips N.V. Dispositifs de direction portatifs pour dispositifs intravasculaires et systèmes et procédés associés

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999050721A1 (fr) * 1997-09-19 1999-10-07 Massachusetts Institute Of Technology Appareil robotique
EP1061990A1 (fr) * 1998-03-11 2000-12-27 Dalia Beyar Catheterisme telecommande
US20100274087A1 (en) * 2007-06-13 2010-10-28 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
WO2009092059A2 (fr) * 2008-01-16 2009-07-23 Catheter Robotics, Inc. Système d'insertion de cathéter télécommandé
EP2294988A1 (fr) * 2008-05-29 2011-03-16 NTN Corporation Dispositif et procédé d'introduction d'une bobine
US20150272684A1 (en) * 2014-03-31 2015-10-01 Panasonic Intellectual Property Management Co., Ltd. Apparatus for flexible elongate member, method for flexible elongate member, and storage medium
WO2017060792A1 (fr) * 2015-10-09 2017-04-13 Koninklijke Philips N.V. Dispositifs de direction portatifs pour dispositifs intravasculaires et systèmes et procédés associés

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