IT201900006657A1 - Endovascular surgery robot equipped with an opto-haptic system to measure and represent the forces that oppose the advancement of a catheter or guide within the endovascular system - Google Patents
Endovascular surgery robot equipped with an opto-haptic system to measure and represent the forces that oppose the advancement of a catheter or guide within the endovascular system Download PDFInfo
- Publication number
- IT201900006657A1 IT201900006657A1 IT102019000006657A IT201900006657A IT201900006657A1 IT 201900006657 A1 IT201900006657 A1 IT 201900006657A1 IT 102019000006657 A IT102019000006657 A IT 102019000006657A IT 201900006657 A IT201900006657 A IT 201900006657A IT 201900006657 A1 IT201900006657 A1 IT 201900006657A1
- Authority
- IT
- Italy
- Prior art keywords
- catheter
- force
- guide
- slave
- endovascular
- Prior art date
Links
- 238000001356 surgical procedure Methods 0.000 title claims description 4
- 230000002439 hemostatic effect Effects 0.000 claims description 4
- 230000035515 penetration Effects 0.000 description 2
- 235000004789 Rosa xanthina Nutrition 0.000 description 1
- 241000109329 Rosa xanthina Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002594 fluoroscopy Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Description
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 Endovascular surgery robot equipped with an opto-haptic system to measure and represent the forces that oppose the advancement of a catheter or guide within the endovascular system
Stato dell’arte State of the art
E’ noto che nella chirurgia endovascolare solitamente i medici spingono manualmente guide e cateteri all’interno del sistema arterioso o venoso del paziente, osservando sotto fluoroscopia l’avanzamento degli stessi. It is known that in endovascular surgery, doctors usually manually push guides and catheters into the patient's arterial or venous system, observing their progress under fluoroscopy.
In tali condizioni, possono accorgersi se il catetere o la guida si blocca, ma difficilmente riescono ad apprezzare il livello di resistenza che si oppone al moto. Inoltre sono stati proposti dei robot che tendono a separare il medico dal paziente, che al momento sono tuttavia privi di un sistema di misura delle forze. Tra questi sistemi robotici uno (ROSES, PCT/ IT2018/050209) è stato sviluppato dal gruppo di ricerca calabrese da me condotto, e ci siamo posti il problema di cercare di fornire un feedback sull’intensità delle forze in gioco. Under such conditions, they may notice if the catheter or guide becomes blocked, but are unlikely to appreciate the level of resistance opposing the motion. In addition, robots have been proposed that tend to separate the doctor from the patient, which at the moment however do not have a force measurement system. Among these robotic systems, one (ROSES, PCT / IT2018 / 050209) was developed by the Calabrian research group I led, and we set ourselves the problem of trying to provide feedback on the intensity of the forces involved.
Fortunatamente il nostro attuatore che spinge e ruota guide e cateteri è di piccole dimensioni, per cui è stato relativamente semplice incorporare il sensore di forza all’interno dello stesso, e trovare un modo per misurare la sola forza di penetrazione, senza essere disturbati dagli attriti interni. Fortunately, our actuator that pushes and rotates guides and catheters is small in size, so it was relatively easy to incorporate the force sensor inside it, and find a way to measure the force of penetration alone, without being disturbed by friction. interior.
Come è noto i sistemi aptici oppongono una forza all’avanzamento in modo da far avere all’utenza la sensazione di essere in presenza di un corpo che si oppone alla penetrazione. Dato che però le forze nel caso in considerazione sono molto piccole, diventa difficile dare al medico le possibilità di valutare effettivamente l’entità della forza stessa. Per questo, come del resto già scritto nella precedente domanda di brevetto 102017000114767_0, si era pensato ad una rappresentazione grafica della forza stessa, tramite colonnine sullo schermo che nascono quando la forza viene registrata e crescono in funzione dell’entità della forza stessa, magari cambiando colore. As is known, haptic systems oppose a force to the advancement in order to give the user the feeling of being in the presence of a body that opposes penetration. However, since the forces in the case under consideration are very small, it becomes difficult to give the doctor the opportunity to actually evaluate the magnitude of the force itself. For this reason, as already written in the previous patent application 102017000114767_0, it was thought of a graphic representation of the force itself, through columns on the screen that arise when the force is registered and grow according to the magnitude of the force itself, perhaps changing color.
Tuttavia nel citato brevetto i sensori di forza erano posti a fianco del motore, per cui avrebbero sostanzialmente misurato la coppia erogata dal motore, che deve anche vincere la resistenza del meccanismo interno, il che rendeva problematica la separazione della forza esercitata dal catetere da quella della trasmissione. Si è però trovato un modo per misurare solo la forza di avanzamento, come descritto nel paragrafo seguente. However, in the aforementioned patent the force sensors were placed next to the motor, so they would have substantially measured the torque delivered by the motor, which must also overcome the resistance of the internal mechanism, which made it difficult to separate the force exerted by the catheter from that of the transmission. However, a way has been found to measure only the feed force, as described in the following paragraph.
Descrizione della Realizzazione preferita. Description of the preferred embodiment.
L’idea di base è quella innanzi tutto di fissare solidalmente all’attuatore robotico, detto Slave, la valvola emostatica, mentre lo Slave stesso è fissato tramite perni dotati di cuscinetti a sfera a un’asta posta sopra lo Slave stesso, in modo da risultare basculante nella direzione perpendicolare a quella di moto del catetere (o guida che sia). Poi il sensore, posto all’interno dello Slave, viene collegato ad un punto fisso esterno in modo che lo Slave risulti debolmente inclinato in avanti,. In tale condizione sul sensore agisce una forza piuttosto debole dovuta appunto al mantenimento dello Slave in posizione inclinata. The basic idea is first of all to fix the hemostatic valve solidly to the robotic actuator, called Slave, while the Slave itself is fixed by means of pins equipped with ball bearings to a rod placed above the Slave itself, in order to be tilting in the direction perpendicular to that of motion of the catheter (or guide that is). Then the sensor, placed inside the Slave, is connected to an external fixed point so that the Slave is slightly tilted forward. In this condition a rather weak force acts on the sensor precisely due to the maintenance of the Slave in an inclined position.
Ora tutte le forze interne allo Slave sono auto-bilanciate e il sensore sente solo la forza trasmessa dal filo che lo tiene debolmente inclinato, costante e di piccola entità, che varia solo se vi è resistenza esterna all’avanzamento del catetere. Now all the forces inside the Slave are self-balanced and the sensor only feels the force transmitted by the wire that keeps it slightly inclined, constant and small, which varies only if there is external resistance to the advancement of the catheter.
Ciò è illustrato in Tavola 1, in cui si vede lo Slave (1) appeso all’asta superiore (2) e tirato da dietro da un filo (3) che lo collega ad una estensione della barra posteriore (4), mentre da davanti la valvola emostatica (5) è fissata allo Slave stesso. This is illustrated in Table 1, in which the Slave (1) is seen hanging from the upper rod (2) and pulled from behind by a wire (3) which connects it to an extension of the rear bar (4), while from the front the hemostatic valve (5) is fixed to the Slave itself.
Parimenti Tavola 2 mostra lo schema di una coppia di Slave montati a 90°, appesi al soliti perni superiori e tirati da un filo collegato al sensore che è questa volta posto tra i due Slave accoppiati, che sono come prima collegati alle valvole emostatiche, che nella fattispecie dovrebbero essere due collegate ad un unico catetere iniziale. Likewise, Table 2 shows the diagram of a pair of Slaves mounted at 90 °, hanging 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 in this case there should be two connected to a single initial catheter.
Come già precedentemente descritto, il sensore poi, collegato al microprocessore dello Slave, trasmette i suoi segnali alla Consolle del sistema, denominato Master, che li mostra sul suo schermo come colonnine di altezza crescente. As previously described, the sensor then, connected to the Slave's microprocessor, transmits its signals to the system console, called Master, which shows them on its screen as columns of increasing height.
Infine Tavola 3 mostra appunto il display del Master che esibisce la colonnina in questo caso orizzontale e crescente in funzione della forza applicata; ovviamente l’edizione definitiva potrà presentarsi in maniera diversa, così come potrebbe esserci una colonnina a destra ed una a sinistra per mostrare separatamente gli effetti degli avanzamenti del catetere (a sinistra) e della guida (a destra) ciò che importa è mostrare come potrebbe essere rappresentata l’entità della forza agente. Finally, Table 3 shows precisely the display of the Master which shows the column in this case horizontal and increasing according to the applied force; obviously the definitive edition will be presented in a different way, just as there could be a column on the right and one on the left to show separately the effects of the advances of the catheter (left) and the guide (right) what matters is to show how it could be represented the entity of the acting force.
Naturalmente potrà essere applicata all’uscita del trasduttore una qualche forma di filtraggio via software. Of course, some form of software filtering can be applied to the transducer output.
Claims (1)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT102019000006657A IT201900006657A1 (en) | 2019-05-08 | 2019-05-08 | Endovascular surgery robot equipped with an opto-haptic system to measure and represent the forces that oppose the advancement of a catheter or guide within the endovascular system |
PCT/IT2020/050109 WO2020225839A1 (en) | 2019-05-08 | 2020-05-08 | Opto-haptic system to measure and represent forces opposing catheter or guide wire penetration into the vascular system for robots for endovascular surgery |
EP20737294.7A EP3993726A1 (en) | 2019-05-08 | 2020-05-08 | Opto-haptic system to measure and represent forces opposing catheter or guide wire penetration into the vascular system for robots for endovascular surgery |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT102019000006657A IT201900006657A1 (en) | 2019-05-08 | 2019-05-08 | Endovascular surgery robot equipped with an opto-haptic system to measure and represent the forces that oppose the advancement of a catheter or guide within the endovascular system |
Publications (1)
Publication Number | Publication Date |
---|---|
IT201900006657A1 true IT201900006657A1 (en) | 2020-11-08 |
Family
ID=67660664
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
IT102019000006657A IT201900006657A1 (en) | 2019-05-08 | 2019-05-08 | Endovascular surgery robot equipped with an opto-haptic system to measure and represent the forces that oppose the advancement of a catheter or guide within the endovascular system |
Country Status (1)
Country | Link |
---|---|
IT (1) | IT201900006657A1 (en) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1061990A1 (en) * | 1998-03-11 | 2000-12-27 | Dalia Beyar | Remote control catheterization |
WO2009092059A2 (en) * | 2008-01-16 | 2009-07-23 | Catheter Robotics, Inc. | Remotely controlled catheter insertion system |
US20100274087A1 (en) * | 2007-06-13 | 2010-10-28 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
EP2294988A1 (en) * | 2008-05-29 | 2011-03-16 | NTN Corporation | Device and method for inserting coil |
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 (en) * | 2015-10-09 | 2017-04-13 | Koninklijke Philips N.V. | Handheld steering devices for intra vascular devices and associated systems and methods |
-
2019
- 2019-05-08 IT IT102019000006657A patent/IT201900006657A1/en unknown
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1061990A1 (en) * | 1998-03-11 | 2000-12-27 | Dalia Beyar | Remote control catheterization |
US20100274087A1 (en) * | 2007-06-13 | 2010-10-28 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
WO2009092059A2 (en) * | 2008-01-16 | 2009-07-23 | Catheter Robotics, Inc. | Remotely controlled catheter insertion system |
EP2294988A1 (en) * | 2008-05-29 | 2011-03-16 | NTN Corporation | Device and method for inserting coil |
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 (en) * | 2015-10-09 | 2017-04-13 | Koninklijke Philips N.V. | Handheld steering devices for intra vascular devices and associated systems and methods |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105683730B (en) | Optical fiber type organism diagnostic sensor system and blood vessel plug-in type distribution pressure measurement device | |
BR112012027638A2 (en) | system, computer readable media | |
CN205548726U (en) | Therapeutic instrument that collection root canal enlarges and root canal length measurement function is integrative | |
CN104324423A (en) | Ureter indwelling device capable of controlling urination function | |
IT201900006657A1 (en) | Endovascular surgery robot equipped with an opto-haptic system to measure and represent the forces that oppose the advancement of a catheter or guide within the endovascular system | |
JP5638122B2 (en) | Laser leveling device based on accelerometer | |
IT202000010354A1 (en) | Opto-haptic system for measuring and representing the forces opposing the advancement of a catheter or guidewire within the endovascular system for endovascular surgery robots | |
CN204106749U (en) | For the contrast agent injection detection device of uterus and fallopian tube patency inspection | |
CN205964577U (en) | Ventricular drainage tube with temperature measurement, pressure measurement, visual and drainage function | |
DE60122519T2 (en) | MANOMETERINFUSIONSGERÄT | |
CN104586368A (en) | Cavity pressure monitoring device | |
CN204445869U (en) | cavity pressure monitoring device | |
EP3993726A1 (en) | Opto-haptic system to measure and represent forces opposing catheter or guide wire penetration into the vascular system for robots for endovascular surgery | |
JP4963067B2 (en) | Compressive force measuring device | |
WO2020225839A1 (en) | Opto-haptic system to measure and represent forces opposing catheter or guide wire penetration into the vascular system for robots for endovascular surgery | |
CN210542852U (en) | Special cardiovascular radiography assistor device of intracardiac branch of academic or vocational study | |
ITRM20090125A1 (en) | SPROCKET ACCELERATOR CONTROL DEVICE. | |
CN206355293U (en) | Bend and stretch instrument in a kind of data determination joint | |
CN2920255Y (en) | Drainage transfusing frame | |
CN209765773U (en) | Function experiment platform for teaching demonstration | |
CN203824473U (en) | Gauge for measuring height of external ventricular drainage pipe | |
CN202526178U (en) | Height and weight measurer applicable to patients in bed | |
CN209203282U (en) | A kind of novel body fluid mentions taking device | |
CN218793266U (en) | Automatic alarm drainage bag capable of accurately metering | |
KR101975198B1 (en) | Hybride Continous Glucose Measuremrnt System |