AU2017388217B2 - Apparatus for flexible instrument insertion - Google Patents

Apparatus for flexible instrument insertion Download PDF

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Publication number
AU2017388217B2
AU2017388217B2 AU2017388217A AU2017388217A AU2017388217B2 AU 2017388217 B2 AU2017388217 B2 AU 2017388217B2 AU 2017388217 A AU2017388217 A AU 2017388217A AU 2017388217 A AU2017388217 A AU 2017388217A AU 2017388217 B2 AU2017388217 B2 AU 2017388217B2
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AU
Australia
Prior art keywords
elongate body
sensor
data
sheath
status
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AU2017388217A
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AU2017388217A1 (en
Inventor
David P. Noonan
Don A. Tanaka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Auris Health Inc
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Auris Health Inc
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 US15/392,917 external-priority patent/US10244926B2/en
Priority claimed from US15/392,868 external-priority patent/US10543048B2/en
Application filed by Auris Health Inc filed Critical Auris Health Inc
Publication of AU2017388217A1 publication Critical patent/AU2017388217A1/en
Application granted granted Critical
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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
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00809—Lung operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
    • A61B2017/22072—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with an instrument channel, e.g. for replacing one instrument by the other
    • A61B2017/22074—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with an instrument channel, e.g. for replacing one instrument by the other the instrument being only slidable in a channel, e.g. advancing optical fibre through a channel
    • A61B2017/22075—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with an instrument channel, e.g. for replacing one instrument by the other the instrument being only slidable in a channel, e.g. advancing optical fibre through a channel with motorized advancing or retracting means
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • 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
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • 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
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40223—If insertion force to high, alarm, stop for operator assistance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40599—Force, torque sensor integrated in joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45118—Endoscopic, laparoscopic manipulator

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Endoscopes (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Manipulator (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
AU2017388217A 2016-12-28 2017-12-27 Apparatus for flexible instrument insertion Active AU2017388217B2 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US15/392,917 2016-12-28
US15/392,917 US10244926B2 (en) 2016-12-28 2016-12-28 Detecting endolumenal buckling of flexible instruments
US15/392,868 2016-12-28
US15/392,868 US10543048B2 (en) 2016-12-28 2016-12-28 Flexible instrument insertion using an adaptive insertion force threshold
PCT/US2017/068535 WO2018125917A1 (en) 2016-12-28 2017-12-27 Apparatus for flexible instrument insertion

Publications (2)

Publication Number Publication Date
AU2017388217A1 AU2017388217A1 (en) 2019-05-02
AU2017388217B2 true AU2017388217B2 (en) 2022-10-27

Family

ID=61054492

Family Applications (1)

Application Number Title Priority Date Filing Date
AU2017388217A Active AU2017388217B2 (en) 2016-12-28 2017-12-27 Apparatus for flexible instrument insertion

Country Status (6)

Country Link
EP (1) EP3562423A1 (ja)
JP (2) JP7258755B2 (ja)
KR (2) KR102536940B1 (ja)
CN (1) CN108882966B (ja)
AU (1) AU2017388217B2 (ja)
WO (1) WO2018125917A1 (ja)

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US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
KR20200100613A (ko) 2017-12-14 2020-08-26 아우리스 헬스, 인코포레이티드 기구 위치 추정을 위한 시스템 및 방법
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US10383694B1 (en) 2018-09-12 2019-08-20 Johnson & Johnson Innovation—Jjdc, Inc. Machine-learning-based visual-haptic feedback system for robotic surgical platforms
CN112804960A (zh) * 2018-10-04 2021-05-14 直观外科手术操作公司 用于控制可转向装置的系统和方法
US11497566B2 (en) 2018-10-26 2022-11-15 Biosense Webster (Israel) Ltd. Loose mode for robot
US11161244B2 (en) * 2019-01-22 2021-11-02 Mitsubishi Electric Research Laboratories, Inc. System and method for automatic error recovery in robotic assembly
EP3914141A4 (en) * 2019-01-24 2022-10-12 Noah Medical Corporation SINGLE-USE DEVICES WITH BUILT-IN VISION CAPABILITIES
CN113473937A (zh) * 2019-02-05 2021-10-01 史密夫和内修有限公司 关节置换手术中的增强现实
CN110940301B (zh) * 2019-11-28 2021-06-01 杭州电子科技大学 关节式坐标测量机的实时主动力矩补偿型平衡方法
US20210177532A1 (en) * 2019-12-13 2021-06-17 Intuitive Surgical Operations, Inc. Systems and methods for inserting an elongate flexible instrument into an environment
CN111086004B (zh) * 2020-01-08 2022-09-13 山东理工大学 一种仿人柔性关节手臂机电耦合建模方法
CN111281544B (zh) * 2020-02-26 2023-05-12 陕西中医药大学 体内医疗器械自动引导机器人系统及其自动引导方法
CN111568558B (zh) * 2020-04-13 2022-02-22 上海市胸科医院 电子设备、手术机器人系统及其控制方法
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US11701492B2 (en) 2020-06-04 2023-07-18 Covidien Lp Active distal tip drive
DE102020211999A1 (de) * 2020-09-24 2022-03-24 Siemens Healthcare Gmbh Vorrichtung zum Bewegen eines medizinischen Objekts und Verfahren zum Bereitstellen eines Signals
US20240016370A1 (en) * 2020-11-06 2024-01-18 Universität Basel Endodevice
CN113116524B (zh) * 2020-12-31 2023-05-05 上海市胸科医院 检测补偿方法、装置、导航处理方法、装置与导航系统
CN116963690A (zh) * 2021-02-17 2023-10-27 奥瑞斯健康公司 器械进送器装置的接合控制
KR102662983B1 (ko) * 2021-05-26 2024-05-07 서울대학교병원 기계학습을 이용하여 분석한 환자 영상 정보를 기반으로 한 환자 맞춤형 일측폐환기용 이중기관지 튜브 제조 시스템, 이에 따라 제조된 환자 맞춤형 일측폐환기용 이중기관지 튜브 및 이를 포함하는 키트
CN113786238B (zh) * 2021-11-17 2022-02-08 极限人工智能有限公司 一种手术器械操作应力感知方法及系统
WO2023163037A1 (ja) * 2022-02-28 2023-08-31 キヤノン株式会社 カテーテル装置を備えた医療システム
CN114886571B (zh) * 2022-05-05 2022-12-16 北京唯迈医疗设备有限公司 一种介入手术机器人的控制方法和系统
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Also Published As

Publication number Publication date
CN108882966B (zh) 2022-04-12
KR20230082051A (ko) 2023-06-08
EP3562423A1 (en) 2019-11-06
KR102536940B1 (ko) 2023-05-30
JP2020513904A (ja) 2020-05-21
WO2018125917A8 (en) 2018-10-11
KR102619317B1 (ko) 2024-01-03
AU2017388217A1 (en) 2019-05-02
JP7427829B2 (ja) 2024-02-05
CN108882966A (zh) 2018-11-23
WO2018125917A1 (en) 2018-07-05
KR20190101860A (ko) 2019-09-02
JP2023103211A (ja) 2023-07-26
JP7258755B2 (ja) 2023-04-17

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