CN103906459B - 管状插入装置 - Google Patents

管状插入装置 Download PDF

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Publication number
CN103906459B
CN103906459B CN201280053010.0A CN201280053010A CN103906459B CN 103906459 B CN103906459 B CN 103906459B CN 201280053010 A CN201280053010 A CN 201280053010A CN 103906459 B CN103906459 B CN 103906459B
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China
Prior art keywords
bending
external force
information
tubular insertion
detection
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CN201280053010.0A
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English (en)
Chinese (zh)
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CN103906459A (zh
Inventor
山本英二
东条良
羽根润
长谷川润
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Olympus Corp
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Olympus Corp
Olympus Medical Systems Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/20—Investigating strength properties of solid materials by application of mechanical stress by applying steady bending forces
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports
    • 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

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Optics & Photonics (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • General Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Engineering & Computer Science (AREA)
  • Biophysics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Immunology (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
CN201280053010.0A 2011-10-31 2012-10-26 管状插入装置 Active CN103906459B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2011238539A JP5851204B2 (ja) 2011-10-31 2011-10-31 管状挿入装置
JP2011-238539 2011-10-31
PCT/JP2012/077764 WO2013065606A1 (ja) 2011-10-31 2012-10-26 管状挿入装置

Publications (2)

Publication Number Publication Date
CN103906459A CN103906459A (zh) 2014-07-02
CN103906459B true CN103906459B (zh) 2016-10-19

Family

ID=48191955

Family Applications (1)

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CN201280053010.0A Active CN103906459B (zh) 2011-10-31 2012-10-26 管状插入装置

Country Status (5)

Country Link
US (1) US9086340B2 (enExample)
EP (1) EP2774528B1 (enExample)
JP (1) JP5851204B2 (enExample)
CN (1) CN103906459B (enExample)
WO (1) WO2013065606A1 (enExample)

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* Cited by examiner, † Cited by third party
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CN105072973B (zh) * 2013-03-29 2018-01-23 奥林巴斯株式会社 机械手、机械手系统和机械手控制方法
JP2017502728A (ja) 2013-12-09 2017-01-26 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 装置を認識する可撓性ツール位置合わせのためのシステム及び方法
JP6188564B2 (ja) * 2013-12-19 2017-08-30 オリンパス株式会社 挿入装置
US9322757B2 (en) * 2014-03-13 2016-04-26 Verizon Patent And Licensing Inc. Mechanical bend, twist, push and pull blown optical cable testing apparatus
JP6431678B2 (ja) * 2014-03-20 2018-11-28 オリンパス株式会社 挿入形状検出装置
JP2015181643A (ja) * 2014-03-24 2015-10-22 オリンパス株式会社 湾曲形状推定システム、管状挿入システム、及び、湾曲部材の湾曲形状推定方法
JP6626839B2 (ja) * 2014-12-19 2019-12-25 オリンパス株式会社 挿抜支援装置
CN106998993B (zh) * 2014-12-19 2019-01-08 奥林巴斯株式会社 插拔辅助装置及插拔辅助方法
DE112014007260T5 (de) * 2014-12-19 2017-09-14 Olympus Corporation Einfügung/Entfernung-Unterstützungsapparat und Einfügung/Entfernung-Unterstützungsverfahren
DE112014007273T5 (de) * 2014-12-19 2017-11-02 Olympus Corporation Einfügung/Entfernung-Unterstützungsapparat und Einfügung/Entfernung-Unterstützungsverfahren
JP6492159B2 (ja) * 2015-02-27 2019-03-27 オリンパス株式会社 操作支援装置、挿入体システム及び操作支援方法
JP6500098B2 (ja) * 2015-05-12 2019-04-10 オリンパス株式会社 可撓管挿入装置及び可撓管挿入装置の作動方法
CN107920716B (zh) * 2015-07-10 2020-11-03 奥林巴斯株式会社 形状检测插入装置
JP6446550B2 (ja) * 2015-07-10 2018-12-26 オリンパス株式会社 可撓管挿入装置、及び可撓管挿入装置の作動方法
CN109068941B (zh) * 2016-04-22 2021-03-19 奥林巴斯株式会社 挠性管插入装置
DE112016006985T5 (de) * 2016-06-20 2019-02-28 Olympus Corporation Einführvorrichtung für einen flexiblen Tubus
WO2018134898A1 (ja) 2017-01-17 2018-07-26 オリンパス株式会社 可撓性管状システム及び力覚情報算出方法
WO2018175878A1 (en) 2017-03-23 2018-09-27 The General Hospital Corporation Apparatus, methods and computer-accessible media for in situ three-dimensional reconstruction of luminal structures
WO2018179991A1 (ja) 2017-03-30 2018-10-04 富士フイルム株式会社 内視鏡システム及びその作動方法
WO2019008726A1 (ja) * 2017-07-06 2019-01-10 オリンパス株式会社 管状挿入装置
WO2019171471A1 (ja) 2018-03-06 2019-09-12 オリンパス株式会社 可撓管挿入装置、剛性制御装置、剛性制御装置の作動方法、及び剛性制御プログラムを記録した記録媒体
WO2019187025A1 (ja) 2018-03-30 2019-10-03 オリンパス株式会社 応力推定システム、応力推定装置及び内視鏡システム
WO2020026386A1 (ja) 2018-08-01 2020-02-06 オリンパス株式会社 内視鏡システムおよび制御装置
CN112294236B (zh) * 2020-10-14 2022-03-25 北京大学 内窥镜前端弯曲部形态检测系统及其检测方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3242466B2 (ja) * 1992-11-16 2001-12-25 オリンパス光学工業株式会社 接触状態検出装置
JP3859296B2 (ja) * 1997-03-21 2006-12-20 オリンパス株式会社 管状挿入具
JP4454747B2 (ja) 1999-12-21 2010-04-21 オリンパス株式会社 内視鏡挿入形状検出装置
JP2004251779A (ja) * 2003-02-20 2004-09-09 Fuji Photo Optical Co Ltd 長尺可撓部材の三次元形状検出装置
DE102004017834B4 (de) * 2004-04-13 2011-01-27 Siemens Ag Kathetereinrichtung
JP2006314775A (ja) * 2005-04-12 2006-11-24 Olympus Corp 内視鏡装置
WO2007109778A1 (en) * 2006-03-22 2007-09-27 Hansen Medical, Inc. Fiber optic instrument sensing system
WO2008131303A2 (en) * 2007-04-20 2008-10-30 Hansen Medical, Inc. Optical fiber shape sensing systems
US7720322B2 (en) * 2008-06-30 2010-05-18 Intuitive Surgical, Inc. Fiber optic shape sensor
CN102196761B (zh) * 2008-10-28 2014-03-12 奥林巴斯医疗株式会社 医疗设备
JP2011062291A (ja) * 2009-09-16 2011-03-31 Hoya Corp 形状検出装置
US8529476B2 (en) * 2009-12-28 2013-09-10 Biosense Webster (Israel), Ltd. Catheter with strain gauge sensor
US20130184567A1 (en) * 2011-07-21 2013-07-18 University Of Florida Research Foundation, Incorporated Systems and methods of position and movement detection for urological diagnosis and treatment
US9364167B2 (en) * 2013-03-15 2016-06-14 Lx Medical Corporation Tissue imaging and image guidance in luminal anatomic structures and body cavities

Also Published As

Publication number Publication date
JP2013094337A (ja) 2013-05-20
US9086340B2 (en) 2015-07-21
US20140230562A1 (en) 2014-08-21
WO2013065606A1 (ja) 2013-05-10
JP5851204B2 (ja) 2016-02-03
EP2774528A4 (en) 2015-08-26
CN103906459A (zh) 2014-07-02
EP2774528B1 (en) 2019-03-20
EP2774528A1 (en) 2014-09-10

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