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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CN
China
Prior art keywords
bending
external force
information
tubular insertion
detection
Prior art date
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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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Publication of CN103906459A publication Critical patent/CN103906459A/zh
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Classifications

    • 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)

Application Number Title Priority Date Filing Date
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 (https=)
EP (1) EP2774528B1 (https=)
JP (1) JP5851204B2 (https=)
CN (1) CN103906459B (https=)
WO (1) WO2013065606A1 (https=)

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JP6141410B2 (ja) * 2013-03-29 2017-06-07 オリンパス株式会社 マニピュレータ、マニピュレータシステム及びマニピュレータの作動方法
WO2015089013A1 (en) 2013-12-09 2015-06-18 Intuitive Surgical Operations, Inc. Systems and methods for device-aware flexible tool registration
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
CN107105969B (zh) * 2014-12-19 2019-10-22 奥林巴斯株式会社 插拔辅助装置及插拔辅助方法
WO2016098252A1 (ja) * 2014-12-19 2016-06-23 オリンパス株式会社 挿抜支援装置及び挿抜支援方法
JP6626836B2 (ja) * 2014-12-19 2019-12-25 オリンパス株式会社 挿抜支援装置
DE112014007268B4 (de) * 2014-12-19 2019-02-07 Olympus Corporation Einfügung/Entfernung-Unterstützungsapparat und Einfügung/Entfernung-Unterstützungsverfahren
DE112015006234T5 (de) * 2015-02-27 2017-12-14 Olympus Corporation Betätigungsunterstützungsvorrichtung, Einführungsteilsystem und Betätigungsunterstützungsverfahren
WO2016181484A1 (ja) 2015-05-12 2016-11-17 オリンパス株式会社 可撓管挿入装置
JP6461343B2 (ja) * 2015-07-10 2019-01-30 オリンパス株式会社 形状検出装置
WO2017009905A1 (ja) * 2015-07-10 2017-01-19 オリンパス株式会社 可撓管挿入装置
CN109068941B (zh) * 2016-04-22 2021-03-19 奥林巴斯株式会社 挠性管插入装置
WO2017221298A1 (ja) * 2016-06-20 2017-12-28 オリンパス株式会社 可撓管挿入装置
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
EP3600012B1 (en) 2017-03-23 2024-09-18 The General Hospital Corporation Apparatus for in situ three-dimensional reconstruction of luminal structures
JP6749473B2 (ja) * 2017-03-30 2020-09-02 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
JP7167127B2 (ja) * 2018-03-06 2022-11-08 オリンパス株式会社 可撓管挿入装置、剛性制御装置、挿入部の挿入方法、及び剛性制御プログラムを記録した記録媒体
CN111801042B (zh) 2018-03-30 2023-08-18 奥林巴斯株式会社 应力估算系统、应力估算装置、内窥镜系统和应力估算方法
JP7110351B2 (ja) 2018-08-01 2022-08-01 オリンパス株式会社 内視鏡システム及び制御装置
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
US20070265503A1 (en) * 2006-03-22 2007-11-15 Hansen Medical, Inc. Fiber optic instrument sensing system
US8050523B2 (en) * 2007-04-20 2011-11-01 Koninklijke Philips Electronics N.V. Optical fiber shape sensing systems
US7720322B2 (en) * 2008-06-30 2010-05-18 Intuitive Surgical, Inc. Fiber optic shape sensor
EP2351509A4 (en) * 2008-10-28 2018-01-17 Olympus Corporation Medical device
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
JP5851204B2 (ja) 2016-02-03
CN103906459A (zh) 2014-07-02
US9086340B2 (en) 2015-07-21
US20140230562A1 (en) 2014-08-21
EP2774528B1 (en) 2019-03-20
EP2774528A1 (en) 2014-09-10
JP2013094337A (ja) 2013-05-20
WO2013065606A1 (ja) 2013-05-10
EP2774528A4 (en) 2015-08-26

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Applicant before: Olympus Medical Systems Corp.

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