CN106102592B - 用于经食道超声心动图超声换能器探头的触觉反馈的系统和方法 - Google Patents

用于经食道超声心动图超声换能器探头的触觉反馈的系统和方法 Download PDF

Info

Publication number
CN106102592B
CN106102592B CN201580013329.4A CN201580013329A CN106102592B CN 106102592 B CN106102592 B CN 106102592B CN 201580013329 A CN201580013329 A CN 201580013329A CN 106102592 B CN106102592 B CN 106102592B
Authority
CN
China
Prior art keywords
ultrasound transducer
contact force
transducer probe
distal end
force
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CN201580013329.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN106102592A (zh
Inventor
M·派斯因基
C·古德温
D·T·内希尔
B·C·桑切塔
B·张
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.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips NV
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
Application filed by Koninklijke Philips NV filed Critical Koninklijke Philips NV
Publication of CN106102592A publication Critical patent/CN106102592A/zh
Application granted granted Critical
Publication of CN106102592B publication Critical patent/CN106102592B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0883—Clinical applications for diagnosis of the heart
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/13—Tomography
    • A61B8/14—Echo-tomography
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4272—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue
    • A61B8/429—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue characterised by determining or monitoring the contact between the transducer and the tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/54—Control of the diagnostic device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/225—Measuring circuits therefor
    • G01L1/2262—Measuring circuits therefor involving simple electrical bridges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means
    • G01L5/0038—Force sensors associated with force applying means applying a pushing force
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/58—Testing, adjusting or calibrating the diagnostic device

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Surgery (AREA)
  • Biophysics (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Cardiology (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Gynecology & Obstetrics (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
CN201580013329.4A 2014-03-12 2015-03-02 用于经食道超声心动图超声换能器探头的触觉反馈的系统和方法 Active CN106102592B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461951717P 2014-03-12 2014-03-12
US61/951,717 2014-03-12
PCT/IB2015/051507 WO2015136402A1 (en) 2014-03-12 2015-03-02 System and method of haptic feedback for transesophageal echocardiogram ultrasound transducer probe

Publications (2)

Publication Number Publication Date
CN106102592A CN106102592A (zh) 2016-11-09
CN106102592B true CN106102592B (zh) 2021-01-22

Family

ID=52630448

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580013329.4A Active CN106102592B (zh) 2014-03-12 2015-03-02 用于经食道超声心动图超声换能器探头的触觉反馈的系统和方法

Country Status (6)

Country Link
US (1) US20170007202A1 (https=)
EP (1) EP3116406A1 (https=)
JP (1) JP2017506969A (https=)
CN (1) CN106102592B (https=)
RU (1) RU2016139689A (https=)
WO (1) WO2015136402A1 (https=)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10674997B2 (en) * 2015-08-10 2020-06-09 Shaohua Hu Ultrasonic tracking probe and the method
US20190021699A1 (en) * 2016-01-15 2019-01-24 Koninklijke Philips N.V. Automatic probe steering to clinical views using annotations in a fused image guidance system
KR102721645B1 (ko) * 2016-09-27 2024-10-25 삼성메디슨 주식회사 초음파 진단 장치 및 초음파 진단 장치의 작동 방법
CN109288540A (zh) * 2017-07-24 2019-02-01 云南师范大学 一种具有触觉反馈的远程超声诊断系统
CN108992086A (zh) * 2017-10-20 2018-12-14 深圳华大智造科技有限公司 超声检测装置、台车及超声系统
JP7301847B2 (ja) * 2017-12-28 2023-07-03 エシコン エルエルシー 歪みゲージ回路からの入力を使用する制御システムを備える外科用器具
CN111698949B (zh) * 2018-02-08 2024-10-01 皇家飞利浦有限公司 用于经食道超声心动图的设备、系统和方法
EP3669787A1 (en) * 2018-12-19 2020-06-24 Koninklijke Philips N.V. Ultrasound transducer unit with friction guiding function
CN112438757B (zh) * 2019-08-27 2025-01-21 深圳迈瑞生物医疗电子股份有限公司 超声探头
WO2021115905A1 (en) * 2019-12-12 2021-06-17 Koninklijke Philips N.V. Intuitive control interface for a robotic tee probe using a hybrid imaging-elastography controller
EP4072430B1 (en) * 2019-12-12 2024-10-30 Koninklijke Philips N.V. Systems for guiding an ultrasound probe
JP7715149B2 (ja) * 2019-12-12 2025-07-30 コーニンクレッカ フィリップス エヌ ヴェ Ｔｅｅプローブのハイブリッドロボット－画像平面制御
WO2023000085A1 (en) * 2021-07-22 2023-01-26 The University Of British Columbia System and apparatus for remote interaction with an object
US12582382B2 (en) * 2021-07-22 2026-03-24 The University Of British Columbia System and apparatus for remote interaction with an object
CN115990038A (zh) * 2021-10-20 2023-04-21 佳能医疗系统株式会社 超声波诊断装置、信息处理方法及存储介质
EP4169452A1 (en) * 2021-10-20 2023-04-26 Canon Medical Systems Corporation Ultrasonic diagnostic apparatus, information-processing method, and storage medium
EP4248877A1 (en) * 2022-03-23 2023-09-27 Koninklijke Philips N.V. Transesophageal transducer to increase patient safety
CN119012970A (zh) * 2022-04-27 2024-11-22 普罗赛普特生物机器人公司 超声波棒式探头
US12446858B2 (en) * 2023-06-29 2025-10-21 Fujifilm Sonosite, Inc. Displaying visual representations of ultrasound transducers
WO2025090965A1 (en) * 2023-10-27 2025-05-01 Shifamed Holdings, Llc Robotic transesophageal echocardiography imaging systems
WO2025226706A1 (en) * 2024-04-23 2025-10-30 Shifamed Holdings, Llc Transesophageal echocardiography probe handle torque sensor and control methods

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008220530A (ja) * 2007-03-09 2008-09-25 Aloka Co Ltd 体腔内プローブ
US20100168620A1 (en) * 2008-12-31 2010-07-01 Klimovitch Gleb V System and method for measuring force and torque applied to a catheter electrode tip
CN102264306A (zh) * 2008-12-29 2011-11-30 皇家飞利浦电子股份有限公司 具有远程控制的超声成像系统及其操作方法
US20120172731A1 (en) * 2009-09-15 2012-07-05 St. Jude Medical Systems Ab Rapid exchange guide unit

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06142114A (ja) * 1992-10-30 1994-05-24 Olympus Optical Co Ltd 体腔内処置装置
JP2003500759A (ja) * 1999-05-20 2003-01-07 エレクセン リミテッド 機械的相互作用の検出
GB0407366D0 (en) * 2004-03-31 2004-05-05 Koninkl Philips Electronics Nv Textile form touch sensor
JP4465535B2 (ja) * 2004-06-09 2010-05-19 株式会社日立メディコ 弾性画像表示方法及び超音波診断装置
JP4503412B2 (ja) * 2004-10-05 2010-07-14 独立行政法人産業技術総合研究所 触覚センサ及び触覚センサ装置
US7839780B2 (en) * 2006-03-30 2010-11-23 Telcordia Technologies, Inc. Dynamic traffic rearrangement to enforce policy changes in MPLS networks
US8048063B2 (en) * 2006-06-09 2011-11-01 Endosense Sa Catheter having tri-axial force sensor
JP5006060B2 (ja) * 2007-01-29 2012-08-22 日立アロカメディカル株式会社 経食道プローブ及びそれを備えた超音波診断装置
JP2008229267A (ja) * 2007-03-23 2008-10-02 Aloka Co Ltd 超音波診断装置及び体腔内プローブ
US8142363B1 (en) * 2007-07-11 2012-03-27 Pacesetter, Inc. Cardiac rhythm management lead with omni-directional pressure sensing
US8535308B2 (en) * 2007-10-08 2013-09-17 Biosense Webster (Israel), Ltd. High-sensitivity pressure-sensing probe
JP5331507B2 (ja) * 2009-02-18 2013-10-30 富士フイルム株式会社 内視鏡
US8753278B2 (en) * 2010-09-30 2014-06-17 Siemens Medical Solutions Usa, Inc. Pressure control in medical diagnostic ultrasound imaging
US8532738B2 (en) * 2010-11-04 2013-09-10 Biosense Webster (Israel), Ltd. Visualization of catheter-tissue contact by map distortion
WO2012153703A1 (ja) * 2011-05-09 2012-11-15 国立大学法人鳥取大学 圧力センサー、内視鏡スコープ、内視鏡裝置
RU2617809C2 (ru) * 2011-12-08 2017-04-26 Конинклейке Филипс Н.В. Система обследования с множеством ультразвуковых преобразователей
US9134807B2 (en) * 2012-03-02 2015-09-15 Microsoft Technology Licensing, Llc Pressure sensitive key normalization

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008220530A (ja) * 2007-03-09 2008-09-25 Aloka Co Ltd 体腔内プローブ
CN102264306A (zh) * 2008-12-29 2011-11-30 皇家飞利浦电子股份有限公司 具有远程控制的超声成像系统及其操作方法
US20100168620A1 (en) * 2008-12-31 2010-07-01 Klimovitch Gleb V System and method for measuring force and torque applied to a catheter electrode tip
US20120172731A1 (en) * 2009-09-15 2012-07-05 St. Jude Medical Systems Ab Rapid exchange guide unit

Also Published As

Publication number Publication date
EP3116406A1 (en) 2017-01-18
JP2017506969A (ja) 2017-03-16
WO2015136402A1 (en) 2015-09-17
US20170007202A1 (en) 2017-01-12
RU2016139689A (ru) 2018-04-12
CN106102592A (zh) 2016-11-09
RU2016139689A3 (https=) 2018-10-15

Similar Documents

Publication Publication Date Title
CN106102592B (zh) 用于经食道超声心动图超声换能器探头的触觉反馈的系统和方法
CN114159098B (zh) 具有压力测量能力的超声探测器
US5351677A (en) Medical system having object information reproduction means for palpation
JP2017506969A5 (https=)
EP2135635B1 (en) Linear object driving device
US4366810A (en) Tactile control device for a remote sensing device
US20150099926A1 (en) Endoscope with Integrated Sensors
JP2021512703A5 (https=)
US20070074584A1 (en) Gentle touch surgical instrument and method of using same
EP3298974A1 (en) Catheter with deflection measuring sensor
JP2016515023A (ja) ケーブル組立体、センサ、システム、センサを使用する方法
CN205306943U (zh) 插入装置
EP3359049A1 (en) Advanced control features for steering devices for intravascular devices and associated systems and methods
JP6989093B2 (ja) 内視鏡
JP6603715B2 (ja) モニタリングシステム及びガイドワイヤ
CN115474885A (zh) 内镜控制方法、内镜以及手术机器人
Vajpeyi et al. A novel, flexible, full-length, pressure-sensing sleeve for colonoscopes
JP6019362B2 (ja) 医療画像測定装置及び医療画像測定方法
JP7065592B2 (ja) 超音波プローブ、超音波測定システム
WO2020121536A1 (ja) ユーザインタフェース装置、医療システム、操作制御方法、及び操作制御プログラム
JP2011019550A (ja) 内視鏡装置及び内視鏡システム並びに内視鏡装置の制御方法
EP4613206A1 (en) Ultrasound diagnostic apparatus and method of controlling ultrasound diagnostic apparatus
CN223489692U (zh) 内窥镜
US20190239945A1 (en) Catheter handle with ring color indicators
JP3312904B2 (ja) 診断システム

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant