CN108882966B - 用于柔性器械插入的装置 - Google Patents

用于柔性器械插入的装置 Download PDF

Info

Publication number
CN108882966B
CN108882966B CN201780021723.1A CN201780021723A CN108882966B CN 108882966 B CN108882966 B CN 108882966B CN 201780021723 A CN201780021723 A CN 201780021723A CN 108882966 B CN108882966 B CN 108882966B
Authority
CN
China
Prior art keywords
elongated body
sensor
sheath
data
insertion 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
CN201780021723.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN108882966A (zh
Inventor
大卫·P·努南
东·A·塔那卡
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
Original Assignee
Auris Surgical Robotics 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 US15/392,868 external-priority patent/US10543048B2/en
Priority claimed from US15/392,917 external-priority patent/US10244926B2/en
Application filed by Auris Surgical Robotics Inc filed Critical Auris Surgical Robotics Inc
Publication of CN108882966A publication Critical patent/CN108882966A/zh
Application granted granted Critical
Publication of CN108882966B publication Critical patent/CN108882966B/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
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • 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
    • 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
    • A61M25/0133—Tip steering devices
    • 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
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A61B2017/00123—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation and automatic shutdown
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B17/22—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for
    • A61B2017/22072—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; 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 inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; 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 inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; 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
    • A61B2034/2055—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
    • 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
    • A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45118—Endoscopic, laparoscopic manipulator

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Mechanical Engineering (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
CN201780021723.1A 2016-12-28 2017-12-27 用于柔性器械插入的装置 Active CN108882966B (zh)

Applications Claiming Priority (5)

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

Publications (2)

Publication Number Publication Date
CN108882966A CN108882966A (zh) 2018-11-23
CN108882966B true CN108882966B (zh) 2022-04-12

Family

ID=61054492

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780021723.1A Active CN108882966B (zh) 2016-12-28 2017-12-27 用于柔性器械插入的装置

Country Status (6)

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

Families Citing this family (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
WO2019118767A1 (en) 2017-12-14 2019-06-20 Auris Health, Inc. System and method for estimating instrument location
US10872449B2 (en) 2018-05-02 2020-12-22 Covidien Lp System and method for constructing virtual radial ultrasound images from CT data and performing a surgical navigation procedure using virtual ultrasound images
EP3849457A1 (en) * 2018-09-11 2021-07-21 Intuitive Surgical Operations, Inc. Generation of graphical representation of force
US10383694B1 (en) * 2018-09-12 2019-08-20 Johnson & Johnson Innovation—Jjdc, Inc. Machine-learning-based visual-haptic feedback system for robotic surgical platforms
CN112804960B (zh) * 2018-10-04 2024-09-13 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
US11903658B2 (en) * 2019-01-07 2024-02-20 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
US11161244B2 (en) * 2019-01-22 2021-11-02 Mitsubishi Electric Research Laboratories, Inc. System and method for automatic error recovery in robotic assembly
CN120770752A (zh) * 2019-01-24 2025-10-14 诺亚医疗集团公司 具有集成视觉能力的一次性装置
EP3920826A1 (en) * 2019-02-05 2021-12-15 Smith&Nephew, Inc. Algorithm-based optimization for knee arthroplasty procedures
US20210045824A1 (en) * 2019-08-15 2021-02-18 Auris Health, Inc. Axial motion drive devices, systems, and methods for a robotic medical system
GB2588630B (en) * 2019-10-29 2024-03-20 Cmr Surgical Ltd Robotic joint control
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
US20230017745A1 (en) * 2019-12-12 2023-01-19 Intuitive Surgical Operations, Inc. Control and feedback based on insertion force
US12089903B2 (en) * 2019-12-13 2024-09-17 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
DE102020205091A1 (de) * 2020-04-22 2021-10-28 Siemens Healthcare Gmbh Verfahren zum Erzeugen eines Steuersignals
EP4157059A4 (en) * 2020-05-29 2024-09-04 Noah Medical Corporation Methods and systems for disposable endoscope
CN113729623B (zh) * 2020-05-30 2023-03-03 深圳硅基传感科技有限公司 生理参数监测仪的批量植入装置
JP2023529109A (ja) * 2020-06-01 2023-07-07 オーリス ヘルス インコーポレイテッド 固着器具管理
US11701492B2 (en) 2020-06-04 2023-07-18 Covidien Lp Active distal tip drive
US12256923B2 (en) 2020-08-13 2025-03-25 Covidien Lp Endoluminal robotic systems and methods for suturing
US12383352B2 (en) 2020-08-13 2025-08-12 Covidien Lp Endoluminal robotic (ELR) systems and methods
DE102020211999B4 (de) * 2020-09-24 2024-09-26 Siemens Healthineers Ag Vorrichtung zum Bewegen eines medizinischen Objekts und Verfahren zum Bereitstellen eines Signals
DE102020212000A1 (de) * 2020-09-24 2022-03-24 Siemens Healthcare Gmbh Vorrichtung zum Positionieren eines medizinischen Objekts und Verfahren zum Bereitstellen einer Korrekturvorgabe
WO2022096624A1 (en) * 2020-11-06 2022-05-12 Universität Basel Endodevice
EP4271313A4 (en) * 2020-12-31 2024-11-20 Auris Health, Inc. CONTROL OF A ROBOTIC INSTRUMENT DRIVE
CN113116475B (zh) * 2020-12-31 2023-06-20 杭州堃博生物科技有限公司 经导管的导航处理方法、装置、介质、设备与导航系统
JP2024507804A (ja) * 2021-02-17 2024-02-21 オーリス ヘルス インコーポレイテッド 器具フィーダーデバイスの係合制御
CN117042715B (zh) * 2021-02-17 2024-09-03 奥瑞斯健康公司 器械轴张紧系统和方法
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
US12303220B2 (en) 2022-01-26 2025-05-20 Covidien Lp Autonomous endobronchial access with an EM guided catheter
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
CN114869479A (zh) * 2022-03-28 2022-08-09 朗森特科技有限公司 一种远程手术控制器械紧急制动装置及系统
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
CN115444573B (zh) * 2022-08-10 2024-10-29 上海优医基医学科技有限公司 柔性器械的控制方法、系统及手术机器人
CN117838327A (zh) * 2022-09-30 2024-04-09 深圳市精锋医疗科技股份有限公司 导管机器人的方向自动设置方法、导管机器人及介质
CN115920187B (zh) * 2023-01-10 2025-12-02 中国人民解放军总医院第一医学中心 一种插管装置
WO2024241218A1 (en) * 2023-05-24 2024-11-28 Covidien Lp System and method for updating registration and localization during surgical navigation
CN116871709B (zh) * 2023-09-08 2023-12-08 常州市鹏瑞自动化设备有限公司 激光切割异形圆管件的方法
WO2025187837A1 (ja) * 2024-03-08 2025-09-12 オリンパス株式会社 医療用マニピュレータ、医療用マニピュレータシステムおよび医療システムによる処置方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102327118A (zh) * 2010-06-30 2012-01-25 韦伯斯特生物官能(以色列)有限公司 用于多臂导管的压力感测
CN102834043A (zh) * 2010-09-14 2012-12-19 奥林巴斯医疗株式会社 内窥镜系统和视野不良判定方法
CN105050525A (zh) * 2013-03-15 2015-11-11 直观外科手术操作公司 用于跟踪介入器械的形状传感器系统以及使用方法
CN105407781A (zh) * 2013-07-26 2016-03-16 奥林巴斯株式会社 机械手系统

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1491139B1 (en) * 1997-01-03 2007-08-29 Biosense Webster, Inc. Bend-responsive catheter
US6780197B2 (en) * 2000-01-05 2004-08-24 Integrated Vascular Systems, Inc. Apparatus and methods for delivering a vascular closure device to a body lumen
US8900131B2 (en) * 2011-05-13 2014-12-02 Intuitive Surgical Operations, Inc. Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery
US9636040B2 (en) * 2012-02-03 2017-05-02 Intuitive Surgical Operations, Inc. Steerable flexible needle with embedded shape sensing
JP2014134530A (ja) * 2012-12-14 2014-07-24 Panasonic Corp 力計測装置、力計測方法、力計測プログラム、力計測用集積電子回路、並びに、マスタースレーブ装置
US9763741B2 (en) 2013-10-24 2017-09-19 Auris Surgical Robotics, Inc. System for robotic-assisted endolumenal surgery and related methods
US10046140B2 (en) * 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
JP6322495B2 (ja) * 2014-06-26 2018-05-09 オリンパス株式会社 形状推定装置、形状推定装置を備えた内視鏡システム及び形状推定のためのプログラム
CN109715037B (zh) * 2016-09-21 2022-09-06 直观外科手术操作公司 用于器械弯折检测的系统和方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102327118A (zh) * 2010-06-30 2012-01-25 韦伯斯特生物官能(以色列)有限公司 用于多臂导管的压力感测
CN102834043A (zh) * 2010-09-14 2012-12-19 奥林巴斯医疗株式会社 内窥镜系统和视野不良判定方法
CN105050525A (zh) * 2013-03-15 2015-11-11 直观外科手术操作公司 用于跟踪介入器械的形状传感器系统以及使用方法
CN105407781A (zh) * 2013-07-26 2016-03-16 奥林巴斯株式会社 机械手系统

Also Published As

Publication number Publication date
KR102536940B1 (ko) 2023-05-30
JP7427829B2 (ja) 2024-02-05
EP3562423A1 (en) 2019-11-06
KR102619317B1 (ko) 2024-01-03
WO2018125917A1 (en) 2018-07-05
WO2018125917A8 (en) 2018-10-11
JP7258755B2 (ja) 2023-04-17
AU2017388217B2 (en) 2022-10-27
JP2020513904A (ja) 2020-05-21
AU2017388217A1 (en) 2019-05-02
KR20230082051A (ko) 2023-06-08
JP2023103211A (ja) 2023-07-26
KR20190101860A (ko) 2019-09-02
CN108882966A (zh) 2018-11-23

Similar Documents

Publication Publication Date Title
CN108882966B (zh) 用于柔性器械插入的装置
US11771309B2 (en) Detecting endolumenal buckling of flexible instruments
US20200268459A1 (en) Flexible instrument insertion using an adaptive insertion force threshold
US12390286B2 (en) Instrument shape determination
US20240065780A1 (en) Vector-based luminal network branch mapping
US11759090B2 (en) Image-based airway analysis and mapping
US11403759B2 (en) Navigation of tubular networks
US12475591B2 (en) Vision-based 6DOF camera pose estimation in bronchoscopy
AU2018378810A1 (en) System and method for medical instrument navigation and targeting
JP2022546419A (ja) 器具画像信頼性システム及び方法

Legal Events

Date Code Title Description
PB01 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