CN111031885A - 内窥镜装置 - Google Patents

内窥镜装置 Download PDF

Info

Publication number
CN111031885A
CN111031885A CN201880054041.5A CN201880054041A CN111031885A CN 111031885 A CN111031885 A CN 111031885A CN 201880054041 A CN201880054041 A CN 201880054041A CN 111031885 A CN111031885 A CN 111031885A
Authority
CN
China
Prior art keywords
sensor
rod
coil
insertion head
sensor coil
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.)
Granted
Application number
CN201880054041.5A
Other languages
English (en)
Other versions
CN111031885B (zh
Inventor
W.里斯
M.杰曼
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.)
Joimax GmbH
Original Assignee
Joimax GmbH
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 Joimax GmbH filed Critical Joimax GmbH
Publication of CN111031885A publication Critical patent/CN111031885A/zh
Application granted granted Critical
Publication of CN111031885B publication Critical patent/CN111031885B/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
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00087—Tools
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00097—Sensors
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • A61B1/00124—Connectors, fasteners and adapters, e.g. on the endoscope handle electrical, e.g. electrical plug-and-socket connection
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
    • 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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00135—Oversleeves mounted on the endoscope prior to insertion
    • 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
    • A61B1/01—Guiding arrangements therefore
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • 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
    • A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3135—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 for introducing through surgical openings, e.g. laparoscopes for examination of the epidural or the spinal space
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3472—Trocars; Puncturing needles for bones, e.g. intraosseus injections
    • 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
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • 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
    • 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
    • A61B2034/2072—Reference field transducer attached to an instrument or patient

Abstract

为了确定内窥镜在电磁场中的准确的定向和定位，本发明建议一种内窥镜装置，其具有近端的导入头和从导入头朝远端延伸的、具有中轴线的柄部，所述装置具有至少一个延伸穿过所述装置的细长的空腔，其特征在于，所述内窥镜装置具有传感器杆，所述传感器杆具有至少两个沿纵向以有限的距离彼此间隔地布置的传感器线圈，所述传感器线圈相对彼此以有限的角定向。

Description

内窥镜装置
本发明涉及一种内窥镜装置，其具有近端的导入头和从导入头朝远端延伸的、具有中轴线的柄部，所述装置具有至少一个延伸穿过所述装置的细长的或者说长条形的空腔。
当今已经借助导航支持的手术方法实施微创的手术。为此使用不同的导航系统。在此使用主动和被动的系统。在主动系统中，安置在患者身体中的部件、例如仪器或外科手术工具配设有发射器，通过所述发射器能够在外部确定仪器或工具的位置、尤其在远端的位于手术位置上的端部的位置。在被动系统中产生场，该场通过传感器检测，由此又可以直接或间接地测取仪器或外科手术工具、尤其它们的远端端部的位置和定向。外科部件的远端端部的直接检测包括将传感器布置在部件本身的远端端部上；间接的检测包括将传感器固定地刚性地安装在外科手术部件上的定义的位置、尤其轴向位置中。根据测量到的传感器信号可以推断出远端端部的位置和必要时推断其定向。在被动导航中，电磁导航尤其被证明是有利的，其中在外部围绕手术区域、例如通过在患者所躺的垫子中的电磁场发生器产生电磁场。安装在外科手术部件中的线圈形式的传感器能够实现仪器的定位，由此可以在CT或MRT图像中进行显示。这种方法没有辐射负荷并且由此也通过减少X射线的使用在总体上减少了辐射负荷。这既没有损害图像质量，而且传感器也不会被遮盖，因为该传感器不是光学传感器。手术医生的活动自由度没有如在光学系统中的情况那样受限。明显简化了手术医生的工作。
本发明所要解决的技术问题是，提供一种装置，其中能够通过前述的系统在避免所述缺点的情况下精确地确定内窥镜、尤其是远端端部的位置和取向。
所述技术问题按照本发明通过一种本文开头所述类型的内窥镜装置解决，其特征在于，所述内窥镜装置具有传感器杆或者说传感器条，所述传感器杆具有至少两个沿纵向以有限的距离彼此间隔地布置的传感器线圈，所述传感器线圈相对彼此以有限的角定向。
由于两个传感器线圈相对彼此以有限的角度布置在内窥镜装置中，所以根据不同的布置可以准确地确定内窥镜装置在检测系统的磁场中的定向并且因此也准确地确定内窥镜装置在空间中的定向。
在此在优选的设计方案中规定，第一传感器线圈平行于所述中轴线地定向，并且第二传感器线圈相对于所述中轴线以有限的角定向，尤其其中，所述第一传感器线圈布置在所述柄部内，并且所述第二传感器线圈布置在导入头的附件或者说凸出部内。
在扩展设计中规定，承载着两个传感器线圈的杆延伸穿过所述装置的空腔，尤其其中，所述杆轴向固定地与可套装在导入头的附件上的固持件相连。由此准确地确定传感器线圈、尤其第一传感器线圈在内窥镜装置内的位置，并且由此根据所确定的第一传感器线圈的位置，通过检测系统在磁场中也可以准确地确定传感器装置的远端端部的精确位置并且由此准确地确定工作位置，因为(第一)传感器线圈与内窥镜杆的远端端部的距离被固定地预设。
通过承载传感器线圈的杆与可分离的固持件的固定连接还可以实现，一方面在定位之后可移除承载传感器线圈的杆，并且为了定位被所述杆所占据的空腔也可以被空出而用于其它的使用目的。此外，由具有传感器线圈的杆构成的传感器装置可以与真正的内窥镜分离并且可以另外使用。这也实现了更简单的杀菌消毒。
由权利要求和以下的说明获得本发明的其它优点和特征，在说明中结合附图详细阐述了本发明的实施例。
在此，在唯一的附图中示出按照本发明的内窥镜装置的纵剖面图。
按照本发明的内窥镜装置1在所示的实施例中具有近端的导入头2和从导入头朝远端延伸的柄部3。在所示实施例中，导入头2具有三个分岔或附件2.1至2.3，即，用于将光导体从装置1的近端端部导引至装置1的远端端部的附件2.1以及两个附件2.2、2.3，这两个附件同样分别具有空腔或通道，所述空腔或通道从延伸的具有中轴线A的柄部3的远端端部直至相应的适配件2.2、2.3的出口。
杆4延伸穿过附件2.3的空腔2.3.1，所述杆4沿着其纵向延伸相间隔地承载两个线圈4.1和4.2。所述杆可以设计为实心的或柔性的杆但或者也可以设计为卷成螺旋形的细杆。分别有连接线(未示出)从线圈41、4.2朝近端的方向延伸至相应的线在近端的相应连接端或者接触端，必要时延伸到用于将线连接在分析装置(未示出)上的插头构造中。
线圈4.1位于杆4的远端的端部上并且由此位于平行于其中轴线A延伸的柄部3的内部并且因此同样平行于中轴线A或者轴向平行地定向。与线圈4.1相间隔地布置在杆4上的线圈4.2位于导入头的相对于中轴线A以有限的角延伸的附件2.3内。在附件2.3中，空腔2.3.1的空腔区段同样相对于中轴线A以有限的角延伸，在附件2.3中的线圈4.2的定向或者延伸相对于中轴线A同样形成有限的夹角。因此，两个线圈4.1、4.2不是彼此平行的，而是彼此间以有限的角定向。
线圈4.1、4.2位于设在外部的非均匀的电磁场中，因此这些线圈在所述电磁场中不同地利用所述场，并且向分析装置发送不同的信号。因此通过线圈4.1、4.2的不同的定向，可以精确地确定内窥镜装置在电磁场中的取向并且由此精确地确定内窥镜装置在室内或者说空间中的取向。
杆4轴向固定地安置在固持件5中。固持件5和附件2.3可以通过鲁尔(Luer)适配器6相互连接，其中，每个部件即固持件和附件具有鲁尔适配器6的分别相互对应的部分6.1、6.2，因此附件2.3和固持件5可以通过鲁尔适配器6按照本身已知的方式卡口式地固定地相互连接。由此，在固定的状态下定义了固持件5相对于附件2.3以及相对于内窥镜装置1的头部2和柄部3的位置。因为杆4如所述地轴向固定地安置在固持件5内，所以线圈4.1、4.2和尤其是远端的线圈4.1在柄部3和由此在内窥镜装置1内的纵向位置是确定的，并且由此线圈4.1相对于柄部3的远端端部3.1的距离、尤其轴向距离也是确定的。由此，通过线圈4.1的传感器信号也可以在施加的电磁场内确定线圈4.1的位置，并且基于线圈4.1与柄部3的远端端部3.1的固定距离可以确定柄部3的远端端部3.1在电磁场中的位置和由此确定在空间中的位置。
由此，手术医生根据对传感器信号的分析并且根据在分析装置的屏幕上的图像显示准确地识别出柄部3的远端端部3.1的位置并且由此也准确地识别出内窥镜装置1的位置，并且手术医生由此准确地获知他在哪个地方用他的仪器工作，他在必要时将所述仪器导入并且导引穿过内窥镜装置的其它的空腔。

Claims (8)

1.一种内窥镜装置(1)，具有近端的导入头(2)和从所述导入头朝远端延伸的带有中轴线(A)的柄部(3)，所述装置(1)具有至少一个延伸穿过所述装置(1)的细长的空腔(2.3.1)，其特征在于，所述内窥镜装置(1)具有传感器杆(4)，所述传感器杆具有至少两个沿纵向彼此以有限的距离布置的传感器线圈(4.1、4.2)，所述传感器线圈相对彼此以有限的角(L)定向。
2.按照权利要求1所述的装置，其特征在于，第一传感器线圈(4.1)平行于所述中轴线(A)地定向，并且第二传感器线圈相对于所述中轴线以有限的角(L)定向。
3.按照权利要求1或2所述的装置，其特征在于，所述第一传感器线圈(4.1)布置在所述柄部(3)内。
4.按照前述权利要求之一所述的装置，其特征在于，所述第二传感器线圈(4.2)布置在导入头(2)的附件(2.3)内。
5.按照前述权利要求之一所述的装置，其特征在于，承载着两个传感器线圈(4.1、4.2)的杆(4)延伸穿过所述装置(1)的空腔(2.3.1)。
6.按照前述权利要求之一所述的装置，其特征在于，所述杆(4)轴向固定地与能够套装在导入头(2)的附件(2.3)上的固持件(5)相连。
7.按照权利要求6所述的装置，其特征在于，所述导入头(2)的附件(2.3)和固持件(5)具有鲁尔适配器(6)的朝向彼此的对应的鲁尔适配器部件(6.1、6.2)，并且所述附件(2.3)和固持件(5)能够通过鲁尔适配器(6)固定地相互连接。
8.按照前述权利要求之一所述的装置，其特征在于，连接线从每个传感器线圈(4.1、4.2)延伸出、穿过所述杆(4)直至所述杆的近端端部，用于连接到分析装置上。
CN201880054041.5A 2017-08-29 2018-08-20 内窥镜装置 Active CN111031885B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE102017008148.4 2017-08-29
DE102017008148.4A DE102017008148A1 (de) 2017-08-29 2017-08-29 Sensoreinheit, intraoperatives Navigationssystem und Verfahren zur Detektion eines chirurgischen Instruments
DE202017004822.1 2017-09-15
DE202017004822.1U DE202017004822U1 (de) 2017-08-29 2017-09-15 Endoskop-Vorrichtung
PCT/EP2018/000405 WO2019042578A1 (de) 2017-08-29 2018-08-20 Endoskop-vorrichtung

Publications (2)

Publication Number Publication Date
CN111031885A true CN111031885A (zh) 2020-04-17
CN111031885B CN111031885B (zh) 2023-09-12

Family

ID=60419549

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880054041.5A Active CN111031885B (zh) 2017-08-29 2018-08-20 内窥镜装置

Country Status (10)

Country Link
US (3) US11647891B2 (zh)
EP (2) EP3641621B1 (zh)
JP (2) JP7329248B2 (zh)
KR (2) KR102612012B1 (zh)
CN (1) CN111031885B (zh)
CA (2) CA3071473C (zh)
DE (2) DE102017008148A1 (zh)
ES (1) ES2888423T3 (zh)
PL (1) PL3641621T3 (zh)
WO (2) WO2019042578A1 (zh)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017008148A1 (de) * 2017-08-29 2019-02-28 Joimax Gmbh Sensoreinheit, intraoperatives Navigationssystem und Verfahren zur Detektion eines chirurgischen Instruments
JP2021530285A (ja) * 2018-07-10 2021-11-11 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 医療ツールの存在を感知するためのシステムおよび方法
KR20220004073A (ko) * 2019-05-02 2022-01-11 인터섹트 엔트 인터내셔널 게엠베하 센서 캐리어
DE102019003965A1 (de) * 2019-06-05 2020-12-10 Joimax Gmbh Chirurgisches Nadel-Set und Verfahren zur Positionsbestimmung eines chirurgischen Instruments
JP7451977B2 (ja) 2019-12-06 2024-03-19 大日本印刷株式会社 バリア紙
US20220257093A1 (en) * 2021-02-18 2022-08-18 Acclarent, Inc. Flexible sensor assembly for ent instrument
US20230096268A1 (en) * 2021-09-29 2023-03-30 Cilag Gmbh International Methods for Controlling Cooperative Surgical Instruments

Citations (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996005768A1 (en) * 1994-08-19 1996-02-29 Biosense, Inc. Medical diagnosis, treatment and imaging systems
DE19641867A1 (de) * 1995-10-11 1997-04-24 Avl Verbrennungskraft Messtech Optoelektronische Meßeinrichtung zur Erfassung von Verbrennungsvorgängen im Brennraum
JPH10332309A (ja) * 1997-05-29 1998-12-18 Olympus Optical Co Ltd コイル位置測定方法
JP2000175862A (ja) * 1998-12-17 2000-06-27 Olympus Optical Co Ltd 内視鏡挿入形状検出装置
US6272371B1 (en) * 1997-01-03 2001-08-07 Biosense Inc. Bend-responsive catheter
JP2004000551A (ja) * 1994-08-18 2004-01-08 Olympus Corp 内視鏡形状検出装置
CN1695555A (zh) * 2005-05-27 2005-11-16 四川大学华西医院 封闭式动脉留置针
JP2007130132A (ja) * 2005-11-09 2007-05-31 Pentax Corp 内視鏡挿入部形状把握システム
US20100036285A1 (en) * 2008-08-06 2010-02-11 Assaf Govari Single-axis sensors on flexible backbone
US7809421B1 (en) * 2000-07-20 2010-10-05 Biosense, Inc. Medical system calibration with static metal compensation
US20110144479A1 (en) * 2009-12-15 2011-06-16 Boston Scientific Scimed, Inc. Systems and methods for determining the position and orientation of medical devices inserted into a patient
CN202505311U (zh) * 2011-02-22 2012-10-31 富士胶片株式会社 内窥镜
CN102755164A (zh) * 2011-04-28 2012-10-31 西门子公司 用于导航内窥镜胶囊的装置和方法
WO2013056006A2 (en) * 2011-10-14 2013-04-18 Intuitive Surgical Operations, Inc. Catheter systems
JP2013165892A (ja) * 2012-02-16 2013-08-29 Hoya Corp 拡大内視鏡
JP5319859B1 (ja) * 2011-09-15 2013-10-16 オリンパスメディカルシステムズ株式会社 内視鏡挿入形状観測用プローブ
US20140236165A1 (en) * 2012-05-03 2014-08-21 Joimax Gmbh Surgical tool device
EP3033997A1 (de) * 2014-12-18 2016-06-22 Karl Storz GmbH & Co. KG Endoskopsystem zur Bestimmung einer Position und einer Orientierung eines Endoskops in einem Hohlraum
CN106455908A (zh) * 2014-02-05 2017-02-22 新加坡国立大学 用于跟踪和显示内窥镜形状和远端取向的系统和方法
US20170209073A1 (en) * 2016-01-26 2017-07-27 Auris Surgical Robotics, Inc. Surgical tools having electromagnetic tracking components

Family Cites Families (50)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4911148A (en) * 1989-03-14 1990-03-27 Intramed Laboratories, Inc. Deflectable-end endoscope with detachable flexible shaft assembly
US5318025A (en) * 1992-04-01 1994-06-07 General Electric Company Tracking system to monitor the position and orientation of a device using multiplexed magnetic resonance detection
US5325873A (en) * 1992-07-23 1994-07-05 Abbott Laboratories Tube placement verifier system
JP3506770B2 (ja) * 1994-04-21 2004-03-15 オリンパス株式会社 内視鏡位置検出装置
US6059718A (en) * 1993-10-18 2000-05-09 Olympus Optical Co., Ltd. Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope
US5735793A (en) * 1995-01-12 1998-04-07 Olympus Optical Co., Ltd. Endoscope
US5592939A (en) * 1995-06-14 1997-01-14 Martinelli; Michael A. Method and system for navigating a catheter probe
US5997473A (en) 1996-09-06 1999-12-07 Olympus Optical Co., Ltd. Method of locating a coil which consists of determining the space occupied by a source coil generating a magnetic field
US6511417B1 (en) * 1998-09-03 2003-01-28 Olympus Optical Co., Ltd. System for detecting the shape of an endoscope using source coils and sense coils
EP2380550A3 (en) * 2000-08-23 2012-10-31 Micronix Pty Ltd Catheter locator apparatus and method of use
JP2003180697A (ja) * 2001-12-18 2003-07-02 Olympus Optical Co Ltd 超音波診断装置
EP1504712B1 (en) * 2002-10-29 2009-12-02 Olympus Corporation Endoscope information processor and processing method
US7697972B2 (en) * 2002-11-19 2010-04-13 Medtronic Navigation, Inc. Navigation system for cardiac therapies
US6887194B2 (en) * 2003-01-17 2005-05-03 Applied Medical Resources Corporation Surgical access apparatus and method
US7660623B2 (en) 2003-01-30 2010-02-09 Medtronic Navigation, Inc. Six degree of freedom alignment display for medical procedures
US7706859B2 (en) * 2003-08-22 2010-04-27 Olympus Corporation Device for detecting shape of endoscope
JP4578942B2 (ja) * 2004-11-10 2010-11-10 オリンパス株式会社 内視鏡形状検出装置
JP4749703B2 (ja) * 2004-12-01 2011-08-17 オリンパス株式会社 内視鏡挿入形状検出装置
US8571635B2 (en) 2005-04-28 2013-10-29 Boston Scientific Scimed, Inc. Automated activation/deactivation of imaging device based on tracked medical device position
US20070106114A1 (en) 2005-11-09 2007-05-10 Pentax Corporation Endoscope-shape monitoring system
US7957789B2 (en) * 2005-12-30 2011-06-07 Medtronic, Inc. Therapy delivery system including a navigation element
US8016749B2 (en) 2006-03-21 2011-09-13 Boston Scientific Scimed, Inc. Vision catheter having electromechanical navigation
JP4153963B2 (ja) * 2006-06-12 2008-09-24 オリンパスメディカルシステムズ株式会社 内視鏡挿入形状検出装置
DE102006029122A1 (de) * 2006-06-22 2007-12-27 Amedo Gmbh System zur Bestimmung der Position eines medizinischen Instrumentes
US8197494B2 (en) * 2006-09-08 2012-06-12 Corpak Medsystems, Inc. Medical device position guidance system with wireless connectivity between a noninvasive device and an invasive device
US7892165B2 (en) * 2006-10-23 2011-02-22 Hoya Corporation Camera calibration for endoscope navigation system
AU2013251245B2 (en) 2006-12-08 2015-05-14 Biosense Webster, Inc. Coloring electroanatomical maps to indicate ultrasound data acquisition
WO2009069394A1 (ja) 2007-11-29 2009-06-04 Olympus Medical Systems Corp. 内視鏡システム
US8611984B2 (en) * 2009-04-08 2013-12-17 Covidien Lp Locatable catheter
US8706193B2 (en) * 2009-06-22 2014-04-22 Biosense Webster, Inc. Catheter with obliquely-oriented coils
US10966701B2 (en) * 2009-12-16 2021-04-06 Boston Scientific Scimed, Inc. Tissue retractor for minimally invasive surgery
EP2912999B1 (en) * 2010-05-28 2022-06-29 C. R. Bard, Inc. Apparatus for use with needle insertion guidance system
ES2778041T3 (es) * 2010-05-28 2020-08-07 Bard Inc C R Aparato para su uso con sistema de guiado de inserción de aguja
KR101598773B1 (ko) * 2010-10-21 2016-03-15 (주)미래컴퍼니 수술용 로봇의 움직임 제어/보상 방법 및 장치
US20130303944A1 (en) * 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
JP5973727B2 (ja) * 2011-12-28 2016-08-23 オリンパス株式会社 立体内視鏡装置、立体内視鏡システムおよび立体内視鏡ロボット
US9510772B2 (en) * 2012-04-10 2016-12-06 Cardionxt, Inc. System and method for localizing medical instruments during cardiovascular medical procedures
EP2850992A4 (en) * 2012-05-14 2016-02-17 Olympus Corp CAPSULE THERAPY DEVICE AND THERAPY SYSTEM
US9463307B2 (en) * 2012-12-21 2016-10-11 Medtronic Xomed, Inc. Sinus dilation system and method
DE102013004964B4 (de) * 2013-03-22 2016-11-03 Joimax Gmbh Instrumentenset und Verfahren zum Einbringen eines Körbchens in das Bandscheibenfach zwischen zwei Wirbelkörpern
CN110811778B (zh) 2014-03-17 2024-03-15 直观外科手术操作公司 外科手术套管以及用于识别外科手术套管的相关系统和方法
JP5830576B1 (ja) * 2014-06-04 2015-12-09 日立アロカメディカル株式会社 医療システム
US11065063B2 (en) * 2015-07-02 2021-07-20 Board Of Regents, The University Of Texas System Utilization of laser interstitial thermotherapy guided with real time thermal MRI
EP3331429B1 (en) * 2015-07-06 2020-09-02 Metritrack, Inc. Sensor assembly for use with a positional tracking system and method of manufacture
AU2016323982A1 (en) * 2015-09-18 2018-04-12 Auris Health, Inc. Navigation of tubular networks
US11000207B2 (en) * 2016-01-29 2021-05-11 C. R. Bard, Inc. Multiple coil system for tracking a medical device
US10478254B2 (en) * 2016-05-16 2019-11-19 Covidien Lp System and method to access lung tissue
US11058446B2 (en) * 2016-09-14 2021-07-13 Biosense Webster (Israel) Ltd. ENT tool antenna
JP7301750B2 (ja) * 2017-05-17 2023-07-03 オーリス ヘルス インコーポレイテッド 交換可能な作業チャネル
DE102017008148A1 (de) * 2017-08-29 2019-02-28 Joimax Gmbh Sensoreinheit, intraoperatives Navigationssystem und Verfahren zur Detektion eines chirurgischen Instruments

Patent Citations (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004000551A (ja) * 1994-08-18 2004-01-08 Olympus Corp 内視鏡形状検出装置
WO1996005768A1 (en) * 1994-08-19 1996-02-29 Biosense, Inc. Medical diagnosis, treatment and imaging systems
DE19641867A1 (de) * 1995-10-11 1997-04-24 Avl Verbrennungskraft Messtech Optoelektronische Meßeinrichtung zur Erfassung von Verbrennungsvorgängen im Brennraum
US6272371B1 (en) * 1997-01-03 2001-08-07 Biosense Inc. Bend-responsive catheter
JPH10332309A (ja) * 1997-05-29 1998-12-18 Olympus Optical Co Ltd コイル位置測定方法
JP2000175862A (ja) * 1998-12-17 2000-06-27 Olympus Optical Co Ltd 内視鏡挿入形状検出装置
US7809421B1 (en) * 2000-07-20 2010-10-05 Biosense, Inc. Medical system calibration with static metal compensation
CN1695555A (zh) * 2005-05-27 2005-11-16 四川大学华西医院 封闭式动脉留置针
JP2007130132A (ja) * 2005-11-09 2007-05-31 Pentax Corp 内視鏡挿入部形状把握システム
US20100036285A1 (en) * 2008-08-06 2010-02-11 Assaf Govari Single-axis sensors on flexible backbone
US20110144479A1 (en) * 2009-12-15 2011-06-16 Boston Scientific Scimed, Inc. Systems and methods for determining the position and orientation of medical devices inserted into a patient
CN202505311U (zh) * 2011-02-22 2012-10-31 富士胶片株式会社 内窥镜
CN102755164A (zh) * 2011-04-28 2012-10-31 西门子公司 用于导航内窥镜胶囊的装置和方法
US20130109920A1 (en) * 2011-04-28 2013-05-02 Mario Bechtold Arrangement and method for navigating an endoscopic capsule
JP5319859B1 (ja) * 2011-09-15 2013-10-16 オリンパスメディカルシステムズ株式会社 内視鏡挿入形状観測用プローブ
WO2013056006A2 (en) * 2011-10-14 2013-04-18 Intuitive Surgical Operations, Inc. Catheter systems
JP2013165892A (ja) * 2012-02-16 2013-08-29 Hoya Corp 拡大内視鏡
US20140236165A1 (en) * 2012-05-03 2014-08-21 Joimax Gmbh Surgical tool device
CN106455908A (zh) * 2014-02-05 2017-02-22 新加坡国立大学 用于跟踪和显示内窥镜形状和远端取向的系统和方法
EP3033997A1 (de) * 2014-12-18 2016-06-22 Karl Storz GmbH & Co. KG Endoskopsystem zur Bestimmung einer Position und einer Orientierung eines Endoskops in einem Hohlraum
US20170209073A1 (en) * 2016-01-26 2017-07-27 Auris Surgical Robotics, Inc. Surgical tools having electromagnetic tracking components

Also Published As

Publication number Publication date
US20210177245A1 (en) 2021-06-17
PL3641621T3 (pl) 2022-01-03
EP3641621A1 (de) 2020-04-29
JP2020532331A (ja) 2020-11-12
JP7329248B2 (ja) 2023-08-18
EP3500152A1 (de) 2019-06-26
CA3071473A1 (en) 2019-03-07
EP3641621B1 (de) 2021-07-14
US11647891B2 (en) 2023-05-16
CA3071475A1 (en) 2019-03-07
CN111031885B (zh) 2023-09-12
JP7367976B2 (ja) 2023-10-24
US20230355078A1 (en) 2023-11-09
WO2019042578A1 (de) 2019-03-07
KR102577934B1 (ko) 2023-09-14
US11730342B2 (en) 2023-08-22
DE202017004822U1 (de) 2017-11-07
JP2020532332A (ja) 2020-11-12
KR102612012B1 (ko) 2023-12-11
ES2888423T3 (es) 2022-01-04
KR20200047536A (ko) 2020-05-07
KR20200047537A (ko) 2020-05-07
WO2019042579A1 (de) 2019-03-07
CN111031886A (zh) 2020-04-17
US20210153724A1 (en) 2021-05-27
CA3071473C (en) 2024-04-09
DE102017008148A1 (de) 2019-02-28
EP3500152B1 (de) 2023-10-18

Similar Documents

Publication Publication Date Title
CN111031885B (zh) 内窥镜装置
US20230037993A1 (en) Surgical instrument and method for detecting the position of a surgical instrument
KR20040025588A (ko) 고-구배 반복적 위치결정 시스템
US20220257322A1 (en) Device and method for connecting a medical instrument to a position-detecting system
CN112292062A (zh) 具有一体式导航传感器的内窥镜
US20230233266A1 (en) Navigation sleeve for medical instrument
US20200179059A1 (en) Articulating guide with integral position sensor
US11065064B2 (en) Calibration of a rigid ENT tool
CN111031886B (zh) 用于自动探测外科器械的探测系统和方法
EP3426178B1 (en) A system for navigated punction, biopsy or ablation comprising a needle-like instrument and a removable sensor carrier
EP4081127A1 (en) Position registered sideview ultrasound (us) imager inserted into brain via trocar
WO2020201886A1 (en) Apparatus and method for measuring depth of bit in ent drill
EP3860454A1 (en) Dilation instrument with malleable guide and dilation catheter with integral position sensor
EP2901946A1 (en) Pointing device and drilling tool

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