CN111902095B - 治疗装置 - Google Patents

治疗装置 Download PDF

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Publication number
CN111902095B
CN111902095B CN201980020447.6A CN201980020447A CN111902095B CN 111902095 B CN111902095 B CN 111902095B CN 201980020447 A CN201980020447 A CN 201980020447A CN 111902095 B CN111902095 B CN 111902095B
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China
Prior art keywords
probe
treatment
mode
treatment head
instruction
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CN201980020447.6A
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English (en)
Chinese (zh)
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CN111902095A (zh
Inventor
植山刚
稻田诚生
奥田英树
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.)
Sonier Treatment Co
Original Assignee
Sonier Treatment Co
Denso Corp
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Publication of CN111902095A publication Critical patent/CN111902095A/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B17/225—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 for extracorporeal shock wave lithotripsy [ESWL], e.g. by using ultrasonic waves
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N7/02—Localised ultrasound hyperthermia
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0052—Ultrasound therapy using the same transducer for therapy and imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0056—Beam shaping elements
    • A61N2007/0065—Concave transducers

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Vascular Medicine (AREA)
  • Surgical Instruments (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
CN201980020447.6A 2018-03-22 2019-03-19 治疗装置 Active CN111902095B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018054209A JP6859557B2 (ja) 2018-03-22 2018-03-22 治療装置
JP2018-054209 2018-03-22
PCT/JP2019/011487 WO2019181951A1 (ja) 2018-03-22 2019-03-19 治療装置

Publications (2)

Publication Number Publication Date
CN111902095A CN111902095A (zh) 2020-11-06
CN111902095B true CN111902095B (zh) 2023-06-02

Family

ID=67986264

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980020447.6A Active CN111902095B (zh) 2018-03-22 2019-03-19 治疗装置

Country Status (4)

Country Link
US (1) US11786326B2 (https=)
JP (1) JP6859557B2 (https=)
CN (1) CN111902095B (https=)
WO (1) WO2019181951A1 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7228717B2 (ja) * 2019-12-05 2023-02-24 株式会社Fuji 超音波診断システム
EP4392838A4 (en) * 2021-08-24 2024-11-27 RMI Oceania Pty Ltd DIAGNOSTIC IMAGING SYSTEM
US12409550B2 (en) * 2022-01-12 2025-09-09 Mantis Robotics, Inc. Robot system with casing elements
JPWO2023181204A1 (https=) * 2022-03-23 2023-09-28
CN115317814B (zh) * 2022-09-13 2025-12-23 南京广慈医疗科技有限公司 一种带手臂支撑装置的超声理疗仪
JPWO2024089812A1 (https=) * 2022-10-26 2024-05-02
WO2025052590A1 (ja) * 2023-09-06 2025-03-13 株式会社Fuji ロボットシステム

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07213527A (ja) * 1994-02-03 1995-08-15 Toshiba Corp 振動波治療装置
JPH0884740A (ja) * 1994-09-16 1996-04-02 Toshiba Corp 治療装置
JP2003199760A (ja) * 2002-01-09 2003-07-15 Hitachi Medical Corp 超音波治療装置
JP2004121859A (ja) * 2003-11-11 2004-04-22 Toshiba Corp 超音波治療装置
JP2014030509A (ja) * 2012-08-02 2014-02-20 Hitachi Medical Corp 超音波治療装置
WO2015099849A1 (en) * 2013-12-23 2015-07-02 U-Systems, Inc. Medical ultrasound scanning with control over pressure/force exerted by an ultrasound probe and/or a compression/scanning assembly
CN105816155A (zh) * 2016-05-13 2016-08-03 福建师范大学 一种皮肤创面诊疗一体化探头及其实现方法
CN106344066A (zh) * 2016-08-26 2017-01-25 飞依诺科技(苏州)有限公司 探头机器人装置

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69015692T2 (de) * 1989-05-15 1995-08-24 Toshiba Kawasaki Kk Gerät für Schallwellentherapie.
JPH0435660A (ja) 1990-05-31 1992-02-06 Toshiba Corp 衝撃波治療装置
JPH0576538A (ja) * 1991-09-13 1993-03-30 Shimadzu Corp 超音波治療装置
JP2004000499A (ja) * 2002-03-27 2004-01-08 Aloka Co Ltd 超音波医療システム
JP2005013283A (ja) * 2003-06-23 2005-01-20 Takeshi Shiina 超音波探触子及び超音波診断装置
KR20060113930A (ko) * 2003-12-30 2006-11-03 리포소닉스 인코포레이티드 지방 조직의 파괴를 위한 시스템 및 장치
JP2007330490A (ja) * 2006-06-15 2007-12-27 Ge Medical Systems Global Technology Co Llc 超音波プローブ装置および超音波診断装置
FR2924915B1 (fr) * 2007-12-14 2011-01-07 Technomed Medical Systems Dispositif d'imagerie echographique et appareil de detection et de destruction de concretions solides incorporant un tel dispositif
US10542962B2 (en) * 2009-07-10 2020-01-28 Elekta, LTD Adaptive radiotherapy treatment using ultrasound
JP5935344B2 (ja) * 2011-05-13 2016-06-15 ソニー株式会社 画像処理装置、画像処理方法、プログラム、記録媒体、および、画像処理システム
CN105934215B (zh) * 2014-01-24 2019-11-26 皇家飞利浦有限公司 具有光学形状感测的成像设备的机器人控制
JP5701439B1 (ja) * 2014-08-20 2015-04-15 医療法人 駿東育愛会 望星第一クリニック 皮下診断装置及び血圧測定方法
WO2018114811A1 (en) * 2016-12-19 2018-06-28 Koninklijke Philips N.V. Control of anatomical image acquisition using physiological information

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07213527A (ja) * 1994-02-03 1995-08-15 Toshiba Corp 振動波治療装置
JPH0884740A (ja) * 1994-09-16 1996-04-02 Toshiba Corp 治療装置
JP2003199760A (ja) * 2002-01-09 2003-07-15 Hitachi Medical Corp 超音波治療装置
JP2004121859A (ja) * 2003-11-11 2004-04-22 Toshiba Corp 超音波治療装置
JP2014030509A (ja) * 2012-08-02 2014-02-20 Hitachi Medical Corp 超音波治療装置
WO2015099849A1 (en) * 2013-12-23 2015-07-02 U-Systems, Inc. Medical ultrasound scanning with control over pressure/force exerted by an ultrasound probe and/or a compression/scanning assembly
CN105816155A (zh) * 2016-05-13 2016-08-03 福建师范大学 一种皮肤创面诊疗一体化探头及其实现方法
CN106344066A (zh) * 2016-08-26 2017-01-25 飞依诺科技(苏州)有限公司 探头机器人装置

Also Published As

Publication number Publication date
CN111902095A (zh) 2020-11-06
JP6859557B2 (ja) 2021-04-14
JP2019165840A (ja) 2019-10-03
WO2019181951A1 (ja) 2019-09-26
US20200397519A1 (en) 2020-12-24
US11786326B2 (en) 2023-10-17

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Effective date of registration: 20210310

Address after: Tokyo, Japan

Applicant after: Sonier treatment Co.

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Applicant before: DENSO Corp.

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