CN114585290B - 具有触觉反馈的内窥镜胶囊系统 - Google Patents

具有触觉反馈的内窥镜胶囊系统 Download PDF

Info

Publication number
CN114585290B
CN114585290B CN202080067614.5A CN202080067614A CN114585290B CN 114585290 B CN114585290 B CN 114585290B CN 202080067614 A CN202080067614 A CN 202080067614A CN 114585290 B CN114585290 B CN 114585290B
Authority
CN
China
Prior art keywords
endoscopic capsule
force
manipulator
cantilever
endoscope capsule
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
CN202080067614.5A
Other languages
English (en)
Chinese (zh)
Other versions
CN114585290A (zh
Inventor
塞巴斯蒂安·朔斯特克
马克·舒尔
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.)
Ouhua Endoscope Co ltd
Original Assignee
Ouhua Endoscope Co ltd
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 Ouhua Endoscope Co ltd filed Critical Ouhua Endoscope Co ltd
Publication of CN114585290A publication Critical patent/CN114585290A/zh
Application granted granted Critical
Publication of CN114585290B publication Critical patent/CN114585290B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • A61B1/04—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 combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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 diagnostic devices within or on the body of the patient
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • A61B5/067—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe using accelerometers or gyroscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A61B5/6861—Capsules, e.g. for swallowing or implanting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient; User input means
    • A61B5/7455—Details of notification to user or communication with user or patient; User input means characterised by tactile indication, e.g. vibration or electrical stimulation
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • 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
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • 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
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • 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
    • A61B34/73—Manipulators for magnetic surgery
    • 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 diagnostic devices 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
CN202080067614.5A 2019-09-25 2020-09-23 具有触觉反馈的内窥镜胶囊系统 Active CN114585290B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP19199675.0 2019-09-25
EP19199675.0A EP3797670B1 (en) 2019-09-25 2019-09-25 Endoscopic capsule system with haptic feedback
PCT/EP2020/076623 WO2021058601A1 (en) 2019-09-25 2020-09-23 Endoscopic capsule system with haptic feedback

Publications (2)

Publication Number Publication Date
CN114585290A CN114585290A (zh) 2022-06-03
CN114585290B true CN114585290B (zh) 2025-06-20

Family

ID=68069607

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080067614.5A Active CN114585290B (zh) 2019-09-25 2020-09-23 具有触觉反馈的内窥镜胶囊系统

Country Status (6)

Country Link
US (1) US12245748B2 (https=)
EP (1) EP3797670B1 (https=)
JP (1) JP7393084B2 (https=)
CN (1) CN114585290B (https=)
ES (1) ES2956108T3 (https=)
WO (1) WO2021058601A1 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111035349B (zh) * 2020-03-11 2020-07-17 上海安翰医疗技术有限公司 胶囊内窥镜的姿态定位方法及胶囊内窥镜系统
CN111973136B (zh) * 2020-09-14 2022-11-25 上海安翰医疗技术有限公司 磁控胶囊内窥镜装置的控制方法及控制系统
KR102652537B1 (ko) * 2021-09-16 2024-03-28 한양대학교 산학협력단 자기장 발생 모듈
US20250275673A1 (en) * 2022-04-20 2025-09-04 Multi-Scale Medical Robotics Center Limited Magnetic anchored and actuated system and manufacturing method thereof
EP4278946A1 (en) * 2022-05-20 2023-11-22 Universiteit Twente Spherical electromagnetic actuator and method for controlling a magentic field thereof
TWI813354B (zh) * 2022-06-24 2023-08-21 群曜醫電股份有限公司 內視鏡系統及膠囊內視鏡
CN118021442B (zh) * 2024-04-10 2024-06-14 苏州国科康成医疗科技有限公司 一种用于手术模拟的虚拟现实交互设备及手术模拟方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102307536A (zh) * 2009-02-05 2012-01-04 西门子公司 从液体表面分离内窥镜胶囊
CN103327884A (zh) * 2011-02-28 2013-09-25 西门子公司 用于控制具有磁矩的胶囊内窥镜的输送的方法和装置

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4202922A1 (de) * 1992-02-01 1993-08-05 Zeiss Carl Fa Motorisches stativ
JP4559093B2 (ja) * 2003-10-03 2010-10-06 オリンパス株式会社 医療用具支持装置
ITPI20040008A1 (it) * 2004-02-17 2004-05-17 Dino Accoto Capsula robotica per applicazioni biomediche intracorporee
CN101374450B (zh) * 2006-01-19 2012-01-25 奥林巴斯医疗株式会社 被检体内医疗系统
US20100113874A1 (en) * 2007-04-04 2010-05-06 Marco Quirini Teleoperated endoscopic capsule
KR100960289B1 (ko) * 2008-02-29 2010-06-07 한국항공대학교산학협력단 내시경 시스템
ES2710273T3 (es) * 2010-01-22 2019-04-24 Novineon Healthcare Tech Partners Gmbh Endoscopio tipo cápsula que incluye impulsión magnética
DE102011054910B4 (de) * 2011-10-28 2013-10-10 Ovesco Endoscopy Ag Magnetischer Endeffektor und Einrichtung zur Führung und Positionierung desselben
US9339169B2 (en) * 2011-12-03 2016-05-17 The Regents of University of Colorado, a body Corporate Robotic capsule endoscope for minimally invasive surgical procedures, micro-patterned treads for friction enhancement of a robotic capsule endoscope in a biological environment, and process for fabrication of micro-treads
WO2014113697A1 (en) * 2013-01-17 2014-07-24 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
WO2014152418A1 (en) * 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
CN103222842B (zh) * 2013-04-18 2015-09-09 安翰光电技术（武汉）有限公司 一种控制胶囊内窥镜在人体消化道运动的装置及方法
EP3184018A4 (en) * 2014-08-21 2018-07-11 Olympus Corporation Guidance device and capsule medical device guidance system
WO2016098818A1 (ja) 2014-12-18 2016-06-23 株式会社パイオラックス カプセル内視鏡及びカプセル内視鏡検査方法並びにカプセル内視鏡検査装置
CN110809425B (zh) * 2018-06-02 2022-05-27 上海安翰医疗技术有限公司 胶囊内窥镜控制设备

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102307536A (zh) * 2009-02-05 2012-01-04 西门子公司 从液体表面分离内窥镜胶囊
CN103327884A (zh) * 2011-02-28 2013-09-25 西门子公司 用于控制具有磁矩的胶囊内窥镜的输送的方法和装置

Also Published As

Publication number Publication date
ES2956108T3 (es) 2023-12-13
US20220354349A1 (en) 2022-11-10
JP2022549888A (ja) 2022-11-29
CN114585290A (zh) 2022-06-03
EP3797670A1 (en) 2021-03-31
WO2021058601A1 (en) 2021-04-01
JP7393084B2 (ja) 2023-12-06
US12245748B2 (en) 2025-03-11
EP3797670B1 (en) 2023-07-19

Similar Documents

Publication Publication Date Title
CN114585290B (zh) 具有触觉反馈的内窥镜胶囊系统
US11007023B2 (en) System and method of registration between devices with movable arms
JP6615931B2 (ja) 手術器具の近位制御のためのシステム及び方法
JP5750122B2 (ja) ロボット内視鏡の作動制御方法およびシステム
CN1878509B (zh) 用于在微创介入时导引末端执行器的促动平台
EP2822445B1 (en) Overall endoscopic control system
JP7516508B2 (ja) 移動可能なディスプレイシステム
CN111315309A (zh) 用于控制机器人操纵器或相关工具的系统和方法
CN114270089B (zh) 轨道上的可移动显示单元
US11540890B2 (en) Haptic user interface for robotically controlled surgical instruments
JP2016536047A (ja) 軸操作による針操縦
US12121313B2 (en) Surgical robot apparatus, and method for driving surgical robot apparatus
WO2014073121A1 (ja) 操作対象装置の操作システム、操作入力装置
AU2024201458A1 (en) Controlling movement of a surgical robot arm
JP2021151469A (ja) 連続体ロボットを制御するための方法及び装置
JP2022549347A (ja) 異常なセンサ信号の存在下で可撓性デバイスを制御するための方法及びシステム

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