DE102007030747A1 - Carrying out minimally invasive intervention in human or animal hollow organ involves introducing remotely positionable wireless endoscope capsule into hollow organ, positioning capsule with surgical instrument in video camera field of view - Google Patents
Carrying out minimally invasive intervention in human or animal hollow organ involves introducing remotely positionable wireless endoscope capsule into hollow organ, positioning capsule with surgical instrument in video camera field of view Download PDFInfo
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- DE102007030747A1 DE102007030747A1 DE102007030747A DE102007030747A DE102007030747A1 DE 102007030747 A1 DE102007030747 A1 DE 102007030747A1 DE 102007030747 A DE102007030747 A DE 102007030747A DE 102007030747 A DE102007030747 A DE 102007030747A DE 102007030747 A1 DE102007030747 A1 DE 102007030747A1
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- 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
- 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
- A61B1/00105—Constructional details of the endoscope body characterised by modular construction
-
- 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
- A61B1/00156—Holding or positioning arrangements using self propulsion
-
- 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
- A61B1/00163—Optical arrangements
- A61B1/00193—Optical arrangements adapted for stereoscopic vision
-
- 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
- A61B1/042—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 characterised by a proximal camera, e.g. a CCD camera
-
- 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
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
-
- 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
- A61B5/6879—Means for maintaining contact with the body
- A61B5/6882—Anchoring means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
-
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Pathology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Biophysics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Human Computer Interaction (AREA)
- Endoscopes (AREA)
Abstract
Description
Die Erfindung bezieht sich auf ein Verfahren zum Durchführen eines minimalinvasiven Eingriffs in einem menschlichen oder tierischen Hohlorgan mit einem durch eine Körperöffnung in das Hohlorgan einfuhrbaren chirurgischen Instrument. Außerdem bezieht sich die Erfindung auf eine Einrichtung zum Durchführen des Verfahrens.The The invention relates to a method for performing a minimally invasive intervention in a human or animal Hollow organ with a through a body opening in the hollow organ introduces surgical instrument. In addition, refers the invention relates to a device for performing the Process.
Bei einem im Inneren eines menschlichen oder tierischen Hohlorgans mit einem durch eine Körperöffnung in das Hohlorgan eingeführten chirurgischen Instrument durchgeführten minimalinvasiven Eingriff ist eine genaue Sichtkontrolle des Arbeitsfeldes oder Zielgebietes erforderlich. Bei solchen minimalinvasiven Eingriffen kann es zur besseren Beobachtung des Arbeitsfeldes erforderlich sein, ein Kamerasystem durch eine zweite Öffnung einzuführen, mit der das Arbeitsfeld und das chirurgische Instrument während seiner Betätigung beobachtet werden kann. Wenn das Hohlorgan nur durch eine einzige kleine Körperöffnung erreicht werden kann, wie dies beispielsweise bei Nasennebenhöhlen der Fall ist, muss hierzu eine künstliche Öffnung hergestellt werden.at one inside a human or animal hollow organ with one through a body opening in introduced the hollow organ surgical instrument performed minimally invasive procedure is a precise visual inspection of the working field or target area required. In such minimally invasive interventions, it may lead to better observation of the field of work may be needed, a camera system through a second opening introduce with the field of work and the surgical instrument during his activity can be observed. If the hollow organ only by a single small Body opening reached can be, for example, in paranasal sinuses of the Case, an artificial opening must be made for this purpose become.
Um eine Sichtkontrolle des chirurgischen Eingriffs auch unter räumlich beengten Verhältnissen zu ermöglichen, ist es außerdem bekannt, flexible Endoskope einzusetzen, die über einen integrierten Arbeitskanal für die nachfolgende Einführung eines chirurgischen Instrumentes verfügen. Damit lässt sich zwar das Zielgebiet oder Arbeitsfeld des chirurgischen Instrumentes unmittelbar erfassen, so dass eine zweite Öffnung nicht notwendig ist. Von Nachteil ist aber, dass die Blickrichtung insofern eingeschränkt ist, als der Arzt im Wesentlichen nur in Vorschubrichtung des chirurgischen Instrumentes blickt. Zwar wäre es auch in diesem Fall grundsätzlich mög lich, weitere Endoskope über entsprechend eingebrachte künstliche Öffnungen in der Umgebung des Zielgebietes im Hohlorgan anzuordnen. Dies ist jedoch aus kosmetischen, hygienischen und medizinischen Gründen nicht wünschenswert.Around a visual inspection of the surgical procedure even in confined spaces Relationships too enable, it is as well known to use flexible endoscopes, which have an integrated working channel for the subsequent introduction a surgical instrument. This can be Although the target area or field of work of the surgical instrument immediately detect, so that a second opening is not necessary. The disadvantage, however, is that the viewing direction is limited insofar as the doctor essentially only in the advancing direction of the surgical Instrumentes looks. Although it would be it also in this case basically possibly more endoscopes over according to introduced artificial openings to arrange in the vicinity of the target area in the hollow organ. This is but not for cosmetic, hygienic and medical reasons desirable.
Der Erfindung liegt deshalb die Aufgabe zu Grunde, ein Verfahren zum Durchführen eines minimalinvasiven Eingriffs in einem menschlichen oder tierischen Hohlorgan mit einem durch eine Körperöffnung in das Hohlorgan eingeführten chirurgischen Instrument anzugeben, mit dem es möglich ist, das in einem Zielgebiet platzierte chirurgische Instrument aus einer weitgehend frei wählbaren und für den den Eingriff vornehmenden Arzt günstigeren Blickrichtung optisch zu erfassen. Außerdem liegt der Erfindung die Aufgabe zu Grunde, eine zum Durchführen des Verfahrens geeignete Einrichtung anzugeben.Of the The invention is therefore based on the object, a method for Carry out a minimally invasive procedure in a human or animal Hollow organ with a through a body opening in introduced the hollow organ indicate the surgical instrument with which it is possible in a target area placed surgical instrument from a largely freely selectable and for visually engaging the doctor performing the procedure more favorably capture. Furthermore the invention is based on the object, one for performing the To specify the appropriate method.
Hinsichtlich des Verfahrens wird die genannte Aufgabe gemäß der Erfindung gelöst mit einem Verfahren mit den Merkmalen des Patentanspruches 1. Da in das Hohlorgan zusätzlich zu dem chirurgischen Instrument eine drahtlose, magnetisch positionierbare Endoskopkapsel mit zumindest einer ersten Videokamera eingebracht und derart positioniert wird, dass das in einem Zielgebiet platzierte chirurgische Instrument im Bildfeld dieser ersten Videokamera liegt, ist es möglich, das Arbeitsfeld oder Zielgebiet des chirurgischen Instrumentes aus einer Richtung zu betrachten, die unabhängig von der Ausrichtung des chirurgischen Instrumentes auf das Zielgebiet ist. Durch die Verwendung einer drahtlosen, frei positionierbaren Endoskopkapsel kann diese unabhängig vom chirurgischen Instrument in eine Position verbracht werden, in der es den für einen chirurgischen Eingriff benötigten Arbeitsraum des chirurgischen Instrumentes praktisch nicht behindert. Dies ist insbesondere dann der Fall, wenn die Endoskopkapsel in eine Position gebracht wird, die bezogen auf die Körperöffnung, in die das chirurgische Instrument eingeführt ist, hinter dem Zielgebiet, beispielsweise eine Läsion, liegt. Mit anderen Worten: Die Endoskopkapsel wird bevorzugt in eine Position ge bracht, deren Abstand zur Körperöffnung größer ist als der Abstand des Zielgebietes von der Körperöffnung.Regarding of the method, the object is achieved according to the invention with a method with the features of claim 1. Since in the hollow organ in addition to the surgical instrument a wireless, magnetically positionable Endoscope capsule introduced with at least a first video camera and positioned so that the placed in a target area surgical instrument lies in the frame of this first video camera, Is it possible, the field of work or target area of the surgical instrument to look at a direction that is independent of the orientation of the surgical instrument to the target area. By use a wireless, freely positionable endoscope capsule can this independent of surgical instrument are placed in a position in the it the for needed a surgical procedure Working space of the surgical instrument practically not obstructed. This is especially the case when the endoscope capsule in a Position is related to the body opening, in which the surgical Instrument introduced is located behind the target area, for example, a lesion. In other words, the endoscope capsule is preferably in a position ge introduced whose distance from the body opening is greater as the distance of the target area from the body opening.
Wenn das chirurgische Instrument in einem Endoskop geführt wird und die Endoskopkapsel derart relativ zum Endoskop positioniert wird, dass die Blickrichtung der zumindest einen ersten Videokamera und die Blickrichtung des Endoskops zueinander verschieden sind, stehen dem Arzt optische Informationen aus verschiedenen Richtungen zur Verfügung und der chirurgische Eingriff kann mit höherer Präzision erfolgen.If the surgical instrument is guided in an endoscope and the endoscope capsule positioned relative to the endoscope that is the line of sight of at least a first video camera and the viewing direction of the endoscope are different from each other, The doctor has optical information from different directions available and The surgery can be done with higher precision.
Durch die Verwendung einer Endoskopkapsel ist es außerdem möglich, diese durch dieselbe Körperöffnung in das Hohlorgan einzubringen, durch die auch das chirurgische Instrument in das Hohlorgan eingeführt wird, indem vor dem Einführen des chirurgischen Instruments die Endoskopkapsel in der Nähe des Zielgebietes positioniert wird.By the use of an endoscope capsule, it is also possible through this same body opening in to introduce the hollow organ through which also the surgical instrument introduced into the hollow organ is done by before inserting of the surgical instrument the endoscope capsule near the target area is positioned.
Eine zusätzliche Bildinformation wird erhalten, wenn in das Hohlorgan ein weiteres Endoskop, beispielsweise über eine künstliche zweite Körperöffnung eingebracht wird.A additional Image information is obtained when in the hollow organ another Endoscope, for example, over an artificial one introduced second body opening becomes.
Wenn bei dem Verfahren eine Endoskopkapsel verwendet wird, die zumindest eine zweite Videokamera enthält, deren Blickrichtung der Blickrichtung der zumindest einen ersten Videokamera entgegengerichtet ist, ist es insbesondere möglich, eine der Videokameras, beispielsweise die zweite Videokamera, für die Navigation und die andere für die Abbildung des Zielgebietes zu verwenden, so dass jede der Videokameras auf die konkrete Applikation – gute Erkennbarkeit von Strukturen im Zielgebiet und Erkennbarkeit des chirurgischen Instruments einerseits und optimierte Wiedergabe für die Navigation, beispielsweise großes Sichtfeld, andererseits – optimiert ist.If the method uses an endoscope capsule which contains at least one second video camera whose viewing direction is opposite to the viewing direction of the at least one first video camera, it is possible, in particular, for one of the video cameras, for example the second video camera, for navigation and the other for the Figure of the target area to use, so that each of the video cameras on the specific application - good visibility of structures in the target area and He Visibility of the surgical instrument on the one hand and optimized playback for navigation, such as large field of view, on the other - is optimized.
Wenn mit zwei in der Endoskopkapsel angeordneten ersten und/oder zweiten Videokameras ein stereoskopisches Bild erzeugt wird, ist die Navigation des chirurgischen Instruments und/oder Navigation der Endoskopiekapsel erleichtert.If with two arranged in the endoscope capsule first and / or second Video cameras is a stereoscopic image is generated, the navigation of the surgical instrument and / or navigation of the endoscopy capsule facilitated.
In einer weiteren bevorzugten Ausgestaltung der Erfindung wird die Endoskopkapsel während des chirurgischen Eingriffs in einer ortsfesten Position relativ zum Hohlorgan gehalten, indem beispielsweise die Endoskopkapsel am Hohlorgan verankert wird.In Another preferred embodiment of the invention is the Endoscope capsule during of the surgical procedure in a fixed position relative held to the hollow organ, for example, the endoscope capsule anchored to the hollow organ.
Alternativ hierzu ist es auch möglich, die Endoskopkapsel während des chirurgischen Eingriffes in einer ortsfesten Position relativ zum chirurgischen Instrument zu halten. Auf diese Weise wird die Endoskopkapsel mit dem chirurgischen Instrument geführt, so dass das chirurgische Instrument im Bildfeld der zumindest einen ersten Videokamera stets dieselbe Position hat.alternative this is also possible the endoscope capsule during of the surgical procedure in a fixed position relative to hold the surgical instrument. In this way, the Endoscopic capsule with the surgical instrument out, so that the surgical instrument in the image field of the at least one first video camera always has the same position.
In einer besonders bevorzugten Ausgestaltung des Verfahrens umfasst die Endoskopkapsel einen ferngesteuert manövrierbaren Träger, mit dem eine zumindest eine erste Videokamera enthaltende Videoeinheit in die Umgebung des Zielgebietes transportiert und dort positioniert wird, und bei dem nach erfolgter Positionierung die Videoeinheit vom Träger abgekoppelt und der Träger aus der Körperöffnung manövriert wird. Durch diese Maßnahme ist es möglich, vor der Einführung des chirurgischen Instrumentes in die Körperöffnung eine Mehrzahl von Videoeinheiten in der Umgebung des Zielgebietes zu platzieren um auf diese Weise ein umfassendes Bild vom Zielgebiet während des chirurgischen Eingriffes zu erhalten.In a particularly preferred embodiment of the method the endoscope capsule a remotely maneuverable carrier, with the video unit containing at least a first video camera transported and positioned in the environment of the target area and, after positioning, the video unit from the carrier uncoupled and the carrier is maneuvered out of the body orifice. By this measure Is it possible, before the introduction of the surgical instrument into the body opening a plurality of video units in the vicinity of the target area to place in this way a comprehensive picture of the target area during the surgical procedure receive.
Hinsichtlich der Einrichtung wird die Aufgabe gemäß der Erfindung gelöst mit einer Einrichtung mit den Merkmalen des Patentanspruches 13. Gemäß diesen Merkmalen umfasst die Einrichtung ein in eine Körperöffnung in das Hohlorgan einführbares chirurgisches Instrument sowie eine Endoskopkapsel, die einen ferngesteuerten manövrierbaren Träger und eine zumindest eine erste Videokamera enthaltenden Videoeinheit umfasst, die ferngesteuert lösbar am Träger angeordnet ist und insbesondere losgelöst vom Träger im Hohlorgan verankert werden kann.Regarding the device, the object is achieved according to the invention with a Device with the features of claim 13. According to these Characteristics, the device comprises a insertable into a body opening in the hollow organ surgical instrument as well as an endoscope capsule, which is a remotely controlled maneuverable carrier and a video unit including at least a first video camera includes, remotely releasable on carrier is arranged and anchored, in particular detached from the carrier in the hollow organ can be.
Zur weiteren Erläuterung der Erfindung wird auf das Ausführungsbeispiel der Zeichnung verwiesen. Es zeigen:to further explanation The invention is based on the embodiment referred to the drawing. Show it:
Gemäß
Vor
dem Einführen
des chirurgischen Instrumentes
Im
dargestellten Ausführungsbeispiel
ist die Endoskopkapsel
In
der
Gemäß
Die
Endoskopkapsel
Das
Ausführungsbeispiel
gemäß
Claims (14)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102007030747A DE102007030747A1 (en) | 2007-07-02 | 2007-07-02 | Carrying out minimally invasive intervention in human or animal hollow organ involves introducing remotely positionable wireless endoscope capsule into hollow organ, positioning capsule with surgical instrument in video camera field of view |
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DE102007030747A DE102007030747A1 (en) | 2007-07-02 | 2007-07-02 | Carrying out minimally invasive intervention in human or animal hollow organ involves introducing remotely positionable wireless endoscope capsule into hollow organ, positioning capsule with surgical instrument in video camera field of view |
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DE102007030747A1 true DE102007030747A1 (en) | 2008-10-30 |
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DE102007030747A Ceased DE102007030747A1 (en) | 2007-07-02 | 2007-07-02 | Carrying out minimally invasive intervention in human or animal hollow organ involves introducing remotely positionable wireless endoscope capsule into hollow organ, positioning capsule with surgical instrument in video camera field of view |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009042049A1 (en) | 2009-09-17 | 2011-03-24 | Siemens Aktiengesellschaft | Medical instrument system for use during e.g. laparoscopic surgery, has instruments transformable from transport state into working state to perform medical procedure in which components cooperate in system form |
EP2347699A1 (en) | 2010-01-22 | 2011-07-27 | Novineon Healthcare Technology Partners Gmbh | Capsule type endoscope including magnetic drive |
WO2011107392A1 (en) * | 2010-03-02 | 2011-09-09 | Siemens Aktiengesellschaft | Endoscope capsule for detecting the three-dimensional structure of the inner surface of a body cavity |
WO2012163779A1 (en) * | 2011-06-03 | 2012-12-06 | Siemens Aktiengesellschaft | Method and device for carrying out an examination of a body cavity of a patient |
EP3560413A4 (en) * | 2016-12-21 | 2020-12-02 | Intromedic Co., Ltd. | Capsule endoscope apparatus for reproducing 3d image, operation method for same capsule endoscope, receiver for reproducing 3d image in association with capsule endoscope, method for reproducing 3d image by receiver in association with capsule endoscope, and capsule endoscope system |
Citations (4)
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JPH06114036A (en) * | 1992-10-05 | 1994-04-26 | Olympus Optical Co Ltd | Capsule for medical treatment |
DE10323216B3 (en) * | 2003-05-22 | 2004-12-23 | Siemens Ag | Endoscope apparatus has cameras which are provided at respective ends of endoscope capsule, such that one of camera is tilted or rotated to change photography range |
US20050165272A1 (en) * | 2003-12-01 | 2005-07-28 | Yuta Okada | Endoscope system |
EP1685788A1 (en) * | 2003-11-18 | 2006-08-02 | Olympus Corporation | Capsule-type medical system |
-
2007
- 2007-07-02 DE DE102007030747A patent/DE102007030747A1/en not_active Ceased
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06114036A (en) * | 1992-10-05 | 1994-04-26 | Olympus Optical Co Ltd | Capsule for medical treatment |
DE10323216B3 (en) * | 2003-05-22 | 2004-12-23 | Siemens Ag | Endoscope apparatus has cameras which are provided at respective ends of endoscope capsule, such that one of camera is tilted or rotated to change photography range |
EP1685788A1 (en) * | 2003-11-18 | 2006-08-02 | Olympus Corporation | Capsule-type medical system |
US20050165272A1 (en) * | 2003-12-01 | 2005-07-28 | Yuta Okada | Endoscope system |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009042049A1 (en) | 2009-09-17 | 2011-03-24 | Siemens Aktiengesellschaft | Medical instrument system for use during e.g. laparoscopic surgery, has instruments transformable from transport state into working state to perform medical procedure in which components cooperate in system form |
EP2347699A1 (en) | 2010-01-22 | 2011-07-27 | Novineon Healthcare Technology Partners Gmbh | Capsule type endoscope including magnetic drive |
WO2011107392A1 (en) * | 2010-03-02 | 2011-09-09 | Siemens Aktiengesellschaft | Endoscope capsule for detecting the three-dimensional structure of the inner surface of a body cavity |
US8870757B2 (en) | 2010-03-02 | 2014-10-28 | Siemens Aktiengesellschaft | Method, device and endoscopy capsule to detect information about the three-dimensional structure of the inner surface of a body cavity |
WO2012163779A1 (en) * | 2011-06-03 | 2012-12-06 | Siemens Aktiengesellschaft | Method and device for carrying out an examination of a body cavity of a patient |
EP3560413A4 (en) * | 2016-12-21 | 2020-12-02 | Intromedic Co., Ltd. | Capsule endoscope apparatus for reproducing 3d image, operation method for same capsule endoscope, receiver for reproducing 3d image in association with capsule endoscope, method for reproducing 3d image by receiver in association with capsule endoscope, and capsule endoscope system |
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