EP3054888A1 - Dispositif d'assistance permettant le guidage par l'image d'un opérateur pendant une intervention chirurgicale - Google Patents

Dispositif d'assistance permettant le guidage par l'image d'un opérateur pendant une intervention chirurgicale

Info

Publication number
EP3054888A1
EP3054888A1 EP14777534.0A EP14777534A EP3054888A1 EP 3054888 A1 EP3054888 A1 EP 3054888A1 EP 14777534 A EP14777534 A EP 14777534A EP 3054888 A1 EP3054888 A1 EP 3054888A1
Authority
EP
European Patent Office
Prior art keywords
endoscope
sensor unit
assistance device
manipulator
moving
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.)
Withdrawn
Application number
EP14777534.0A
Other languages
German (de)
English (en)
Inventor
Bastian IBACH
Michael Bernhart
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.)
Maquet GmbH
Original Assignee
Maquet 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 Maquet GmbH filed Critical Maquet GmbH
Publication of EP3054888A1 publication Critical patent/EP3054888A1/fr
Withdrawn legal-status Critical Current

Links

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
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • 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
    • A61B1/00066—Proximal part of endoscope body, e.g. handles
    • 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
    • A61B1/06—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 with illuminating arrangements
    • A61B1/0661—Endoscope light sources
    • 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
    • A61B1/3132—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 laparoscopy
    • 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
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
    • 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
    • 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
    • A61B1/044—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 for absorption imaging
    • 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
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery

Abstract

L'invention concerne un dispositif d'assistance (10) permettant le guidage par l'image d'un opérateur pendant une intervention chirurgicale. Ce dispositif comprend un endoscope (12) pourvu d'une caméra (16) permettant de produire des données d'image, un appareil de visualisation (20) permettant de représenter une image en mouvement, un manipulateur (14) accouplé à l'endoscope (12) et permettant de déplacer l'endoscope (12), et une commande (22) permettant de commander le manipulateur (14) en fonction d'une instruction de commande, de telle manière que l'image en mouvement représentée sur l'appareil de visualisation (20) peut être influencée par le déplacement de l'endoscope (12). Le dispositif d'assistance (10) comprend en outre une unité de détection (32), laquelle détecte un objet (36, 58) mis en mouvement pour mettre en œuvre l'intervention chirurgicale et génère un signal de déplacement correspondant au déplacement de l'objet, et sur la base duquel la commande (22) produit l'instruction de commande, et un élément de commande (28), lequel peut être actionné par l'opérateur pour le réglage d'un état de libération dans lequel la commande du manipulateur (14) est libérée par la commande (22) pour déplacer l'endoscope (12).
EP14777534.0A 2013-09-05 2014-09-02 Dispositif d'assistance permettant le guidage par l'image d'un opérateur pendant une intervention chirurgicale Withdrawn EP3054888A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013109677.8A DE102013109677A1 (de) 2013-09-05 2013-09-05 Assistenzeinrichtung zur bildgebenden Unterstützung eines Operateurs während eines chirurgischen Eingriffs
PCT/EP2014/068585 WO2015032738A1 (fr) 2013-09-05 2014-09-02 Dispositif d'assistance permettant le guidage par l'image d'un opérateur pendant une intervention chirurgicale

Publications (1)

Publication Number Publication Date
EP3054888A1 true EP3054888A1 (fr) 2016-08-17

Family

ID=51655693

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14777534.0A Withdrawn EP3054888A1 (fr) 2013-09-05 2014-09-02 Dispositif d'assistance permettant le guidage par l'image d'un opérateur pendant une intervention chirurgicale

Country Status (8)

Country Link
US (1) US20160175057A1 (fr)
EP (1) EP3054888A1 (fr)
JP (1) JP2016538089A (fr)
KR (1) KR20160054526A (fr)
CN (1) CN105682601A (fr)
DE (1) DE102013109677A1 (fr)
RU (1) RU2016112386A (fr)
WO (1) WO2015032738A1 (fr)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2872939C (fr) * 2012-05-09 2018-03-06 EON Surgical Ltd. Orifice laparoscopique
WO2015189839A1 (fr) * 2014-06-08 2015-12-17 M.S.T. Medical Surgery Technologies Ltd. Dispositif et procédé conçus pour faciliter la chirurgie laparoscopique utilisant un écran tactile
DE102014016843A1 (de) 2014-11-13 2016-05-19 Kuka Roboter Gmbh System mit einem medizinischen Instrument und ein Aufnahmemittel
US11020144B2 (en) * 2015-07-21 2021-06-01 3Dintegrated Aps Minimally invasive surgery system
DE102016107853A1 (de) * 2016-04-28 2017-11-02 Aktormed Gmbh Operations-Assistenz-System und Verfahren zur Erzeugung von Steuersignalen zur Ansteuerung einer motorisch gesteuerten bewegbaren Roboterkinematik eines derartigen Operations-Assistenz-Systems
EP3629973A4 (fr) * 2017-05-26 2021-01-27 Covidien LP Dispositif de commande pour dispositif d'imagerie
CN117503384A (zh) * 2017-06-28 2024-02-06 直观外科手术操作公司 用于将内窥镜图像数据集映射到三维体积上的系统
US10769443B2 (en) * 2018-06-14 2020-09-08 Sony Corporation Dominant tool detection system for surgical videos
US20190383158A1 (en) * 2018-06-14 2019-12-19 General Electric Company Probe Motion Compensation
US11457154B2 (en) * 2019-06-20 2022-09-27 Cilag Gmbh International Speckle removal in a pulsed hyperspectral, fluorescence, and laser mapping imaging system
DE102020104574A1 (de) * 2020-02-21 2021-08-26 Olympus Winter & Ibe Gmbh Medizinisches System, Medien- und/oder Energiequelle, und Trokar
DE102020204985A1 (de) 2020-04-21 2021-10-21 Siemens Healthcare Gmbh Steuerung eines robotisch bewegten medizinischen Objekts
USD1022197S1 (en) 2020-11-19 2024-04-09 Auris Health, Inc. Endoscope

Family Cites Families (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4281931A (en) * 1977-12-21 1981-08-04 Machida Endoscope Co., Ltd. Measuring apparatus comprising light optics utilizing cylindrical focusing glass fiber
JP3236070B2 (ja) * 1992-06-04 2001-12-04 オリンパス光学工業株式会社 スコープ保持装置およびスコープ装置
US5836869A (en) * 1994-12-13 1998-11-17 Olympus Optical Co., Ltd. Image tracking endoscope system
DE19529950C1 (de) 1995-08-14 1996-11-14 Deutsche Forsch Luft Raumfahrt Verfahren zum Nachführen eines Stereo-Laparoskops in der minimalinvasiven Chirurgie
GB9518402D0 (en) 1995-09-08 1995-11-08 Armstrong Projects Ltd Improvements in or relating to a robotic apparatus
FR2796263B1 (fr) 1999-07-15 2001-09-21 Univ Joseph Fourier Systeme telecommandable de positionnement sur un patient d'un dispositif d'observation/intervention
DE19961971B4 (de) 1999-12-22 2009-10-22 Forschungszentrum Karlsruhe Gmbh Vorrichtung zum sicheren automatischen Nachführen eines Endoskops und Verfolgen eines Instruments
US6715413B2 (en) 2000-05-09 2004-04-06 Matsushita Electric Industrial Co., Ltd. Apparatus and method of screen printing
FR2839440B1 (fr) 2002-05-13 2005-03-25 Perception Raisonnement Action Systeme de positionnement sur un patient d'un dispositif d'observation et/ou d'intervention
US20050033117A1 (en) * 2003-06-02 2005-02-10 Olympus Corporation Object observation system and method of controlling object observation system
JP4533638B2 (ja) * 2004-01-30 2010-09-01 オリンパス株式会社 バーチャル画像表示システム
WO2005058137A2 (fr) * 2003-12-12 2005-06-30 University Of Washington Systeme de guidage et d'interface en 3d pour catheterscope
EP2992811B1 (fr) * 2005-04-18 2018-03-07 M.S.T. Medical Surgery Technologies Ltd. Moyen et procedes permettant d'ameliorer la chirurgie laparoscopique
US7643862B2 (en) * 2005-09-15 2010-01-05 Biomet Manufacturing Corporation Virtual mouse for use in surgical navigation
JP2009508605A (ja) 2005-09-20 2009-03-05 メドシス エス．アー． 遠隔器具を制御するための装置および方法
US7841980B2 (en) * 2006-05-11 2010-11-30 Olympus Medical Systems Corp. Treatment system, trocar, treatment method and calibration method
GB2454017A (en) 2007-10-26 2009-04-29 Prosurgics Ltd A control assembly
JP5213201B2 (ja) * 2008-02-27 2013-06-19 国立大学法人浜松医科大学 体内挿入器具の種類を識別可能な手術支援システム
JP5301228B2 (ja) 2008-09-25 2013-09-25 株式会社トプコン ライン状レーザー光束照射装置
US9839486B2 (en) * 2010-04-14 2017-12-12 Smith & Nephew, Inc. Systems and methods for patient-based computer assisted surgical procedures
DE102010029275A1 (de) * 2010-05-25 2011-12-01 Siemens Aktiengesellschaft Verfahren zum Bewegen eines Instrumentenarms eines Laparoskopierobotors in einer vorgebbare Relativlage zu einem Trokar
JP5956711B2 (ja) * 2010-06-04 2016-07-27 東芝メディカルシステムズ株式会社 Ｘ線撮影装置
WO2012078989A1 (fr) * 2010-12-10 2012-06-14 Wayne State University Commande de caméra autonome intelligente pour robotique à applications médicale, militaire et spatiale
JP5816457B2 (ja) * 2011-05-12 2015-11-18 オリンパス株式会社 術具装置
US10092164B2 (en) * 2011-08-21 2018-10-09 M.S.T. Medical Surgery Technologies Ltd Device and method for assisting laparoscopic surgery—rule based approach
KR101876386B1 (ko) * 2011-12-29 2018-07-11 삼성전자주식회사 의료용 로봇 시스템 및 그 제어 방법

Also Published As

Publication number Publication date
WO2015032738A1 (fr) 2015-03-12
US20160175057A1 (en) 2016-06-23
JP2016538089A (ja) 2016-12-08
KR20160054526A (ko) 2016-05-16
DE102013109677A1 (de) 2015-03-05
RU2016112386A3 (fr) 2018-05-25
RU2016112386A (ru) 2017-10-09
CN105682601A (zh) 2016-06-15

Similar Documents

Publication Publication Date Title
WO2015032738A1 (fr) Dispositif d'assistance permettant le guidage par l'image d'un opérateur pendant une intervention chirurgicale
EP2449997B1 (fr) Poste de travail médical
DE102013110847B3 (de) Steuervorrichtung und Verfahren zum Steuern eines Robotersystems mittels Gestensteuerung
EP3486915B1 (fr) Procédé de commande de fonctionnement d'un dispositif technique médicale, appareil de commande, système de commande et dispositif technique médicale
EP2502558B1 (fr) Poste de travail médical
DE19961971B4 (de) Vorrichtung zum sicheren automatischen Nachführen eines Endoskops und Verfolgen eines Instruments
DE102012110190B4 (de) Manuell betätigte Robotersteuerung und Verfahren zum Steuern eines Robotersystems
DE10004264C2 (de) Vorrichtung zur intrakorporalen, minimal-invasiven Behandlung eines Patienten
EP3363358B1 (fr) Dispositif de détermination et recouvrement d'un point de référence lors d'une intervention chirurgicale
EP3412242A1 (fr) Émission de données de position d'un instrument technique médical
WO2016096366A1 (fr) Système de traitement médical assisté par un robot
WO2010097315A1 (fr) Commande de dispositifs endoscopiques par oculométrie
EP2328501A1 (fr) Poste de travail médical et dispositif de commande pour déplacer manuellement un bras robotisé d un poste de travail médical
DE10353110A1 (de) Aktorplattform zur Führung von Endeffektoren bei minimal invasiven Interventionen
DE102013108115A1 (de) Verfahren und Vorrichtung zum Festlegen eines Arbeitsbereichs eines Roboters
EP3639782A1 (fr) Dispositif de commande d'un mouvement d'un bras robotique et dispositif de traitement doté d'un dispositif de commande
WO2021116494A1 (fr) Robot chirurgical pour applications endoscopiques
EP2830526A1 (fr) Système de navigation médicale muni d'un écran tactile connecté sans fil
DE102014019752A1 (de) Haltearm für medizinische Zwecke mit zwei mechatronischen Schnittstellen
DE102016107853A1 (de) Operations-Assistenz-System und Verfahren zur Erzeugung von Steuersignalen zur Ansteuerung einer motorisch gesteuerten bewegbaren Roboterkinematik eines derartigen Operations-Assistenz-Systems
EP3027105A1 (fr) Système d'assistance pour l'aide par imagerie d'un opérateur pendant une intervention chirurgicale
DE10335369B4 (de) Verfahren zum Bereitstellen einer berührungslosen Gerätefunktionssteuerung und Vorrichtung zum Durchführen des Verfahrens
DE102014210056A1 (de) Verfahren zur Ansteuerung eines chirurgischen Geräts sowie chirurgisches Gerät
EP2441410A1 (fr) Procédé de création d'une image médicale et poste de travail médical
DE102021114429A1 (de) Robotersystem für minimalinvasive Chirurgie

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20160615

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20170131