ES2956108T3 - Sistema de cápsula endoscópica con retroalimentación háptica - Google Patents
Sistema de cápsula endoscópica con retroalimentación háptica Download PDFInfo
- Publication number
- ES2956108T3 ES2956108T3 ES19199675T ES19199675T ES2956108T3 ES 2956108 T3 ES2956108 T3 ES 2956108T3 ES 19199675 T ES19199675 T ES 19199675T ES 19199675 T ES19199675 T ES 19199675T ES 2956108 T3 ES2956108 T3 ES 2956108T3
- Authority
- ES
- Spain
- Prior art keywords
- effector
- capsule
- capsule endoscopy
- movement
- endoscopic
- 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
Links
- 239000002775 capsule Substances 0.000 title claims abstract description 197
- 238000001839 endoscopy Methods 0.000 title claims abstract description 135
- 239000012636 effector Substances 0.000 claims abstract description 161
- 230000033001 locomotion Effects 0.000 claims abstract description 97
- 210000000056 organ Anatomy 0.000 claims abstract description 5
- 238000006073 displacement reaction Methods 0.000 claims description 16
- 238000012937 correction Methods 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 8
- 210000001035 gastrointestinal tract Anatomy 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 230000010287 polarization Effects 0.000 description 5
- 210000003815 abdominal wall Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 210000000813 small intestine Anatomy 0.000 description 3
- 210000002784 stomach Anatomy 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000001072 colon Anatomy 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 210000003238 esophagus Anatomy 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 210000002429 large intestine Anatomy 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002572 peristaltic effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010049565 Muscle fatigue Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000003443 Unconsciousness Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000006187 pill Substances 0.000 description 1
- 230000008844 regulatory mechanism Effects 0.000 description 1
- 210000002345 respiratory system Anatomy 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000009278 visceral effect Effects 0.000 description 1
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
- A61B1/04—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
- A61B1/00147—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
- 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
- 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
- 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
- A61B5/061—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
- 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
- A61B5/74—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
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)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP19199675.0A EP3797670B1 (en) | 2019-09-25 | 2019-09-25 | Endoscopic capsule system with haptic feedback |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| ES2956108T3 true ES2956108T3 (es) | 2023-12-13 |
Family
ID=68069607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES19199675T Active ES2956108T3 (es) | 2019-09-25 | 2019-09-25 | Sistema de cápsula endoscópica con retroalimentación háptica |
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)
| 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 |
Family Cites Families (17)
| 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 |
| DE102009007513B4 (de) | 2009-02-05 | 2011-02-10 | Siemens Aktiengesellschaft | Ablösen einer Endoskopiekapsel von einer Oberfläche einer Flüssigkeit |
| ES2710273T3 (es) * | 2010-01-22 | 2019-04-24 | Novineon Healthcare Tech Partners Gmbh | Endoscopio tipo cápsula que incluye impulsión magnética |
| DE102011004825B4 (de) * | 2011-02-28 | 2019-05-02 | Siemens Healthcare Gmbh | Verfahren zum Steuern des Transports einer ein magnetisches Moment aufweisenden Endoskopkapsel |
| 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 |
-
2019
- 2019-09-25 ES ES19199675T patent/ES2956108T3/es active Active
- 2019-09-25 EP EP19199675.0A patent/EP3797670B1/en active Active
-
2020
- 2020-09-23 JP JP2022519256A patent/JP7393084B2/ja active Active
- 2020-09-23 WO PCT/EP2020/076623 patent/WO2021058601A1/en not_active Ceased
- 2020-09-23 US US17/762,550 patent/US12245748B2/en active Active
- 2020-09-23 CN CN202080067614.5A patent/CN114585290B/zh active Active
Also Published As
| Publication number | Publication date |
|---|---|
| US20220354349A1 (en) | 2022-11-10 |
| JP2022549888A (ja) | 2022-11-29 |
| CN114585290B (zh) | 2025-06-20 |
| 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 |
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