JP2007130133A - 内視鏡挿入部形状把握システム - Google Patents
内視鏡挿入部形状把握システム Download PDFInfo
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- JP2007130133A JP2007130133A JP2005324533A JP2005324533A JP2007130133A JP 2007130133 A JP2007130133 A JP 2007130133A JP 2005324533 A JP2005324533 A JP 2005324533A JP 2005324533 A JP2005324533 A JP 2005324533A JP 2007130133 A JP2007130133 A JP 2007130133A
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- 238000003780 insertion Methods 0.000 title claims abstract description 84
- 230000037431 insertion Effects 0.000 title claims abstract description 84
- 238000005452 bending Methods 0.000 claims abstract description 96
- 230000001747 exhibiting effect Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 238000005286 illumination Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000009261 D 400 Substances 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011503 in vivo imaging Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
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Classifications
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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
- A61B1/31—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 the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
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- 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
- 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
- A61B5/061—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
- 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
-
- 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
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
-
- 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
-
- 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
- A61B90/361—Image-producing devices, e.g. surgical cameras
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Radiology & Medical Imaging (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Human Computer Interaction (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
【解決手段】交流磁界を発生する磁場発生器を設ける。磁場発生器により生成された交流磁場を検知するコイルS1〜S5を内視鏡挿入部12の中心軸に沿って所定距離ごとに配置する。コイルS1〜S5で検知された信号から、コイルS1〜S5の3次元空間上の位置を算出して挿入部12の形状を再現する。挿入部12の軟性部12Aに、軟性部12Aの撓曲に耐える剛性を有する円筒形状の複数の硬性部材12Dを所定間隔毎に配置する。硬性部材12Dの内側にコイルS2〜S5を各々配置する。コイルS2〜S5の軸方向を軟性部12Aの軸方向に直交する平面内に配置する。
【選択図】図2
Description
図1は、本発明の第1実施形態である内視鏡挿入部形状把握システムが適用される内視鏡の概観図である。なお、本実施形態では、内視鏡(スコープ)として電子内視鏡(電子スコープ)が採用される。
12 挿入部
12A 軟性部
12B 湾曲部
12C 先端部
12D 硬性部材
50 螺旋管
51 コイルの信号線
S1〜Sn コイル
Claims (8)
- 可撓性を有する内視鏡挿入部前の形状を把握するための内視鏡挿入部形状把握システムであって、
前記挿入部を構成する軟性部に配置される磁気センサ用の複数のコイルを備え、
前記複数のコイルが前記軟性部の撓曲によりストレスを受けない位置に配置される
ことを特徴とする内視鏡挿入部形状把握システム。 - 前記軟性部の撓曲に対して剛性を示す複数の硬性部材が前記軟性部の長手方向に沿って所定間隔で配置され、前記複数のコイルが、前記硬性部材の内側に配置されることにより前記コイルが前記ストレスを受けないことを特徴とする請求項1に記載の内視鏡挿入部形状把握システム。
- 前記硬性部材が円筒部材であることを特徴とする請求項2に記載の内視鏡挿入部形状把握システム。
- 前記硬性部材の軸方向の幅が前記コイルの長さよりも短いことを特徴とする請求項3に記載の内視鏡挿入部形状把握システム。
- 前記軟性部の軸方向に対して前記コイルの軸が捩れの位置関係となるように配置されることを特徴とする請求項3に記載の内視鏡挿入部形状把握システム。
- 前記コイルが前記軟性部を構成する螺旋管に一体的に設けられることにより前記コイルが前記ストレスを受けないことを特徴とする請求項1に記載の内視鏡挿入部形状把握システム。
- 前記コイルの信号線が、前記螺旋管に沿って配線されることを特徴とする請求項6に記載の内視鏡挿入部形状把握システム。
- 前記内視鏡挿入部形状把握システムが、内視鏡外部の交流磁界を用いて前記コイルの位置を検出することを特徴とする請求項1に記載の内視鏡挿入部形状把握システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005324533A JP4827495B2 (ja) | 2005-11-09 | 2005-11-09 | 内視鏡挿入部形状把握システム |
US11/557,536 US20070106116A1 (en) | 2005-11-09 | 2006-11-08 | Endoscope-shape monitoring system |
DE102006052885A DE102006052885A1 (de) | 2005-11-09 | 2006-11-09 | System zum Erfassen der Form eines Endoskopeinführteils |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005324533A JP4827495B2 (ja) | 2005-11-09 | 2005-11-09 | 内視鏡挿入部形状把握システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007130133A true JP2007130133A (ja) | 2007-05-31 |
JP4827495B2 JP4827495B2 (ja) | 2011-11-30 |
Family
ID=37950145
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005324533A Active JP4827495B2 (ja) | 2005-11-09 | 2005-11-09 | 内視鏡挿入部形状把握システム |
Country Status (3)
Country | Link |
---|---|
US (1) | US20070106116A1 (ja) |
JP (1) | JP4827495B2 (ja) |
DE (1) | DE102006052885A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015134166A (ja) * | 2014-01-17 | 2015-07-27 | バイオセンス・ウエブスター・(イスラエル)・リミテッドBiosense Webster (Israel), Ltd. | カテーテル編組ワイヤを使用する信号伝送 |
JP2016131727A (ja) * | 2015-01-20 | 2016-07-25 | Hoya株式会社 | 内視鏡 |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4914574B2 (ja) * | 2005-04-18 | 2012-04-11 | オリンパスメディカルシステムズ株式会社 | 内視鏡形状検出装置 |
JP5085662B2 (ja) * | 2007-11-29 | 2012-11-28 | オリンパスメディカルシステムズ株式会社 | 内視鏡システム |
CN101347331B (zh) * | 2008-06-06 | 2011-09-07 | 微创医疗器械(上海)有限公司 | 一种模拟导管弯曲形态的方法及磁感应导管 |
WO2010050526A1 (ja) * | 2008-10-28 | 2010-05-06 | オリンパスメディカルシステムズ株式会社 | 医療機器 |
EP2446806A4 (en) * | 2010-05-31 | 2017-06-21 | Olympus Corporation | Endoscope shape detection device and method for detecting shape of inserted part of endoscope |
US8403829B2 (en) * | 2010-08-27 | 2013-03-26 | Olympus Medical Systems Corp. | Endoscopic form detection device and form detecting method of insertion section of endoscope |
US20130303944A1 (en) | 2012-05-14 | 2013-11-14 | Intuitive Surgical Operations, Inc. | Off-axis electromagnetic sensor |
US10238837B2 (en) | 2011-10-14 | 2019-03-26 | Intuitive Surgical Operations, Inc. | Catheters with control modes for interchangeable probes |
US9452276B2 (en) | 2011-10-14 | 2016-09-27 | Intuitive Surgical Operations, Inc. | Catheter with removable vision probe |
US9387048B2 (en) | 2011-10-14 | 2016-07-12 | Intuitive Surgical Operations, Inc. | Catheter sensor systems |
US11253327B2 (en) * | 2012-06-21 | 2022-02-22 | Globus Medical, Inc. | Systems and methods for automatically changing an end-effector on a surgical robot |
JP2015181643A (ja) * | 2014-03-24 | 2015-10-22 | オリンパス株式会社 | 湾曲形状推定システム、管状挿入システム、及び、湾曲部材の湾曲形状推定方法 |
WO2023089623A1 (en) * | 2021-11-21 | 2023-05-25 | Magnisity Ltd. | Curve inductive sensor |
WO2023218468A1 (en) * | 2022-05-12 | 2023-11-16 | Magnisity Ltd. | Curve inductive sensor |
WO2024075122A1 (en) * | 2022-10-03 | 2024-04-11 | Magnisity Ltd. | Distortion modeling and compensation in a curve-tracked detector array |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07111969A (ja) * | 1993-10-18 | 1995-05-02 | Olympus Optical Co Ltd | 内視鏡挿入状態検出装置 |
JP2002263056A (ja) * | 2001-03-12 | 2002-09-17 | Olympus Optical Co Ltd | 内視鏡 |
JP2003079566A (ja) * | 2001-09-14 | 2003-03-18 | Olympus Optical Co Ltd | 内視鏡形状検出プローブ |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5253647A (en) * | 1990-04-13 | 1993-10-19 | Olympus Optical Co., Ltd. | Insertion position and orientation state pickup for endoscope |
US5482029A (en) * | 1992-06-26 | 1996-01-09 | Kabushiki Kaisha Toshiba | Variable flexibility endoscope system |
US5840024A (en) * | 1993-10-18 | 1998-11-24 | Olympus Optical Co., Ltd. | Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope |
US6059718A (en) * | 1993-10-18 | 2000-05-09 | Olympus Optical Co., Ltd. | Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope |
IL125781A (en) * | 1996-02-15 | 2003-06-24 | Biosense Inc | Precise position determination of endoscopes |
US5997473A (en) * | 1996-09-06 | 1999-12-07 | Olympus Optical Co., Ltd. | Method of locating a coil which consists of determining the space occupied by a source coil generating a magnetic field |
US6432041B1 (en) * | 1998-09-09 | 2002-08-13 | Olympus Optical Co., Ltd. | Endoscope shape detecting apparatus wherein form detecting processing is controlled according to connection state of magnetic field generating means |
US6689049B1 (en) * | 1999-06-07 | 2004-02-10 | Olympus Optical Co., Ltd. | Endoscope |
US6773393B1 (en) * | 1999-08-05 | 2004-08-10 | Olympus Optical Co., Ltd. | Apparatus and method for detecting and displaying form of insertion part of endoscope |
US20040176683A1 (en) * | 2003-03-07 | 2004-09-09 | Katherine Whitin | Method and apparatus for tracking insertion depth |
-
2005
- 2005-11-09 JP JP2005324533A patent/JP4827495B2/ja active Active
-
2006
- 2006-11-08 US US11/557,536 patent/US20070106116A1/en not_active Abandoned
- 2006-11-09 DE DE102006052885A patent/DE102006052885A1/de not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07111969A (ja) * | 1993-10-18 | 1995-05-02 | Olympus Optical Co Ltd | 内視鏡挿入状態検出装置 |
JP2002263056A (ja) * | 2001-03-12 | 2002-09-17 | Olympus Optical Co Ltd | 内視鏡 |
JP2003079566A (ja) * | 2001-09-14 | 2003-03-18 | Olympus Optical Co Ltd | 内視鏡形状検出プローブ |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015134166A (ja) * | 2014-01-17 | 2015-07-27 | バイオセンス・ウエブスター・(イスラエル)・リミテッドBiosense Webster (Israel), Ltd. | カテーテル編組ワイヤを使用する信号伝送 |
JP2016131727A (ja) * | 2015-01-20 | 2016-07-25 | Hoya株式会社 | 内視鏡 |
Also Published As
Publication number | Publication date |
---|---|
JP4827495B2 (ja) | 2011-11-30 |
DE102006052885A1 (de) | 2007-05-10 |
US20070106116A1 (en) | 2007-05-10 |
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