JP2017526461A - フレキシブル医療器具 - Google Patents
フレキシブル医療器具 Download PDFInfo
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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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B1/00071—Insertion part of the endoscope body
- A61B1/00078—Insertion part of the endoscope body with stiffening 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable 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
- A61B34/74—Manipulators with manual electric input 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
- A61B1/00004—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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
- A61B1/0053—Constructional details of control elements, e.g. handles using distributed actuators, e.g. artificial muscles
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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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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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
- A61B1/267—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 respiratory tract, e.g. laryngoscopes, bronchoscopes
- A61B1/2676—Bronchoscopes
-
- 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
- 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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M16/00—Devices for influencing the respiratory system of patients by gas treatment, e.g. mouth-to-mouth respiration; Tracheal tubes
- A61M16/04—Tracheal tubes
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Robotics (AREA)
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- Biophysics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Manipulator (AREA)
- Media Introduction/Drainage Providing Device (AREA)
- Pulmonology (AREA)
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- Materials For Medical Uses (AREA)
- Otolaryngology (AREA)
- Physiology (AREA)
- Signal Processing (AREA)
- Surgical Instruments (AREA)
Abstract
Description
この特許出願は、2014年9月9日に出願された“FLEXIBLE MEDICAL INSTRUMENT”と題する米国仮特許出願第62/048,194号の優先権及び出願日の利益を主張し、その全文が参照によりここに援用される。
Claims (17)
- フレキシブル器具;
制御ロジック部;
前記制御ロジック部からの第1の信号に応じて前記フレキシブル器具の遠位先端の向きを制御するように構成される第1の機構;及び
挿入方向に沿って前記フレキシブル器具を動かすように構成される第2の機構;を有し、
前記制御ロジック部は:
前記第2の機構が前記制御ロジック部からの第2の信号に応じて前記挿入方向に沿って前記フレキシブル器具を動かす第1のモード;及び
前記制御ロジック部が、前記挿入方向に沿った前記フレキシブル器具の動きの手動制御を可能にする第2のモード;を提供する、
システム。 - 前記第1の信号を生成するようユーザによって操作可能な第1の入力装置をさらに有する、
請求項1に記載のシステム。 - 前記システムを前記第1のモードと前記第2のモードとの間で切り替えるようユーザによって操作可能な第2の入力装置をさらに有する、
請求項2に記載のシステム。 - 前記第1の入力装置はジョイスティックを含み、前記第2の入力装置はペダルを含む、
請求項3に記載のシステム。 - 前記制御ロジック部は、前記フレキシブル器具の剛性を制御するために前記第2の入力装置を通じて提供されるユーザ入力を使用する、
請求項3に記載のシステム。 - 前記第1の入力装置は中立位置を有するジョイスティックを含み、前記制御ロジック部は、前記ジョイスティックが前記中立位置にあることに応じて、前記フレキシブル器具に低剛性状態になるよう命じる、
請求項2に記載のシステム。 - 前記中立位置から離れる前記ジョイスティックのユーザ動作に応じて、前記制御ロジック部は、前記フレキシブル器具の剛性を増加させるよう命じる、
請求項6に記載のシステム。 - 前記第2のモードにおいて、前記フレキシブル器具は、前記システムが前記第1のモードであるときより低い剛性を有するよう命じられる、
請求項1に記載のシステム。 - 前記フレキシブル器具は、肺カテーテル及び気管支鏡からなるグループから選択される器具を含む、
請求項1に記載のシステム。 - ユーザが自然管腔を通ってフレキシブル器具を手動で挿入することを可能にするステップ;及び
コンピュータ支援制御を使用して、前記フレキシブル器具の遠位先端の向きを制御するステップ;を含む、
ナビゲーション方法。 - 前記ユーザが前記フレキシブル器具を手動で挿入することを可能にする前記ステップは、前記ユーザが前記フレキシブル器具の少なくとも一部を前記ユーザの手で持つことを可能にするステップを含む、
請求項10に記載の方法。 - 前記コンピュータ支援制御を使用して、制御する前記ステップは:
入力装置を通じてユーザの入力を受信するステップ;
前記入力に基づいて信号を生成するステップ;及び
前記信号にしたがって、前記遠位先端の前記向きを制御するアクチュエータに命じるステップ;を含む、
請求項10に記載の方法。 - コンピュータ支援制御を使用して、前記自然管腔を通る前記フレキシブル器具の前記挿入を制御するステップをさらに含む、
請求項10に記載の方法。 - 前記フレキシブル器具の剛性を減らす命令を受信するステップをさらに含む、
請求項10に記載の方法。 - 前記フレキシブル器具の剛性を増やす命令を受信するステップをさらに含む、
請求項10に記載の方法。 - フレキシブル器具;
ジョイスティック;及び
前記フレキシブル器具の遠位先端の向きを制御するために及び前記フレキシブル器具の剛性を制御するために前記ジョイスティックからの入力を使用するように適合される制御ロジック部;を有する、
システム。 - 前記ジョイスティックは中立位置を有し、前記制御ロジック部は、前記フレキシブル器具の剛性が、前記ジョイスティックが前記中立位置にあることに応じて最低であり、前記ジョイスティックが前記中立位置から離れて動かされることに応じて高くされるように、前記フレキシブル器具を動作させる、
請求項16に記載のシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US201462048194P | 2014-09-09 | 2014-09-09 | |
US62/048,194 | 2014-09-09 | ||
PCT/US2015/048252 WO2016040079A1 (en) | 2014-09-09 | 2015-09-03 | Flexible medical instrument |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017526461A true JP2017526461A (ja) | 2017-09-14 |
JP6667510B2 JP6667510B2 (ja) | 2020-03-18 |
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Application Number | Title | Priority Date | Filing Date |
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JP2017513053A Active JP6667510B2 (ja) | 2014-09-09 | 2015-09-03 | フレキシブル医療器具 |
Country Status (6)
Country | Link |
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US (3) | US10709514B2 (ja) |
EP (2) | EP4091572A1 (ja) |
JP (1) | JP6667510B2 (ja) |
KR (1) | KR102447295B1 (ja) |
CN (1) | CN106794045B (ja) |
WO (1) | WO2016040079A1 (ja) |
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CN106794045B (zh) | 2014-09-09 | 2021-02-19 | 直观外科手术操作公司 | 柔性医疗器具 |
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CN109310287B (zh) * | 2016-07-01 | 2023-01-03 | 直观外科手术操作公司 | 一种计算机辅助医疗系统及其控制方法 |
US10872449B2 (en) | 2018-05-02 | 2020-12-22 | Covidien Lp | System and method for constructing virtual radial ultrasound images from CT data and performing a surgical navigation procedure using virtual ultrasound images |
US20210220594A1 (en) * | 2018-07-25 | 2021-07-22 | Universität Zürich | Video-endoscopic intubation stylet |
DE112019005020T5 (de) * | 2018-10-04 | 2021-06-17 | Intuitive Surgical Operations, Inc. | Systeme und Verfahren zur Steuerung von lenkbaren Vorrichtungen |
CN110721380B (zh) * | 2019-11-18 | 2022-07-05 | 北京大学人民医院(北京大学第二临床医学院) | 一种可自主实施气管插管的装置 |
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- 2015-09-03 EP EP22183095.3A patent/EP4091572A1/en active Pending
- 2015-09-03 JP JP2017513053A patent/JP6667510B2/ja active Active
- 2015-09-03 EP EP15839801.6A patent/EP3191008B1/en active Active
- 2015-09-03 WO PCT/US2015/048252 patent/WO2016040079A1/en active Application Filing
- 2015-09-03 KR KR1020177009144A patent/KR102447295B1/ko active IP Right Grant
- 2015-09-03 US US15/509,154 patent/US10709514B2/en active Active
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EP3191008B1 (en) | 2022-08-17 |
CN106794045A (zh) | 2017-05-31 |
KR102447295B1 (ko) | 2022-09-26 |
US20200268463A1 (en) | 2020-08-27 |
EP4091572A1 (en) | 2022-11-23 |
US11666398B2 (en) | 2023-06-06 |
EP3191008A1 (en) | 2017-07-19 |
EP3191008A4 (en) | 2018-06-27 |
KR20170052625A (ko) | 2017-05-12 |
JP6667510B2 (ja) | 2020-03-18 |
US20230338100A1 (en) | 2023-10-26 |
US10709514B2 (en) | 2020-07-14 |
US20170281288A1 (en) | 2017-10-05 |
WO2016040079A1 (en) | 2016-03-17 |
CN106794045B (zh) | 2021-02-19 |
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