JP2018519087A - ガイドカテーテル支持の位置を検出するシステムと方法 - Google Patents
ガイドカテーテル支持の位置を検出するシステムと方法 Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- 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
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
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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
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1076—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions inside body cavities, e.g. using catheters
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- A—HUMAN NECESSITIES
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- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/02—Holding devices, e.g. on the body
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
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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
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
- A61B5/0036—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room including treatment, e.g., using an implantable medical device, ablating, ventilating
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/50—Clinical applications
- A61B6/503—Clinical applications involving diagnosis of heart
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/95—Instruments specially adapted for placement or removal of stents or stent-grafts
- A61F2/958—Inflatable balloons for placing stents or stent-grafts
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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
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/02—Holding devices, e.g. on the body
- A61M2025/024—Holding devices, e.g. on the body having a clip or clamp system
-
- 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
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
- A61M2205/3327—Measuring
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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
- A61M2205/00—General characteristics of the apparatus
- A61M2205/58—Means for facilitating use, e.g. by people with impaired vision
- A61M2205/583—Means for facilitating use, e.g. by people with impaired vision by visual 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
- A61M39/00—Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use
- A61M39/10—Tube connectors; Tube couplings
- A61M39/105—Multi-channel connectors or couplings, e.g. for connecting multi-lumen tubes
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Abstract
Description
本願は、2015年6月30日出願の米国仮出願第62/186,832号の利益を主張する。その全体がここに参照として組み入れられる。
Claims (18)
- カテーテル処置システムであって、
ベースと、
長手方向軸を有し、前記ベースに対して前記長手方向軸に沿って可動なロボット機構と
を含み、
前記ロボット機構は、
少なくとも一つの駆動機構を含むロボット駆動ベースと、
前記ロボット駆動ベースに動作可能に固定されたカセットと、
前記カセットに結合されて前記ロボット機構に対して固定された剛体ガイドと、
遠位端、近位端、及び複数の反射性セクションを有する可撓性トラックと、
前記ロボット駆動ベースに取り付けられて前記可撓性トラックの下方に位置決めされた位置検出器と
を含み、
前記可撓性トラックの少なくとも一部分が前記剛体ガイドの中に配置され、
前記位置検出器は、前記可撓性トラックの反射性セクションから反射された光を検出するように構成されるとともに、前記検出された反射光に基づいて前記可撓性トラックの遠位端の位置を決定するように構成されるカテーテル処置システム。 - 前記位置検出器は少なくとも一つの光検出器を含む請求項1に記載のカテーテル処置システム。
- 前記少なくとも一つの光検出器は発光ダイオード(LED)及び光ダイオードを含む請求項2に記載のカテーテル処置システム。
- 前記位置検出器はさらに、少なくとも一つの透明セクションを有するハウジングを含む請求項2に記載のカテーテル処置システム。
- 前記少なくとも一つの光検出器は、前記ハウジングの透明セクションを通過して前記可撓性トラックへと向かう光を発するように構成されるとともに、前記可撓性トラックの反射性セクションから反射された光を検出するように構成される請求項4に記載のカテーテル処置システム。
- 前記ロボット機構の前記長手方向軸に沿った動きは、前記可撓性トラックの遠位端の位置に基づいて制御される請求項1に記載のカテーテル処置システム。
- 前記位置検出器は第1の光検出器及び第2の光検出器を含む請求項1に記載のカテーテル処置システム。
- 前記第1の光検出器及び前記第2の光検出器は、2ビットグレイコードを出力するべく前記位置検出器の中に配置される請求項7に記載のカテーテル処置システム。
- 前記可撓性トラックの遠位端の位置は、前記2ビットグレイコードの出力に基づく請求項8に記載のカテーテル処置システム。
- 前記第1の光検出器は第1のLED及び第1の光ダイオードを含み、
前記第2の光検出器は第2のLED及び第2の光ダイオードを含む請求項7に記載のカテーテル処置システム。 - 前記可撓性トラックの中に配置された細長い医療デバイスをさらに含む請求項1に記載のカテーテル処置システム。
- 前記細長い医療デバイスはガイドカテーテルである請求項10に記載のカテーテル処置システム。
- 前記可撓性トラックの遠位端の位置を決定することは、前記可撓性トラックの遠位端と前記カセットとの間の距離を決定することを含む請求項1に記載のカテーテル処置システム。
- 前記ロボット機構の前記長手方向軸に沿った動きは、前記可撓性トラックの遠位端と前記カセットとの間の距離までに限られる請求項13に記載のカテーテル処置システム。
- 前記剛体ガイドの近位端及び前記可撓性トラックの近位端の中に配置された反射性標的をさらに含み、
前記少なくとも一つの光検出器は、前記ハウジングの透明セクションを通過して前記可撓性トラックへと向かう光を発するように構成されるとともに、前記可撓性トラックの反射性セクション、及び前記反射性標的から反射された光を検出するように構成される請求項5に記載のカテーテル処置システム。 - 前記反射性セクションは、非反射性セクションを介して互いから均等に離間される請求項1に記載のカテーテル処置システム。
- 各反射性セクションは第1の幅を有し、
各非反射性セクションは第2の幅を有し、
前記第1の幅は前記第2の幅に等しい請求項16に記載のカテーテル処置システム。 - 前記位置検出器はさらに第3の光検出器及び第4の光検出器を含み、
前記第1の光検出器、前記第2の光検出器、前記第3の光検出器、及び前記第4の光検出器は、2ビットグレイコードを出力するべく前記位置検出器の中に配置される請求項8に記載のカテーテル処置システム。
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PCT/US2016/040262 WO2017004307A1 (en) | 2015-06-30 | 2016-06-30 | System and method for detecting a position of a guide catheter support |
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JP2021053061A (ja) * | 2019-09-30 | 2021-04-08 | テルモ株式会社 | 遠隔通信システム |
JP2022019740A (ja) * | 2015-06-30 | 2022-01-27 | コリンダス、インコーポレイテッド | カテーテル処置システム及び処置システムにより実行される方法 |
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CN112683956B (zh) * | 2021-01-13 | 2022-08-23 | 山东交通学院 | 基于电势差的气体湿度的探测系统 |
JP2024503071A (ja) * | 2021-01-14 | 2024-01-24 | コリンダス、インコーポレイテッド | ロボットカテーテル式処置システムにおいて細長い医療デバイスを操作するシステム及び装置 |
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CN113679928A (zh) | 2021-11-23 |
EP3316954A1 (en) | 2018-05-09 |
EP3316954B1 (en) | 2023-06-07 |
US20180185099A1 (en) | 2018-07-05 |
CN113679928B (zh) | 2023-12-05 |
EP4233767A3 (en) | 2023-09-06 |
EP3316954C0 (en) | 2023-06-07 |
JP2022019740A (ja) | 2022-01-27 |
EP4233767A2 (en) | 2023-08-30 |
CN108136158A (zh) | 2018-06-08 |
WO2017004307A1 (en) | 2017-01-05 |
EP3316954A4 (en) | 2019-01-23 |
CN108136158B (zh) | 2021-09-07 |
US20210108910A1 (en) | 2021-04-15 |
US20230236008A1 (en) | 2023-07-27 |
JP6971861B2 (ja) | 2021-11-24 |
US11639847B2 (en) | 2023-05-02 |
JP7286734B2 (ja) | 2023-06-05 |
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