JP2018534975A - ロボット外科用システムを用いて体腔を可視化するための角度付き内視鏡の使用方法 - Google Patents
ロボット外科用システムを用いて体腔を可視化するための角度付き内視鏡の使用方法 Download PDFInfo
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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
- A61B1/00002—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
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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
- A61B1/00002—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
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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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/00048—Constructional features of the display
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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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
-
- 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
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
- A61B1/00163—Optical arrangements
- A61B1/00174—Optical arrangements characterised by the viewing angles
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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
- A61B1/00163—Optical arrangements
- A61B1/00174—Optical arrangements characterised by the viewing angles
- A61B1/00179—Optical arrangements characterised by the viewing angles for off-axis viewing
-
- 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
- A61B1/045—Control thereof
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical 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
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- 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
- A61B90/37—Surgical systems with images on a monitor during operation
-
- 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
- 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
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/372—Details of monitor hardware
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- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
Abstract
Description
本出願は、2015年10月9日に出願された米国仮特許出願第62/239,412号の利益及びそれに対する優先権を主張し、その全内容は、参照により本明細書に組み込まれる。
Claims (20)
- 外科手技中に体腔を可視化する方法であって、
角度付き内視鏡の細長い本体を患者の体腔内の第1の位置に位置付けることであって、これにより、手術部位が前記細長い本体の遠位端部分内に位置付けられた画像取込装置の視野内にあるようになり、前記角度付き内視鏡が前記第1の位置にある場合、前記画像取込装置の前記視野が、前記手術部位を含む、前記体腔の第1の体積を取り込む、位置付けることと、
指令点に応答して長手方向軸を中心として前記細長い本体を回転させることと、
前記細長い本体が回転したときに前記画像取込装置を用いて複数の画像を取り込むことと、
前記複数の画像から前記体腔の全景を生成することと、を含む、方法。 - 前記画像取込装置の前記視野が前記体腔の前記第1の体積よりも大きい第2の体積を取り込むように、前記指令点に応答して、前記細長い本体を、前記細長い本体により規定された長手方向軸に沿って、前記手術部位から離れて前記第2の位置に並進させることをさらに含む、請求項1に記載の方法。
- 前記細長い本体が前記第2の位置にある場合、前記長手方向軸を中心として前記細長い本体を回転させることが起こる、請求項2に記載の方法。
- 前記体腔の前記全景を生成した後に、前記細長い本体を前記第1の位置に戻すことをさらに含む、請求項3に記載の方法。
- 前記指令点を手動で開始することをさらに含む、請求項1に記載の方法。
- 前記指令点が外科用器具の移動に応答して開始されるように、前記体腔内で前記外科用器具を移動させることをさらに含む、請求項1に記載の方法。
- 前記外科用器具を移動させることは、前記外科用器具を前記体腔の中に並進させることを含む、請求項6に記載の方法。
- 前記外科用器具を移動させることは、前記外科用器具のエンドエフェクタが前記手術部位から閾値距離を超えて引き抜かれるように、前記外科用器具を並進させることを含む、請求項6に記載の方法。
- 前記外科用器具の前記エンドエフェクタを、前記閾値距離を超えて引き抜くことが、前記第1の体積から前記エンドエフェクタを引き抜く、請求項8に記載の方法。
- 前記外科用器具を移動させることは、前記外科用器具を第2の外科用器具と交換することを含む、請求項6に記載の方法。
- ロボット外科用システムのユーザインターフェースとインターフェースをとる臨床医の属性を検出して、前記指令点を開始することをさらに含む、請求項1に記載の方法。
- 前記ユーザインターフェースとインターフェースをとる臨床医の属性を検出することは、前記ユーザインターフェースとの前記臨床医の手の接触を検出することを含み、前記臨床医の手が前記ユーザインターフェースと接触していない場合、前記指令点を開始することが起こる、請求項11に記載の方法。
- 前記ユーザインターフェースとインターフェースをとる臨床医の属性を検出することは、前記ユーザインターフェースでの前記臨床医の凝視を検出することを含み、前記臨床医の前記凝視が前記ユーザインターフェースのディスプレイに向けられていない場合、前記指令点を開始することが起こる、請求項11に記載の方法。
- 前記ユーザインターフェースとインターフェースをとる臨床医の属性を検出することは、ポータブルディスプレイの移動を検出して、前記指令点を開始することを含む、請求項11に記載の方法。
- 前記外科用器具を回転させることは、前記長手方向軸に直交するピッチ軸を中心として前記細長い本体を旋回させることを含む、請求項1に記載の方法。
- 前記外科用器具を回転させることは、前記ピッチ軸及び前記長手方向軸に直交するヨー軸を中心として前記細長い本体を旋回させることを含み、前記ピッチ軸、前記長手方向軸、及び前記ヨー軸は、旋回点で交差している、請求項15に記載の方法。
- ウェアラブルディスプレイの移動が前記全景の臨床医の視界を更新するように、前記ウェアラブルディスプレイ上に前記全景を表示することをさらに含む、請求項1に記載の方法。
- 前記体腔の前記全景と対話して、前記体腔の前記全景を調整することをさらに含む、請求項1に記載の方法。
- 前記体腔の前記全景と対話することは、前記体腔の前記全景をパンすることを含む、請求項18に記載の方法。
- 前記体腔の前記全景と対話することは、前記体腔の前記全景をズームすることを含む、請求項18に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US201562239412P | 2015-10-09 | 2015-10-09 | |
US62/239,412 | 2015-10-09 | ||
PCT/US2016/055396 WO2017062393A2 (en) | 2015-10-09 | 2016-10-05 | Methods of using an angled endoscopic for visualizing a body cavity with robotic surgical systems |
Publications (3)
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JP2018534975A true JP2018534975A (ja) | 2018-11-29 |
JP2018534975A5 JP2018534975A5 (ja) | 2019-11-14 |
JP6886968B2 JP6886968B2 (ja) | 2021-06-16 |
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JP2018517288A Active JP6886968B2 (ja) | 2015-10-09 | 2016-10-05 | ロボット外科用システムを用いて体腔を可視化するための角度付き内視鏡の使用方法 |
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US (2) | US11123149B2 (ja) |
EP (1) | EP3359075B1 (ja) |
JP (1) | JP6886968B2 (ja) |
CN (1) | CN108882964B (ja) |
WO (1) | WO2017062393A2 (ja) |
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EP3359075B1 (en) | 2021-08-18 |
US20220000579A1 (en) | 2022-01-06 |
CN108882964B (zh) | 2021-10-22 |
US20180280110A1 (en) | 2018-10-04 |
EP3359075A4 (en) | 2019-09-18 |
CN108882964A (zh) | 2018-11-23 |
US11123149B2 (en) | 2021-09-21 |
JP6886968B2 (ja) | 2021-06-16 |
WO2017062393A2 (en) | 2017-04-13 |
EP3359075A2 (en) | 2018-08-15 |
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