JP2020532331A - 手術器具の自動検出のための検出システムおよび方法 - Google Patents
手術器具の自動検出のための検出システムおよび方法 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00087—Tools
-
- 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
- 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
-
- 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
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00097—Sensors
-
- 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
- A61B1/00112—Connection or coupling means
- A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
-
- 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
- A61B1/00112—Connection or coupling means
- A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
- A61B1/00124—Connectors, fasteners and adapters, e.g. on the endoscope handle electrical, e.g. electrical plug-and-socket connection
-
- 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
- A61B1/00112—Connection or coupling means
- A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
- A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
-
- 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
- A61B1/00131—Accessories for endoscopes
- A61B1/00135—Oversleeves mounted on the endoscope prior to insertion
-
- 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
- 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
- A61B1/01—Guiding arrangements therefore
-
- 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
- A61B1/012—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 characterised by internal passages or accessories therefor
-
- 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
- A61B1/313—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 introducing through surgical openings, e.g. laparoscopes
- A61B1/3135—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 introducing through surgical openings, e.g. laparoscopes for examination of the epidural or the spinal space
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3472—Trocars; Puncturing needles for bones, e.g. intraosseus injections
-
- 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
-
- 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
- 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
- A61B2034/2072—Reference field transducer attached to an instrument or patient
Abstract
Description
Claims (23)
- −器具(2.2、5、6、7)の長手軸に沿って延在するそれぞれ少なくとも1つの空洞(5.2.1、6.2、7.2.3)および前記空洞への近位入口領域(5.1、3.1、6.5.2、7.2.4)を備える少なくとも2つの手術器具を有し、前記近位入口領域の前記空洞の長手延在への角度が前記少なくとも2つの器具において異なり、
−2つの電磁センサ(1.1、1.2)を備える前記空洞(5.2.1、6.2、7.2.3)中に導入可能なセンサ(1)を有し、その1つは軸方向に延在して前記空洞(5.2.1、6.2、7.2.3)の中に、そのもう1つは前記入口領域(5.1、3.1、6.5.2、7.2.4)の中に配置され、
−電磁場の生成のためのフィールドジェネレータ(2.1)を有し、および
−前記センサ(1.1、1.2)によって前記フィールドジェネレータ(2.1)のフィールド内でのそれらの位置に相応して評価ユニット(3.1.3)に送信された信号を評価するための前記評価ユニット(3.1.3)を有する、手術器具の自動検出のための検出システム。 - 少なくとも2つの以下の器具:中空針(2.2)、ガイドロッド(6)、ジャムシディ骨髄生検針(6)および/または内視鏡(5)を特徴とする、請求項1に記載のシステム。
- 前記ガイドロッド(6)が二重カニューレを備えることを特徴とする、請求項2に記載のシステム。
- 少なくとも4つの異なる器具によって特徴付けられる、請求項1または2に記載のシステム。
- 前記入口領域(5.1、3.1、6.5.2、7.2.4)の2つの器具の前記空洞(5.2.1、6.2、7.2.3)の長手延在に対する角度が少なくとも5°異なることを特徴とする、請求項4に記載のシステム。
- 前記入口領域(5.1、3.1、6.5.2、7.2.4)が前記空洞(5.2.1、6.2、7.2.3)の長手延在に対し0°、15°、25°、35°、45°、55°、65°または75°の角度を有することを特徴とする、請求項5に記載のシステム。
- 前記センサ(1.1、1.2)が一定の長手方向間隔を互いに対して有することを特徴とする、請求項6に記載のシステム。
- 前記センサ(1.1、1.2)が導電性ワイヤから成るコイルであることを特徴とする、請求項7に記載のシステム。
- 前記コイルが金属、特に銅または銀から成ることを特徴とする、請求項8に記載のシステム。
- 前記センサユニット(1)が前記センサ(1.1、1.2)を包囲する柔軟な保護管(1.3)を備えることを特徴とする、請求項9に記載のシステム。
- 前記保護管が合成樹脂、特にポリエーテルのような生体適合性の滅菌可能な合成樹脂から成ることを特徴とする、請求項10に記載のシステム。
- ルアーアダプタの前記近位入口領域(5.1、3.1、6.5.2、7.2.4)が好ましくは器具(2.2、5、6、7)のアダプタ部分を備えることを特徴とする、先行請求項のいずれか一項に記載のシステム。
- 近位端にある、特に前記評価ユニット(3.1.3)との接続のための前記センサ(1.1、1.2)の電気接続線(1.5)を特徴とする、先行請求項のいずれか一項に記載のシステム。
- 保護管(1.3)の前記電気接続線(1.5)が生体適合性のある滅菌可能な合成樹脂、特にシリコンによって包囲されていることを特徴とする、請求項13に記載のシステム。
- 前記センサユニット(1)の前記アダプタ部分(1.4)の直接近位にある前記保護管(1.3)が折れ防止保護(1.7)によって包囲されることを特徴とする、請求項13または14に記載のシステム。
- 前記折れ防止保護(1.7)が生体適合性のある滅菌可能な合成樹脂、特にシリコンから包囲されることを特徴とする、請求項15に記載のシステム。
- 前記評価ユニット(3.1.3)が制御および処理電子機器(3.1)の一部であることを特徴とする、先行請求項のいずれか一項に記載のシステム。
- モニタ(2.4)を特徴とする、先行請求項のいずれか一項に記載のシステム。
- 中空針(2.2)、特に二重カニューレを有するガイドロッド(6)、骨髄生検針(7)および/または特に遠位端(5.1.2、5.2.1)の内視鏡(5)、患者の脊椎領域の画像に重なり合う器具のような、少なくとも2つの器具の表示の形成を特徴とする、先行請求項のいずれか一項に記載のシステム。
- 制御および処理電子機器(3)および検出システムを有する、前記制御および処理電子機器(3)がその中に前記評価ユニット(313)が適合されるナビゲーションユニット(3.1)を備えることを特徴とする、先行請求項のいずれか一項に記載の術中ナビゲーションシステム(2)。
- 検出システムの前記センサユニット(1)の少なくとも1つまたは複数の特徴を特徴とする、請求項1から19のいずれか一項に記載のセンサユニット(1)。
- センサユニット(1)の2つの互いに対して一定の長手方向間隔とともに配置されたセンサ(1.1、1.2)の角度配向が決定されることを特徴とする中空針、ガイドロッド(6)、骨髄生検針(7)および/または内視鏡(5)のような手術器具の自動識別のための方法。
- 前記両センサ(1.1、1.2)の特定の相対的な角度配向の検出の場合、角度配向に適合する器具(2.2、5、6、7)が識別され、前記それぞれの器具(2.2、5、6、7)の、特に遠位端の表示が重なり合って患者の脊髄領域の画像中に生じ、画像は特にCT、MRIまたはレントゲン画像であることを特徴とする、請求項22に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102017008148.4 | 2017-08-29 | ||
DE102017008148.4A DE102017008148A1 (de) | 2017-08-29 | 2017-08-29 | Sensoreinheit, intraoperatives Navigationssystem und Verfahren zur Detektion eines chirurgischen Instruments |
PCT/EP2018/000413 WO2019042579A1 (de) | 2017-08-29 | 2018-08-24 | Detektionssystem und verfahren zur automatischen detektion chirurgischer instrumente |
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JP2020532331A true JP2020532331A (ja) | 2020-11-12 |
JP7367976B2 JP7367976B2 (ja) | 2023-10-24 |
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JP2019567272A Active JP7329248B2 (ja) | 2017-08-29 | 2018-08-20 | 内視鏡装置 |
JP2019566876A Active JP7367976B2 (ja) | 2017-08-29 | 2018-08-24 | 手術器具の自動検出のための検出システムおよび方法 |
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US (3) | US11647891B2 (ja) |
EP (2) | EP3641621B1 (ja) |
JP (2) | JP7329248B2 (ja) |
KR (2) | KR102612012B1 (ja) |
CN (1) | CN111031885B (ja) |
CA (2) | CA3071473C (ja) |
DE (2) | DE102017008148A1 (ja) |
ES (1) | ES2888423T3 (ja) |
PL (1) | PL3641621T3 (ja) |
WO (2) | WO2019042578A1 (ja) |
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DE102017008148A1 (de) * | 2017-08-29 | 2019-02-28 | Joimax Gmbh | Sensoreinheit, intraoperatives Navigationssystem und Verfahren zur Detektion eines chirurgischen Instruments |
EP3820397A1 (en) * | 2018-07-10 | 2021-05-19 | Intuitive Surgical Operations, Inc. | Systems for sensing presence of medical tools |
WO2020221885A1 (en) * | 2019-05-02 | 2020-11-05 | Fiagon Ag Medical Technologies | Sensor carrier |
DE102019003965A1 (de) * | 2019-06-05 | 2020-12-10 | Joimax Gmbh | Chirurgisches Nadel-Set und Verfahren zur Positionsbestimmung eines chirurgischen Instruments |
JP7451977B2 (ja) | 2019-12-06 | 2024-03-19 | 大日本印刷株式会社 | バリア紙 |
US20220257093A1 (en) * | 2021-02-18 | 2022-08-18 | Acclarent, Inc. | Flexible sensor assembly for ent instrument |
US20230096268A1 (en) * | 2021-09-29 | 2023-03-30 | Cilag Gmbh International | Methods for Controlling Cooperative Surgical Instruments |
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CN111031885B (zh) | 2023-09-12 |
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CA3071475A1 (en) | 2019-03-07 |
US20230355078A1 (en) | 2023-11-09 |
EP3500152A1 (de) | 2019-06-26 |
JP7367976B2 (ja) | 2023-10-24 |
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US11730342B2 (en) | 2023-08-22 |
US20210153724A1 (en) | 2021-05-27 |
WO2019042579A1 (de) | 2019-03-07 |
PL3641621T3 (pl) | 2022-01-03 |
US20210177245A1 (en) | 2021-06-17 |
EP3500152B1 (de) | 2023-10-18 |
DE202017004822U1 (de) | 2017-11-07 |
CN111031885A (zh) | 2020-04-17 |
JP2020532332A (ja) | 2020-11-12 |
EP3641621A1 (de) | 2020-04-29 |
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