JP2021137566A - 二重操作手段を有する医用装置及びその使用方法 - Google Patents
二重操作手段を有する医用装置及びその使用方法 Download PDFInfo
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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
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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
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
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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
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
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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
- 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
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
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- A—HUMAN NECESSITIES
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- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
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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
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
- A61M2025/015—Details of the distal fixation of the movable mechanical means
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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
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
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- A—HUMAN NECESSITIES
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- A61M2209/00—Ancillary equipment
- A61M2209/01—Remote controllers for specific apparatus
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Abstract
Description
本願は、2020年2月21日に米国特許商標庁に提出された米国仮特許出願第62/980072号から優先権を主張し、その開示は参照によりその全体が本明細書に組み込まれる。
Claims (8)
- 医用装置を操作するための方法であって、
少なくとも1つの湾曲可能セクションを有する湾曲可能体と、
前記湾曲可能体にスライド可能に位置し、前記湾曲可能体の遠位端に取り付けられる少なくとも1つの制御ワイヤと、
前記少なくとも1つの制御ワイヤに接続され、前記少なくとも1つの湾曲可能セクションを操作するように前記制御ワイヤを作動させるように構成されるアクチュエータと、
を備える前記医用装置を提供するステップと、
前記医用装置を手動で操作するステップと、
前記医用装置と結合するように構成された挿入ユニットを提供するステップと、
前記医用装置をロボット制御で操作するステップと、
を含み、
前記医用デバイスの手動操作は、前記医用デバイスのロボット制御操作よりも速く前記医用デバイスを前進させるように構成される、方法。 - 前記医用デバイスと通信しており、前記少なくとも1つの制御ワイヤをロボット操作するように構成されるコントローラを更に備える、請求項1に記載の方法。
- 前記アクチュエータは、前記挿入ユニットから切り離されているときに前記医用装置の手動操作用に構成される、請求項1に記載の方法。
- 前記作動ユニットは、前記湾曲可能体アセンブリが前記挿入ユニットから取り外されたとき、エンドユーザによって保持されるように構成される、請求項1に記載の方法。
- 前記挿入ユニットは、前記湾曲可能体に加えられた力を測定するための少なくとも1つの力センサを更に有する、請求項1に記載の方法。
- 第2の湾曲可能セクションを更に備え、コントローラは、エンドユーザ入力に直接関連付けられた1つの湾曲セクションを制御し、前記コントローラのアルゴリズムに関連付けられた前記第2の湾曲セクションを制御するように構成される、請求項1に記載の方法。
- 前記コントローラは、エンドユーザ入力に直接関連付けられた最も遠位の湾曲可能セクションを制御し、制御モードでのアルゴリズムにより、他の湾曲可能セクションを制御するように構成される、請求項6に記載の方法。
- 前記医用装置のロボット制御操作のために、前記医用装置を前記挿入ユニットに接続するステップを更に含む、請求項1に記載の方法。
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US202062980072P | 2020-02-21 | 2020-02-21 | |
US62/980,072 | 2020-02-21 |
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JP2021137566A true JP2021137566A (ja) | 2021-09-16 |
JP7441810B2 JP7441810B2 (ja) | 2024-03-01 |
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JP2021025168A Active JP7441810B2 (ja) | 2020-02-21 | 2021-02-19 | 二重操作手段を有する医用装置及びその使用方法 |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023136152A1 (ja) * | 2022-01-12 | 2023-07-20 | キヤノン株式会社 | 連続体ロボットシステム |
WO2023149231A1 (ja) * | 2022-02-04 | 2023-08-10 | キヤノン株式会社 | 医療装置 |
WO2023153281A1 (ja) * | 2022-02-14 | 2023-08-17 | キヤノン株式会社 | 医療装置 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023101968A1 (en) | 2021-11-30 | 2023-06-08 | Endoquest Robotics, Inc. | Steerable overtube assemblies for robotic surgical systems |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0337035A (ja) * | 1989-07-04 | 1991-02-18 | Olympus Optical Co Ltd | 内視鏡装置 |
JP2009018116A (ja) * | 2007-07-13 | 2009-01-29 | Olympus Medical Systems Corp | 内視鏡、内視鏡装置および内視鏡の湾曲制御方法 |
JP2010279688A (ja) * | 2009-05-07 | 2010-12-16 | Univ Of Occupational & Environmental Health Japan | 内視鏡遠隔操作システム |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006083306A2 (en) * | 2004-06-25 | 2006-08-10 | Carnegie Mellon University | Steerable, follow the leader device |
US9114232B2 (en) * | 2011-12-30 | 2015-08-25 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Catheter for manual and remote manipulation |
AU2016264199B2 (en) * | 2015-05-19 | 2020-10-29 | Mako Surgical Corp. | System and method for manipulating an anatomy |
-
2021
- 2021-02-18 US US17/179,153 patent/US20210259794A1/en active Pending
- 2021-02-19 JP JP2021025168A patent/JP7441810B2/ja active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0337035A (ja) * | 1989-07-04 | 1991-02-18 | Olympus Optical Co Ltd | 内視鏡装置 |
JP2009018116A (ja) * | 2007-07-13 | 2009-01-29 | Olympus Medical Systems Corp | 内視鏡、内視鏡装置および内視鏡の湾曲制御方法 |
JP2010279688A (ja) * | 2009-05-07 | 2010-12-16 | Univ Of Occupational & Environmental Health Japan | 内視鏡遠隔操作システム |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023136152A1 (ja) * | 2022-01-12 | 2023-07-20 | キヤノン株式会社 | 連続体ロボットシステム |
WO2023149231A1 (ja) * | 2022-02-04 | 2023-08-10 | キヤノン株式会社 | 医療装置 |
WO2023153281A1 (ja) * | 2022-02-14 | 2023-08-17 | キヤノン株式会社 | 医療装置 |
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JP7441810B2 (ja) | 2024-03-01 |
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