JP5766150B2 - 内視鏡操作システム - Google Patents

内視鏡操作システム Download PDF

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Publication number
JP5766150B2
JP5766150B2 JP2012122489A JP2012122489A JP5766150B2 JP 5766150 B2 JP5766150 B2 JP 5766150B2 JP 2012122489 A JP2012122489 A JP 2012122489A JP 2012122489 A JP2012122489 A JP 2012122489A JP 5766150 B2 JP5766150 B2 JP 5766150B2
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JP
Japan
Prior art keywords
endoscope
unit
rotation
angular velocity
operation system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2012122489A
Other languages
English (en)
Japanese (ja)
Other versions
JP2013244377A5 (enExample
JP2013244377A (ja
Inventor
耕太郎 只野
耕太郎 只野
健嗣 川嶋
健嗣 川嶋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tokyo Institute of Technology NUC
Original Assignee
Tokyo Institute of Technology NUC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tokyo Institute of Technology NUC filed Critical Tokyo Institute of Technology NUC
Priority to JP2012122489A priority Critical patent/JP5766150B2/ja
Priority to PCT/JP2013/053772 priority patent/WO2013179693A1/ja
Priority to EP13797833.4A priority patent/EP2856923A4/en
Priority to US14/404,341 priority patent/US20150148594A1/en
Publication of JP2013244377A publication Critical patent/JP2013244377A/ja
Publication of JP2013244377A5 publication Critical patent/JP2013244377A5/ja
Application granted granted Critical
Publication of JP5766150B2 publication Critical patent/JP5766150B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • A61B1/00002—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
    • 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
    • A61B1/00147—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
    • 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
    • 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
    • A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00973—Surgical instruments, devices or methods pedal-operated
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/502—Headgear, e.g. helmet, spectacles
    • 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
    • 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 diagnostic devices within or on the body of the patient
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • A61B5/067—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe using accelerometers or gyroscopes

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biophysics (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Signal Processing (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Closed-Circuit Television Systems (AREA)
JP2012122489A 2012-05-29 2012-05-29 内視鏡操作システム Expired - Fee Related JP5766150B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2012122489A JP5766150B2 (ja) 2012-05-29 2012-05-29 内視鏡操作システム
PCT/JP2013/053772 WO2013179693A1 (ja) 2012-05-29 2013-02-16 内視鏡操作システム
EP13797833.4A EP2856923A4 (en) 2012-05-29 2013-02-16 ENDOSKOP OPERATING SYSTEM
US14/404,341 US20150148594A1 (en) 2012-05-29 2013-02-16 Endoscope operation system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2012122489A JP5766150B2 (ja) 2012-05-29 2012-05-29 内視鏡操作システム

Publications (3)

Publication Number Publication Date
JP2013244377A JP2013244377A (ja) 2013-12-09
JP2013244377A5 JP2013244377A5 (enExample) 2015-01-08
JP5766150B2 true JP5766150B2 (ja) 2015-08-19

Family

ID=49672909

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2012122489A Expired - Fee Related JP5766150B2 (ja) 2012-05-29 2012-05-29 内視鏡操作システム

Country Status (4)

Country Link
US (1) US20150148594A1 (enExample)
EP (1) EP2856923A4 (enExample)
JP (1) JP5766150B2 (enExample)
WO (1) WO2013179693A1 (enExample)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160037998A1 (en) * 2013-03-29 2016-02-11 Tokyo Institute Of Technology Endoscopic Operating System and Endoscopic Operation Program
JP2015156938A (ja) 2014-02-24 2015-09-03 ソニー株式会社 画像処理装置、画像処理方法
KR101601021B1 (ko) * 2014-03-10 2016-03-08 (주)아솔 자이로 센서를 이용한 3ｄ 내시경 시스템
EP3135445B1 (en) * 2014-03-28 2021-04-28 Sony Corporation Robot arm device
KR101545654B1 (ko) * 2014-06-26 2015-08-20 주식회사 아이파이브 개인별 맞춤형 운동 시스템 및 개인별 맞춤형 운동 방법
WO2017038241A1 (ja) * 2015-08-28 2017-03-09 富士フイルム株式会社 機器操作装置、機器操作方法、及び電子機器システム
CN108471931A (zh) * 2016-02-12 2018-08-31 奥林巴斯株式会社 摄像装置、立体内窥镜以及立体内窥镜系统
US20200037847A1 (en) * 2017-03-24 2020-02-06 Sony Corporation Control apparatus for medical system, control method for medical system, and medical system
EP3612123B1 (en) 2017-04-20 2024-07-31 Intuitive Surgical Operations, Inc. Systems and methods for constraining a virtual reality surgical system
JP6965085B2 (ja) * 2017-10-05 2021-11-10 キヤノン株式会社 操作装置、システム、および撮像装置
AT522029B1 (de) * 2018-12-19 2021-03-15 Ronald Kefurt Dr Kamerabewegungssteuerung
US20200215376A1 (en) * 2019-01-07 2020-07-09 Spencer Bishop Smartbell
JP7370007B2 (ja) * 2020-02-21 2023-10-27 国立大学法人 長崎大学 内視鏡操作支援システム及び内視鏡システム

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3540362B2 (ja) * 1994-06-14 2004-07-07 オリンパス株式会社 手術用マニピュレータの制御システム及びその制御方法
US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
US5436542A (en) * 1994-01-28 1995-07-25 Surgix, Inc. Telescopic camera mount with remotely controlled positioning
JP3506809B2 (ja) * 1995-06-08 2004-03-15 オリンパス株式会社 体腔内観察装置
JP3618413B2 (ja) * 1995-05-15 2005-02-09 オリンパス株式会社 内視鏡装置
JP3628743B2 (ja) * 1995-02-22 2005-03-16 オリンパス株式会社 医療用マニピュレータ
JP3986099B2 (ja) * 1995-05-02 2007-10-03 オリンパス株式会社 手術用マニピュレータシステム
JP3717552B2 (ja) * 1995-09-01 2005-11-16 オリンパス株式会社 医療用マニピュレータシステム
JPH10309258A (ja) 1997-05-13 1998-11-24 Olympus Optical Co Ltd 体腔内観察装置
JP2001145634A (ja) * 1999-11-19 2001-05-29 Olympus Optical Co Ltd 内視鏡保持装置
JP2002136471A (ja) * 2000-10-30 2002-05-14 Olympus Optical Co Ltd 内視鏡装置
JP4377827B2 (ja) * 2004-03-30 2009-12-02 株式会社東芝 マニピュレータ装置
JP4488312B2 (ja) * 2005-07-08 2010-06-23 オリンパス株式会社 医療用マニピュレータシステム
US8700213B2 (en) * 2007-03-01 2014-04-15 Tokyo Institute Of Technology Maneuvering system having inner force sense presenting function
JP5452813B2 (ja) * 2008-05-28 2014-03-26 国立大学法人東京工業大学 力覚提示機能を有する操縦システム
EP2521507B1 (en) * 2010-01-08 2015-01-14 Koninklijke Philips N.V. Uncalibrated visual servoing using real-time velocity optimization
JP5537204B2 (ja) * 2010-03-23 2014-07-02 オリンパス株式会社 医療用マニピュレータシステム

Also Published As

Publication number Publication date
US20150148594A1 (en) 2015-05-28
WO2013179693A1 (ja) 2013-12-05
EP2856923A1 (en) 2015-04-08
EP2856923A4 (en) 2016-02-24
JP2013244377A (ja) 2013-12-09

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