JP6120497B2 - 穿刺制御装置及び方法 - Google Patents

穿刺制御装置及び方法 Download PDF

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Publication number
JP6120497B2
JP6120497B2 JP2012142961A JP2012142961A JP6120497B2 JP 6120497 B2 JP6120497 B2 JP 6120497B2 JP 2012142961 A JP2012142961 A JP 2012142961A JP 2012142961 A JP2012142961 A JP 2012142961A JP 6120497 B2 JP6120497 B2 JP 6120497B2
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Japan
Prior art keywords
organ
control
puncture
target
displacement
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JP2012142961A
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English (en)
Japanese (ja)
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JP2014004212A (ja
JP2014004212A5 (enExample
Inventor
清志 高木
清志 高木
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Canon Inc
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Canon Inc
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Application filed by Canon Inc filed Critical Canon Inc
Priority to JP2012142961A priority Critical patent/JP6120497B2/ja
Priority to PCT/JP2013/066539 priority patent/WO2014002805A1/en
Priority to US14/411,074 priority patent/US9662138B2/en
Publication of JP2014004212A publication Critical patent/JP2014004212A/ja
Publication of JP2014004212A5 publication Critical patent/JP2014004212A5/ja
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • 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

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
JP2012142961A 2012-06-26 2012-06-26 穿刺制御装置及び方法 Active JP6120497B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2012142961A JP6120497B2 (ja) 2012-06-26 2012-06-26 穿刺制御装置及び方法
PCT/JP2013/066539 WO2014002805A1 (en) 2012-06-26 2013-06-11 Puncture control system and method therefor
US14/411,074 US9662138B2 (en) 2012-06-26 2013-06-11 Puncture control system and method therefor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2012142961A JP6120497B2 (ja) 2012-06-26 2012-06-26 穿刺制御装置及び方法

Publications (3)

Publication Number Publication Date
JP2014004212A JP2014004212A (ja) 2014-01-16
JP2014004212A5 JP2014004212A5 (enExample) 2015-08-06
JP6120497B2 true JP6120497B2 (ja) 2017-04-26

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Family Applications (1)

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JP2012142961A Active JP6120497B2 (ja) 2012-06-26 2012-06-26 穿刺制御装置及び方法

Country Status (3)

Country Link
US (1) US9662138B2 (enExample)
JP (1) JP6120497B2 (enExample)
WO (1) WO2014002805A1 (enExample)

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* Cited by examiner, † Cited by third party
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JP6521707B2 (ja) * 2014-07-10 2019-05-29 キヤノン株式会社 穿刺プランニング装置及び穿刺システム
CN105476697B (zh) * 2015-09-25 2018-02-16 济南大学 减小穿刺软组织形变的力预加载及穿刺装置
CN105411679B (zh) * 2015-11-23 2017-07-14 中国科学院深圳先进技术研究院 一种穿刺规划路径纠正方法及装置
WO2018071573A1 (en) * 2016-10-12 2018-04-19 Intuitive Surgical Operations, Inc. Surgical puncture device insertion systems and related methods
US11202682B2 (en) * 2016-12-16 2021-12-21 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
WO2018207498A1 (ja) * 2017-05-09 2018-11-15 国立大学法人 岡山大学 穿刺ロボット及び穿刺制御用プログラム
JP7106270B2 (ja) * 2017-12-19 2022-07-26 賢一郎 蓮見 穿刺経路設定装置、穿刺制御量設定装置及び穿刺システム
CN108210024B (zh) * 2017-12-29 2020-11-10 威朋（苏州）医疗器械有限公司 手术导航方法及系统
CN108836440B (zh) * 2018-03-21 2020-04-14 北京理工大学 一种穿刺辅助机器人的控制决策方法与系统
CN108538138B (zh) * 2018-06-21 2023-06-02 青海大学 一种采集穿刺实验数据信息的运动控制系统及其使用方法
CN109859849B (zh) * 2019-03-01 2022-05-20 南昌大学 一种基于分段人工神经网络的软组织穿刺力建模方法
CN110269683A (zh) * 2019-05-29 2019-09-24 北京航空航天大学 一种基于差分粒子滤波算法的柔性针针尖位置与姿态估计改进方法
JP7337667B2 (ja) * 2019-11-11 2023-09-04 キヤノンメディカルシステムズ株式会社 穿刺支援装置
CN111759421A (zh) * 2020-07-09 2020-10-13 济南优科医疗技术有限公司 穿刺机器人穿刺控制方法
CN112244953B (zh) * 2020-10-08 2024-05-07 王洪奎 用于自动穿刺的机器手
WO2022254436A1 (en) * 2021-06-02 2022-12-08 Xact Robotics Ltd. Closed-loop steering of a medical instrument toward a moving target
CN113303824B (zh) * 2021-06-08 2024-03-08 上海导向医疗系统有限公司 用于体内目标定位的数据处理方法、模块与系统
CN113456251A (zh) * 2021-06-30 2021-10-01 南京希麦迪医药科技有限公司 基于贝叶斯模型的肿瘤统计分析方法及系统
CN114886563A (zh) * 2022-04-21 2022-08-12 无锡祥生医疗科技股份有限公司 用于乳腺穿刺的机器人导航方法
EP4483823B1 (de) * 2023-06-29 2025-08-27 Siemens Healthineers AG Medizinische eingriffsvorrichtung, computerimplementiertes verfahren zur ermittlung und ausgabe eines positionierhinweises und computerprogramm
CN116898548B (zh) * 2023-09-13 2023-12-12 真健康（北京）医疗科技有限公司 穿刺手术机器人末端移动位置的确定方法及设备

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JPH05127718A (ja) * 1991-11-08 1993-05-25 Fujitsu Ltd マニピユレータの手先軌道自動生成装置
IL122336A0 (en) * 1997-11-27 1998-04-05 Ultra Guide Ltd System and method for guiding the movements of a device to a target particularly for medical applications
US6064904A (en) * 1997-11-28 2000-05-16 Picker International, Inc. Frameless stereotactic CT scanner with virtual needle display for planning image guided interventional procedures
US20060100610A1 (en) * 2004-03-05 2006-05-11 Wallace Daniel T Methods using a robotic catheter system
US20100312129A1 (en) * 2005-01-26 2010-12-09 Schecter Stuart O Cardiovascular haptic handle system
JP4390146B2 (ja) * 2005-03-28 2009-12-24 学校法人早稲田大学 穿刺制御装置、穿刺ロボット及び穿刺制御用プログラム
US7822458B2 (en) * 2005-05-19 2010-10-26 The Johns Hopkins University Distal bevel-tip needle control device and algorithm
US8348861B2 (en) * 2006-06-05 2013-01-08 Technion Research & Development Foundation Ltd. Controlled steering of a flexible needle
EP1905377B1 (de) * 2006-09-28 2013-05-29 BrainLAB AG Planung von Bewegungspfaden medizinischer Instrumente
AU2008229154B2 (en) * 2007-03-19 2013-12-19 University Of Virginia Patent Foundation Access needle pressure sensor device and method of use
JP4869124B2 (ja) 2007-03-29 2012-02-08 学校法人早稲田大学 手術ロボットの動作補償システム
US20120265051A1 (en) * 2009-11-09 2012-10-18 Worcester Polytechnic Institute Apparatus and methods for mri-compatible haptic interface
FR2959409B1 (fr) * 2010-05-03 2012-06-29 Gen Electric Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede
US20120130218A1 (en) * 2010-11-23 2012-05-24 Kauphusman James V Medical devices having an electroanatomical system imaging element mounted thereon

Also Published As

Publication number Publication date
JP2014004212A (ja) 2014-01-16
US9662138B2 (en) 2017-05-30
WO2014002805A1 (en) 2014-01-03
US20150150591A1 (en) 2015-06-04

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