JP6290099B2 - 埋め込み型形状感知機能を有する操縦可能な可撓性針 - Google Patents
埋め込み型形状感知機能を有する操縦可能な可撓性針 Download PDFInfo
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Description
Claims (20)
- 可撓性針であって、
内部に延びるチャネル及び針管腔を含む可撓性の細長い針体であり、前記針管腔は、前記可撓性の細長い針体の壁の内面によって定められ、前記チャネルは前記壁内に延びており、前記可撓性の細長い針体は、先端チップ部分を含み、前記可撓性の細長い針体の前記先端チップ部分は、標的組織を刺し通し或いは穴を開けるように構成され、前記チャネルは溝を含む、可撓性の細長い針体と、
前記可撓性の細長い針体に結合される形状センサであって、該形状センサは前記可撓性の細長い針体の前記先端チップ部分内に延びており、前記形状センサは前記溝内に少なくとも部分的に位置付けされる、形状センサと、
前記形状センサからのデータに基づいて前記可撓性の細長い針体の形状を決定するためのプロセッサに前記形状センサを接続するよう構成されるコネクタと、を含む可撓性針;及び
前記可撓性針を操作するアクチュエータ;
を有する手術システム。 - 前記形状センサは、光ファイバ、ファイバ・ブラッグ・グレーティング、ニチノール・ワイヤ、及びピエゾ抵抗素子のうちの少なくとも1つを有する、
請求項1の手術システム。 - 前記可撓性針は、内部管腔を定める壁を有し、
前記形状センサは、前記内部管腔内に取り外し可能に挿入可能である、
請求項1の手術システム。 - 前記形状センサは、前記内部管腔内に収まるサイズの探り針を有する、
請求項3の手術システム。 - 前記溝は、前記形状センサと結合する1又は複数の位置決め機能を有し、
前記1又は複数の位置決め機能は、前記溝に沿った前記形状センサの動きを防止する、
請求項1の手術システム。 - 前記1又は複数の位置決め機能は、スロット、突起、及び、ねじ部のうちの少なくとも1つを有する、
請求項5の手術システム。 - 前記可撓性針は、複数の同心湾曲セグメントを有し、
前記複数の同心湾曲セグメントのそれぞれは独立して回転可能で且つ延長可能である、
請求項1の手術システム。 - 前記可撓性針は、少なくとも1つの制御ケーブルを有し、
前記可撓性針の屈曲は前記制御ケーブルによって制御される、
請求項1の手術システム。 - 前記可撓性針の遠位端は、ベベルチップ、湾曲チップ、及び中実チップのうちの1つを有する、
請求項1の手術システム。 - 前記可撓性針は、中実チップを含む、
請求項1の手術システム。 - 前記可撓性針に取り付けられる第2形状センサをさらに有し、
前記第2形状センサの少なくとも一部は、前記形状センサの少なくとも一部と実質的に平行であり、
前記コネクタは、さらに、前記形状センサ及び前記第2形状センサからのデータに基づいて前記可撓性針の形状を決定する前記プロセッサに前記第2形状センサを接続するように構成される、
請求項1の手術システム。 - 前記形状センサ及び前記第2形状センサのそれぞれは、前記可撓性針の別々の同心湾曲セグメントに取り付けられる、
請求項11の手術システム。 - 前記可撓性針の一部に取り付けられる位置センサをさらに有し、
前記プロセッサは、前記位置センサからのデータに基づいて前記一部の位置を決定する、
請求項1の手術システム。 - 前記位置センサは、前記可撓性針の遠位端に取り付けられる、
請求項13の手術システム。 - 前記アクチュエータの直接的なユーザ制御を可能にする手動コントローラをさらに有する、
請求項14の手術システム。 - 前記アクチュエータに結合されるロボット手術プラットフォームをさらに有する、
請求項1の手術システム。 - 前記可撓性針は、経皮的生体検査針である、
請求項1の手術システム。 - 前記可撓性針は、内視鏡生検針である、
請求項1の手術システム。 - 前記可撓性針は、組織切断装置を提供するように構成される、
請求項1の手術システム。 - 前記可撓性針は、放射性シードを提供するように構成される、
請求項1の手術システム。
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US201261599015P | 2012-02-15 | 2012-02-15 | |
US61/599,015 | 2012-02-15 | ||
PCT/US2013/023398 WO2013116140A1 (en) | 2012-02-03 | 2013-01-28 | Steerable flexible needle with embedded shape sensing |
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JP2017193994A Active JP6847803B2 (ja) | 2012-02-03 | 2017-10-04 | 埋め込み型形状感知機能を有する操縦可能な可撓性針 |
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US (4) | US9636040B2 (ja) |
EP (2) | EP3488803B1 (ja) |
JP (2) | JP6290099B2 (ja) |
WO (1) | WO2013116140A1 (ja) |
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