JP6430831B2 - カテーテルシステム - Google Patents
カテーテルシステム Download PDFInfo
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- JP6430831B2 JP6430831B2 JP2014535905A JP2014535905A JP6430831B2 JP 6430831 B2 JP6430831 B2 JP 6430831B2 JP 2014535905 A JP2014535905 A JP 2014535905A JP 2014535905 A JP2014535905 A JP 2014535905A JP 6430831 B2 JP6430831 B2 JP 6430831B2
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Description
本発明の更に他の実施形態は、カテーテル内に配置された視覚プローブを使用して、前記カテーテルの遠位端部の動作形状を特定するステップ、前記視覚プローブを前記カテーテルから取り外すステップ、取り外された前記視覚プローブの位置に、医療プローブを配置するステップ、及び前記医療プローブが前記カテーテル内の前記視覚プローブの位置に配置された場合に、前記遠位端部の前記動作形状を維持するか又は前記動作形状に戻すために前記カテーテルを起動するステップ、を含む一連の手順(工程)である。
Claims (24)
- 主管腔と、機械システムとを有する、カテーテルであって、前記機械システムは、カテーテルの操縦可能な遠位端部の姿勢を制御するために接続され、該姿勢は、カテーテルの前記操縦可能な遠位端部の位置及び向きを含む、カテーテルと、
該カテーテルと関連付けられる測定信号を生成するために該カテーテルに連結されるセンサシステムと、
前記測定信号を受信するために前記センサシステムに連結され、前記カテーテルを制御するために前記機械システムに連結される、制御システムとを含み、
該制御システムは、撮像デバイスが、画像を取得し且つ該取得した画像を操作者インターフェースに提供するために前記主管腔内に配置されている間に、前記遠位端部の所望の動作形状を特定するよう動作可能であり、前記所望の動作形状は、前記カテーテルの前記遠位端部の所望の姿勢を含み、該所望の姿勢は、前記遠位端部の所望の位置及び所望の向きを含み、前記制御システムは、前記撮像デバイスが前記カテーテルから取り外されるときに、前記センサシステムによって生成される前記測定信号から前記遠位端部についての向き情報を受信するように更に動作可能であり、且つ、前記撮像デバイスが前記カテーテルから取り外されて、医療プローブが前記主管腔内に配置されるときに、前記カテーテルの前記遠位端部を前記所望の動作形状に保持し或いは戻すように更に動作可能である、
医療システム。 - 前記カテーテルの遠位部は、3mm未満の幅を有する、請求項1に記載の医療システム。
- 前記向き情報は、前記センサシステムによって生成され、前記遠位端部の少なくとも1つの向き角度を含む、請求項2に記載の医療システム。
- 前記制御システムは、前記カテーテルを前記所望の動作形状に保持し或いは戻すための複数のモードにおいて動作可能である、請求項1に記載の医療システム。
- 前記複数のモードは、位置モードを含み、該位置モードにおいて、前記制御システムは、前記機械システムを操作して前記遠位端部を目標位置に保持し或いは該目標位置に戻す、請求項4に記載の医療システム。
- 前記複数のモードは、向きモードを含み、該向きモードにおいて、前記制御システムは、前記機械システムを操作して前記遠位端部を目標方向に保持し或いは該目標方向に戻す、請求項4に記載の医療システム。
- 前記複数のモードは、目標モードを含み、該目標モードにおいて、前記制御システムは、前記機械システムを操作して、前記遠位端部が目標位置を指向するように前記遠位端部の位置及び向きの組み合わせを制御する、請求項4に記載の医療システム。
- 前記複数のモードは、目標軸モードを含み、該目標軸モードにおいて、前記制御システムは、前記機械システムを操作して、前記遠位端部が目標線上にとどまるか或いは該目標線へ戻るよう、前記遠位端部の位置及び方向の組み合わせを制御する、請求項4に記載の医療システム。
- 前記制御システムは、複数のモードのうちの1つを選択し且つ起動するよう動作可能である、選択モジュールを含む、請求項1に記載の医療システム。
- 前記選択モジュールは、操作者が所望の動作モードを選択することを可能にするユーザー入力装置に応答して前記複数のモードのうちの1つを選択し且つ起動するよう動作可能である、請求項9に記載の医療システム。
- 前記選択モジュールは、配置される医療プローブの種類に基づき前記複数のモードのうちの1つを選択し且つ起動するよう動作可能である、請求項9に記載の医療システム。
- 前記遠位端部の姿勢を測定するように構成される前記センサシステムのセンサを更に有する、請求項1に記載の医療システム。
- 前記制御システム及び前記センサは、前記遠位端部の監視及び前記カテーテルの機械システムの操作のための閉ループシステムを形成する、請求項12に記載の医療システム。
- 前記カテーテルから取り外し可能な撮像デバイスを更に含み、該撮像デバイスは、前記カテーテル内に配置されるときに、前記主管腔を満たす、請求項1に記載の医療システム。
- 主管腔と、機械システムとを有する、カテーテルと、該カテーテルと関連付けられる測定信号を生成するために該カテーテルに連結されるセンサシステムと、前記測定信号を受信するために前記センサシステムに連結され、前記カテーテルを制御するために前記機械システムに連結される、制御システムとを含む、医療システムの作動方法であって、
前記制御システムが、前記カテーテルに連結される前記センサシステムによって、前記カテーテル内に配置される撮像デバイスに、前記カテーテルの操縦可能な遠位端部の所望の動作形状を特定させる、ステップであって、前記撮像デバイスは、画像を取得し且つ該取得した画像を操作者インターフェースに提供するように構成され、前記遠位端部の前記動作形状は、前記遠位端部の所望の姿勢を含む、ステップと、
前記撮像デバイスが取り外されるときに、前記制御システムによって、センサシステムから前記遠位端部についての位置又は向き情報を受信するステップと、
医療プローブが前記撮像デバイスの代わりに前記カテーテル内に配置されるときに、前記制御システムが、前記遠位端部の前記所望の動作形状を維持し或いは前記動作形状に戻すよう前記カテーテルを起動させるステップとを含む、
作動方法。 - 前記撮像デバイスが前記カテーテルから取り外される間に、前記制御システムが、前記医療プローブに医療タスクを行わせるステップを更に含む、請求項15に記載の作動方法。
- 前記医療タスクは、肺生体組織検査の一部分である、請求項16に記載の作動方法。
- 前記カテーテルを起動するステップは、前記遠位端部を目標位置に保持し或いは該目標位置に戻すことを含む、請求項15に記載の作動方法。
- 前記カテーテルを起動するステップは、前記遠位端部を目標方向に保持し或いは該目標方向に戻すことを含む、請求項15に記載の作動方法。
- 前記カテーテルを起動するステップは、前記遠位端部の位置及び方向の組み合わせを制御して、前記遠位端部を目標位置の方向を向かせることを含む、請求項15に記載の作動方法。
- 前記カテーテルを起動するステップは、前記遠位端部の位置及び方向の組み合わせを制御して、前記遠位端部が目標位置にとどまるか、又は該目標位置に戻るようにすることを含む、請求項15に記載の作動方法。
- 前記撮像デバイスが取り外され、前記撮像デバイスが配置される間に、前記制御システムが、前記カテーテルをリラックスさせるステップを更に含む、請求項15に記載の作動方法。
- 医療システムであって、
医療プローブ及び取り外し可能な視覚プローブと、
管腔を含む、カテーテルであって、前記管腔は、前記視覚プローブ及び前記医療プローブのいずれか一方をカテーテルの遠位端部まで案内するような大きさとされる、カテーテルとを含み、
該カテーテルは、3mm未満の内径を有し、前記視覚プローブ及び前記医療プローブの両方を同時に遠位端部までガイドするには狭すぎる、
医療システム。 - 前記カテーテルの前記管腔は、前記カテーテルの前記内径の半分より大きい幅を有する、請求項23に記載の医療システム。
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