JP6620225B2 - 可撓管挿入装置 - Google Patents
可撓管挿入装置 Download PDFInfo
- Publication number
- JP6620225B2 JP6620225B2 JP2018512753A JP2018512753A JP6620225B2 JP 6620225 B2 JP6620225 B2 JP 6620225B2 JP 2018512753 A JP2018512753 A JP 2018512753A JP 2018512753 A JP2018512753 A JP 2018512753A JP 6620225 B2 JP6620225 B2 JP 6620225B2
- Authority
- JP
- Japan
- Prior art keywords
- flexible tube
- stiffness
- amount
- shape
- bending
- 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.)
- Active
Links
- 238000003780 insertion Methods 0.000 title claims description 153
- 230000037431 insertion Effects 0.000 title claims description 153
- 238000005452 bending Methods 0.000 claims description 95
- 230000008859 change Effects 0.000 claims description 53
- 238000006073 displacement reaction Methods 0.000 claims description 44
- 230000010354 integration Effects 0.000 claims description 7
- 230000004069 differentiation Effects 0.000 claims description 2
- 239000013307 optical fiber Substances 0.000 description 26
- 238000001514 detection method Methods 0.000 description 14
- 210000002429 large intestine Anatomy 0.000 description 13
- 238000000034 method Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 239000000835 fiber Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000001141 propulsive effect Effects 0.000 description 3
- 239000000470 constituent Substances 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000001035 gastrointestinal tract Anatomy 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
Images
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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/00078—Insertion part of the endoscope body with stiffening means
-
- 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
-
- 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
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
-
- 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
- A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
-
- 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
- A61B1/00163—Optical arrangements
- A61B1/00165—Optical arrangements with light-conductive means, e.g. fibre optics
-
- 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
- A61M25/0043—Catheters; Hollow probes characterised by structural features
- A61M25/005—Catheters; Hollow probes characterised by structural features with embedded materials for reinforcement, e.g. wires, coils, braids
- A61M25/0053—Catheters; Hollow probes characterised by structural features with embedded materials for reinforcement, e.g. wires, coils, braids having a variable stiffness along the longitudinal axis, e.g. by varying the pitch of the coil or braid
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (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)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Description
Claims (5)
- 中心軸方向に沿って列状に並ぶ複数のセグメントに区切られており、被挿入体に挿入される可撓管と、
前記可撓管の曲げ剛性を、前記セグメント単位で可変する剛性可変部と、
前記可撓管の状態に関する状態情報を検出する状態検出部と、
前記状態情報を基に、前記可撓管の形状に関する形状情報を算出する形状算出部と、
前記剛性可変部によって実施される前記曲げ剛性の変更を制御する剛性制御部と、
を具備し、
前記剛性制御部は、第1時刻にて前記形状算出部によって算出された前記形状情報に基づく前記可撓管の第1挿入経路に対する、第2時刻にて前記形状算出部によって算出された前記形状情報に基づく前記可撓管の第2挿入経路の変位量に応じて、挿入経路の変位部分に対応するセグメントに対して前記剛性可変部によって実施される前記曲げ剛性の変更を制御する可撓管挿入装置。 - 前記形状算出部は、前記変位量に応じた前記曲げ剛性の変化量を決定し、
前記剛性制御部は、前記曲げ剛性の変化量を基に前記曲げ剛性を制御する請求項1に記載の可撓管挿入装置。 - 前記形状算出部は、前記第1挿入経路に対する前記第2挿入経路の時間変位から前記曲げ剛性の変化量を決定する請求項2に記載の可撓管挿入装置。
- 前記形状算出部は、前記第1挿入経路に対する前記第2挿入経路の変位に対する時間積分から前記曲げ剛性の変化量を決定する請求項3に記載の可撓管挿入装置。
- 前記形状算出部は、前記第1挿入経路に対する前記第2挿入経路の変位に対する時間微分から前記曲げ剛性の変化量を決定する請求項4に記載の可撓管挿入装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/062813 WO2017183196A1 (ja) | 2016-04-22 | 2016-04-22 | 可撓管挿入装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2017183196A1 JPWO2017183196A1 (ja) | 2019-02-14 |
JP6620225B2 true JP6620225B2 (ja) | 2019-12-11 |
Family
ID=60115838
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018512753A Active JP6620225B2 (ja) | 2016-04-22 | 2016-04-22 | 可撓管挿入装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20190046011A1 (ja) |
JP (1) | JP6620225B2 (ja) |
CN (1) | CN109068940B (ja) |
WO (1) | WO2017183196A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019171471A1 (ja) * | 2018-03-06 | 2019-09-12 | オリンパス株式会社 | 可撓管挿入装置、剛性制御装置、剛性制御装置の作動方法、及び剛性制御プログラムを記録した記録媒体 |
US20200375665A1 (en) * | 2019-05-31 | 2020-12-03 | Canon U.S.A., Inc. | Medical continuum robot and methods thereof |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7344494B2 (en) * | 2004-02-09 | 2008-03-18 | Karl Storz Development Corp. | Endoscope with variable direction of view module |
US20070270717A1 (en) * | 2005-09-30 | 2007-11-22 | Cornova, Inc. | Multi-faceted optical reflector |
US8096943B2 (en) * | 2006-12-04 | 2012-01-17 | University Of Washington Through Its Center For Commercialization | Flexible endoscope tip bending mechanism using optical fiber as compression member |
JP2015002861A (ja) * | 2013-06-20 | 2015-01-08 | Hoya株式会社 | 内視鏡挿入部の剛性可変装置 |
JP6384849B2 (ja) * | 2013-12-03 | 2018-09-05 | オリンパス株式会社 | 硬度可変アクチュエータ |
JP6234332B2 (ja) * | 2014-06-25 | 2017-11-22 | オリンパス株式会社 | 内視鏡装置、作動方法、及び作動プログラム |
-
2016
- 2016-04-22 JP JP2018512753A patent/JP6620225B2/ja active Active
- 2016-04-22 WO PCT/JP2016/062813 patent/WO2017183196A1/ja active Application Filing
- 2016-04-22 CN CN201680084815.XA patent/CN109068940B/zh active Active
-
2018
- 2018-10-15 US US16/159,775 patent/US20190046011A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
CN109068940B (zh) | 2021-04-20 |
JPWO2017183196A1 (ja) | 2019-02-14 |
US20190046011A1 (en) | 2019-02-14 |
WO2017183196A1 (ja) | 2017-10-26 |
CN109068940A (zh) | 2018-12-21 |
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