JP6629186B2 - 解剖学的特徴からの内視鏡のロボット制御 - Google Patents

解剖学的特徴からの内視鏡のロボット制御 Download PDF

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Publication number
JP6629186B2
JP6629186B2 JP2016512453A JP2016512453A JP6629186B2 JP 6629186 B2 JP6629186 B2 JP 6629186B2 JP 2016512453 A JP2016512453 A JP 2016512453A JP 2016512453 A JP2016512453 A JP 2016512453A JP 6629186 B2 JP6629186 B2 JP 6629186B2
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anatomical
endoscope
image
robot
endoscopic
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Japanese (ja)
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JP2016524487A (ja
JP2016524487A5 (enExample
Inventor
アレクサンドラ ポポビック
アレクサンドラ ポポビック
ヘイサム エル−ハワリー
ヘイサム エル−ハワリー
マイケル チュンチー リー
マイケル チュンチー リー
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Koninklijke Philips NV
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Koninklijke Philips NV
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    • 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
    • A61B1/01—Guiding arrangements therefore
    • 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
    • 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
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A61B1/000094—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope extracting biological structures
    • 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
    • A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
    • 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
    • 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
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • 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
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Signal Processing (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)
JP2016512453A 2013-05-09 2014-04-30 解剖学的特徴からの内視鏡のロボット制御 Active JP6629186B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361821363P 2013-05-09 2013-05-09
US61/821,363 2013-05-09
PCT/IB2014/061100 WO2014181222A1 (en) 2013-05-09 2014-04-30 Robotic control of an endoscope from anatomical features

Publications (3)

Publication Number Publication Date
JP2016524487A JP2016524487A (ja) 2016-08-18
JP2016524487A5 JP2016524487A5 (enExample) 2019-10-31
JP6629186B2 true JP6629186B2 (ja) 2020-01-15

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JP2016512453A Active JP6629186B2 (ja) 2013-05-09 2014-04-30 解剖学的特徴からの内視鏡のロボット制御

Country Status (6)

Country Link
US (1) US11284777B2 (enExample)
EP (1) EP2996617B1 (enExample)
JP (1) JP6629186B2 (enExample)
CN (1) CN105188594B (enExample)
RU (1) RU2692206C2 (enExample)
WO (1) WO2014181222A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12383126B2 (en) 2021-02-22 2025-08-12 Olympus Corporation Surgery system and control method for surgery system to adjust position and orientation of imager

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US10248756B2 (en) * 2015-02-18 2019-04-02 Siemens Healthcare Gmbh Anatomically specific movie driven medical image review
CN107847111B (zh) * 2015-07-23 2022-04-08 皇家飞利浦有限公司 根据体积图像的交互式平面切片的内窥镜引导
US11638615B2 (en) * 2015-08-30 2023-05-02 Asensus Surgical Us, Inc. Intelligent surgical tool control system for laparoscopic surgeries
CN108697473B (zh) * 2015-12-29 2022-08-12 皇家飞利浦有限公司 图像引导式机器人会聚消融
CN105788390A (zh) * 2016-04-29 2016-07-20 吉林医药学院 基于增强现实的医学解剖辅助教学系统
WO2018104252A1 (en) * 2016-12-07 2018-06-14 Koninklijke Philips N.V. Image guided motion scaling for robot control
JPWO2018159328A1 (ja) 2017-02-28 2019-12-19 ソニー株式会社 医療用アームシステム、制御装置及び制御方法
EP3609425A4 (en) 2017-04-13 2021-03-03 V.T.M. (Virtual Tape Measure) Technologies Ltd. ENDOSCOPIC MEASURING PROCEDURES AND TOOLS
CN107049496B (zh) * 2017-05-22 2019-07-26 清华大学 一种多任务手术机器人的视觉伺服控制方法
JP7115493B2 (ja) * 2017-11-01 2022-08-09 ソニーグループ株式会社 手術アームシステム及び手術アーム制御システム
US10672510B1 (en) * 2018-11-13 2020-06-02 Biosense Webster (Israel) Ltd. Medical user interface
WO2021115857A1 (en) * 2019-12-12 2021-06-17 Koninklijke Philips N.V. Guided anatomical manipulation for endoscopic procedures
CN111798387B (zh) * 2020-06-24 2024-06-11 海南大学 一种用于共聚焦内窥镜的图像处理方法及系统
USD1022197S1 (en) 2020-11-19 2024-04-09 Auris Health, Inc. Endoscope
JP7461689B2 (ja) * 2021-09-10 2024-04-04 アナウト株式会社 推論装置、情報処理方法、及びコンピュータプログラム
CN115998439A (zh) * 2021-10-21 2023-04-25 上海微创医疗机器人（集团）股份有限公司 手术机器人的碰撞检测方法、可读存储介质及手术机器人
WO2026080420A1 (en) * 2024-10-09 2026-04-16 Mayo Foundation For Medical Education And Research Catheter for transvenous nerve ablation

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US6584339B2 (en) 2001-06-27 2003-06-24 Vanderbilt University Method and apparatus for collecting and processing physical space data for use while performing image-guided surgery
US20060271056A1 (en) * 2005-05-10 2006-11-30 Smith & Nephew, Inc. System and method for modular navigated osteotome
US8398541B2 (en) 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
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US9161817B2 (en) * 2008-03-27 2015-10-20 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system
US8337397B2 (en) * 2009-03-26 2012-12-25 Intuitive Surgical Operations, Inc. Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device toward one or more landmarks in a patient
IT1395018B1 (it) 2009-07-22 2012-09-05 Surgica Robotica S R L Apparecchiatura per procedure chirurgiche minimamente invasive
JP2011156203A (ja) * 2010-02-02 2011-08-18 Olympus Corp 画像処理装置、内視鏡システム、プログラム及び画像処理方法
JP5675227B2 (ja) * 2010-08-31 2015-02-25 富士フイルム株式会社 内視鏡画像処理装置および作動方法、並びに、プログラム
JP5955847B2 (ja) * 2010-09-15 2016-07-20 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 血管ツリー画像に基づく内視鏡のロボット制御
US20140039314A1 (en) 2010-11-11 2014-02-06 The Johns Hopkins University Remote Center of Motion Robot for Medical Image Scanning and Image-Guided Targeting
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12383126B2 (en) 2021-02-22 2025-08-12 Olympus Corporation Surgery system and control method for surgery system to adjust position and orientation of imager

Also Published As

Publication number Publication date
CN105188594A (zh) 2015-12-23
US20160066768A1 (en) 2016-03-10
RU2692206C2 (ru) 2019-06-21
WO2014181222A1 (en) 2014-11-13
CN105188594B (zh) 2021-02-09
JP2016524487A (ja) 2016-08-18
US11284777B2 (en) 2022-03-29
RU2015152452A (ru) 2017-06-15
EP2996617A1 (en) 2016-03-23
EP2996617B1 (en) 2021-04-14
RU2015152452A3 (enExample) 2018-03-28

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