JP6859557B2 - 治療装置 - Google Patents

治療装置 Download PDF

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Publication number
JP6859557B2
JP6859557B2 JP2018054209A JP2018054209A JP6859557B2 JP 6859557 B2 JP6859557 B2 JP 6859557B2 JP 2018054209 A JP2018054209 A JP 2018054209A JP 2018054209 A JP2018054209 A JP 2018054209A JP 6859557 B2 JP6859557 B2 JP 6859557B2
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JP
Japan
Prior art keywords
probe
treatment
mode
instruction
treatment head
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Active
Application number
JP2018054209A
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English (en)
Japanese (ja)
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JP2019165840A5 (enExample
JP2019165840A (ja
Inventor
剛 植山
剛 植山
誠生 稲田
誠生 稲田
奥田　英樹
英樹 奥田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SONIRE Therapeutics Inc
Original Assignee
SONIRE Therapeutics Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SONIRE Therapeutics Inc filed Critical SONIRE Therapeutics Inc
Priority to JP2018054209A priority Critical patent/JP6859557B2/ja
Priority to PCT/JP2019/011487 priority patent/WO2019181951A1/ja
Priority to CN201980020447.6A priority patent/CN111902095B/zh
Publication of JP2019165840A publication Critical patent/JP2019165840A/ja
Publication of JP2019165840A5 publication Critical patent/JP2019165840A5/ja
Priority to US17/010,790 priority patent/US11786326B2/en
Application granted granted Critical
Publication of JP6859557B2 publication Critical patent/JP6859557B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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    • 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
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/22—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for
    • A61B17/225—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for for extracorporeal shock wave lithotripsy [ESWL], e.g. by using ultrasonic waves
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N7/02—Localised ultrasound hyperthermia
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0052—Ultrasound therapy using the same transducer for therapy and imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0056—Beam shaping elements
    • A61N2007/0065—Concave transducers

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Vascular Medicine (AREA)
  • Surgical Instruments (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
JP2018054209A 2018-03-22 2018-03-22 治療装置 Active JP6859557B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2018054209A JP6859557B2 (ja) 2018-03-22 2018-03-22 治療装置
PCT/JP2019/011487 WO2019181951A1 (ja) 2018-03-22 2019-03-19 治療装置
CN201980020447.6A CN111902095B (zh) 2018-03-22 2019-03-19 治疗装置
US17/010,790 US11786326B2 (en) 2018-03-22 2020-09-02 Treatment apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018054209A JP6859557B2 (ja) 2018-03-22 2018-03-22 治療装置

Publications (3)

Publication Number Publication Date
JP2019165840A JP2019165840A (ja) 2019-10-03
JP2019165840A5 JP2019165840A5 (enExample) 2020-01-16
JP6859557B2 true JP6859557B2 (ja) 2021-04-14

Family

ID=67986264

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018054209A Active JP6859557B2 (ja) 2018-03-22 2018-03-22 治療装置

Country Status (4)

Country Link
US (1) US11786326B2 (enExample)
JP (1) JP6859557B2 (enExample)
CN (1) CN111902095B (enExample)
WO (1) WO2019181951A1 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021111581A1 (ja) * 2019-12-05 2021-06-10 株式会社Ｆｕｊｉ 超音波診断システム
CA3228600A1 (en) * 2021-08-24 2023-03-02 Ajay Kumar Pandey Diagnostic imaging system
WO2023115052A2 (en) * 2021-12-16 2023-06-22 Petal Surgical, Inc. System and method for tissue intervention via image-guided boiling histotripsy
US12409550B2 (en) * 2022-01-12 2025-09-09 Mantis Robotics, Inc. Robot system with casing elements
JPWO2023181204A1 (enExample) * 2022-03-23 2023-09-28
WO2024040185A2 (en) * 2022-08-17 2024-02-22 Histosonics, Inc. Histotripsy systems and methods
CN115317814B (zh) * 2022-09-13 2025-12-23 南京广慈医疗科技有限公司 一种带手臂支撑装置的超声理疗仪
JPWO2024089812A1 (enExample) * 2022-10-26 2024-05-02
WO2025052590A1 (ja) * 2023-09-06 2025-03-13 株式会社Fuji ロボットシステム

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0398218B1 (en) * 1989-05-15 1995-01-04 Kabushiki Kaisha Toshiba Acoustic wave therapy apparatus
JPH0435660A (ja) 1990-05-31 1992-02-06 Toshiba Corp 衝撃波治療装置
JPH0576538A (ja) * 1991-09-13 1993-03-30 Shimadzu Corp 超音波治療装置
JPH07213527A (ja) * 1994-02-03 1995-08-15 Toshiba Corp 振動波治療装置
JPH0884740A (ja) * 1994-09-16 1996-04-02 Toshiba Corp 治療装置
JP3699046B2 (ja) * 2002-01-09 2005-09-28 株式会社日立メディコ 超音波治療装置
JP2004000499A (ja) * 2002-03-27 2004-01-08 Aloka Co Ltd 超音波医療システム
JP2005013283A (ja) * 2003-06-23 2005-01-20 Takeshi Shiina 超音波探触子及び超音波診断装置
JP3914199B2 (ja) * 2003-11-11 2007-05-16 株式会社東芝 超音波治療装置
WO2005065371A2 (en) * 2003-12-30 2005-07-21 Liposonix, Inc. Systems and methods for the destruction of adipose tissue
JP2007330490A (ja) * 2006-06-15 2007-12-27 Ge Medical Systems Global Technology Co Llc 超音波プローブ装置および超音波診断装置
FR2924915B1 (fr) * 2007-12-14 2011-01-07 Technomed Medical Systems Dispositif d'imagerie echographique et appareil de detection et de destruction de concretions solides incorporant un tel dispositif
US10542962B2 (en) * 2009-07-10 2020-01-28 Elekta, LTD Adaptive radiotherapy treatment using ultrasound
JP5935344B2 (ja) * 2011-05-13 2016-06-15 ソニー株式会社 画像処理装置、画像処理方法、プログラム、記録媒体、および、画像処理システム
JP6042132B2 (ja) * 2012-08-02 2016-12-14 株式会社日立製作所 超音波治療装置
WO2015099849A1 (en) * 2013-12-23 2015-07-02 U-Systems, Inc. Medical ultrasound scanning with control over pressure/force exerted by an ultrasound probe and/or a compression/scanning assembly
WO2015110882A1 (en) * 2014-01-24 2015-07-30 Koninklijke Philips N.V. Robotic control of imaging devices with optical shape sensing
JP5701439B1 (ja) * 2014-08-20 2015-04-15 医療法人 駿東育愛会 望星第一クリニック 皮下診断装置及び血圧測定方法
CN105816155B (zh) * 2016-05-13 2019-01-25 福建师范大学 一种皮肤创面诊疗一体化探头及其实现方法
CN106344066B (zh) * 2016-08-26 2019-05-31 飞依诺科技(苏州)有限公司 探头机器人装置
CN110087548B (zh) * 2016-12-19 2023-06-27 皇家飞利浦有限公司 使用生理信息对解剖图像采集的控制

Also Published As

Publication number Publication date
WO2019181951A1 (ja) 2019-09-26
CN111902095A (zh) 2020-11-06
JP2019165840A (ja) 2019-10-03
CN111902095B (zh) 2023-06-02
US11786326B2 (en) 2023-10-17
US20200397519A1 (en) 2020-12-24

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