JP6971861B2 - カテーテル処置システム - Google Patents
カテーテル処置システム Download PDFInfo
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
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- Infusion, Injection, And Reservoir Apparatuses (AREA)
Description
本願は、2015年6月30日出願の米国仮出願第62/186,832号の利益を主張する。その全体がここに参照として組み入れられる。
Claims (17)
- カテーテル処置システムであって、
カテーテルを含む細長い医療デバイスと、
ベースと、
長手方向軸を有し、前記ベースに対して前記長手方向軸に沿って可動なロボット機構と、
遠位端及び近位端を有して前記細長い医療デバイスを支持する可撓性トラックと、
コントローラとを含み、
前記ロボット機構は、
前記細長い医療デバイスを駆動する少なくとも一つの駆動機構を含むロボット駆動ベースと、
前記ロボット駆動ベースに操作可能に固定されたカセットと、
前記カセットに結合されて前記ロボット機構に対して固定された剛体ガイドと、
前記ロボット駆動ベースに取り付けられて前記可撓性トラックの下方に位置決めされた位置検出器とを含み、
前記可撓性トラックの少なくとも一部分が前記剛体ガイドの中に配置され、
前記位置検出器は、前記剛体ガイドに対する前記可撓性トラックの遠位端の位置を測定するように構成され、
前記コントローラは、
前記ベースに対して前記ロボット機構を第1方向に動かすことと、
前記剛体ガイドに対し相対的に前記可撓性トラックを前記第1方向とは反対の第2方向に動かすことと、
前記位置検出器により測定される、前記剛体ガイドに対する前記可撓性トラックの遠位端の位置を、前記ベースに対する前記ロボット機構の動きを制御又は制限するべく使用することとを行うように構成される、カテーテル処置システム。 - 前記可撓性トラックは複数の反射性セクションを含み、
前記位置検出器は、前記可撓性トラックの反射性セクションから反射された光を検出するように構成されるとともに、該検出した反射光に基づいて前記可撓性トラックの遠位端の位置を測定するように構成される請求項1に記載のカテーテル処置システム。 - 前記位置検出器は少なくとも一つの光検出器を含む請求項2に記載のカテーテル処置システム。
- 前記少なくとも一つの光検出器は発光ダイオード(LED)及び光ダイオードを含む請求項3に記載のカテーテル処置システム。
- 前記位置検出器はさらに、少なくとも一つの透明セクションを有するハウジングを含む請求項3又は4に記載のカテーテル処置システム。
- 前記少なくとも一つの光検出器は、前記ハウジングの透明セクションを通過して前記可撓性トラックへと向かう光を発するように構成されるとともに、前記可撓性トラックの反射性セクションから反射された光を検出するように構成される請求項5に記載のカテーテル処置システム。
- 前記位置検出器は第1の光検出器及び第2の光検出器を含む請求項1に記載のカテーテル処置システム。
- 前記第1の光検出器及び前記第2の光検出器は、2ビットグレイコードを出力するべく前記位置検出器の中に配置される請求項7に記載のカテーテル処置システム。
- 前記可撓性トラックの遠位端の位置は、前記2ビットグレイコードの出力に基づく請求項8に記載のカテーテル処置システム。
- 前記第1の光検出器は第1のLED及び第1の光ダイオードを含み、
前記第2の光検出器は第2のLED及び第2の光ダイオードを含む請求項7〜9のいずれか1項に記載のカテーテル処置システム。 - 前記細長い医療デバイスはガイドカテーテルである請求項1〜10のいずれか1項に記載のカテーテル処置システム。
- 前記可撓性トラックの遠位端の位置を測定することは、前記可撓性トラックの遠位端と前記カセットとの間の距離を決定することを含む請求項1〜11のいずれか1項に記載のカテーテル処置システム。
- 前記ロボット機構の前記長手方向軸に沿った動きは、前記可撓性トラックの遠位端と前記カセットとの間の距離までに限られる請求項12に記載のカテーテル処置システム。
- 前記剛体ガイドの近位端及び前記可撓性トラックの近位端の中に配置された反射性標的をさらに含み、
前記少なくとも一つの光検出器は、前記ハウジングの透明セクションを通過して前記可撓性トラックへと向かう光を発するように構成されるとともに、前記可撓性トラックの反射性セクション、及び前記反射性標的から反射された光を検出するように構成される請求項6に記載のカテーテル処置システム。 - 前記反射性セクションは、非反射性セクションを介して互いから均等に離間される請求項2〜6のいずれか1項に記載のカテーテル処置システム。
- 各反射性セクションは第1の幅を有し、
各非反射性セクションは第2の幅を有し、
前記第1の幅は前記第2の幅に等しい請求項15に記載のカテーテル処置システム。 - 前記位置検出器はさらに第3の光検出器及び第4の光検出器を含み、
前記第1の光検出器、前記第2の光検出器、前記第3の光検出器、及び前記第4の光検出器は、2ビットグレイコードを出力するべく前記位置検出器の中に配置される請求項8に記載のカテーテル処置システム。
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PCT/US2016/040262 WO2017004307A1 (en) | 2015-06-30 | 2016-06-30 | System and method for detecting a position of a guide catheter support |
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US (3) | US10900771B2 (ja) |
EP (2) | EP3316954B1 (ja) |
JP (2) | JP6971861B2 (ja) |
CN (2) | CN113679928B (ja) |
WO (1) | WO2017004307A1 (ja) |
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US10900771B2 (en) | 2021-01-26 |
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