JP6999181B2 - カテーテル力制御装置 - Google Patents

カテーテル力制御装置 Download PDF

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Publication number
JP6999181B2
JP6999181B2 JP2018558456A JP2018558456A JP6999181B2 JP 6999181 B2 JP6999181 B2 JP 6999181B2 JP 2018558456 A JP2018558456 A JP 2018558456A JP 2018558456 A JP2018558456 A JP 2018558456A JP 6999181 B2 JP6999181 B2 JP 6999181B2
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catheter
base
cfc
controller
clamp
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Japanese (ja)
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JP2019510595A5 (https=
JP2019510595A (ja
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ゲルマン，ダニエル
スケイン，アラン
ドランゴバ，マリア
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University of Western Ontario
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University of Western Ontario
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A61B5/6852—Catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1492—Probes or electrodes therefor having a flexible, catheter-like structure, e.g. for heart ablation
    • 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
    • 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
    • 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
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00345—Vascular system
    • A61B2018/00351—Heart
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00529—Liver
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • A61B2018/0212—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques using an instrument inserted into a body lumen, e.g. catheter
    • 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
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
    • A61B2505/05—Surgical care
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0261—Strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1107—Measuring contraction of parts of the body, e.g. organ or muscle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/113—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb occurring during breathing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • A61B5/7203—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal
    • A61B5/7207—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal of noise induced by motion artifacts
    • 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
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Cardiology (AREA)
  • Plasma & Fusion (AREA)
  • Otolaryngology (AREA)
  • Anesthesiology (AREA)
  • Pulmonology (AREA)
  • Hematology (AREA)
  • Robotics (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Surgical Instruments (AREA)
JP2018558456A 2016-02-02 2017-02-02 カテーテル力制御装置 Active JP6999181B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662290243P 2016-02-02 2016-02-02
US62/290,243 2016-02-02
PCT/CA2017/050119 WO2017132768A1 (en) 2016-02-02 2017-02-02 Catheter force control device

Publications (3)

Publication Number Publication Date
JP2019510595A JP2019510595A (ja) 2019-04-18
JP2019510595A5 JP2019510595A5 (https=) 2020-03-12
JP6999181B2 true JP6999181B2 (ja) 2022-01-18

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Application Number Title Priority Date Filing Date
JP2018558456A Active JP6999181B2 (ja) 2016-02-02 2017-02-02 カテーテル力制御装置

Country Status (7)

Country Link
US (3) US10667752B2 (https=)
EP (1) EP3411108B1 (https=)
JP (1) JP6999181B2 (https=)
CN (1) CN109069803B (https=)
CA (1) CA3013270A1 (https=)
ES (1) ES3052865T3 (https=)
WO (1) WO2017132768A1 (https=)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113747828B (zh) 2019-01-15 2024-06-11 Apn健康有限责任公司 心脏导管接触力确定
DE102019129338B3 (de) * 2019-10-30 2021-02-18 Pilz Gmbh & Co. Kg Modellprädiktive Interaktionsregelung
US11998265B2 (en) * 2019-12-23 2024-06-04 Biosense Webster (Israel) Ltd. Respiration control during cardiac ablation
US12089817B2 (en) * 2020-02-21 2024-09-17 Canon U.S.A., Inc. Controller for selectively controlling manual or robotic operation of endoscope probe
DE102020211999B4 (de) * 2020-09-24 2024-09-26 Siemens Healthineers Ag Vorrichtung zum Bewegen eines medizinischen Objekts und Verfahren zum Bereitstellen eines Signals
EP4259260A4 (en) * 2021-01-14 2024-10-09 Corindus, Inc. System and apparatus for manipulating an elongated medical device in a robotic catheter-based procedure system
CN114184352B (zh) * 2021-12-09 2023-05-09 中国船舶科学研究中心 吊舱动力仪模型试验天平装置及使用方法
WO2024030520A1 (en) * 2022-08-04 2024-02-08 Edwards Lifesciences Corporation Mechanized actuation of catheters
CN119108090A (zh) * 2024-08-08 2024-12-10 同济大学 基于数据驱动的心脏介入导管机器人跟踪控制方法及系统
CN119868763B (zh) * 2025-03-05 2025-12-09 复旦大学 一种基于微型导管末端力的反馈方法及系统

Citations (6)

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Publication number Priority date Publication date Assignee Title
JP2001520085A (ja) 1997-10-17 2001-10-30 マイクロ・セラピューティクス・インコーポレーテッド 液体塞栓組成物と凝固剤との注入のためのカテーテルシステムおよび方法
US20090076445A1 (en) 2007-07-18 2009-03-19 Prescient Medical, Inc. Sterile catheter pullback mechanism assemblies
JP2010506621A (ja) 2006-10-12 2010-03-04 セント・ジュード・メディカル・エイトリアル・フィブリレーション・ディヴィジョン・インコーポレーテッド アブレーション損傷を自動生成するロボット手術システムおよび方法
JP2010259810A (ja) 2009-05-08 2010-11-18 Endosense Sa カテーテルアブレーション治療において病変部サイズを制御するための方法および装置
US20120184955A1 (en) 2008-01-16 2012-07-19 Catheter Robotics Inc. Remotely Controlled Catheter Insertion System with Automatic Control System
US20150141914A1 (en) 2013-11-19 2015-05-21 Fiab S.P.A. Control handle for catheters or cannulas for medical use

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US5159861A (en) * 1991-09-27 1992-11-03 Cook Incorporated Wire guide control handle
US6004271A (en) * 1998-05-07 1999-12-21 Boston Scientific Corporation Combined motor drive and automated longitudinal position translator for ultrasonic imaging system
US8528565B2 (en) 2004-05-28 2013-09-10 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic surgical system and method for automated therapy delivery
US7717875B2 (en) * 2004-07-20 2010-05-18 St. Jude Medical, Atrial Fibrillation Division, Inc. Steerable catheter with hydraulic or pneumatic actuator
DE102005014854A1 (de) * 2005-03-30 2006-10-12 Siemens Ag Verfahren zum Bereitstellen von Messdaten für die zielgenaue örtliche Positionierung eines Katheters
US8708952B2 (en) * 2008-01-16 2014-04-29 Catheter Robotics, Inc. Remotely controlled catheter insertion system
US20110015648A1 (en) 2009-07-16 2011-01-20 Hansen Medical, Inc. Endoscopic robotic catheter system
US20130190726A1 (en) * 2010-04-30 2013-07-25 Children's Medical Center Corporation Motion compensating catheter device
US20130137963A1 (en) 2011-11-29 2013-05-30 Eric S. Olson System and method for automatically initializing or initiating a motion compensation algorithm
US8900225B2 (en) 2012-05-07 2014-12-02 Biosense Webster (Israel) Ltd. Automatic ablation tracking
US9405286B2 (en) * 2013-03-01 2016-08-02 Fisher-Rosemount Systems, Inc. Use of predictors in process control systems with wireless or intermittent process measurements
US9999751B2 (en) 2013-09-06 2018-06-19 Catheter Precision, Inc. Adjustable nose cone for a catheter positioning system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001520085A (ja) 1997-10-17 2001-10-30 マイクロ・セラピューティクス・インコーポレーテッド 液体塞栓組成物と凝固剤との注入のためのカテーテルシステムおよび方法
JP2010506621A (ja) 2006-10-12 2010-03-04 セント・ジュード・メディカル・エイトリアル・フィブリレーション・ディヴィジョン・インコーポレーテッド アブレーション損傷を自動生成するロボット手術システムおよび方法
US20090076445A1 (en) 2007-07-18 2009-03-19 Prescient Medical, Inc. Sterile catheter pullback mechanism assemblies
US20120184955A1 (en) 2008-01-16 2012-07-19 Catheter Robotics Inc. Remotely Controlled Catheter Insertion System with Automatic Control System
JP2010259810A (ja) 2009-05-08 2010-11-18 Endosense Sa カテーテルアブレーション治療において病変部サイズを制御するための方法および装置
US20150141914A1 (en) 2013-11-19 2015-05-21 Fiab S.P.A. Control handle for catheters or cannulas for medical use

Also Published As

Publication number Publication date
EP3411108A4 (en) 2019-12-25
JP2019510595A (ja) 2019-04-18
CN109069803B (zh) 2021-10-22
US20230017179A1 (en) 2023-01-19
US11844627B2 (en) 2023-12-19
US10667752B2 (en) 2020-06-02
ES3052865T3 (en) 2026-01-15
US20190038227A1 (en) 2019-02-07
US20200345305A1 (en) 2020-11-05
CN109069803A (zh) 2018-12-21
CA3013270A1 (en) 2017-08-10
US11445977B2 (en) 2022-09-20
EP3411108A1 (en) 2018-12-12
EP3411108B1 (en) 2025-10-08
WO2017132768A1 (en) 2017-08-10
EP3411108C0 (en) 2025-10-08

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