JP7393084B2 - 触覚フィードバックを有する内視鏡カプセルシステム - Google Patents

触覚フィードバックを有する内視鏡カプセルシステム Download PDF

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JP7393084B2
JP7393084B2 JP2022519256A JP2022519256A JP7393084B2 JP 7393084 B2 JP7393084 B2 JP 7393084B2 JP 2022519256 A JP2022519256 A JP 2022519256A JP 2022519256 A JP2022519256 A JP 2022519256A JP 7393084 B2 JP7393084 B2 JP 7393084B2
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endoscopic capsule
endoscopic
capsule
force
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JP2022549888A5 (https=
JP2022549888A (ja
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ショステク セバスチャン
シュァー マルク
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オヴェスコ エンドスコピー アーゲー
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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
    • A61B1/04—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 combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • 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
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • 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
    • A61B5/6861—Capsules, e.g. for swallowing or implanting
    • 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
    • A61B34/73—Manipulators for magnetic surgery
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • A61B5/067—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe using accelerometers or gyroscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient; User input means
    • A61B5/7455—Details of notification to user or communication with user or patient; User input means characterised by tactile indication, e.g. vibration or electrical stimulation
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • 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
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • 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
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
JP2022519256A 2019-09-25 2020-09-23 触覚フィードバックを有する内視鏡カプセルシステム Active JP7393084B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP19199675.0 2019-09-25
EP19199675.0A EP3797670B1 (en) 2019-09-25 2019-09-25 Endoscopic capsule system with haptic feedback
PCT/EP2020/076623 WO2021058601A1 (en) 2019-09-25 2020-09-23 Endoscopic capsule system with haptic feedback

Publications (3)

Publication Number Publication Date
JP2022549888A JP2022549888A (ja) 2022-11-29
JP2022549888A5 JP2022549888A5 (https=) 2023-03-23
JP7393084B2 true JP7393084B2 (ja) 2023-12-06

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JP2022519256A Active JP7393084B2 (ja) 2019-09-25 2020-09-23 触覚フィードバックを有する内視鏡カプセルシステム

Country Status (6)

Country Link
US (1) US12245748B2 (https=)
EP (1) EP3797670B1 (https=)
JP (1) JP7393084B2 (https=)
CN (1) CN114585290B (https=)
ES (1) ES2956108T3 (https=)
WO (1) WO2021058601A1 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111035349B (zh) * 2020-03-11 2020-07-17 上海安翰医疗技术有限公司 胶囊内窥镜的姿态定位方法及胶囊内窥镜系统
CN111973136B (zh) * 2020-09-14 2022-11-25 上海安翰医疗技术有限公司 磁控胶囊内窥镜装置的控制方法及控制系统
KR102652537B1 (ko) * 2021-09-16 2024-03-28 한양대학교 산학협력단 자기장 발생 모듈
US20250275673A1 (en) * 2022-04-20 2025-09-04 Multi-Scale Medical Robotics Center Limited Magnetic anchored and actuated system and manufacturing method thereof
EP4278946A1 (en) * 2022-05-20 2023-11-22 Universiteit Twente Spherical electromagnetic actuator and method for controlling a magentic field thereof
TWI813354B (zh) * 2022-06-24 2023-08-21 群曜醫電股份有限公司 內視鏡系統及膠囊內視鏡
CN118021442B (zh) * 2024-04-10 2024-06-14 苏州国科康成医疗科技有限公司 一种用于手术模拟的虚拟现实交互设备及手术模拟方法

Citations (7)

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Publication number Priority date Publication date Assignee Title
US20070191671A1 (en) 2006-01-19 2007-08-16 Olympus Medical Systems Corp. Intra-subject medical system, method of operating body-insertable apparatus and operative treatment
WO2009107892A1 (en) 2008-02-29 2009-09-03 University Industry Cooperation Foundation Korea Aerospace University Endoscope system
JP2011147785A (ja) 2010-01-22 2011-08-04 Novineon Healthcare Technology Partners Gmbh 磁気駆動部を含むカプセル型内視鏡
US20130110128A1 (en) 2011-10-28 2013-05-02 Ovesco Endoscopy Ag Magnetic end effector and device for guiding and positioning the same
WO2014113697A1 (en) 2013-01-17 2014-07-24 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
WO2016098818A1 (ja) 2014-12-18 2016-06-23 株式会社パイオラックス カプセル内視鏡及びカプセル内視鏡検査方法並びにカプセル内視鏡検査装置
WO2019228533A1 (en) 2018-06-02 2019-12-05 Ankon Medical Technologies (Shanghai) Co., Ltd Control device for capsule endoscope

Family Cites Families (10)

* Cited by examiner, † Cited by third party
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DE4202922A1 (de) * 1992-02-01 1993-08-05 Zeiss Carl Fa Motorisches stativ
JP4559093B2 (ja) * 2003-10-03 2010-10-06 オリンパス株式会社 医療用具支持装置
ITPI20040008A1 (it) * 2004-02-17 2004-05-17 Dino Accoto Capsula robotica per applicazioni biomediche intracorporee
US20100113874A1 (en) * 2007-04-04 2010-05-06 Marco Quirini Teleoperated endoscopic capsule
DE102009007513B4 (de) 2009-02-05 2011-02-10 Siemens Aktiengesellschaft Ablösen einer Endoskopiekapsel von einer Oberfläche einer Flüssigkeit
DE102011004825B4 (de) * 2011-02-28 2019-05-02 Siemens Healthcare Gmbh Verfahren zum Steuern des Transports einer ein magnetisches Moment aufweisenden Endoskopkapsel
US9339169B2 (en) * 2011-12-03 2016-05-17 The Regents of University of Colorado, a body Corporate Robotic capsule endoscope for minimally invasive surgical procedures, micro-patterned treads for friction enhancement of a robotic capsule endoscope in a biological environment, and process for fabrication of micro-treads
WO2014152418A1 (en) * 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
CN103222842B (zh) * 2013-04-18 2015-09-09 安翰光电技术（武汉）有限公司 一种控制胶囊内窥镜在人体消化道运动的装置及方法
EP3184018A4 (en) * 2014-08-21 2018-07-11 Olympus Corporation Guidance device and capsule medical device guidance system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070191671A1 (en) 2006-01-19 2007-08-16 Olympus Medical Systems Corp. Intra-subject medical system, method of operating body-insertable apparatus and operative treatment
JP2012152607A (ja) 2006-01-19 2012-08-16 Olympus Medical Systems Corp 被検体内導入装置
WO2009107892A1 (en) 2008-02-29 2009-09-03 University Industry Cooperation Foundation Korea Aerospace University Endoscope system
JP2011147785A (ja) 2010-01-22 2011-08-04 Novineon Healthcare Technology Partners Gmbh 磁気駆動部を含むカプセル型内視鏡
US20130110128A1 (en) 2011-10-28 2013-05-02 Ovesco Endoscopy Ag Magnetic end effector and device for guiding and positioning the same
WO2014113697A1 (en) 2013-01-17 2014-07-24 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
WO2016098818A1 (ja) 2014-12-18 2016-06-23 株式会社パイオラックス カプセル内視鏡及びカプセル内視鏡検査方法並びにカプセル内視鏡検査装置
WO2019228533A1 (en) 2018-06-02 2019-12-05 Ankon Medical Technologies (Shanghai) Co., Ltd Control device for capsule endoscope

Also Published As

Publication number Publication date
ES2956108T3 (es) 2023-12-13
US20220354349A1 (en) 2022-11-10
JP2022549888A (ja) 2022-11-29
CN114585290B (zh) 2025-06-20
CN114585290A (zh) 2022-06-03
EP3797670A1 (en) 2021-03-31
WO2021058601A1 (en) 2021-04-01
US12245748B2 (en) 2025-03-11
EP3797670B1 (en) 2023-07-19

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