WO2009069413A1 - 駆動装置ならびにそれを備えた医療装置および訓練装置 - Google Patents

駆動装置ならびにそれを備えた医療装置および訓練装置 Download PDF

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Publication number
WO2009069413A1
WO2009069413A1 PCT/JP2008/069452 JP2008069452W WO2009069413A1 WO 2009069413 A1 WO2009069413 A1 WO 2009069413A1 JP 2008069452 W JP2008069452 W JP 2008069452W WO 2009069413 A1 WO2009069413 A1 WO 2009069413A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive device
motor
drive
linear body
training
Prior art date
Application number
PCT/JP2008/069452
Other languages
English (en)
French (fr)
Inventor
Yoshitaka Nagano
Yukihiro Nishio
Takayoshi Ozaki
Original Assignee
Ntn Corporation
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 Ntn Corporation filed Critical Ntn Corporation
Priority to US12/744,420 priority Critical patent/US20100234873A1/en
Priority to EP08853533A priority patent/EP2216068A4/en
Priority to JP2009543723A priority patent/JPWO2009069413A1/ja
Publication of WO2009069413A1 publication Critical patent/WO2009069413A1/ja

Links

Classifications

    • 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
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • 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
    • 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
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means
    • G01L5/0038—Force sensors associated with force applying means applying a pushing force
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
    • 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
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/18—General characteristics of the apparatus with alarm
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/332—Force measuring means

Abstract

　駆動装置は、可撓性を有する線状体（１）を駆動する駆動装置であって、第１のローラ（３）と、回転力を直接第１のローラ（３）に伝達することで第１のローラ（３）を回転させることにより、線状体（１）を線状体（１）の延伸方向に送り出すモータ（４）と、モータ（４）に電流を供給することによりモータ（４）を駆動するモータ駆動部（７）と、モータ（４）に供給される電流に基づいて、線状体（１）に作用する延伸方向の力を算出する制御部（８）とを備える。
PCT/JP2008/069452 2007-11-27 2008-10-27 駆動装置ならびにそれを備えた医療装置および訓練装置 WO2009069413A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US12/744,420 US20100234873A1 (en) 2007-11-27 2008-10-27 Drive device, and medical apparatus and training apparatus including the same
EP08853533A EP2216068A4 (en) 2007-11-27 2008-10-27 DRIVING DEVICE, MEDICAL DEVICE EQUIPPED WITH SAID DRIVING DEVICE, AND SPORTS EXERCISE DEVICE
JP2009543723A JPWO2009069413A1 (ja) 2007-11-27 2008-10-27 駆動装置ならびにそれを備えた医療装置および訓練装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007305670 2007-11-27
JP2007-305670 2007-11-27

Publications (1)

Publication Number Publication Date
WO2009069413A1 true WO2009069413A1 (ja) 2009-06-04

Family

ID=40678316

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/069452 WO2009069413A1 (ja) 2007-11-27 2008-10-27 駆動装置ならびにそれを備えた医療装置および訓練装置

Country Status (4)

Country Link
US (1) US20100234873A1 (ja)
EP (1) EP2216068A4 (ja)
JP (1) JPWO2009069413A1 (ja)
WO (1) WO2009069413A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014010177A1 (ja) * 2012-07-10 2014-01-16 パナソニック株式会社 力計測装置及び力計測方法、マスタースレーブ装置、力計測プログラム、並びに、集積電子回路
JP2015142849A (ja) * 2009-10-14 2015-08-06 国立大学法人 名古屋工業大学 挿入装置および訓練装置
WO2017010231A1 (ja) * 2015-07-16 2017-01-19 国立大学法人名古屋大学 線状体の挿入駆動装置およびそれを備える医療機器、医療操作訓練装置

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CN102496324B (zh) * 2011-11-30 2013-09-25 徐州医学院 一种血管介入支架植入位置指示与考核装置
US9439653B2 (en) 2011-12-07 2016-09-13 Traumatek Solutions B.V. Devices and methods for endovascular access and therapy
US10118020B2 (en) 2011-12-07 2018-11-06 Traumatek Solutions B.V. Devices and methods for endovascular access and therapy
WO2013166475A1 (en) * 2012-05-04 2013-11-07 Interventco Llc Device and method for filling of aneurysm or body cavity
FR2991010B1 (fr) * 2012-05-23 2019-05-10 Physidia Pompe peristaltique lineaire
CN105709325B (zh) * 2014-11-30 2021-10-29 中国科学院沈阳自动化研究所 一种介入导管输送操作装置
EP3313289B1 (en) 2015-06-23 2021-03-17 Traumatek Solutions B.V. Vessel cannulation device
FR3044541B1 (fr) 2015-12-07 2017-12-29 Robocath Module robotise d'entrainement d'organe medical souple allonge
US11464396B2 (en) * 2016-03-31 2022-10-11 Keio University Endoscope holder
US11633575B2 (en) 2017-03-06 2023-04-25 Corindus, Inc. Percutaneous device exchange
US11501661B2 (en) 2018-03-29 2022-11-15 Cae Healthcare Canada Inc. Method and system for simulating an insertion of an elongated instrument into a subject
CN108744225B (zh) * 2018-05-30 2020-12-22 合肥美亚光电技术股份有限公司 管线输送装置及其控制方法、系统
CN113164716B (zh) * 2019-01-17 2023-06-30 朝日英达科株式会社 长条状医疗器具的驱动装置、医疗设备以及长条状医疗器具的驱动方法
US20210177532A1 (en) * 2019-12-13 2021-06-17 Intuitive Surgical Operations, Inc. Systems and methods for inserting an elongate flexible instrument into an environment
CN113180577B (zh) * 2021-05-28 2023-12-05 天津医科大学第二医院 一种泌尿科室用激光去石软管镜

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JPH10503110A (ja) * 1995-05-08 1998-03-24 オムニトロン インターナショナル，インコーポレイテッド アクティブフォースフィードバックを備えたアフターローダ
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015142849A (ja) * 2009-10-14 2015-08-06 国立大学法人 名古屋工業大学 挿入装置および訓練装置
JP5783904B2 (ja) * 2009-10-14 2015-09-24 国立大学法人 名古屋工業大学 挿入装置および訓練装置
WO2014010177A1 (ja) * 2012-07-10 2014-01-16 パナソニック株式会社 力計測装置及び力計測方法、マスタースレーブ装置、力計測プログラム、並びに、集積電子回路
JPWO2014010177A1 (ja) * 2012-07-10 2016-06-20 パナソニックＩｐマネジメント株式会社 力計測装置及び力計測方法、マスタースレーブ装置、力計測プログラム、並びに、集積電子回路
WO2017010231A1 (ja) * 2015-07-16 2017-01-19 国立大学法人名古屋大学 線状体の挿入駆動装置およびそれを備える医療機器、医療操作訓練装置

Also Published As

Publication number Publication date
EP2216068A1 (en) 2010-08-11
US20100234873A1 (en) 2010-09-16
EP2216068A4 (en) 2012-03-21
JPWO2009069413A1 (ja) 2011-04-07

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