WO2012035157A1 - Dispositif endoscopique à sustentation magnétique - Google Patents

Dispositif endoscopique à sustentation magnétique Download PDF

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Publication number
WO2012035157A1
WO2012035157A1 PCT/EP2011/066149 EP2011066149W WO2012035157A1 WO 2012035157 A1 WO2012035157 A1 WO 2012035157A1 EP 2011066149 W EP2011066149 W EP 2011066149W WO 2012035157 A1 WO2012035157 A1 WO 2012035157A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
magnetic
endoscopic device
magnetic field
generating
Prior art date
Application number
PCT/EP2011/066149
Other languages
English (en)
Inventor
Massimiliano Simi
Pietro Valdastri
Arianna Menciassi
Paolo Dario
Original Assignee
Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
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 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna filed Critical Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
Publication of WO2012035157A1 publication Critical patent/WO2012035157A1/fr

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Classifications

    • 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
    • A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
    • 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
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements

Definitions

  • the present invention refers to an endoscopic device, particularly suitable for laparoscopic surgery.
  • a main advantage provided by the present invention lies in the fact that an external magnetic field is used to obtain a fine and reliable control of the movement - and thus of the image field - of a miniaturized imaging instrument, which is easily and efficiently manoeuvrable besides providing a wide work area.
  • the imaging instrument adheres to the abdomen wall of the patient and provides therefore a point of view positioned above the work area, not bound to the insertion point of the instruments, so that the triangulation is restored.
  • the greater versatility of movement of the imaging instrument may provide non- conventional views of the surgery scene which facilitate the execution of the relative procedures.
  • the present invention not only guarantees the possibility to move from a quadrant to another during the same surgical procedure, but the surgeon may also have several views of the same surgery scene by inserting several imaging modules into the abdomen without requiring separate dedicated access ports, to the advantage of the quality of the intervention, which is evidently increased by the improved and multiple imaging information.
  • the device of the invention is capable of occupying the laparoscopic port only with a thin flexible cable for feeding and transmitting data, thus allowing inserting at least one further surgical instrument through the same access hole without limiting the manoeuvrability thereof.
  • the proposed device allows reducing the invasiveness of the laparoscopic procedures, simultaneously increasing the dexterity of the surgeon.
  • the physical interaction with the endoscope specialist is eliminated due to the limited work space associated to the known devices and, in case of single port laparoscopy (SPL), there is an increase of the freedom of action of the surgeon, which in the known devices is limited by the need of passage of several rigid cumbersome instruments, including the imaging channel, through the same fulcrum.
  • Figure 1 shows a perspective schematic view of a first preferred embodiment of the endoscopic device according to the present invention
  • Figure 2 shows a perspective schematic view of the device of Figure 1 wherein, for the sake of clarity, part of a protective external casing and part of the internal components were removed;
  • Figure 3 shows a longitudinal section schematic view of the device of Figure 2; and • Figure 4 shows a perspective schematic view of a second preferred embodiment of the endoscopic device according to the present invention.
  • a miniaturized robotic endoscopic device, or endoscope according to a first preferred embodiment of the invention is generally indicated with 1 .
  • the endoscope 1 and in particular an imaging instrument carried thereby, is moved by means of a magnetic levitation system which will be clear from the description that follows.
  • the endoscope 1 firstly comprises a first body or module 2 and a second body or module 3, each provided with its own protective casing, respectively 20 and 30, preferably substantially cylindrical-shaped.
  • the modules 2 and 3 are connected to each other by means of a flexible joint 4 which allows a rotation of the second module 3 with respect to the first module 2, in particular according to the arrow 23 of Figure 1.
  • the first module 2, or rear module in turn comprises first magnetic means adapted to generate a static magnetic field.
  • first means are made in form of a pair of permanent magnets 21 and 22 housed within the casing 20 at opposite longitudinal ends thereof and arranged with inverted polarities, still as represented schematically in Figure 1.
  • the aforementioned first magnetic means 21 , 22 are adapted to interact with a first external magnetic field with the aim of causing a simple anchoring and a movement (translation and rotation) of the endoscope 1 on a wall P of a body cavity, as illustrated further in detail hereinafter with reference to the operating methods of the endoscope 1.
  • the second module 3, or front module in turn comprises second magnetic means, which in the present example comprise a pair of permanent magnets 31 and 32 housed substantially adjacent to each other within the casing 30 at the same longitudinal end thereof, moved by motor means 34, in particular an electric micromotor, connected to the two permanent magnets 31 and 32 by means of mechanical transmission means.
  • the latter preferably comprise a mechanism based on a coupling between an endless screw 35 and a toothed wheel 36, the first integral to the mobile member of the motor means 34 and the second integral to the two magnets 31 and 32.
  • the motor means 34 thus cause a relative movement between the framework thereof, integral to the casing 30, and the second magnetic means 31 , 32, and in particular a rotation exemplified with an arrow 341 in Figure 1 ("tilt').
  • the aforementioned second magnetic means 31 , 32 finely moved by motor means 34, interact with a second external magnetic field and are influenced by a variable attraction or repulsion force, directly transmitted to the second module 3 for producing a levitation of the second module 3 and able to modulate and control the levitation status of said second module 3 with respect to the first module 2 anchored to the abdominal wall P, until a bending of 90° of the point of view is achieved.
  • the levitation status is defined by the equilibrium between the weight of the second module 3, by the rigidity of the flexible joint 4 and by the magnetic force acting on said second magnetic means 31 and 32.
  • the imaging means 5 typically comprising a camera or a video camera and a led or any other lighting element of the miniaturized type.
  • the imaging means 5 are arranged on the opposite sides of the casing 30 with respect to the permanent magnets 31 and 32.
  • the flexible joint 4 is a fundamental element for balancing the forces involved in the magnetic levitation system, and optimize the functionality of the system.
  • the flexible joint 4 may be in form of a hermetic sheath within which there passes cables for feeding the second module 3 and cables for transmitting data therefrom to an external control unit.
  • the images acquired by the imaging means 5 are transmitted through such cables and leds, cameras and motor means are analogously fed by means of cables.
  • the endoscope 1 further provides for the composite tail cable 8 which receives the cables previously housed within the flexible joint 4 and which projects from the first module 2 traversing the access laparoscopic port and thus establishing communication with the environment outside the body of the patient.
  • the endoscope 1 is inserted in an overall endoscopic system which provides for the generation of magnetic fields outside the body of the patient.
  • the endoscope 1 and the system in which it is inserted operate with constant or substantially constant magnetic fields, avoiding variable magnetic fields potentially more hazardous for the health of the patient.
  • the system comprises first means for generating the aforementioned first external magnetic field, adapted to interact with the first magnetic means 21 and 22 and also consisting in two permanent magnets 61 and 62 with polarities respectively complementary to those of the magnets 21 and 22.
  • second means for generating the aforementioned second external magnetic field preferably consisting in a third permanent magnet 7.
  • the latter is selectively mobile according to a direction approaching/moving away to/from the second magnetic means 31 and 32, in such a m a n n e r th at, before starti n g th e m ed i cal p roced u re , th e co rres po n d i n g attraction/repulsion forces can be modulated with the aim of optimizing the work area of the levitation system , in particular composed by the first module 2 of magnetic anchorage, by the second module 3 comprising the second magnetic means 31 and 32, moved by the motor means 34 and by the flexible joint 4.
  • the endoscope 1 based on the magnetic levitation system described above, presents several advantages when compared to the traditional systems.
  • the present magnetic levitation system uses the motorized movement of the internal magnets to generate a variable magnetic field to yield a flexible and controlled bending without moving any external magnets 61 , 62 or 7. This increases the precision of the method and also reduces the external hindrance on the patient's body.
  • the movement of small internal magnets allows to obtain sufficient forces, ample displacements and fine movements without altering the surrounding external magnetic field, fundamental for anchoring and stability of the device.
  • the endoscope 1 is introduced through a laparoscopic port of the known type.
  • the endoscope 1 and in particular the first module 2 thereof, is thus stably attached to the wall P of a body cavity, typically the abdominal wall, through the first external magnetostatic field generated by the first means 61 and 62 interacting with the first magnetic means 21 and 22 and still by means of the movement of the first external magnetic field, there can be produced a translation and a rotation/orientation of the endoscope 1 along the wall P, exemplified by respective arrows 600, 610 and 620 ("pan”) in Figure 1.
  • Such movements can be obtained by operating on the external magnetic field modifying the degree thereof or producing a corresponding movement of the magnets 61 and 62.
  • a desired fine rotation / levitation of the second module 3 with respect to the first module 2 may be obtained, by actuating the second magnetic means 31 and 32 with the motor means 34.
  • I n particular a 360° rotation causes the change from attractive to repulsive magnetic forces that act on the second module 3 immersed in an external magnetic field generated in particular by the above said external magnet 7 and add to the forces involved in the levitation system , such as the weight of the second module 3 and the rigidity of the flexible joint 4, efficaciously regulating the level of levitation / rotation in a wide range of bending, typically 0-90°, in order to orient the visual field.
  • the endoscope 1 may be removed by simply eliminating the sources of external magnetic field 61 , 62 and 7 and withdrawing the tail cable 8 of the endoscope.
  • an external control unit which manages the motorized i nternal degree of freedom (for example also by means of a user interface like a pushbutton panel and/or joystick), while the endoscopic images can be acquired and displayed using conventional medical instruments.
  • Additional characteristics of the endoscopic device 1 described above can be: a further motorised degree of freedom at the head of the second module 3, which allows regulating the horizon of the imaging instrument, and/or
  • Figure 4 refers to a second preferred embodiment of the endoscopic device of the invention.
  • the difference between this embodiment and the one described beforehand lies in the fact that the magnetic means of the second module 3 are integral to the framework or casing 30 of the latter.
  • the motor means 34 and possible mechanical transmission means associated thereto instead move a magnetic shielding means 200 associated to said magnetic means 31 and 32, adapted to shield the selected portions of the l atte r i n s uch a way to ca us e a va ri ati o n of th e attraction/repulsion magnetic force with the external magnet 7 and thus the degree of levitation of the second module 3.
  • the shielding means 200 consist in a shaped element, in particular a metal sheet, having an arched shape which follows the profile of the permanent magnets 31 and 32.
  • a metal sheet is adapted to cover and uncover given areas of the magnets 31 and 32 hence modulate the intensity of the field and thus the orientation of the imaging means.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)
  • Eye Examination Apparatus (AREA)
  • Surgical Instruments (AREA)

Abstract

La présente invention concerne un système endoscopique comprenant un dispositif endoscopique (1) et des organes (61, 62, 7) servant à générer un premier et un second champ magnétique externe. Le dispositif endoscopique (1) est mû par un système à sustentation magnétique comprenant un premier (2) et un second (3) module, connectés au moyen d'une liaison souple (4), et portant chacun un ou plusieurs aimants permanents (21, 22, 31, 32). Le second module (3) comporte en outre un moteur (34) servant à l'actionnement de ses aimants internes (31, 32). Les organes (61, 62, 7) générant le premier et le second champ magnétique externe sont conçus pour interagir chacun avec les aimants du premier et du second module, de façon à produire autour du second module (3) un champ magnétique spécifique assurant un fonctionnement efficace du système de sustentation magnétique participant à l'orientation du second module (3) par rapport au premier module (2).
PCT/EP2011/066149 2010-09-16 2011-09-16 Dispositif endoscopique à sustentation magnétique WO2012035157A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITFI2010A000196 2010-09-16
ITFI2010A000196A IT1402326B1 (it) 2010-09-16 2010-09-16 Dispositivo endoscopico

Publications (1)

Publication Number Publication Date
WO2012035157A1 true WO2012035157A1 (fr) 2012-03-22

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PCT/EP2011/066149 WO2012035157A1 (fr) 2010-09-16 2011-09-16 Dispositif endoscopique à sustentation magnétique

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IT (1) IT1402326B1 (fr)
WO (1) WO2012035157A1 (fr)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITFI20120133A1 (it) * 2012-06-25 2013-12-26 Scuola Superiore Di Studi Universit Ari E Di Perfe Dispositivo di acquisizione video a punti di vista multipli per chirurgia mini-invasiva
US8891924B2 (en) 2012-04-26 2014-11-18 Bio-Medical Engineering (HK) Limited Magnetic-anchored robotic system
CN104720896A (zh) * 2015-04-01 2015-06-24 西安交通大学医学院第一附属医院 一种用于磁锚定手术器械的体外磁锚定系统
US9579163B2 (en) 2011-05-31 2017-02-28 Pietro Valdastri Robotic platform for mini-invasive surgery
US9737364B2 (en) 2012-05-14 2017-08-22 Vanderbilt University Local magnetic actuation of surgical devices
US9826904B2 (en) 2012-09-14 2017-11-28 Vanderbilt University System and method for detecting tissue surface properties
CN108553077A (zh) * 2018-03-07 2018-09-21 黄达元 一种无线式腹腔镜及使用方法
US10179033B2 (en) 2012-04-26 2019-01-15 Bio-Medical Engineering (HK) Limited Magnetic-anchored robotic system
US10485409B2 (en) 2013-01-17 2019-11-26 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
CN110559080A (zh) * 2019-08-05 2019-12-13 北京航空航天大学 腹腔镜机器人及具有其的系统
CN110559079A (zh) * 2019-08-05 2019-12-13 北京航空航天大学 腹腔镜机器人的控制方法
US10758111B2 (en) 2014-09-09 2020-09-01 Vanderbilt University Hydro-jet endoscopic capsule and methods for gastric cancer screening in low resource settings
US11122965B2 (en) 2017-10-09 2021-09-21 Vanderbilt University Robotic capsule system with magnetic actuation and localization
CN115153412A (zh) * 2022-09-09 2022-10-11 北京华信佳音医疗科技发展有限责任公司 结肠镜系统及其控制方法
CN115670350A (zh) * 2022-12-29 2023-02-03 微创优通医疗科技（上海）有限公司 内窥镜的成像物镜机构、可变焦镜头以及内窥镜
WO2023203510A1 (fr) * 2022-04-20 2023-10-26 Multi-Scale Medical Robotics Center Limited Système magnétique ancré et actionné et son procédé de fabrication

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US20030114731A1 (en) * 2001-12-14 2003-06-19 Cadeddu Jeffrey A. Magnetic positioning system for trocarless laparoscopic instruments
US20050165449A1 (en) * 2003-12-02 2005-07-28 Board Of Regents, The University Of Texas System Surgical anchor and system
US20070157937A1 (en) * 2006-01-11 2007-07-12 Olympus Medical Systems Corp. Medical procedure via natural opening
US20070198000A1 (en) * 2006-02-21 2007-08-23 Olympus Medical Systems Corp. Overtube and operative procedure via bodily orifice
WO2007149559A2 (fr) * 2006-06-22 2007-12-27 Board Of Regents Of The University Of Nebraska dispositifs robotiques pouvant être couplés magnétiquement et procédés associés
US20090082627A1 (en) * 2007-09-20 2009-03-26 Olympus Medical Systems Corp. Medical apparatus
WO2009107892A1 (fr) * 2008-02-29 2009-09-03 University Industry Cooperation Foundation Korea Aerospace University Système d'endoscope
US20100081876A1 (en) * 2008-09-26 2010-04-01 Ethicon Endo-Surgery, Inc. Magnetic scope manipulator

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030114731A1 (en) * 2001-12-14 2003-06-19 Cadeddu Jeffrey A. Magnetic positioning system for trocarless laparoscopic instruments
US20050165449A1 (en) * 2003-12-02 2005-07-28 Board Of Regents, The University Of Texas System Surgical anchor and system
US20070157937A1 (en) * 2006-01-11 2007-07-12 Olympus Medical Systems Corp. Medical procedure via natural opening
US20070198000A1 (en) * 2006-02-21 2007-08-23 Olympus Medical Systems Corp. Overtube and operative procedure via bodily orifice
WO2007149559A2 (fr) * 2006-06-22 2007-12-27 Board Of Regents Of The University Of Nebraska dispositifs robotiques pouvant être couplés magnétiquement et procédés associés
US20090082627A1 (en) * 2007-09-20 2009-03-26 Olympus Medical Systems Corp. Medical apparatus
WO2009107892A1 (fr) * 2008-02-29 2009-09-03 University Industry Cooperation Foundation Korea Aerospace University Système d'endoscope
US20100081876A1 (en) * 2008-09-26 2010-04-01 Ethicon Endo-Surgery, Inc. Magnetic scope manipulator

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9579163B2 (en) 2011-05-31 2017-02-28 Pietro Valdastri Robotic platform for mini-invasive surgery
US9789613B2 (en) 2012-04-26 2017-10-17 Bio-Medical Engineering (HK) Limited Magnetic-anchored robotic system
US8891924B2 (en) 2012-04-26 2014-11-18 Bio-Medical Engineering (HK) Limited Magnetic-anchored robotic system
US9020640B2 (en) 2012-04-26 2015-04-28 Bio-Medical Engineering (HK) Limited Magnetic-anchored robotic system
US10179033B2 (en) 2012-04-26 2019-01-15 Bio-Medical Engineering (HK) Limited Magnetic-anchored robotic system
US10065323B2 (en) 2012-04-26 2018-09-04 Bio-Medical Engineering (HK) Limited Magnetic-anchored robotic system
US9737364B2 (en) 2012-05-14 2017-08-22 Vanderbilt University Local magnetic actuation of surgical devices
ITFI20120133A1 (it) * 2012-06-25 2013-12-26 Scuola Superiore Di Studi Universit Ari E Di Perfe Dispositivo di acquisizione video a punti di vista multipli per chirurgia mini-invasiva
US9826904B2 (en) 2012-09-14 2017-11-28 Vanderbilt University System and method for detecting tissue surface properties
US10485409B2 (en) 2013-01-17 2019-11-26 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
US10758111B2 (en) 2014-09-09 2020-09-01 Vanderbilt University Hydro-jet endoscopic capsule and methods for gastric cancer screening in low resource settings
CN104720896A (zh) * 2015-04-01 2015-06-24 西安交通大学医学院第一附属医院 一种用于磁锚定手术器械的体外磁锚定系统
US11122965B2 (en) 2017-10-09 2021-09-21 Vanderbilt University Robotic capsule system with magnetic actuation and localization
CN108553077A (zh) * 2018-03-07 2018-09-21 黄达元 一种无线式腹腔镜及使用方法
CN108553077B (zh) * 2018-03-07 2024-04-12 黄达元 一种无线式腹腔镜及使用方法
CN110559079B (zh) * 2019-08-05 2021-06-15 北京航空航天大学 腹腔镜机器人的控制方法
CN110559079A (zh) * 2019-08-05 2019-12-13 北京航空航天大学 腹腔镜机器人的控制方法
CN110559080A (zh) * 2019-08-05 2019-12-13 北京航空航天大学 腹腔镜机器人及具有其的系统
WO2023203510A1 (fr) * 2022-04-20 2023-10-26 Multi-Scale Medical Robotics Center Limited Système magnétique ancré et actionné et son procédé de fabrication
CN115153412A (zh) * 2022-09-09 2022-10-11 北京华信佳音医疗科技发展有限责任公司 结肠镜系统及其控制方法
CN115153412B (zh) * 2022-09-09 2022-11-04 北京华信佳音医疗科技发展有限责任公司 结肠镜系统及其控制方法
CN115670350A (zh) * 2022-12-29 2023-02-03 微创优通医疗科技（上海）有限公司 内窥镜的成像物镜机构、可变焦镜头以及内窥镜
CN115670350B (zh) * 2022-12-29 2023-04-18 微创优通医疗科技（上海）有限公司 内窥镜的成像物镜机构、可变焦镜头以及内窥镜

Also Published As

Publication number Publication date
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IT1402326B1 (it) 2013-08-30

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