WO2015136402A1 - System and method of haptic feedback for transesophageal echocardiogram ultrasound transducer probe - Google Patents

System and method of haptic feedback for transesophageal echocardiogram ultrasound transducer probe Download PDF

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Publication number
WO2015136402A1
WO2015136402A1 PCT/IB2015/051507 IB2015051507W WO2015136402A1 WO 2015136402 A1 WO2015136402 A1 WO 2015136402A1 IB 2015051507 W IB2015051507 W IB 2015051507W WO 2015136402 A1 WO2015136402 A1 WO 2015136402A1
Authority
WO
WIPO (PCT)
Prior art keywords
ultrasound transducer
contact force
transducer probe
force
distal tip
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/IB2015/051507
Other languages
English (en)
French (fr)
Inventor
Michael Peszynski
Carmen GOODWIN
Daniel Thomas NAHILL
Benjamin C. SANCETTA
Bangyan ZHANG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips NV
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 Koninklijke Philips NV filed Critical Koninklijke Philips NV
Priority to EP15708609.1A priority Critical patent/EP3116406A1/en
Priority to RU2016139689A priority patent/RU2016139689A/ru
Priority to JP2016555318A priority patent/JP2017506969A/ja
Priority to US15/119,146 priority patent/US20170007202A1/en
Priority to CN201580013329.4A priority patent/CN106102592B/zh
Publication of WO2015136402A1 publication Critical patent/WO2015136402A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0883—Clinical applications for diagnosis of the heart
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/13—Tomography
    • A61B8/14—Echo-tomography
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4272—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue
    • A61B8/429—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue characterised by determining or monitoring the contact between the transducer and the tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/54—Control of the diagnostic device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/225—Measuring circuits therefor
    • G01L1/2262—Measuring circuits therefor involving simple electrical bridges
    • 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
    • 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
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/58—Testing, adjusting or calibrating the diagnostic device

Definitions

  • the manual controls may provide direct tactile feedback to the operator by stiffening or becoming harder to adjust as the distal tip approaches inherent articulation physical limits.
  • control apparatus includes: at least one control mechanism; and at least one articulation cable connected between the control mechanism and the distal tip such that the control mechanism may maneuver the distal tip, wherein the contact force sensing device includes a torque sensor configured to sense a torque between the articulation cable and the control mechanism and in response thereto to produce an output signal which is a function of the contact force.
  • processing device 150 may include a comparator which compares the output signal which responds to the contact force between a patient and the distal tip of TEE ultrasound transducer probe 120 to a threshold, and generates a feedback signal which indicates when the contact force between a patient and the distal tip of TEE ultrasound transducer probe 120 exceeds a threshold.
  • the threshold value may represent a maximum safe contact force that should be applied to a patient by the distal tip of TEE ultrasound transducer probe 120 to insure prevention of esophageal or gastric trauma or injury to the patient.
  • the threshold value may be determined during a calibration procedure for TEE ultrasound transducer probe 120 and/or system 100, which may be performed in situ.
  • frictional force generated by the articulation or pull cables may be captured, stored and characterized through an open loop feedback process during system use. This data may then be subtracted from the signal produced by strain gauges 910 to determine true haptic force measurements. Detection circuitry similar to that shown in FIGs. 7 A and 7B may be employed with strain gauges 910 to generate a feedback signal for alerting an operator when the contact force between TEE ultrasound transducer probe 120 and a patient exceeds a patient.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Surgery (AREA)
  • Biophysics (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Cardiology (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Gynecology & Obstetrics (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
PCT/IB2015/051507 2014-03-12 2015-03-02 System and method of haptic feedback for transesophageal echocardiogram ultrasound transducer probe Ceased WO2015136402A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP15708609.1A EP3116406A1 (en) 2014-03-12 2015-03-02 System and method of haptic feedback for transesophageal echocardiogram ultrasound transducer probe
RU2016139689A RU2016139689A (ru) 2014-03-12 2015-03-02 Система и способ тактильной обратной связи для чреспищеводного эхокардиограммного зонда с ультразвуковым преобразователем
JP2016555318A JP2017506969A (ja) 2014-03-12 2015-03-02 経食道心エコー超音波トランスデューサプローブのための触覚フィードバックのシステム及び方法
US15/119,146 US20170007202A1 (en) 2014-03-12 2015-03-02 System and method of haptic feedback for transesophageal echocardiogram ultrasound transducer probe
CN201580013329.4A CN106102592B (zh) 2014-03-12 2015-03-02 用于经食道超声心动图超声换能器探头的触觉反馈的系统和方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201461951717P 2014-03-12 2014-03-12
US61/951,717 2014-03-12

Publications (1)

Publication Number Publication Date
WO2015136402A1 true WO2015136402A1 (en) 2015-09-17

Family

ID=52630448

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2015/051507 Ceased WO2015136402A1 (en) 2014-03-12 2015-03-02 System and method of haptic feedback for transesophageal echocardiogram ultrasound transducer probe

Country Status (6)

Country Link
US (1) US20170007202A1 (https=)
EP (1) EP3116406A1 (https=)
JP (1) JP2017506969A (https=)
CN (1) CN106102592B (https=)
RU (1) RU2016139689A (https=)
WO (1) WO2015136402A1 (https=)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020126844A1 (en) * 2018-12-19 2020-06-25 Koninklijke Philips N.V. Ultrasound transducer unit with friction guiding function
JP2021512703A (ja) * 2018-02-08 2021-05-20 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 経食道心エコーのためのデバイス、システム及び方法
WO2025226706A1 (en) * 2024-04-23 2025-10-30 Shifamed Holdings, Llc Transesophageal echocardiography probe handle torque sensor and control methods

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US10674997B2 (en) * 2015-08-10 2020-06-09 Shaohua Hu Ultrasonic tracking probe and the method
US20190021699A1 (en) * 2016-01-15 2019-01-24 Koninklijke Philips N.V. Automatic probe steering to clinical views using annotations in a fused image guidance system
KR102721645B1 (ko) * 2016-09-27 2024-10-25 삼성메디슨 주식회사 초음파 진단 장치 및 초음파 진단 장치의 작동 방법
CN109288540A (zh) * 2017-07-24 2019-02-01 云南师范大学 一种具有触觉反馈的远程超声诊断系统
CN108992086A (zh) * 2017-10-20 2018-12-14 深圳华大智造科技有限公司 超声检测装置、台车及超声系统
JP7301847B2 (ja) * 2017-12-28 2023-07-03 エシコン エルエルシー 歪みゲージ回路からの入力を使用する制御システムを備える外科用器具
CN112438757B (zh) * 2019-08-27 2025-01-21 深圳迈瑞生物医疗电子股份有限公司 超声探头
WO2021115905A1 (en) * 2019-12-12 2021-06-17 Koninklijke Philips N.V. Intuitive control interface for a robotic tee probe using a hybrid imaging-elastography controller
EP4072430B1 (en) * 2019-12-12 2024-10-30 Koninklijke Philips N.V. Systems for guiding an ultrasound probe
JP7715149B2 (ja) * 2019-12-12 2025-07-30 コーニンクレッカ フィリップス エヌ ヴェ Ｔｅｅプローブのハイブリッドロボット－画像平面制御
WO2023000085A1 (en) * 2021-07-22 2023-01-26 The University Of British Columbia System and apparatus for remote interaction with an object
US12582382B2 (en) * 2021-07-22 2026-03-24 The University Of British Columbia System and apparatus for remote interaction with an object
CN115990038A (zh) * 2021-10-20 2023-04-21 佳能医疗系统株式会社 超声波诊断装置、信息处理方法及存储介质
EP4169452A1 (en) * 2021-10-20 2023-04-26 Canon Medical Systems Corporation Ultrasonic diagnostic apparatus, information-processing method, and storage medium
EP4248877A1 (en) * 2022-03-23 2023-09-27 Koninklijke Philips N.V. Transesophageal transducer to increase patient safety
CN119012970A (zh) * 2022-04-27 2024-11-22 普罗赛普特生物机器人公司 超声波棒式探头
US12446858B2 (en) * 2023-06-29 2025-10-21 Fujifilm Sonosite, Inc. Displaying visual representations of ultrasound transducers
WO2025090965A1 (en) * 2023-10-27 2025-05-01 Shifamed Holdings, Llc Robotic transesophageal echocardiography imaging systems

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Publication number Priority date Publication date Assignee Title
JP2021512703A (ja) * 2018-02-08 2021-05-20 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 経食道心エコーのためのデバイス、システム及び方法
WO2020126844A1 (en) * 2018-12-19 2020-06-25 Koninklijke Philips N.V. Ultrasound transducer unit with friction guiding function
US12239483B2 (en) 2018-12-19 2025-03-04 Koninklijke Philips N.V. Ultrasound transducer unit with friction guiding function
WO2025226706A1 (en) * 2024-04-23 2025-10-30 Shifamed Holdings, Llc Transesophageal echocardiography probe handle torque sensor and control methods

Also Published As

Publication number Publication date
EP3116406A1 (en) 2017-01-18
JP2017506969A (ja) 2017-03-16
CN106102592B (zh) 2021-01-22
US20170007202A1 (en) 2017-01-12
RU2016139689A (ru) 2018-04-12
CN106102592A (zh) 2016-11-09
RU2016139689A3 (https=) 2018-10-15

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