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WO2008126656A1 - 線状体の駆動装置 - Google Patents

線状体の駆動装置 Download PDF

Info

Publication number
WO2008126656A1
WO2008126656A1 PCT/JP2008/055268 JP2008055268W WO2008126656A1 WO 2008126656 A1 WO2008126656 A1 WO 2008126656A1 JP 2008055268 W JP2008055268 W JP 2008055268W WO 2008126656 A1 WO2008126656 A1 WO 2008126656A1
Authority
WO
WIPO (PCT)
Prior art keywords
linear object
driving
driving device
measurement
compressive force
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/JP2008/055268
Other languages
English (en)
French (fr)
Inventor
Hideo Fujimoto
Akihito Sano
Yoshitaka Nagano
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.)
NTN Corp
Nagoya Institute of Technology NUC
Original Assignee
NTN Corp
Nagoya Institute of Technology NUC
NTN Toyo Bearing Co Ltd
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 Corp, Nagoya Institute of Technology NUC, NTN Toyo Bearing Co Ltd filed Critical NTN Corp
Priority to US12/595,363 priority Critical patent/US8715271B2/en
Priority to EP08722632.0A priority patent/EP2135635B1/en
Publication of WO2008126656A1 publication Critical patent/WO2008126656A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Medical Informatics (AREA)
  • Medicinal Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Algebra (AREA)
  • Computational Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pulmonology (AREA)
  • General Health & Medical Sciences (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Theoretical Computer Science (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Surgical Instruments (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Transmission Devices (AREA)

Abstract

　安全かつ確実な線状体の操作を行なうことが可能な線状体の駆動装置を提供する。線状体挿入装置は、駆動部（１３０）と、操作部（１４０）と、測定部としてのセンサ部（１１０）および演算部（１２０）と、報知部としての出力部とを備える。駆動部（１３０）は、可撓性を有する線状体（１）を駆動する。操作部（１４０）は、駆動部（１３０）の動作を制御するために操作者が操作する入力部材（操作レバー（４０））を含む。測定部に含まれるセンサ部（１１０）は、駆動部（１３０）により駆動される線状体（１）の湾曲の度合いに基づいて線状体（１）に作用する長手軸方向の圧縮力を検出する。出力部（２６～２９）は、測定部により検出された圧縮力のデータを報知する。
PCT/JP2008/055268 2007-04-10 2008-03-21 線状体の駆動装置 Ceased WO2008126656A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/595,363 US8715271B2 (en) 2007-04-10 2008-03-21 Linear body drive device
EP08722632.0A EP2135635B1 (en) 2007-04-10 2008-03-21 Linear object driving device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007102962A JP5177352B2 (ja) 2007-04-10 2007-04-10 線状体の駆動装置
JP2007-102962 2007-04-10

Publications (1)

Publication Number Publication Date
WO2008126656A1 true WO2008126656A1 (ja) 2008-10-23

Family

ID=39863775

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/055268 Ceased WO2008126656A1 (ja) 2007-04-10 2008-03-21 線状体の駆動装置

Country Status (4)

Country Link
US (1) US8715271B2 (ja)
EP (1) EP2135635B1 (ja)
JP (1) JP5177352B2 (ja)
WO (1) WO2008126656A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014525602A (ja) * 2011-08-24 2014-09-29 アンジェロ トルトラ 外科技能訓練のためのアプリケーション及び方法

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8202229B2 (en) * 2007-10-01 2012-06-19 Suros Surgical Systems, Inc. Surgical device
US8808200B2 (en) 2007-10-01 2014-08-19 Suros Surgical Systems, Inc. Surgical device and method of using same
JP5322153B2 (ja) * 2008-03-25 2013-10-23 Ｎｔｎ株式会社 医療用線状体の駆動装置
JP5313777B2 (ja) * 2009-06-11 2013-10-09 国立大学法人 筑波大学 カテーテル装置
WO2011046028A1 (ja) * 2009-10-14 2011-04-21 国立大学法人 名古屋工業大学 挿入装置、訓練装置および記録システム
WO2011088357A1 (en) 2010-01-15 2011-07-21 Immersion Corporation Systems and methods for minimally invasive surgical tools with haptic feedback
EP3659661B8 (en) * 2010-03-02 2025-02-12 Siemens Healthineers Endovascular Robotics, Inc. Robotic catheter system with variable drive mechanism
US20120035596A1 (en) * 2010-08-04 2012-02-09 Tegg Troy T Disposable Drive Interface for Longitudinal Movement of an Elongate Medical Device
JP5855423B2 (ja) 2011-11-01 2016-02-09 オリンパス株式会社 手術支援装置
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
US10244926B2 (en) * 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US20190175887A1 (en) * 2017-12-13 2019-06-13 Acclarent, Inc. Dilation instrument with proximally located force sensor
KR20200100613A (ko) 2017-12-14 2020-08-26 아우리스 헬스, 인코포레이티드 기구 위치 추정을 위한 시스템 및 방법
EP4545128A3 (en) * 2018-09-19 2025-10-22 Siemens Healthineers Endovascular Robotics, Inc. Robotic assisted movements of elongated medical devices

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08224246A (ja) * 1995-02-22 1996-09-03 Olympus Optical Co Ltd 医療用マニピュレータ
JPH09149939A (ja) * 1995-12-01 1997-06-10 Tokai Rika Co Ltd 体内挿入用医療器具のセンサ
JP2000042117A (ja) * 1998-07-10 2000-02-15 Mitsubishi Electric Inf Technol Center America Inc 細長い物体用のアクチュエ―タ
JP2000042116A (ja) 1998-07-10 2000-02-15 Mitsubishi Electric Inf Technol Center America Inc 医療器具操作装置
JP2004239667A (ja) * 2003-02-04 2004-08-26 Connect Japan Kk ワイヤープローブユニット
WO2007111182A1 (ja) * 2006-03-27 2007-10-04 National University Corporation Nagoya Institute Of Technology 可撓性線状体の圧縮力計測装置および計測方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69732566T2 (de) 1996-05-17 2006-01-12 Biosense Webster, Inc., Diamond Bar Selbstausrichtender katheter
DK0901341T3 (da) 1997-01-03 2005-05-30 Biosense Webster Inc Krumningsfölsomt kateter
SI0901341T1 (en) 1997-01-03 2005-04-30 Biosense Webster, Inc. Bend-responsive catheter
US6981945B1 (en) * 2004-11-12 2006-01-03 Artann Laboratories, Inc. Colonoscope handgrip with force and torque monitor
DE102005002461B3 (de) * 2005-01-18 2006-07-06 Martin Dr. Neumann Antrieb für ein Endoskop

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08224246A (ja) * 1995-02-22 1996-09-03 Olympus Optical Co Ltd 医療用マニピュレータ
JPH09149939A (ja) * 1995-12-01 1997-06-10 Tokai Rika Co Ltd 体内挿入用医療器具のセンサ
JP2000042117A (ja) * 1998-07-10 2000-02-15 Mitsubishi Electric Inf Technol Center America Inc 細長い物体用のアクチュエ―タ
JP2000042116A (ja) 1998-07-10 2000-02-15 Mitsubishi Electric Inf Technol Center America Inc 医療器具操作装置
JP2004239667A (ja) * 2003-02-04 2004-08-26 Connect Japan Kk ワイヤープローブユニット
WO2007111182A1 (ja) * 2006-03-27 2007-10-04 National University Corporation Nagoya Institute Of Technology 可撓性線状体の圧縮力計測装置および計測方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2135635A4 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014525602A (ja) * 2011-08-24 2014-09-29 アンジェロ トルトラ 外科技能訓練のためのアプリケーション及び方法

Also Published As

Publication number Publication date
EP2135635A4 (en) 2011-03-02
EP2135635A1 (en) 2009-12-23
US20100057099A1 (en) 2010-03-04
EP2135635B1 (en) 2016-03-09
JP2008259575A (ja) 2008-10-30
US8715271B2 (en) 2014-05-06
JP5177352B2 (ja) 2013-04-03

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