WO2008093455A1 - 内視鏡手術装置 - Google Patents

内視鏡手術装置 Download PDF

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Publication number
WO2008093455A1
WO2008093455A1 PCT/JP2007/070947 JP2007070947W WO2008093455A1 WO 2008093455 A1 WO2008093455 A1 WO 2008093455A1 JP 2007070947 W JP2007070947 W JP 2007070947W WO 2008093455 A1 WO2008093455 A1 WO 2008093455A1
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WO
WIPO (PCT)
Prior art keywords
treatment
operation device
endoscopic operation
function
reference position
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/JP2007/070947
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English (en)
French (fr)
Inventor
Yuta Sugiyama
Kazuhiko Takahashi
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.)
Olympus Medical Systems Corp
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Olympus Medical Systems Corp
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 Olympus Medical Systems Corp filed Critical Olympus Medical Systems Corp
Priority to EP07830681.8A priority Critical patent/EP2108327B1/en
Priority to CN2007800507245A priority patent/CN101594835B/zh
Publication of WO2008093455A1 publication Critical patent/WO2008093455A1/ja
Priority to US12/533,525 priority patent/US20090292165A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/37—Leader-follower robots
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/018—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 characterised by internal passages or accessories therefor for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1492—Probes or electrodes therefor having a flexible, catheter-like structure, e.g. for heart ablation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/0034—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (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)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)

Abstract

　処置の正確性を増大させることが可能な内視鏡手術装置を提供する。 　内視鏡手術装置は、内視鏡１０１のチャンネルに挿通され、処置機能を備える処置部２０２を有し、移動機能を備える処置用処置具２０１と、処置用処置具２０１による処置の基準となる基準位置Ｏ及び基準位置Ｏに対する基準方向Ｄを設定する設定手段と、基準位置Ｏに対する基準方向Ｄへの処置用処置具２０１の移動状態を検出する検出手段と、移動状態に基づいて移動機能あるいは処置機能を制御する制御手段と、を有する。
PCT/JP2007/070947 2007-02-01 2007-10-26 内視鏡手術装置 Ceased WO2008093455A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP07830681.8A EP2108327B1 (en) 2007-02-01 2007-10-26 Endoscopic operation device
CN2007800507245A CN101594835B (zh) 2007-02-01 2007-10-26 内窥镜手术装置
US12/533,525 US20090292165A1 (en) 2007-02-01 2009-07-31 Endoscopic surgical apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007023302A JP4960112B2 (ja) 2007-02-01 2007-02-01 内視鏡手術装置
JP2007-023302 2007-02-01

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/533,525 Continuation US20090292165A1 (en) 2007-02-01 2009-07-31 Endoscopic surgical apparatus

Publications (1)

Publication Number Publication Date
WO2008093455A1 true WO2008093455A1 (ja) 2008-08-07

Family

ID=39673771

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/070947 Ceased WO2008093455A1 (ja) 2007-02-01 2007-10-26 内視鏡手術装置

Country Status (5)

Country Link
US (1) US20090292165A1 (ja)
EP (1) EP2108327B1 (ja)
JP (1) JP4960112B2 (ja)
CN (1) CN101594835B (ja)
WO (1) WO2008093455A1 (ja)

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WO2014156229A1 (ja) * 2013-03-27 2014-10-02 オリンパス株式会社 操作入力装置およびマスタスレーブシステム
JP2015080845A (ja) * 2013-10-24 2015-04-27 オリンパス株式会社 医療用マニピュレータおよび医療用マニピュレータの初期化方法
JP2016531008A (ja) * 2013-07-30 2016-10-06 ゴムテック ゲーエムベーハー ロボットの作業領域を定める方法及び装置
JP2018089464A (ja) * 2011-05-31 2018-06-14 インテュイティブ サージカル オペレーションズ， インコーポレイテッド ロボットによる手術用器具のエンドエフェクタの積極的な制御

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JP5953058B2 (ja) 2011-08-04 2016-07-13 オリンパス株式会社 手術支援装置およびその着脱方法
JP5936914B2 (ja) 2011-08-04 2016-06-22 オリンパス株式会社 操作入力装置およびこれを備えるマニピュレータシステム
JP6005950B2 (ja) 2011-08-04 2016-10-12 オリンパス株式会社 手術支援装置及びその制御方法
CN103717169B (zh) 2011-08-04 2016-11-16 奥林巴斯株式会社 医疗用机械手及其控制方法
JP6021484B2 (ja) 2011-08-04 2016-11-09 オリンパス株式会社 医療用マニピュレータ
JP6081061B2 (ja) * 2011-08-04 2017-02-15 オリンパス株式会社 手術支援装置
JP2013111332A (ja) * 2011-11-30 2013-06-10 Fukuda Denshi Co Ltd 焼灼状態通知装置
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JP6234643B2 (ja) * 2015-07-23 2017-11-22 オリンパス株式会社 医療システム及びその作動方法
CN105287015A (zh) * 2015-11-11 2016-02-03 天津万和医疗器械有限公司 一种计数指示装置及采用该计数指示装置的医疗器械
JP6934861B2 (ja) * 2015-11-24 2021-09-15 シンク サージカル， インコーポレイテッド 膝関節全置換術における、能動的なロボットピン配置
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JP7115493B2 (ja) * 2017-11-01 2022-08-09 ソニーグループ株式会社 手術アームシステム及び手術アーム制御システム
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JPH0542167A (ja) 1991-08-16 1993-02-23 Olympus Optical Co Ltd 内視鏡用高周波処置具
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018089464A (ja) * 2011-05-31 2018-06-14 インテュイティブ サージカル オペレーションズ， インコーポレイテッド ロボットによる手術用器具のエンドエフェクタの積極的な制御
WO2014156229A1 (ja) * 2013-03-27 2014-10-02 オリンパス株式会社 操作入力装置およびマスタスレーブシステム
JPWO2014156229A1 (ja) * 2013-03-27 2017-02-16 オリンパス株式会社 操作入力装置およびマスタスレーブシステム
JP2016531008A (ja) * 2013-07-30 2016-10-06 ゴムテック ゲーエムベーハー ロボットの作業領域を定める方法及び装置
JP2015080845A (ja) * 2013-10-24 2015-04-27 オリンパス株式会社 医療用マニピュレータおよび医療用マニピュレータの初期化方法
WO2015060428A1 (ja) * 2013-10-24 2015-04-30 オリンパス株式会社 医療用マニピュレータおよび医療用マニピュレータの初期化方法
CN105682600A (zh) * 2013-10-24 2016-06-15 奥林巴斯株式会社 医疗用机械手和医疗用机械手的初始化方法
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Also Published As

Publication number Publication date
JP4960112B2 (ja) 2012-06-27
EP2108327A4 (en) 2012-11-07
JP2008188109A (ja) 2008-08-21
EP2108327B1 (en) 2018-07-25
US20090292165A1 (en) 2009-11-26
EP2108327A1 (en) 2009-10-14
CN101594835A (zh) 2009-12-02
CN101594835B (zh) 2011-12-21

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