[go: up one dir, main page]

WO1999033392A1 - Sonde deformable avec detection automatique de la position de ladite sonde - Google Patents

Sonde deformable avec detection automatique de la position de ladite sonde Download PDF

Info

Publication number
WO1999033392A1
WO1999033392A1 PCT/AT1998/000320 AT9800320W WO9933392A1 WO 1999033392 A1 WO1999033392 A1 WO 1999033392A1 AT 9800320 W AT9800320 W AT 9800320W WO 9933392 A1 WO9933392 A1 WO 9933392A1
Authority
WO
WIPO (PCT)
Prior art keywords
probe
sensors
probe according
deformation
computer
Prior art date
Application number
PCT/AT1998/000320
Other languages
German (de)
English (en)
Inventor
Falko Skrabal
Jürgen FORTIN
Original Assignee
Falko Skrabal
Fortin Juergen
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 Falko Skrabal, Fortin Juergen filed Critical Falko Skrabal
Publication of WO1999033392A1 publication Critical patent/WO1999033392A1/fr

Links

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
    • A61B1/31—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 the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
    • 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
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/03—Measuring fluid pressure within the body other than blood pressure, e.g. cerebral pressure ; Measuring pressure in body tissues or organs
    • A61B5/036—Measuring fluid pressure within the body other than blood pressure, e.g. cerebral pressure ; Measuring pressure in body tissues or organs by means introduced into body tracts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • 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
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings

Definitions

  • FR 2 732 225 AI (MAZARS) describes a probe that automatically inserts into the hollow body.
  • this probe is equipped with bimetallic lamellae or with piezo elements and divided into individual segments, which deform independently of one another, in the same way as the foremost segment specified for the subsequent segments. This is dangerous and not feasible because it would presuppose that the cavity examined did not undergo any natural deformation during the entire examination period. This is not the case in the case of the intestine, since the intestine is equipped with muscle cells and has natural movement due to the peristalsis. This cannot be detected with the device described.
  • WO 95/04556 (ACTIVE CONTROL) describes a cardiac catheter, the deformation of which is observed on the X-ray screen, it being possible for piezoelectric elements to produce difficult curvatures which cannot be accomplished with conventional cable pulls.
  • EP 0 077 526 A2 (OLYMPUS) describes a servo device for operating an endoscope, the manual rotation of the operating levers being detected by stretching a piezoelectric rubber, as a result of which the servo device is controlled.
  • the device cannot detect the position of the probe.
  • TKAYAMA the bending of the control head of an endoscope is brought about by an alloy which, when heated, reaches a defined angle. This saves the cables for the endoscope, but the deformation of the probe cannot be detected.
  • the object of the present invention is to avoid the disadvantages shown and to create a probe which allows the position of a cavity or a probe (for example an endoscope) which is inserted into this cavity to be recognized from the outside with any loops and loops .
  • this object is achieved in that a plurality of deformation sensors are attached over the length of the probe, these sensors either transmitting their signals via electrical lines or by radio to a computer which calculates the exact deformation and position of the probe from the signals of the individual sensors .
  • These deformation sensors can either transmit the curvature of the probe to the examining person via electrical lines or also wirelessly, a screen preferably being offered on which the position of the probe with all its windings and loops is displayed.
  • Either strain gauges or piezoelectric elements which are distributed over the length of the probe and are attached to the probe, are preferably used as sensors. These strain gauges or piezoelectric elements are connected to a computer outside the body via wires. This computer can preferably graphically display the exact position and curvature of the probe on the screen. The number of sensors required results from the minimum radius of curvature, i.e. from the steepness of the device. The smaller the radius of curvature and the more flexible the device, the more sensors are necessary over the course.
  • a flexible probe which can remain in the device during the entire examination process, is preferably inserted into a possible cavity of the probe (eg working channel of an endoscope).
  • the outer diameter of this probe is through the Given the diameter of the cavity of the outer probe and is, for example, normally 3 mm for the endoscope.
  • This probe is preferably manufactured in such a way that the piezoelectric elements or the strain gauges are completed with the electrical connections and then a thin plastic or rubber skin is placed over the sensors in a vulcanization, shrinking or spraying process. A smooth surface of the device can then be achieved.
  • a multiplex circuit is also suitable, with which the sensors are linked to one another, and as is well known from the literature. This means that up to x * (x-l) / 2 sensors can be supplied from x electrical lines (e.g. 28 sensors from 8 lines).
  • sensors strain gauges or piezoelectric elements
  • the signals from the sensors must indicate the curvature of the probe in three-dimensional space, whereby two sensors offset by approx. 90 degrees from the circumference of the device are sufficient to calculate a three-dimensional deformation.
  • sensors are also suitable that can record deformation in more than one plane. In this case, only one sensor would have to be distributed over the respective length of the probe.
  • AD converters For the computing process, it is favorable to transmit the analog signals of the individual sensors to the computer in a known manner via AD converters.
  • FIG. 1 shows a probe according to the invention
  • FIG. 2 shows a section of the probe in the area of the deformation sensors
  • FIG. 3 shows a phantom for calibrating the probe
  • FIG. 4 shows a circuit diagram (multiplex circuit) for the measurement value acquisition.
  • FIG. 1 shows a probe 1 which contains the electrical leads 3 of the deformation sensors 4 in its inner lumen 2. Since the deformation of the probe 1 can be very strong, but the deformation sensors 4 are only slightly expandable, it can be advantageous that the deformation sensors 4 are applied to a rigid medium which has essentially a similar deformability as the sensors themselves Fig. 1 is used as a rigid medium, for example, a short hollow plastic body 5, which is informed of the deformation by the outer probe 1. This hollow plastic body 5 must accordingly be kept short so as not to endanger the deformability of the entire probe.
  • the feed lines 3 are connected to a computer 9, which calculates the deformation from the signals from the deformation sensors 4 distributed over the length of the probe 1 and advantageously displays them in three dimensions on the screen 10.
  • the probe 1 can be cleaned or washed in the usual manner after use, provision is made for the electrical supply lines 3 to the computer 9 to end in a plug 11, for example, which can be closed with a tight cover 12 or is automatically closed when the computer 9 is removed.
  • the examiner knows which part of the probe 1 has already been inserted into the living body, preferably only the inserted part of the probe 1 should be displayed on the screen 10.
  • the examiner could only enter the length of the part of the inserted probe 1 into the computer.
  • a spacer (not shown) could be attached to the opening of the hollow body, which detects the length of the inserted probe 1. This could be, for example, a mechanical or electronic motion sensor.
  • it could prove useful to display the sections of the probe 1 on the screen 10 at equidistant intervals with an indication of cm.
  • the wire 8 shown in FIG. 1 is connected to a soft deformable material 13 (for example soft rubber) at the tip of the probe, the wire 8 stretching this deformable material when it is advanced and thus reducing the diameter and shortening the deformable material when it is withdrawn, so that the probe tip can be fixed in the desired position in the cavity of the outer probe (not shown).
  • a soft deformable material 13 for example soft rubber
  • two deformation sensors 4a and 4b in the example shown strain gauges 4a and 4b, are attached offset by approximately 90 ° to the circumference of the hollow body 5 in order to be able to detect the deformation of the probe 1 in three-dimensional space .
  • a third deformation sensor 4c offset by approximately 135 ° from the other two deformation sensors 4a and 4b in order to compensate for fluctuations in measured values.
  • the circuit diagram for the measured value acquisition is an analog multiplex circuit.
  • the resistance of the strain gauges 4a, 4b, 4c is advantageously determined using the 4-wire measurement method.
  • the measuring current is kept low in accordance with the medical regulations (e.g. EN 60-601-1), e.g. in the order of 400 ⁇ A.
  • the measuring current is advantageously kept as an alternating current in a medical application, the frequency being approximately 40 kHz.

Landscapes

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

Abstract

L'invention concerne une sonde déformable (1) pouvant être placée dans des cavités ou dans des milieux impossibles à examiner. Ladite sonde présente plusieurs détecteurs de déformation et de torsion (4, 7) répartis sur sa longueur. Les lignes d'alimentation (3) sont guidées vers l'extérieur de préférence dans des circuits de multiplexage et sont raccordées à un ordinateur (9). Le calcul de la déformation et de la position de la sonde s'effectue au moyen d'un procédé de calcul itératif différentiel, et la position de la sonde est affichée sur un écran (10).
PCT/AT1998/000320 1997-12-29 1998-12-23 Sonde deformable avec detection automatique de la position de ladite sonde WO1999033392A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA2190/97 1997-12-29
AT219097 1997-12-29

Publications (1)

Publication Number Publication Date
WO1999033392A1 true WO1999033392A1 (fr) 1999-07-08

Family

ID=3529644

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT1998/000320 WO1999033392A1 (fr) 1997-12-29 1998-12-23 Sonde deformable avec detection automatique de la position de ladite sonde

Country Status (1)

Country Link
WO (1) WO1999033392A1 (fr)

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6517477B1 (en) 2000-01-27 2003-02-11 Scimed Life Systems, Inc. Catheter introducer system for exploration of body cavities
EP1530943A1 (fr) * 2000-04-03 2005-05-18 Neoguide Systems, Inc. Endoscope orientable et méthode ameliorée d'insertion
WO2005084542A1 (fr) * 2004-03-04 2005-09-15 Agency For Science, Technology And Research Appareil pour actes medicaux et ou simulation
US6974411B2 (en) 2000-04-03 2005-12-13 Neoguide Systems, Inc. Endoscope with single step guiding apparatus
US7172552B2 (en) 2000-01-27 2007-02-06 Boston Scientific Scimed, Inc. Catheter introducer system for exploration of body cavities
WO2008094949A2 (fr) 2007-01-29 2008-08-07 Neoguide Systems, Inc. Procédés et appareils pour utiliser un détecteur de forme avec des instruments commandables
EP2064984A3 (fr) * 2007-11-29 2009-09-02 Olympus Medical Systems Corporation Système de dispositif thérapeutique et système de manipulateur
US8083879B2 (en) 2005-11-23 2011-12-27 Intuitive Surgical Operations, Inc. Non-metallic, multi-strand control cable for steerable instruments
US8182418B2 (en) 2008-02-25 2012-05-22 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
US8361090B2 (en) 2002-01-09 2013-01-29 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US8517923B2 (en) 2000-04-03 2013-08-27 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US8568299B2 (en) 2006-05-19 2013-10-29 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US8721530B2 (en) 2000-04-03 2014-05-13 Intuitive Surgical Operations, Inc. Tendon-driven endoscope and methods of use
US8758232B2 (en) 2008-06-30 2014-06-24 Oliver Crispin Robotics Limited Robotic arm
WO2014110118A1 (fr) * 2013-01-10 2014-07-17 Ohio University Procédé et dispositif d'évaluation d'une opération de coloscopie
US8845524B2 (en) 2000-04-03 2014-09-30 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US8882657B2 (en) 2003-03-07 2014-11-11 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US9220398B2 (en) 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments
CN105283115A (zh) * 2013-05-29 2016-01-27 奥林巴斯株式会社 校正辅助装置、弯曲系统及校正方法
EP3031385A4 (fr) * 2013-08-06 2017-03-22 Olympus Corporation Système d'introduction et procédé pour ajuster des caractéristiques de détection de forme d'un capteur de forme
US10512392B2 (en) 2008-02-06 2019-12-24 Intuitive Surgical Operations, Inc. Segmented instrument having braking capabilities
US11096563B2 (en) 2005-11-22 2021-08-24 Intuitive Surgical Operations, Inc. Method of determining the shape of a bendable instrument
US20220322917A1 (en) * 2020-03-10 2022-10-13 Hoya Corporation Endoscope processor, endoscope, and endoscope system

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3643653A (en) * 1968-12-24 1972-02-22 Olympus Optical Co Endoscopic apparatus
US4366810A (en) * 1980-08-28 1983-01-04 Slanetz Jr Charles A Tactile control device for a remote sensing device
EP0077526A2 (fr) 1981-10-15 1983-04-27 Olympus Optical Co., Ltd. Système endoscopique à articulation commandé électriquement
US4873990A (en) * 1988-09-23 1989-10-17 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Circumferential pressure probe
EP0342249A1 (fr) * 1988-05-14 1989-11-23 Hewlett-Packard GmbH Moniteur de la pression sanguine
US4899731A (en) 1986-10-16 1990-02-13 Olympus Optical Co., Ltd. Endoscope
US4930494A (en) 1988-03-09 1990-06-05 Olympus Optical Co., Ltd. Apparatus for bending an insertion section of an endoscope using a shape memory alloy
US5060632A (en) * 1989-09-05 1991-10-29 Olympus Optical Co., Ltd. Endoscope apparatus
WO1995004556A2 (fr) 1993-07-28 1995-02-16 Active Control Experts, Inc. Dispositif de catheterisme telecommande
FR2732225A1 (fr) 1995-03-27 1996-10-04 Mazars Paul Catheter a deformation pilotee
WO1997010746A1 (fr) * 1995-09-20 1997-03-27 University Of Wales College Of Medicine Mesure de l'angle ano-rectal
US5728044A (en) * 1995-03-10 1998-03-17 Shan; Yansong Sensor device for spacial imaging of endoscopes

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3643653A (en) * 1968-12-24 1972-02-22 Olympus Optical Co Endoscopic apparatus
US4366810A (en) * 1980-08-28 1983-01-04 Slanetz Jr Charles A Tactile control device for a remote sensing device
EP0077526A2 (fr) 1981-10-15 1983-04-27 Olympus Optical Co., Ltd. Système endoscopique à articulation commandé électriquement
US4899731A (en) 1986-10-16 1990-02-13 Olympus Optical Co., Ltd. Endoscope
US4930494A (en) 1988-03-09 1990-06-05 Olympus Optical Co., Ltd. Apparatus for bending an insertion section of an endoscope using a shape memory alloy
EP0342249A1 (fr) * 1988-05-14 1989-11-23 Hewlett-Packard GmbH Moniteur de la pression sanguine
US4873990A (en) * 1988-09-23 1989-10-17 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Circumferential pressure probe
US5060632A (en) * 1989-09-05 1991-10-29 Olympus Optical Co., Ltd. Endoscope apparatus
WO1995004556A2 (fr) 1993-07-28 1995-02-16 Active Control Experts, Inc. Dispositif de catheterisme telecommande
US5728044A (en) * 1995-03-10 1998-03-17 Shan; Yansong Sensor device for spacial imaging of endoscopes
FR2732225A1 (fr) 1995-03-27 1996-10-04 Mazars Paul Catheter a deformation pilotee
WO1997010746A1 (fr) * 1995-09-20 1997-03-27 University Of Wales College Of Medicine Mesure de l'angle ano-rectal

Cited By (60)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7699771B2 (en) 2000-01-27 2010-04-20 Boston Scientific Scimed, Inc. Catheter introducer system for exploration of body cavities
US8747301B2 (en) 2000-01-27 2014-06-10 Boston Scientific Scimed, Inc. Catheter introducer system for exploration of body cavities
US8602973B2 (en) 2000-01-27 2013-12-10 Boston Scientific Scimed, Inc. Catheter introducer system for exploration of body cavities
US6517477B1 (en) 2000-01-27 2003-02-11 Scimed Life Systems, Inc. Catheter introducer system for exploration of body cavities
US7066880B2 (en) 2000-01-27 2006-06-27 Boston Scientific Scimed, Inc. Catheter introducer system for exploration of body cavities
US7172552B2 (en) 2000-01-27 2007-02-06 Boston Scientific Scimed, Inc. Catheter introducer system for exploration of body cavities
US11026564B2 (en) 2000-04-03 2021-06-08 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US6974411B2 (en) 2000-04-03 2005-12-13 Neoguide Systems, Inc. Endoscope with single step guiding apparatus
US10736490B2 (en) 2000-04-03 2020-08-11 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US8834354B2 (en) 2000-04-03 2014-09-16 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8062212B2 (en) 2000-04-03 2011-11-22 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US10327625B2 (en) 2000-04-03 2019-06-25 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US10105036B2 (en) 2000-04-03 2018-10-23 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US8226546B2 (en) 2000-04-03 2012-07-24 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US9808140B2 (en) 2000-04-03 2017-11-07 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US10893794B2 (en) 2000-04-03 2021-01-19 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8517923B2 (en) 2000-04-03 2013-08-27 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US9427282B2 (en) 2000-04-03 2016-08-30 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US12076102B2 (en) 2000-04-03 2024-09-03 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US9138132B2 (en) 2000-04-03 2015-09-22 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8641602B2 (en) 2000-04-03 2014-02-04 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US8721530B2 (en) 2000-04-03 2014-05-13 Intuitive Surgical Operations, Inc. Tendon-driven endoscope and methods of use
EP1530943A1 (fr) * 2000-04-03 2005-05-18 Neoguide Systems, Inc. Endoscope orientable et méthode ameliorée d'insertion
US8845524B2 (en) 2000-04-03 2014-09-30 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US8361090B2 (en) 2002-01-09 2013-01-29 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US8696694B2 (en) 2002-01-09 2014-04-15 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US10349816B2 (en) 2002-01-09 2019-07-16 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US9421016B2 (en) 2002-01-09 2016-08-23 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US8882657B2 (en) 2003-03-07 2014-11-11 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US9980778B2 (en) 2003-03-07 2018-05-29 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US10959807B2 (en) 2003-03-07 2021-03-30 Intuitive Surgical Operations, Inc. Systems and methods for determining the state of motion of an instrument
WO2005084542A1 (fr) * 2004-03-04 2005-09-15 Agency For Science, Technology And Research Appareil pour actes medicaux et ou simulation
US11617499B2 (en) 2005-11-22 2023-04-04 Intuitive Surgical Operations, Inc. System for determining the shape of a bendable instrument
US11096563B2 (en) 2005-11-22 2021-08-24 Intuitive Surgical Operations, Inc. Method of determining the shape of a bendable instrument
US8083879B2 (en) 2005-11-23 2011-12-27 Intuitive Surgical Operations, Inc. Non-metallic, multi-strand control cable for steerable instruments
US9357901B2 (en) 2006-05-19 2016-06-07 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US8568299B2 (en) 2006-05-19 2013-10-29 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US10426412B2 (en) 2006-05-19 2019-10-01 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US12256891B2 (en) 2006-05-19 2025-03-25 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
WO2008094949A3 (fr) * 2007-01-29 2008-11-27 Neoguide Systems Inc Procédés et appareils pour utiliser un détecteur de forme avec des instruments commandables
WO2008094949A2 (fr) 2007-01-29 2008-08-07 Neoguide Systems, Inc. Procédés et appareils pour utiliser un détecteur de forme avec des instruments commandables
US11039736B2 (en) 2007-01-29 2021-06-22 Intuitive Surgical Operations, Inc. System for controlling an instrument using shape sensors
US9737198B2 (en) 2007-01-29 2017-08-22 Intuitive Surgical Operations, Inc. System for controlling an instrument using shape sensors
US8784303B2 (en) 2007-01-29 2014-07-22 Intuitive Surgical Operations, Inc. System for controlling an instrument using shape sensors
EP3542701A1 (fr) * 2007-01-29 2019-09-25 Intuitive Surgical Operations Inc. Procédés et appareil pour utiliser un capteur de forme avec des instruments contrôlables
US10660509B2 (en) 2007-01-29 2020-05-26 Intuitive Surgical Operations, Inc. System for controlling an instrument using shape sensors
US9220398B2 (en) 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments
EP2064984A3 (fr) * 2007-11-29 2009-09-02 Olympus Medical Systems Corporation Système de dispositif thérapeutique et système de manipulateur
CN101444415B (zh) * 2007-11-29 2012-08-22 奥林巴斯医疗株式会社 处理工具系统以及机械手系统
US10512392B2 (en) 2008-02-06 2019-12-24 Intuitive Surgical Operations, Inc. Segmented instrument having braking capabilities
US10952594B2 (en) 2008-02-06 2021-03-23 Intuitive Surgical Operations, Inc. Segmented instrument having braking capabilities
US8182418B2 (en) 2008-02-25 2012-05-22 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
US8608647B2 (en) 2008-02-25 2013-12-17 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
US8758232B2 (en) 2008-06-30 2014-06-24 Oliver Crispin Robotics Limited Robotic arm
WO2014110118A1 (fr) * 2013-01-10 2014-07-17 Ohio University Procédé et dispositif d'évaluation d'une opération de coloscopie
EP3005931A4 (fr) * 2013-05-29 2017-01-25 Olympus Corporation Dispositif d'assistance de calibrage, système de flexion et procédé de calibrage
CN105283115A (zh) * 2013-05-29 2016-01-27 奥林巴斯株式会社 校正辅助装置、弯曲系统及校正方法
EP3031385A4 (fr) * 2013-08-06 2017-03-22 Olympus Corporation Système d'introduction et procédé pour ajuster des caractéristiques de détection de forme d'un capteur de forme
US20220322917A1 (en) * 2020-03-10 2022-10-13 Hoya Corporation Endoscope processor, endoscope, and endoscope system

Similar Documents

Publication Publication Date Title
WO1999033392A1 (fr) Sonde deformable avec detection automatique de la position de ladite sonde
DE69402447T2 (de) Elektroden-Katheter zur Messung und zum Betrieb in Herzkammern
DE69731349T2 (de) Gerät zur Lagebestimmung eines im Körper eines Patienten befindenden Katheters
DE4213584C2 (de) Medizinische Vorrichtung mit einer Nachbildungseinrichtung für die Palpation
DE60115991T2 (de) Gerät zum schnellen Abbilden der elektrischen Aktivität im Herzen
DE69733249T2 (de) Bestimmung der genauen position von endoskopen
DE69732523T2 (de) Krümmungsempfindlicher katheter
DE102004058008B4 (de) Führungsdraht für Gefäßkatheter mit verbesserter Ortungs- und Navigiermöglichkeit
DE60028487T2 (de) Vaskuläre Rekonstruktion
DE102004003166B4 (de) Katheter
DE202014100938U1 (de) Druckmessvorrichtung
DE112008001483T5 (de) Körperfettmessvorrichtung
DE102005022120A1 (de) Katheter, Kathetereinrichtung und bildgebende Diagnosevorrichtung
DE19844152A1 (de) System und Verfahren zum Lokalisieren eines Katheters
DE102004017834A1 (de) Kathetereinrichtung
EP2432387B1 (fr) Procédé pour générer des données de position d'un instrument
EP3500152A1 (fr) Système de détection et procédé pour la détection automatique d'instruments chirurgicaux
EP4239648B1 (fr) Procédé de surveillance cardiaque
DE102004044285A1 (de) System und Verfahren zum Bestimmen der Position eines in einem Positionsverfolgungssystems verwendeten elastischen Instruments
DE102007007563A1 (de) Verfahren zur Ermittlung der kardialen Reizleitung und zugehöriger medizinischer Einrichtung
DE102005032039A1 (de) Endoskopsystem mit Einführlängenerfassung
DE102013014685B4 (de) Urokatheter
DE10138537B4 (de) Taktiles Feedback zur Darstellung von Gewebeelastizität
DE4038853C2 (de) Vorrichtung zur Funktionsdiagnose des Kontinenzorgans
DE19530440C2 (de) Rektalkatheter

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): JP US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
122 Ep: pct application non-entry in european phase