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WO2009069413A1 - 駆動装置ならびにそれを備えた医療装置および訓練装置 - Google Patents

駆動装置ならびにそれを備えた医療装置および訓練装置 Download PDF

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Publication number
WO2009069413A1
WO2009069413A1 PCT/JP2008/069452 JP2008069452W WO2009069413A1 WO 2009069413 A1 WO2009069413 A1 WO 2009069413A1 JP 2008069452 W JP2008069452 W JP 2008069452W WO 2009069413 A1 WO2009069413 A1 WO 2009069413A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive device
motor
drive
linear body
training
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/JP2008/069452
Other languages
English (en)
French (fr)
Inventor
Yoshitaka Nagano
Yukihiro Nishio
Takayoshi Ozaki
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
Original Assignee
NTN Corp
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, NTN Toyo Bearing Co Ltd filed Critical NTN Corp
Priority to EP08853533A priority Critical patent/EP2216068A4/en
Priority to US12/744,420 priority patent/US20100234873A1/en
Priority to JP2009543723A priority patent/JPWO2009069413A1/ja
Publication of WO2009069413A1 publication Critical patent/WO2009069413A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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
    • 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
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/18—General characteristics of the apparatus with alarm
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/332—Force measuring means

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • General Physics & Mathematics (AREA)
  • Pulmonology (AREA)
  • Physics & Mathematics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Chemical & Material Sciences (AREA)
  • Hematology (AREA)
  • Biophysics (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Anesthesiology (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Medicinal Chemistry (AREA)
  • Algebra (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mathematical Analysis (AREA)
  • Analytical Chemistry (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)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

　駆動装置は、可撓性を有する線状体（１）を駆動する駆動装置であって、第１のローラ（３）と、回転力を直接第１のローラ（３）に伝達することで第１のローラ（３）を回転させることにより、線状体（１）を線状体（１）の延伸方向に送り出すモータ（４）と、モータ（４）に電流を供給することによりモータ（４）を駆動するモータ駆動部（７）と、モータ（４）に供給される電流に基づいて、線状体（１）に作用する延伸方向の力を算出する制御部（８）とを備える。
PCT/JP2008/069452 2007-11-27 2008-10-27 駆動装置ならびにそれを備えた医療装置および訓練装置 Ceased WO2009069413A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08853533A EP2216068A4 (en) 2007-11-27 2008-10-27 DRIVING DEVICE, MEDICAL DEVICE EQUIPPED WITH SAID DRIVING DEVICE, AND SPORTS EXERCISE DEVICE
US12/744,420 US20100234873A1 (en) 2007-11-27 2008-10-27 Drive device, and medical apparatus and training apparatus including the same
JP2009543723A JPWO2009069413A1 (ja) 2007-11-27 2008-10-27 駆動装置ならびにそれを備えた医療装置および訓練装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-305670 2007-11-27
JP2007305670 2007-11-27

Publications (1)

Publication Number Publication Date
WO2009069413A1 true WO2009069413A1 (ja) 2009-06-04

Family

ID=40678316

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/069452 Ceased WO2009069413A1 (ja) 2007-11-27 2008-10-27 駆動装置ならびにそれを備えた医療装置および訓練装置

Country Status (4)

Country Link
US (1) US20100234873A1 (ja)
EP (1) EP2216068A4 (ja)
JP (1) JPWO2009069413A1 (ja)
WO (1) WO2009069413A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014010177A1 (ja) * 2012-07-10 2014-01-16 パナソニック株式会社 力計測装置及び力計測方法、マスタースレーブ装置、力計測プログラム、並びに、集積電子回路
JP2015142849A (ja) * 2009-10-14 2015-08-06 国立大学法人 名古屋工業大学 挿入装置および訓練装置
WO2017010231A1 (ja) * 2015-07-16 2017-01-19 国立大学法人名古屋大学 線状体の挿入駆動装置およびそれを備える医療機器、医療操作訓練装置

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102496324B (zh) * 2011-11-30 2013-09-25 徐州医学院 一种血管介入支架植入位置指示与考核装置
US9439653B2 (en) 2011-12-07 2016-09-13 Traumatek Solutions B.V. Devices and methods for endovascular access and therapy
US10118020B2 (en) 2011-12-07 2018-11-06 Traumatek Solutions B.V. Devices and methods for endovascular access and therapy
EP2846707A4 (en) * 2012-05-04 2016-11-30 Interventco Llc DEVICE AND METHOD FOR FILLING ANEURYSMAS OR A BODY HOLLOW
FR2991010B1 (fr) * 2012-05-23 2019-05-10 Physidia Pompe peristaltique lineaire
CN105709325B (zh) * 2014-11-30 2021-10-29 中国科学院沈阳自动化研究所 一种介入导管输送操作装置
EP3313289B1 (en) 2015-06-23 2021-03-17 Traumatek Solutions B.V. Vessel cannulation device
FR3044541B1 (fr) 2015-12-07 2017-12-29 Robocath Module robotise d'entrainement d'organe medical souple allonge
EP3437540B1 (en) * 2016-03-31 2021-11-03 Keio University Endoscope holder with gripping members and with elastic members
WO2017169279A1 (ja) * 2016-03-31 2017-10-05 学校法人慶應義塾 内視鏡ホルダー
EP3592414A4 (en) * 2017-03-06 2021-01-13 Corindus, Inc. PERCUTANEOUS DEVICE EXCHANGE
US11501661B2 (en) 2018-03-29 2022-11-15 Cae Healthcare Canada Inc. Method and system for simulating an insertion of an elongated instrument into a subject
CN108744225B (zh) * 2018-05-30 2020-12-22 合肥美亚光电技术股份有限公司 管线输送装置及其控制方法、系统
CN113164212A (zh) * 2018-09-19 2021-07-23 科林达斯公司 细长医疗装置的机器人辅助移动
JP7258051B2 (ja) * 2019-01-17 2023-04-14 朝日インテック株式会社 長尺状医療器具の駆動装置及び医療デバイス
US12070190B2 (en) * 2019-08-14 2024-08-27 Lsi Solutions, Inc. Endoscope guide port
US12089903B2 (en) * 2019-12-13 2024-09-17 Intuitive Surgical Operations, Inc. Systems and methods for inserting an elongate flexible instrument into an environment
CN115399712B (zh) * 2021-05-28 2025-07-29 恩多机器人技术有限公司 管状部件移动装置
CN113180577B (zh) * 2021-05-28 2023-12-05 天津医科大学第二医院 一种泌尿科室用激光去石软管镜
CN115607292A (zh) * 2022-10-18 2023-01-17 微亚医疗科技(苏州)有限公司 导丝递送速度检测装置

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JPS58182751U (ja) * 1982-05-31 1983-12-06 川瀬　和夫 医用カテ−テルの駆動装置
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JPH10263089A (ja) 1997-03-27 1998-10-06 Tokai Rika Co Ltd 障害物感知機構付きカテーテル
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

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JPH10503110A (ja) * 1995-05-08 1998-03-24 オムニトロン インターナショナル，インコーポレイテッド アクティブフォースフィードバックを備えたアフターローダ
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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

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See also references of EP2216068A4

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015142849A (ja) * 2009-10-14 2015-08-06 国立大学法人 名古屋工業大学 挿入装置および訓練装置
JP5783904B2 (ja) * 2009-10-14 2015-09-24 国立大学法人 名古屋工業大学 挿入装置および訓練装置
WO2014010177A1 (ja) * 2012-07-10 2014-01-16 パナソニック株式会社 力計測装置及び力計測方法、マスタースレーブ装置、力計測プログラム、並びに、集積電子回路
JPWO2014010177A1 (ja) * 2012-07-10 2016-06-20 パナソニックＩｐマネジメント株式会社 力計測装置及び力計測方法、マスタースレーブ装置、力計測プログラム、並びに、集積電子回路
WO2017010231A1 (ja) * 2015-07-16 2017-01-19 国立大学法人名古屋大学 線状体の挿入駆動装置およびそれを備える医療機器、医療操作訓練装置

Also Published As

Publication number Publication date
JPWO2009069413A1 (ja) 2011-04-07
EP2216068A1 (en) 2010-08-11
EP2216068A4 (en) 2012-03-21
US20100234873A1 (en) 2010-09-16

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