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WO2009078280A1 - 荷重検出装置および荷重検出方法 - Google Patents

荷重検出装置および荷重検出方法 Download PDF

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Publication number
WO2009078280A1
WO2009078280A1 PCT/JP2008/072030 JP2008072030W WO2009078280A1 WO 2009078280 A1 WO2009078280 A1 WO 2009078280A1 JP 2008072030 W JP2008072030 W JP 2008072030W WO 2009078280 A1 WO2009078280 A1 WO 2009078280A1
Authority
WO
WIPO (PCT)
Prior art keywords
load
linear object
detecting
detected
hollow tube
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/JP2008/072030
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 US12/808,125 priority Critical patent/US8725233B2/en
Priority to EP08861483.9A priority patent/EP2233902B1/en
Publication of WO2009078280A1 publication Critical patent/WO2009078280A1/ja
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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
    • A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
    • A61B17/12099—Occluding by internal devices, e.g. balloons or releasable wires characterised by the location of the occluder
    • A61B17/12109—Occluding by internal devices, e.g. balloons or releasable wires characterised by the location of the occluder in a blood vessel
    • A61B17/12113—Occluding by internal devices, e.g. balloons or releasable wires characterised by the location of the occluder in a blood vessel within an aneurysm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
    • A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
    • A61B17/12131—Occluding by internal devices, e.g. balloons or releasable wires characterised by the type of occluding device
    • A61B17/1214—Coils or wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6885—Monitoring or controlling sensor contact pressure
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
    • A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
    • A61B2017/1205—Introduction devices
    • 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
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Vascular Medicine (AREA)
  • Reproductive Health (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Neurosurgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biophysics (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Surgical Instruments (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

　この荷重検出方法では、屈曲した体内の管に挿入された中空チューブ（１）の入口に可撓性を有する線状体（２）を挿入する荷重（Ｆｉ）を検出するとともに、中空チューブ（１）または線状体（２）の画像を撮影し、その画像から中空チューブ（１）または線状体（２）の曲がり具合を検出し、検出した挿入荷重（Ｆｉ）および曲がり具合に基づいて、線状体（２）の先端の荷重（Ｆｏ）を演算する。したがって、細い線状体（２）の先端荷重（Ｆｏ）を容易に検出できる。
PCT/JP2008/072030 2007-12-14 2008-12-04 荷重検出装置および荷重検出方法 Ceased WO2009078280A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/808,125 US8725233B2 (en) 2007-12-14 2008-12-04 Load detection device and load detection method
EP08861483.9A EP2233902B1 (en) 2007-12-14 2008-12-04 Load detector

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2007323670 2007-12-14
JP2007-323670 2007-12-14
JP2008266365A JP5171535B2 (ja) 2007-12-14 2008-10-15 荷重検出装置および荷重検出方法
JP2008-266365 2008-10-15

Publications (1)

Publication Number Publication Date
WO2009078280A1 true WO2009078280A1 (ja) 2009-06-25

Family

ID=40795398

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/072030 Ceased WO2009078280A1 (ja) 2007-12-14 2008-12-04 荷重検出装置および荷重検出方法

Country Status (4)

Country Link
US (1) US8725233B2 (ja)
EP (1) EP2233902B1 (ja)
JP (1) JP5171535B2 (ja)
WO (1) WO2009078280A1 (ja)

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Publication number Priority date Publication date Assignee Title
EP2431000A3 (en) * 2010-01-22 2012-05-30 Biosense Webster, Inc. Catheter having a force sensing distal tip
US8437832B2 (en) 2008-06-06 2013-05-07 Biosense Webster, Inc. Catheter with bendable tip
US8475450B2 (en) 2008-12-30 2013-07-02 Biosense Webster, Inc. Dual-purpose lasso catheter with irrigation
US8600472B2 (en) 2008-12-30 2013-12-03 Biosense Webster (Israel), Ltd. Dual-purpose lasso catheter with irrigation using circumferentially arranged ring bump electrodes
US9220433B2 (en) 2011-06-30 2015-12-29 Biosense Webster (Israel), Ltd. Catheter with variable arcuate distal section
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
US9603669B2 (en) 2010-06-30 2017-03-28 Biosense Webster (Israel) Ltd. Pressure sensing for a multi-arm catheter
US9662169B2 (en) 2011-07-30 2017-05-30 Biosense Webster (Israel) Ltd. Catheter with flow balancing valve
US9687289B2 (en) 2012-01-04 2017-06-27 Biosense Webster (Israel) Ltd. Contact assessment based on phase measurement
US10688278B2 (en) 2009-11-30 2020-06-23 Biosense Webster (Israel), Ltd. Catheter with pressure measuring tip

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US8357152B2 (en) 2007-10-08 2013-01-22 Biosense Webster (Israel), Ltd. Catheter with pressure sensing
US8535308B2 (en) 2007-10-08 2013-09-17 Biosense Webster (Israel), Ltd. High-sensitivity pressure-sensing probe
US9101734B2 (en) 2008-09-09 2015-08-11 Biosense Webster, Inc. Force-sensing catheter with bonded center strut
US9326700B2 (en) 2008-12-23 2016-05-03 Biosense Webster (Israel) Ltd. Catheter display showing tip angle and pressure
GB0902339D0 (en) * 2009-02-12 2009-04-01 St Georges Healthcare Nhs Trus Percutaneous guidewire
EP2711043B1 (en) * 2009-10-14 2017-02-01 National University Corporation Nagoya Institute Of Technology Insertion device and training device
US8521462B2 (en) 2009-12-23 2013-08-27 Biosense Webster (Israel), Ltd. Calibration system for a pressure-sensitive catheter
US8529476B2 (en) 2009-12-28 2013-09-10 Biosense Webster (Israel), Ltd. Catheter with strain gauge sensor
US8798952B2 (en) 2010-06-10 2014-08-05 Biosense Webster (Israel) Ltd. Weight-based calibration system for a pressure sensitive catheter
US8731859B2 (en) 2010-10-07 2014-05-20 Biosense Webster (Israel) Ltd. Calibration system for a force-sensing catheter
US8979772B2 (en) 2010-11-03 2015-03-17 Biosense Webster (Israel), Ltd. Zero-drift detection and correction in contact force measurements
US20130281990A1 (en) * 2011-01-13 2013-10-24 Koninklijke Philips Electronics N.V. Detachment tool for decoupling a shape sensor from an implantable device
JP5834194B2 (ja) * 2012-06-07 2015-12-16 パナソニックＩｐマネジメント株式会社 トルク測定装置、及び、プログラム
JP6064263B2 (ja) * 2012-07-10 2017-01-25 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
JP6172630B2 (ja) 2012-10-09 2017-08-02 パナソニックＩｐマネジメント株式会社 力呈示装置
WO2014105578A1 (en) * 2012-12-27 2014-07-03 Volcano Corporation Intravascular guidewire with hyper flexible distal end portion
KR101582737B1 (ko) * 2014-03-28 2016-01-06 가톨릭대학교 산학협력단 안구 수술 연습용 기기
WO2016031503A1 (ja) * 2014-08-26 2016-03-03 国立大学法人名古屋工業大学 接触検出器具
US20180192939A1 (en) * 2015-07-02 2018-07-12 Mirus Llc Medical devices with integrated sensors and method of production
WO2017021172A1 (en) * 2015-08-05 2017-02-09 Koninklijke Philips N.V. Catheter assembly with low axial sliding friction
KR101771995B1 (ko) 2015-12-15 2017-08-28 한전케이피에스 주식회사 블레이드 검사용 와전류 프로브 장치
EP3411113B1 (en) 2016-02-04 2019-11-27 Cardiac Pacemakers, Inc. Delivery system with force sensor for leadless cardiac device
JP6554609B2 (ja) * 2016-06-20 2019-07-31 オリンパス株式会社 可撓管挿入装置
JP6624705B2 (ja) * 2017-01-17 2019-12-25 オリンパス株式会社 内視鏡挿入形状観測装置
US11248973B2 (en) * 2017-02-16 2022-02-15 C. R. Bard, Inc. Insertion and withdrawal force measurement system
WO2018203365A1 (ja) 2017-05-01 2018-11-08 オリンパス株式会社 医療用マニピュレータシステム及び医療用マニピュレータシステムの作動方法
US10219716B2 (en) 2017-06-01 2019-03-05 Biosense Webster (Israel) Ltd. Using a piecewise-linear model of a catheter arm to identify contact with tissue
WO2020026386A1 (ja) * 2018-08-01 2020-02-06 オリンパス株式会社 内視鏡システムおよび制御装置
KR102105248B1 (ko) * 2018-08-23 2020-05-29 부산대학교병원 비선형 변형해석을 이용한 다분절 카테터의 굽힘 변형 및 강성 측정방법 및 이를 이용한 카테터의 굽힘 변형 및 강성 측정장치
US12246142B2 (en) * 2019-04-29 2025-03-11 Siemens Healthineers Endovascular Robotics, Inc. Load sensing system for percutaneous device with a curved path
CN110215239B (zh) * 2019-05-05 2021-02-26 清华大学 融合图像和力信号的介入手术器具载荷识别装置及方法
CN114587616B (zh) * 2022-02-23 2023-04-25 上海奥朋医疗科技有限公司 导丝导管输送装置

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8437832B2 (en) 2008-06-06 2013-05-07 Biosense Webster, Inc. Catheter with bendable tip
US10357310B2 (en) 2008-06-06 2019-07-23 Biosense Webster (Israel) Ltd. Catheter with bendable tip
US8475450B2 (en) 2008-12-30 2013-07-02 Biosense Webster, Inc. Dual-purpose lasso catheter with irrigation
US8600472B2 (en) 2008-12-30 2013-12-03 Biosense Webster (Israel), Ltd. Dual-purpose lasso catheter with irrigation using circumferentially arranged ring bump electrodes
US11383063B2 (en) 2009-11-30 2022-07-12 Biosense Webster (Israel) Ltd. Catheter with pressure measuring tip
US10688278B2 (en) 2009-11-30 2020-06-23 Biosense Webster (Israel), Ltd. Catheter with pressure measuring tip
US8359082B2 (en) 2010-01-22 2013-01-22 Biosense Webster, Inc. Catheter having a force sensing distal tip
EP2431000A3 (en) * 2010-01-22 2012-05-30 Biosense Webster, Inc. Catheter having a force sensing distal tip
US8374670B2 (en) 2010-01-22 2013-02-12 Biosense Webster, Inc. Catheter having a force sensing distal tip
US9603669B2 (en) 2010-06-30 2017-03-28 Biosense Webster (Israel) Ltd. Pressure sensing for a multi-arm catheter
US9220433B2 (en) 2011-06-30 2015-12-29 Biosense Webster (Israel), Ltd. Catheter with variable arcuate distal section
US9717559B2 (en) 2011-06-30 2017-08-01 Biosense Webster (Israel) Ltd. Catheter with adjustable arcuate distal section
US9662169B2 (en) 2011-07-30 2017-05-30 Biosense Webster (Israel) Ltd. Catheter with flow balancing valve
US10751120B2 (en) 2011-07-30 2020-08-25 Biosense Webster (Israel) Ltd. Catheter with flow balancing valve
US9687289B2 (en) 2012-01-04 2017-06-27 Biosense Webster (Israel) Ltd. Contact assessment based on phase measurement
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
EP2233902B1 (en) 2013-10-09
US8725233B2 (en) 2014-05-13
EP2233902A4 (en) 2011-12-14
JP5171535B2 (ja) 2013-03-27
US20100292566A1 (en) 2010-11-18
JP2009162746A (ja) 2009-07-23
EP2233902A1 (en) 2010-09-29

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