[go: up one dir, main page]

WO2017159799A1 - Instrument de mesure d'information de tissu biologique et procédé de mesure d'information de tissu biologique - Google Patents

Instrument de mesure d'information de tissu biologique et procédé de mesure d'information de tissu biologique Download PDF

Info

Publication number
WO2017159799A1
WO2017159799A1 PCT/JP2017/010709 JP2017010709W WO2017159799A1 WO 2017159799 A1 WO2017159799 A1 WO 2017159799A1 JP 2017010709 W JP2017010709 W JP 2017010709W WO 2017159799 A1 WO2017159799 A1 WO 2017159799A1
Authority
WO
WIPO (PCT)
Prior art keywords
biological tissue
information measuring
tissue information
light
insertion 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/JP2017/010709
Other languages
English (en)
Japanese (ja)
Inventor
宏信 前多
晴雄 山村
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.)
Fujita Medical Instruments Co ltd
Original Assignee
Fujita Medical Instruments 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 Fujita Medical Instruments Co ltd filed Critical Fujita Medical Instruments Co ltd
Priority to JP2018506011A priority Critical patent/JPWO2017159799A1/ja
Publication of WO2017159799A1 publication Critical patent/WO2017159799A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value ; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid or cerebral tissue
    • A61B5/1455—Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value ; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid or cerebral tissue using optical sensors, e.g. spectral photometrical oximeters
    • A61B5/1459—Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value ; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid or cerebral tissue using optical sensors, e.g. spectral photometrical oximeters invasive, e.g. introduced into the body by a catheter

Definitions

  • the present invention relates to a biological tissue information measuring device and a biological tissue information measuring method, and more particularly to a biological tissue information measuring device and a biological tissue information measuring method for measuring biological tissue information by directly applying to an affected part.
  • Such an endoscope system is used to grasp both blood vessel shape information such as superficial microvessels used for diagnosis of lesions such as cancer and oxygen saturation of blood hemoglobin (for example, Patent Document 1).
  • endoscopic surgery is performed in which the number of wound sites is reduced as much as possible to reduce the burden on the patient, and the affected part existing in the deep part of the patient is excised or sutured using an endoscope. It is becoming common for many to be done.
  • the present invention provides a biological tissue information measuring instrument and biological tissue information measuring method capable of acquiring desired biological tissue information in a narrow part even during endoscopic surgery.
  • the purpose is to provide.
  • the present invention is not limited to endoscopic surgery, but includes any invasive surgery, thoracotomy / laparotomy, digestive organs, urinary organs, kidneys, intestinal tract, liver, pancreas, or any other surgery or examination performed in contact with living tissue. It is an object of the present invention to provide a biological tissue information measuring device and a biological tissue information measuring method capable of acquiring information on a biological tissue at a desired site.
  • a biological tissue information measuring device includes a handle for an operator to hold and operate, a long insertion tube extending from one end of the handle, and an insertion tube.
  • a light emitting unit disposed near the distal end and irradiating near-infrared light toward the living tissue, and a light receiving unit disposed near the distal end of the insertion tube so as to be able to come into contact with the living tissue.
  • the biological tissue information measuring method includes a gripping step for an operator to grip and operate the handle portion, and a long insertion tube extending from one end of the handle portion. And a light emitting step of irradiating near-infrared light toward the living body and a light receiving step arranged near the tip of the insertion tube so as to be able to come into contact with the living body.
  • the present invention it is possible to acquire information on a desired biological tissue in a narrow part even during endoscopic surgery.
  • information on a desired biological tissue can be acquired not only in an endoscopic operation but also in every operation or examination performed in contact with the biological tissue.
  • the biological tissue information measuring device which concerns on one embodiment of this invention is shown, (A) is a front view of a biological tissue information measuring device, (B) is an expanded sectional view of the principal part containing the light emission part of a biological tissue information measuring device. (C) is an expanded sectional view of the principal part containing the light-receiving part of a biological tissue information measuring device.
  • the other biological tissue information measuring device which concerns on one embodiment of this invention is shown, (A) is the side view which abbreviate
  • the biological tissue information measuring instrument 10 includes a handle portion 11 for an operator to hold and operate, a long insertion tube 12 extending from one end of the handle portion 11, and an insertion tube 12. And the distal end of the insertion tube 12 so as to be able to come into contact with the living tissue (for example, the affected part of the human body).
  • a light receiving unit 14 disposed close to the light receiving unit 14.
  • the handle 11 is made of a relatively lightweight cylinder with a good operability and the like having an appropriate length.
  • the length and thickness of the handle part 11 are arbitrary.
  • the insertion tube 12 is, for example, a straight tubular long tube such as a stainless steel pipe having a diameter of 4 mm and a length of L, and has a thickness of about 0.5 mm. Further, as shown in FIGS. 1B and 1C, holes 12 a and 12 b for incorporating the light emitting unit 13 and the light receiving unit 14 into the insertion tube 12 are formed in the insertion tube 12. .
  • the insertion tube 12 is filled with a silicone rubber, an epoxy resin, or the like so as to prevent body fluid from entering the inside of the insertion tube 12 with the light emitting unit 13 and the light receiving unit 14 incorporated therein.
  • the material of the insertion tube 12 is not particularly limited, and may be made of stainless steel, titanium alloy, ABS resin, delrin, silicon resin, fluororesin, and vinyl chloride.
  • the hole 12a for incorporating the light emitting unit 13 into the insertion tube 12 is slightly smaller than the width R1 of the light emitting unit 13 in the radial direction of the insertion tube 12, as shown in FIG. A wide width W1 is formed. Therefore, although not shown in detail, the hole 12 a is formed to have a slightly longer length than the length of the light emitting portion 13 in the length direction of the insertion tube 12.
  • the hole 12b for incorporating the light receiving portion 14 into the insertion tube 12 is substantially circular in a plan view, and the light receiving portion 13 in the radial direction of the insertion tube 12 is shown in FIG.
  • the diameter W2 is slightly wider than the diameter R2.
  • the light emitting unit 13 that irradiates near infrared light including the near infrared region and the light receiving unit 14 that is closer to the handle unit 11 than the light emitting unit 13 have a predetermined distance, for example, a center distance D ⁇ 10 mm.
  • the insertion tube 12 is arranged close to the tip of the insertion tube 12 (including errors and the like).
  • a light emitting diode (LED) is used for the light emitting unit 13, and a near infrared light beam is emitted to the photodiode (PD) and living tissue (for example, a human affected area) to the light receiving unit 14.
  • the light emitting unit 13 uses near-infrared light of three wavelengths of 770 nm, 805 nm, and 870 nm, and sequentially irradiates the light.
  • the light receiving unit 14 receives the reflected light beam reflected by the near-infrared light beam emitted toward the living tissue (for example, the affected part of the human body) through the living body and reflected according to the state of the living tissue (for example, the affected part of the human body).
  • the received reflected light beam is calculated by the measurement circuit 16 from the light absorption ratio of each wavelength according to Bear Lambert's law, and the biological tissue information such as the oxygen saturation, the amount of hemoglobin, or the blood flow.
  • the wiring of the light emitting unit 13 (LED) for connecting to the light source control circuit 15 and the light receiving unit 14 (PD) for connecting to the measuring circuit 16 are only as long as necessary from the handle unit 11.
  • the drawer is connected to a measurement apparatus main body (not shown) including the light source control circuit 15 and the measurement circuit 16.
  • the measurement apparatus main body is a unit that controls the light source control circuit 15 and outputs the measurement result measured by the measurement circuit 16 to the storage circuit 18 and the display monitor 19 under the control of the control circuit 17.
  • the biological tissue information measuring device 10 wirelessly transmits information related to the reflected light beam received by the light receiving unit 14 (PD) to a receiving unit (not shown) provided in the measurement circuit 16. (Not shown) can further be provided.
  • the wireless transmission unit may be configured to be accommodated inside the handle unit 11.
  • the power supply unit for securing the power supply of the wireless transmission unit can be configured to be provided at any location of the handle unit 11.
  • the receiving unit provided in the measurement circuit 16 is based on the information on the received reflected light flux, and the oxygen saturation, the amount of hemoglobin, or Biological tissue information such as blood flow is calculated.
  • the wireless transmission unit accommodated in the handle unit 11 has a function of wirelessly transmitting information related to the reflected light beam received by the light receiving unit 14 (PD) to the reception unit provided in the measurement circuit 16.
  • a wireless transmission function of the wireless transmission unit for example, a Bluetooth (registered trademark) system can be adopted using a device capable of wireless transmission.
  • the receiving unit provided in the measurement circuit 16 has a function of wirelessly receiving information on the reflected light beam wirelessly transmitted from the wireless transmission unit accommodated in the handle unit 11.
  • a device capable of wireless reception can be used and a Bluetooth (registered trademark) system can be adopted.
  • the interval at which the information related to the reflected light beam is wirelessly transmitted from the wireless transmission unit is not particularly limited, but from the viewpoint of labor saving, a plurality of pieces of information related to the reflected light beam received by the light receiving unit 14 (PD) are averaged, for example.
  • the data is preferably wirelessly transmitted to a receiving unit provided in the measurement circuit 16 at a predetermined interval (for example, once every several seconds).
  • the wireless transmission unit can be configured to be accommodated inside the handle unit 11 of the biological tissue information measuring device 10. This makes it easier to operate the biological tissue information measuring instrument 10 more smoothly in scenes such as surgery and examination.
  • the distance D between the centers of the light emitting unit 13 and the light receiving unit 14 can change the depth of the living tissue that can be measured by the separation distance. Since the light emitting unit 13 and the light receiving unit 14 of the present embodiment can measure a depth of 70 to 80% of the center-to-center distance D, it can be set to a distance suitable for the measurement site. Therefore, when the above-mentioned center distance D ⁇ 10 mm, the depth of the measurable part is 7 to 8 mm from the surface.
  • the light emitting unit 13 and the light receiving unit 14 may be mounted on a printed wiring board to maintain the center-to-center distance D with high accuracy, or may be changeable.
  • the insertion tube 12 is inserted into a hole opened for an endoscope of the human body, and the light emitting unit 13 and the light receiving unit 14 are brought into contact with and closely contacted with the measurement site while confirming the site with the endoscope. . Then, in a predetermined time (for example, after 5 seconds), information on the living tissue such as the oxygen saturation, the amount of hemoglobin, or the blood flow at the measurement site is calculated by the measurement circuit 16 and the calculation result is displayed on the display monitor 19. can do.
  • a predetermined time for example, after 5 seconds
  • the wavelength of the other light beam emitted from the light emitting unit 13 is preferably in the visible light region.
  • the biological tissue information measuring instrument 10 includes a handle portion 11 for an operator to hold and operate, and a long insertion tube 12 extending from one end of the handle portion 11.
  • the light emitting unit 13 that is disposed near the distal end of the insertion tube 12 and irradiates near-infrared light toward a living tissue (for example, a human affected area) and the living tissue (for example, a human affected area) can be contacted.
  • a light receiving portion 14 disposed near the distal end of the insertion tube 12.
  • the insertion tube 12 can be inserted into a hole opened in the living body with an endoscope or the like, and the light emitting unit 13 and the light receiving unit 14 can be directly brought into contact with and contacted with the affected part.
  • the insertion tube 12 has an elongated shape, and the light emitting unit 13 and the light receiving unit 14 can be brought into contact with and contacted with a desired surgical site of a living body, for example, the wall surface muscle of the heart, the surface of the intestinal tract, the surface of the liver, and the like.
  • the insertion tube 12 uses a small light-emitting portion 13 and light-receiving portion 14 that can be used in a narrow part, it is preferable to integrate them.
  • the light emitting unit 13 and the light receiving unit 14 are synchronized, and collect and record signals of a plurality of wavelengths in a time-sharing manner, and the measurement circuit 16 obtains the ratio R / IR of the absorbance of each wavelength to determine the oxygen saturation level of blood.
  • the relative value of the amount of hemoglobin is calculated and stored in the storage circuit 18 and displayed on the display monitor 19.
  • the measurement principle is calculated according to Bear Lambert's law in which the near-infrared absorbance in vivo is proportional to the concentration of hemoglobin contained in the tissue.
  • the biological tissue information measuring device 10 includes the handle portion 11 for the operator to hold and operate, the elongated insertion tube 12 extending from one end of the handle portion 11, A light emitting unit 13 that is disposed near the distal end of the insertion tube 12 and irradiates near-infrared light toward the affected part of the human body; a light receiving unit 14 that is disposed near the distal end of the insertion tube 12 so as to be able to contact the affected part of the human body; With this, it is possible to easily confirm the current state of the affected area using a hole provided in the human body for an endoscope as necessary during the operation.
  • the light emitting unit 13 uses the light receiving unit 14 to emit near infrared light having a plurality of different wavelengths (for example, three wavelengths of 770 nm, 805 nm, and 870 nm) toward the affected part. Used as a measurement light source for selective irradiation.
  • the light emitting unit 13 according to the present embodiment can also be used as an alignment light source for irradiating light in the visible light region near the affected part in order to align the light receiving unit 14 and the affected part. Thereby, it is possible to provide functions as a plurality of light sources for measurement and alignment with a small number of light sources (one light emitting unit 13).
  • the biological tissue information measuring apparatus 10 is not limited to endoscopic surgery, but can be used in scenes such as all operations and examinations performed in contact with biological tissue.
  • the biological tissue information measuring device 10 can also be provided with other configurations appropriately added to the biological tissue information measuring device 10 from the viewpoint of accurately acquiring biological tissue information.
  • a radiopaque marker 31 can be provided at the distal end portion of the biological tissue information measuring apparatus 10. Thereby, when the insertion tube 12 is inserted into the living body, the tip position of the living tissue information measuring apparatus 10 can be confirmed under X-ray fluoroscopy, and more accurate living tissue information can be acquired.
  • the radiopaque marker 31 is not particularly limited as long as it is a marker whose position can be confirmed under fluoroscopy.
  • the radiopaque marker 31 includes a metal coil having high radiopacity such as Pt, Au, and Ir.
  • the stainless steel has an X-ray opaque property under X-ray fluoroscopy and serves as an X-ray opaque marker.
  • Such an X-ray opaque marker 31 may not be separately provided on the insertion tube 12.
  • an ultrasonic marker 32 can be provided between the light emitting unit 13 and the light receiving unit 14 of the biological tissue information measuring apparatus 10. Thereby, when the insertion tube 12 is inserted into the living body, the inside of the living body can be observed using the ultrasonic diagnostic apparatus, and more accurate biological tissue information can be acquired.
  • the ultrasonic marker 32 is not particularly limited as long as it is a marker that can be recognized by an ultrasonic diagnostic apparatus, and is made of, for example, a material having high recognizability for ultrasonic diagnosis such as ceramic and metal materials.
  • the wall muscles of the heart, the surface of the intestinal tract, and the surface of the liver as an example of the above-mentioned affected part are not necessarily perpendicular to the light receiving part 14 depending on the position of the affected part. Therefore, it is possible to employ a joint structure in which the distal end of the insertion tube 12 is bent.
  • FIG. 2 shows an example in which the angle of the distal end portion of the biological tissue information measuring instrument 1 according to the present embodiment can be changed.
  • the same functions as those in the above embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
  • the biological tissue information measuring device 20 includes a handle portion 21 for an operator to hold and operate, a long insertion tube 22 extending from one end of the handle portion 21, and an insertion tube 22.
  • a light emitting unit 13 that is disposed near the distal end and irradiates near-infrared light toward a living tissue (for example, a human body affected part), and a distal end of the insertion tube 12 so as to be able to contact the living tissue (for example, a human body affected part).
  • the light receiving unit 14 disposed in the.
  • the handle portion 21 is provided with a lever 23 that can be translated (or rotated).
  • the form of the lever 23 is not particularly limited.
  • the parallel movement is achieved by pressing the convex part.
  • Examples include a trigger-type configuration that enables operation (or rotation operation).
  • the link rod Connected to the base end side of the lever 23 (inside the handle portion 21), for example, is the base end side of the link rod that moves back and forth along the axial direction in the insertion tube 22 in conjunction with the turning operation of the lever 23, for example. is doing.
  • the link rod may move back and forth in the insertion tube 22 in parallel with the axial direction, or may swing back and forth.
  • the distal end portion 22a near the distal end of the insertion tube 22 is divided so that the angle can be changed, and the light emitting portion 13 and the light receiving portion 14 are provided inside the distal end portion 22a.
  • a link cam connected to the tip of the link rod is disposed inside the tip 22a.
  • the link rod moves forward and backward in conjunction with the operation of the lever 23, and the angle of the tip 22a can be changed according to the rotation angle of the link cam.
  • tip part 22a is not limited to the link format mentioned above.
  • the biological tissue information measuring instrument 10 of the present invention is not limited to the above-described embodiment, and the technical scope described in the claims is various within the scope not departing from the gist of the invention. Designed forms are included.
  • the biological tissue information measuring instrument 10 (20) has been described as measuring biological tissue information with the pair of light emitting unit 13 and light receiving unit 14, two or more pairs may be arranged.
  • the measurement position of the biological tissue information by one light emitting unit and the light receiving unit and the measurement position of the biological tissue information by the other light emitting unit and the light receiving unit are used as pairs having different distances between the light emitting unit and the light receiving unit. Can change the depth to the affected area.
  • the pair of light emitting units 13 and the light receiving unit 14 are formed as one minimum unit, and the pair of light emitting / receiving units can be detached from the biological tissue information measuring instrument 10 (20).
  • it can be designed as a pair of light emitting / receiving units.
  • the insertion tube 12 (22) described above is an instrument that is inserted into or contacted with the surface of a living body, it is necessary to strictly ensure its hygiene. From the viewpoint of facilitating sterilization before use, the insertion tube 12 (22) can be configured to be detachable from the boundary with the handle portion 11 (21). In addition, the insertion tube 12 (22) can be disposable by being detached from the handle portion 11 (21) after use.
  • a part of the insertion tube 12 (22) having a high contact frequency with the inside of the living body or the surface of the living body, that is, a portion close to the distal end portion of the insertion tube 12 (22) can be configured to be detachable. Accordingly, a part of the insertion tube 12 (22) detached from the main body of the insertion tube 12 (22) can be easily sterilized before use, and can be disposable after use.
  • the biological tissue information measuring device has an effect that information on a desired biological tissue in a narrow part can be acquired even during endoscopic surgery, It is useful for all biological tissue information measuring instruments that directly measure biological tissue information.
  • the biological tissue information measuring device is not limited to endoscopic surgery, and can acquire desired biological tissue information in scenes such as all operations and examinations performed in contact with the biological tissue. It has an effect and is useful for all biological tissue information measuring instruments that measure biological tissue information directly on the biological tissue.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Optics & Photonics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Endoscopes (AREA)

Abstract

La présente invention décrit un instrument de mesure d'information de tissu biologique et un procédé de mesure d'information de tissu biologique capable d'acquérir de l'information sur un tissu biologique souhaité au niveau d'un site étroit durant une opération d'endoscopie. De plus, la présente invention décrit un instrument de mesure d'information de tissu biologique et un procédé de mesure d'information de tissu biologique capable d'acquérir de l'information de tissu biologique souhaitée non seulement lors d'une opération d'endoscopie mais également lors de toute chirurgie ou inspection qui sont exécutées en contact avec un tissu biologique. Cet instrument de mesure d'information de tissu biologique est prévu avec : une partie de poignée saisie par un opérateur pour le fonctionnement ; un tube d'insertion de longue taille s'étendant depuis une extrémité de la partie de poignée ; une partie d'émission de lumière disposée près d'une extrémité distale du tube d'insertion pour irradier de la lumière dans le proche infrarouge vers un tissu biologique ; et une pièce de réception de lumière disposée près de l'extrémité distale du tube d'insertion afin d'être portée en contact avec le tissu biologique.
PCT/JP2017/010709 2016-03-16 2017-03-16 Instrument de mesure d'information de tissu biologique et procédé de mesure d'information de tissu biologique Ceased WO2017159799A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2018506011A JPWO2017159799A1 (ja) 2016-03-16 2017-03-16 生体組織情報測定器、及び生体組織情報測定方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016051972 2016-03-16
JP2016-051972 2016-03-16

Publications (1)

Publication Number Publication Date
WO2017159799A1 true WO2017159799A1 (fr) 2017-09-21

Family

ID=59851983

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/010709 Ceased WO2017159799A1 (fr) 2016-03-16 2017-03-16 Instrument de mesure d'information de tissu biologique et procédé de mesure d'information de tissu biologique

Country Status (2)

Country Link
JP (1) JPWO2017159799A1 (fr)
WO (1) WO2017159799A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06319726A (ja) * 1993-05-11 1994-11-22 Olympus Optical Co Ltd 生体組織の酸素代謝測定装置
US9114226B1 (en) * 2009-07-08 2015-08-25 Vioptix, Inc. Devices and monitoring systems for locating a blood vessel

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001095751A (ja) * 1999-09-30 2001-04-10 Toshiba Corp カテーテル及び診断装置
JP2003088527A (ja) * 2001-09-19 2003-03-25 Aloka Co Ltd 超音波診断装置
JP5623348B2 (ja) * 2011-07-06 2014-11-12 富士フイルム株式会社 内視鏡システム、内視鏡システムのプロセッサ装置、及び内視鏡システムの作動方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06319726A (ja) * 1993-05-11 1994-11-22 Olympus Optical Co Ltd 生体組織の酸素代謝測定装置
US9114226B1 (en) * 2009-07-08 2015-08-25 Vioptix, Inc. Devices and monitoring systems for locating a blood vessel

Also Published As

Publication number Publication date
JPWO2017159799A1 (ja) 2019-01-24

Similar Documents

Publication Publication Date Title
JP7391926B2 (ja) 患者内の解剖学的構造の画像誘導ナビゲーションをもたらす装置
JP6204065B2 (ja) 気管支カテーテル
ES2243595T3 (es) Sonda de ultrasonidos con dispositivo de posicionamiento para dispositivos de exploracion y de operacion.
JP6169188B2 (ja) 精密指向型医療器具
US10779891B2 (en) System and method for navigation of surgical instruments
JP2021072929A (ja) 手術器具を案内するための装置及び方法
JP2022524606A (ja) 手術用ロボットのエンドエフェクタ
JP2001500749A (ja) 体内プローブを用いた医療方法および装置
KR20190072588A (ko) Rf 에너지 전달 특징부를 가진 확장 벌룬
US20140163557A1 (en) Guiding system
KR20170139588A (ko) 내비게이션 센서를 갖는 가이드와이어
CN106236261A (zh) 用于机器人辅助外科手术的装置和方法以及定位辅助单元
CN111093536A (zh) 具有穿透特征部的传感器引导的器械
US20210085402A1 (en) Dilation instrument with navigation and distally located force sensor
JP2016526958A (ja) 蛍光非照射式経皮的外科手術アクセスまたは蛍光低照射式経皮的外科手術アクセスのための方法および装置
US20100030022A1 (en) Method and system with encapsulated imaging and therapy devices, coupled with an extracorporeal imaging device
US20140088457A1 (en) Bleeding containment device
KR20180131480A (ko) 동축 환형 센서를 갖는 내비게이션가능 흡인 기구
JP2023118819A (ja) ラジアル式超音波を使用するデバイスのための配向ピン
JP2010000284A (ja) Ｉｃタグを用いた手術方法
WO2017159799A1 (fr) Instrument de mesure d'information de tissu biologique et procédé de mesure d'information de tissu biologique
KR20190022380A (ko) 가이드와이어를 위한 코어 와이어 조립체
JP2008302233A (ja) 歯科光診断装置用プローブ
JP2014176429A (ja) 経体腔式焼灼デバイス
US20130211260A1 (en) Apparatus and method for minimally invasive length measurement within a hollow organ

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 2018506011

Country of ref document: JP

NENP Non-entry into the national phase

Ref country code: DE

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17766795

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 17766795

Country of ref document: EP

Kind code of ref document: A1