WO2009069395A1 - 内視鏡湾曲制御装置及び内視鏡システム - Google Patents

内視鏡湾曲制御装置及び内視鏡システム Download PDF

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Publication number
WO2009069395A1
WO2009069395A1 PCT/JP2008/068790 JP2008068790W WO2009069395A1 WO 2009069395 A1 WO2009069395 A1 WO 2009069395A1 JP 2008068790 W JP2008068790 W JP 2008068790W WO 2009069395 A1 WO2009069395 A1 WO 2009069395A1
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WO
WIPO (PCT)
Prior art keywords
curve
operation mode
section
endoscope
switching
Prior art date
Application number
PCT/JP2008/068790
Other languages
English (en)
French (fr)
Inventor
Hideki Tanaka
Jun Hasegawa
Toshio Nakamura
Original Assignee
Olympus Medical Systems Corp.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Medical Systems Corp. filed Critical Olympus Medical Systems Corp.
Priority to EP08853729.5A priority Critical patent/EP2215960B1/en
Priority to JP2009543715A priority patent/JP5153787B2/ja
Publication of WO2009069395A1 publication Critical patent/WO2009069395A1/ja
Priority to US12/764,482 priority patent/US8211009B2/en

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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports
    • 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
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • 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
    • 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 probes within or on the body of the patient
    • 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 probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)

Abstract

　内視鏡湾曲制御装置は、内視鏡画像から、挿入部が挿入される管腔内の管腔暗部に関する画像特徴量を算出する画像特徴量算出部と、管腔暗部の位置を挿入目標として、挿入部先端をその位置に向ける第１の湾曲動作モードと履歴情報を参照することにより推定される管腔暗部の位置の方向に挿入部先端を向ける第２の湾曲動作モードとの一方の湾曲動作モードにより、湾曲部を湾曲制御する湾曲制御部と、算出される画像特徴量から第１の切替条件に従って、一方の湾曲動作モードから他方の湾曲動作モードへ切替を行う動作モード切替部と、第１の切替条件から第２の切替条件に変更する切替条件変更部と、を備える。
PCT/JP2008/068790 2007-11-29 2008-10-16 内視鏡湾曲制御装置及び内視鏡システム WO2009069395A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08853729.5A EP2215960B1 (en) 2007-11-29 2008-10-16 Endoscope curve control apparatus
JP2009543715A JP5153787B2 (ja) 2007-11-29 2008-10-16 内視鏡湾曲制御装置及び内視鏡システム
US12/764,482 US8211009B2 (en) 2007-11-29 2010-04-21 Endoscope bending control apparatus and endoscope system

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2007309233 2007-11-29
JP2007-309233 2007-11-29
JP2007317369 2007-12-07
JP2007-317369 2007-12-07
JP2007-334898 2007-12-26
JP2007334898 2007-12-26

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/764,482 Continuation US8211009B2 (en) 2007-11-29 2010-04-21 Endoscope bending control apparatus and endoscope system

Publications (1)

Publication Number Publication Date
WO2009069395A1 true WO2009069395A1 (ja) 2009-06-04

Family

ID=40678298

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/068790 WO2009069395A1 (ja) 2007-11-29 2008-10-16 内視鏡湾曲制御装置及び内視鏡システム

Country Status (4)

Country Link
US (1) US8211009B2 (ja)
EP (1) EP2215960B1 (ja)
JP (1) JP5153787B2 (ja)
WO (1) WO2009069395A1 (ja)

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EP2347694A1 (en) * 2009-09-30 2011-07-27 Olympus Medical Systems Corp. Endoscope device
EP2517613A1 (en) * 2010-03-17 2012-10-31 Olympus Medical Systems Corp. Endoscope system
JP2019000351A (ja) * 2017-06-15 2019-01-10 オリンパス株式会社 内視鏡制御装置、内視鏡システム及びプログラム
JP2019170638A (ja) * 2018-03-28 2019-10-10 オリンパス株式会社 内視鏡システム
WO2021145051A1 (ja) * 2020-01-16 2021-07-22 オリンパス株式会社 内視鏡システム
WO2021156926A1 (ja) * 2020-02-03 2021-08-12 オリンパス株式会社 内視鏡制御装置、内視鏡制御方法および内視鏡制御プログラム
WO2021166103A1 (ja) * 2020-02-19 2021-08-26 オリンパス株式会社 内視鏡システム、管腔構造算出装置及び管腔構造情報の作成方法
EP3991632A1 (en) 2020-10-28 2022-05-04 FUJI-FILM Corporation Endoscope system and endoscope device

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US10165929B2 (en) 2009-06-18 2019-01-01 Endochoice, Inc. Compact multi-viewing element endoscope system
US9713417B2 (en) 2009-06-18 2017-07-25 Endochoice, Inc. Image capture assembly for use in a multi-viewing elements endoscope
US9901244B2 (en) 2009-06-18 2018-02-27 Endochoice, Inc. Circuit board assembly of a multiple viewing elements endoscope
US11278190B2 (en) 2009-06-18 2022-03-22 Endochoice, Inc. Multi-viewing element endoscope
CN102596003B (zh) * 2009-09-17 2015-04-01 博琅科医疗器械有限公司 使用内窥镜判定气道直径的系统
WO2011040104A1 (ja) * 2009-09-30 2011-04-07 オリンパスメディカルシステムズ株式会社 内視鏡装置及び湾曲駆動制御方法
TWI432168B (zh) * 2009-12-31 2014-04-01 Univ Nat Yunlin Sci & Tech 內視鏡導航方法以及內視鏡導航系統
US10080486B2 (en) 2010-09-20 2018-09-25 Endochoice Innovation Center Ltd. Multi-camera endoscope having fluid channels
US9560953B2 (en) 2010-09-20 2017-02-07 Endochoice, Inc. Operational interface in a multi-viewing element endoscope
EP3540495A1 (en) 2010-10-28 2019-09-18 EndoChoice Innovation Center Ltd. Optical systems for multi-sensor endoscopes
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US11889986B2 (en) 2010-12-09 2024-02-06 Endochoice, Inc. Flexible electronic circuit board for a multi-camera endoscope
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ITTO20110394A1 (it) * 2011-05-05 2012-11-06 Univ Pisa Catetere munito di sensori elettromagnetici di posizione, e sistema di localizzazione per cateteri e fili guida
US9020229B2 (en) 2011-05-13 2015-04-28 Broncus Medical, Inc. Surgical assistance planning method using lung motion analysis
JP6012950B2 (ja) * 2011-10-14 2016-10-25 オリンパス株式会社 湾曲動作システム
CA2798729A1 (en) 2011-12-13 2013-06-13 Peermedical Ltd. Rotatable connector for an endoscope
CA2798716A1 (en) 2011-12-13 2013-06-13 Peermedical Ltd. Removable tip endoscope
JP5548315B2 (ja) 2012-05-23 2014-07-16 オリンパスメディカルシステムズ株式会社 電子内視鏡システム
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JP5715311B2 (ja) * 2013-03-06 2015-05-07 オリンパスメディカルシステムズ株式会社 内視鏡システム
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CN105074728B (zh) 2013-08-09 2019-06-25 堃博生物科技（上海）有限公司 胸部荧光透视影像及相应的肋骨和脊椎三维影像数据配准
DK177984B9 (en) * 2013-11-12 2015-03-02 Simonsen & Weel As Device for endoscopy
JP2017511707A (ja) * 2014-01-24 2017-04-27 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 経食道心エコープローブ用のセンサレス力制御
JP6278737B2 (ja) 2014-02-26 2018-02-14 オリンパス株式会社 医療用システムの作動方法
WO2016079789A1 (ja) * 2014-11-17 2016-05-26 オリンパス株式会社 内視鏡装置
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US20210220594A1 (en) * 2018-07-25 2021-07-22 Universität Zürich Video-endoscopic intubation stylet
WO2020194472A1 (ja) 2019-03-25 2020-10-01 オリンパス株式会社 移動支援システム、移動支援方法、および移動支援プログラム

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Cited By (17)

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US8480568B2 (en) 2009-09-30 2013-07-09 Olympus Medical Systems Corp. Endoscope apparatus with automatic selection between automated insertion direction search methods
CN102238894A (zh) * 2009-09-30 2011-11-09 奥林巴斯医疗株式会社 内窥镜装置
EP2347694A4 (en) * 2009-09-30 2012-03-14 Olympus Medical Systems Corp ENDOSCOPE DEVICE
EP2347694A1 (en) * 2009-09-30 2011-07-27 Olympus Medical Systems Corp. Endoscope device
CN102770060B (zh) * 2010-03-17 2015-03-25 奥林巴斯医疗株式会社 内窥镜系统
EP2517613A4 (en) * 2010-03-17 2012-12-05 Olympus Medical Systems Corp ENDOSCOPE SYSTEM
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EP2517613A1 (en) * 2010-03-17 2012-10-31 Olympus Medical Systems Corp. Endoscope system
JP2019000351A (ja) * 2017-06-15 2019-01-10 オリンパス株式会社 内視鏡制御装置、内視鏡システム及びプログラム
JP2019170638A (ja) * 2018-03-28 2019-10-10 オリンパス株式会社 内視鏡システム
WO2021145051A1 (ja) * 2020-01-16 2021-07-22 オリンパス株式会社 内視鏡システム
JP7346598B2 (ja) 2020-01-16 2023-09-19 オリンパス株式会社 内視鏡システム、および内視鏡システムの情報処理方法
WO2021156926A1 (ja) * 2020-02-03 2021-08-12 オリンパス株式会社 内視鏡制御装置、内視鏡制御方法および内視鏡制御プログラム
WO2021166103A1 (ja) * 2020-02-19 2021-08-26 オリンパス株式会社 内視鏡システム、管腔構造算出装置及び管腔構造情報の作成方法
JP7423740B2 (ja) 2020-02-19 2024-01-29 オリンパス株式会社 内視鏡システム、管腔構造算出装置、管腔構造算出装置の作動方法及び管腔構造情報作成プログラム
EP3991632A1 (en) 2020-10-28 2022-05-04 FUJI-FILM Corporation Endoscope system and endoscope device

Also Published As

Publication number Publication date
JPWO2009069395A1 (ja) 2011-04-07
EP2215960B1 (en) 2017-12-27
EP2215960A1 (en) 2010-08-11
EP2215960A4 (en) 2011-12-21
JP5153787B2 (ja) 2013-02-27
US8211009B2 (en) 2012-07-03
US20100204547A1 (en) 2010-08-12

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