Surgery supporting apparatus capable of measuring the movement of a medical instrument, control method of the same, and surgery supporting system
Inventors
Ando, Takehiro • Miyamoto, Hiroyuki • Awano, Keita • Sugiura, Yoshihide • FUKUSHIMA, Yuta
Assignees
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Publication Number
US-11653980-B2
Publication Date
2023-05-23
Expiration Date
Abstract
A surgery supporting apparatus capable of performing a manipulation using a surgical instrument to be inserted into a body cavity, comprises a measurement device configured to measure an insertion depth and an insertion angle, with respect to the body cavity, of a shaft of the surgical instrument inserted into the body cavity, as input of the manipulation, wherein the measurement device measures the insertion depth by measuring a sound wave propagating in a space between a transmitter attached to one of the surgical instrument and a position within a predetermined range from a position of insertion to the body cavity, and a receiver attached to the other.
Core Innovation
A surgery supporting apparatus performs a manipulation using a first surgical instrument configured to be inserted into a body cavity through a sheath tube configured to be inserted into the body cavity at an insertion position. The apparatus measures an insertion depth and an insertion angle with respect to the body cavity of a shaft of the first surgical instrument, and performs the manipulation based on the insertion depth and the insertion angle measured by the measurement device.
The measurement device includes a transmitter configured to be attached to one of the first surgical instrument and the sheath tube, and a receiver configured to be attached to the other. The measurement device measures the insertion depth by measuring a sound wave propagating in a space between the transmitter and the receiver.
A controller outputs control information for controlling a posture of a second surgical instrument that is mechanically driven, in accordance with the control information based on the insertion depth and the insertion angle measured by the measurement device. In an alternative apparatus arrangement, posture of a first mechanically driven surgical instrument is controlled based on insertion depth of a second surgical instrument.
Claims Coverage
The independent claims are directed to four inventive features centered on sound-wave propagation measurement and posture control based on measured insertion depth and insertion angle.
Sound-wave propagation measurement of insertion depth and insertion angle
A measurement device measures an insertion depth and an insertion angle, with respect to the body cavity, of a shaft of a surgical instrument, and measures the insertion depth by measuring a sound wave propagating in a space between a transmitter and a receiver.
Transmitter/receiver attachment to instrument versus sheath tube
The measurement device includes a transmitter configured to be attached to one of the surgical instrument and the sheath tube, and a receiver configured to be attached to the other.
Manipulation based on measured insertion depth and insertion angle
The apparatus performs the manipulation based on the insertion depth and the insertion angle measured by the measurement device.
Posture control of a mechanically driven surgical instrument based on measured values
A controller outputs control information for controlling a posture of a mechanically driven surgical instrument in accordance with control information based on the insertion depth and the insertion angle measured by the measurement device.
The claims combine sound-wave-based insertion depth measurement between a transmitter and a receiver with use of the measured insertion depth and insertion angle to perform manipulation and control posture of a mechanically driven surgical instrument.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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