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公开(公告)号：US06745065B2
公开(公告)日：2004-06-01
申请号：US10209199
申请日：2002-07-31
申请人： Hiroshi Niwa , Michio Sato , Akira Taniguchi , Fumiyuki Onoda , Sumihiro Uchimura , Chieko Aizawa
发明人： Hiroshi Niwa , Michio Sato , Akira Taniguchi , Fumiyuki Onoda , Sumihiro Uchimura , Chieko Aizawa
IPC分类号： A61B100
CPC分类号： A61B1/00147 , A61B1/00128 , A61B1/00137 , A61B1/018 , A61B5/06 , A61B5/064
摘要： An endoscope apparatus comprises an endoscope having a treatment tool passage channel in at least an insertion portion, an adaptor for endoscope forceps opening, which can be detachably attached to a treatment tool insertion opening which is at one end of the treatment tool passage channel, an insertion shape detection probe provided with a plurality of shape detection elements which are to be passed and arranged in the treatment tool passage channel via the adaptor for endoscope forceps opening, an insertion shape detection unit for detecting magnetic field emitted from the shape detection elements of the insertion shape detection probe, an insertion shape detection device which drives the insertion shape detection probe and outputs video signals for visualizing the insertion shape from the signals corresponding to the magnetic field detected by the insertion shape detection unit, and a display device for displaying the insertion shape of the insertion portion based on the video signals output from the insertion shape detection device.
摘要翻译： 一种内窥镜装置，其具有在至少插入部具有治疗工具通路通道的内窥镜，内窥镜钳子开口用适配器，其能够可拆卸地安装在处理工具通道的一端的治疗工具插入口， 插入形状检测用探针，其具有：多个形状检测元件，其经由用于内窥镜镊子开口的适配器通过并配置在所述治疗工具通路路径中;插入形状检测单元，其用于检测从所述形状检测元件发出的磁场; 插入形状检测用探针，插入形状检测装置，其驱动插入形状检测用探针，并从与由插入形状检测部检测出的磁场对应的信号输出用于可视化插入形状的视频信号;以及显示装置， 基于视频信号的插入部分的形状 ls从插入形状检测装置输出。
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公开(公告)号：US06890294B2
公开(公告)日：2005-05-10
申请号：US10452085
申请日：2003-06-02
申请人： Hiroshi Niwa , Michio Sato , Akira Taniguchi , Fumiyuki Onoda , Sumihiro Uchimura , Chieko Aizawa
发明人： Hiroshi Niwa , Michio Sato , Akira Taniguchi , Fumiyuki Onoda , Sumihiro Uchimura , Chieko Aizawa
CPC分类号： A61B1/00147 , A61B1/00128 , A61B1/00137 , A61B1/018 , A61B5/06 , A61B5/064
摘要： An endoscope apparatus comprises an endoscope having a treatment tool passage channel in at least an insertion portion, an adaptor for endoscope forceps opening, which can be detachably attached to a treatment tool insertion opening which is at one end of the treatment tool passage channel, an insertion shape detection probe provided with a plurality of shape detection elements which are to be passed and arranged in the treatment tool passage channel via the adaptor for endoscope forceps opening, an insertion shape detection unit for detecting magnetic field emitted from the shape detection elements of the insertion shape detection probe, an insertion shape detection device which drives the insertion shape detection probe and outputs video signals for visualizing the insertion shape from the signals corresponding to the magnetic field detected by the insertion shape detection unit, and a display device for displaying the insertion shape of the insertion portion based on the video signals output from the insertion shape detection device.
摘要翻译： 一种内窥镜装置，其具有在至少插入部具有治疗工具通路通道的内窥镜，内窥镜钳子开口用适配器，其能够可拆卸地安装在处理工具通道的一端的治疗工具插入口， 插入形状检测用探针，其具有：多个形状检测元件，其经由用于内窥镜镊子开口的适配器通过并配置在所述治疗工具通路路径中;插入形状检测单元，其用于检测从所述形状检测元件发出的磁场; 插入形状检测用探针，插入形状检测装置，其驱动插入形状检测用探针，并从与由插入形状检测部检测出的磁场对应的信号输出用于可视化插入形状的视频信号;以及显示装置， 基于视频信号的插入部分的形状 ls从插入形状检测装置输出。
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3.发明授权System for detecting the shape of an endoscope using source coils and sense coils 有权用于使用源线圈和感测线圈检测内窥镜的形状的系统公开(公告)号：US06511417B1
公开(公告)日：2003-01-28
申请号：US09387859
申请日：1999-09-01
申请人： Akira Taniguchi , Chieko Aizawa , Yasuhiro Yoshizawa , Fumiyuki Onoda , Seiki Toriyama , Takeshi Kawabata , Katsuyoshi Sasagawa , Sumihiro Uchimura , Masanao Hara , Kazutaka Tsuji , Takayasu Miyagi , Hiroki Moriyama , Hiroshi Ishii , Yoshinao Oaki , Tsugio Okazaki , Jun Hasegawa , Yasuo Hirata , Tetsuo Nonami
发明人： Akira Taniguchi , Chieko Aizawa , Yasuhiro Yoshizawa , Fumiyuki Onoda , Seiki Toriyama , Takeshi Kawabata , Katsuyoshi Sasagawa , Sumihiro Uchimura , Masanao Hara , Kazutaka Tsuji , Takayasu Miyagi , Hiroki Moriyama , Hiroshi Ishii , Yoshinao Oaki , Tsugio Okazaki , Jun Hasegawa , Yasuo Hirata , Tetsuo Nonami
IPC分类号： A61B100
CPC分类号： A61B1/31 , A61B1/005 , A61B1/05 , A61B5/06 , A61B5/064 , A61B5/7257 , A61B34/20 , A61B90/36 , A61B90/361 , A61B2034/2051 , A61B2034/2072
摘要： An endoscope shape detection system has a CPU included in a control unit. The CPU performs frequency sampling on digital data to calculate coordinates indicating the spatial positions of source coils incorporated in an insertion unit of an endoscope and of marker coils. An inserted state of the insertion unit of the endoscope is estimated based on the calculated coordinate data indicating the positions of the source coils. Display data based on which shape of the endoscope depicted is produced from the calculated coordinate data indicating the positions of the source coils, and output to a video RAM. Display data based on which marker coils are depicted is produced from the calculated coordinate data indicating the positions of the marker coils, and output to the video RAM. Consequently, the positions of the markers are depicted together with the shape of the endoscope. The positional relationship between the insertion unit of the endoscope and a patient's body can therefore be ascertained.
摘要翻译： 内窥镜形状检测系统具有包括在控制单元中的CPU。 CPU对数字数据执行频率采样，以计算指示结合在内窥镜的插入单元中的源极线圈和标记线圈的空间位置的坐标。 基于计算出的表示源极线圈的位置的坐标数据来估计内窥镜的插入单元的插入状态。 根据计算出的表示源极线圈的位置的坐标数据，生成所描绘的内窥镜的形状的显示数据，并输出到视频RAM。 根据计算出的表示标记线圈的位置的坐标数据产生基于标记线圈的显示数据，并输出到视频RAM。 因此，标记的位置与内窥镜的形状一起被描绘。 因此可以确定内窥镜的插入单元与患者身体之间的位置关系。
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4.发明授权System for detecting the shape of an endoscope using source coils and sense coils 有权用于使用源线圈和感测线圈检测内窥镜的形状的系统公开(公告)号：US06773394B2
公开(公告)日：2004-08-10
申请号：US10199889
申请日：2002-07-17
申请人： Akira Taniguchi , Chieko Aizawa , Yasuhiro Yoshizawa , Fumiyuki Onoda , Seiki Toriyama , Takeshi Kawabata , Katsuyoshi Sasagawa , Sumihiro Uchimura , Masanao Hara , Kazutaka Tsuji , Takayasu Miyagi , Hiroki Moriyama , Hiroshi Ishii , Yoshinao Oaki , Tsugio Okazaki , Jun Hasegawa , Yasuo Hirata , Tetsuo Nonami
发明人： Akira Taniguchi , Chieko Aizawa , Yasuhiro Yoshizawa , Fumiyuki Onoda , Seiki Toriyama , Takeshi Kawabata , Katsuyoshi Sasagawa , Sumihiro Uchimura , Masanao Hara , Kazutaka Tsuji , Takayasu Miyagi , Hiroki Moriyama , Hiroshi Ishii , Yoshinao Oaki , Tsugio Okazaki , Jun Hasegawa , Yasuo Hirata , Tetsuo Nonami
IPC分类号： A61B100
CPC分类号： A61B1/31 , A61B1/005 , A61B1/05 , A61B5/06 , A61B5/064 , A61B5/7257 , A61B34/20 , A61B90/36 , A61B90/361 , A61B2034/2051 , A61B2034/2072
摘要： An endoscope shape detection system has a CPU included in a control unit. The CPU performs frequency sampling of digital data to calculate coordinates indicating the spatial positions of source coils incorporated in an insertion unit of an endoscope received in a patient and of marker coils placed on a patient. An inserted state of the insertion unit of the endoscope is estimated based on the calculated coordinate data indicating the positions of the source coils. Display data based on the shape of the endoscope is produced from the calculated coordinate data indicating the positions of the source coils, and output to a video RAM. Display data of the marker coils is produced from the calculated coordinate data indicating the positions of the marker coils, and output to the video RAM. Consequently, the positions of the markers are depicted together with the shape of the endoscope. The positional relationship between the insertion unit of the endoscope and a patient's body can therefore be ascertained.
摘要翻译： 内窥镜形状检测系统具有包括在控制单元中的CPU。 CPU对数字数据进行频率采样，以计算表示收纳在患者的内窥镜的插入单元和放置在患者上的标记线圈的入射线圈的空间位置的坐标。 基于计算出的表示源极线圈的位置的坐标数据来估计内窥镜的插入单元的插入状态。 根据计算出的表示源极线圈的位置的坐标数据，生成基于内窥镜的形状的显示数据，并输出到视频RAM。 标记线圈的显示数据由计算出的表示标记线圈的位置的坐标数据产生，并输出到视频RAM。 因此，标记的位置与内窥镜的形状一起被描绘。 因此可以确定内窥镜的插入单元与患者身体之间的位置关系。
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公开(公告)号：US07706859B2
公开(公告)日：2010-04-27
申请号：US10544557
申请日：2003-08-22
IPC分类号： A61B5/05
摘要： Position detecting elements are disposed in an endoscope insertion portion at predetermined intervals. Even when the endoscope insertion portion is bent, position data representing the detected positions of the elements is used to infer or detect the shape of the insertion portion. A virtual element is disposed between adjoining elements so that a predetermined condition will be met. Position data of the virtual element is used together with the actually detected position data in order to interpolate data for the purpose of detecting the shape of the insertion portion. Consequently, as if a larger number of elements were disposed, the shape of the insertion portion can be detected highly precisely.
摘要翻译： 位置检测元件以预定间隔设置在内窥镜插入部中。 即使当内窥镜插入部分弯曲时，使用表示元件的检测位置的位置数据推断或检测插入部的形状。 虚拟元件设置在相邻元件之间，使得将满足预定条件。 虚拟元素的位置数据与实际检测到的位置数据一起使用，以便内插用于检测插入部分的形状的数据。 因此，如同设置更多的元件一样，能够高精度地检测插入部的形状。
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6.发明授权Endoscope shape detecting apparatus wherein form detecting processing is controlled according to connection state of magnetic field generating means 有权内窥镜形状检测装置，其中根据磁场产生装置的连接状态控制形状检测处理公开(公告)号：US06432041B1
公开(公告)日：2002-08-13
申请号：US09392581
申请日：1999-09-09
申请人： Akira Taniguchi , Chieko Aizawa , Yasuhiro Yoshizawa , Fumiyuki Onoda , Seiki Toriyama , Takeshi Kawabata , Katsuyoshi Sasagawa , Sumihiro Uchimura , Masanao Hara , Kazutaka Tsuji , Takayasu Miyagi , Hiroki Moriyama , Hiroshi Ishii , Yoshinao Oaki , Tsugio Okazaki , Jun Hasegawa , Yasuo Hirata
发明人： Akira Taniguchi , Chieko Aizawa , Yasuhiro Yoshizawa , Fumiyuki Onoda , Seiki Toriyama , Takeshi Kawabata , Katsuyoshi Sasagawa , Sumihiro Uchimura , Masanao Hara , Kazutaka Tsuji , Takayasu Miyagi , Hiroki Moriyama , Hiroshi Ishii , Yoshinao Oaki , Tsugio Okazaki , Jun Hasegawa , Yasuo Hirata
IPC分类号： A61B100
CPC分类号： A61B1/00048 , A61B1/0005 , A61B1/00078 , A61B1/0055 , A61B5/06 , A61B5/064 , A61B34/20 , A61B90/361 , A61B90/50 , A61B2034/2051 , A61B2034/2072 , A61B2090/373 , A61B2090/3937 , A61B2090/3945
摘要： A source coil line-break/short-circuit detecting circuit and a probe connection detecting circuit are provided to the source coil driving circuit unit of an endoscope shape detecting apparatus. The source coil line-break/short-circuit detecting circuit detects line-breaks and short-circuits of the source coils. The probe connection detecting circuit detects whether a connection exists with a probe. A marker coil line-break/short-circuit detecting circuit detects line-breaks and short-circuits of the marker coils. A marker connection detecting circuit detects whether a connection exists with a marker. Accordingly, using the apparatus without being connected to a probe or markers can be avoided by detecting the connection of the probe and markers by the probe connection detecting circuit and marker connection detecting circuit, respectively, when the system is energized, thereby avoiding detecting noise and consequently displaying a random image on the monitor.
摘要翻译： 将源极线路断线/短路检测电路和探头连接检测电路设置在内窥镜形状检测装置的源极线圈驱动电路部。 源线圈断线/短路检测电路检测线圈断线和短路。 探头连接检测电路检测探头是否存在连接。 标记线圈断线/短路检测电路检测标记线圈的断线和短路。 标记连接检测电路检测是否存在与标记的连接。 因此，通过在系统通电时分别通过探针连接检测电路和标记连接检测电路检测探针和标记的连接，可以避免使用该装置而不连接到探针或标记，从而避免检测噪声和 从而在监视器上显示随机图像。
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公开(公告)号：US07255310B2
公开(公告)日：2007-08-14
申请号：US10544263
申请日：2003-08-22
申请人： Hiroshi Niwa , Fumiyuki Onoda , Michio Sato , Akira Taniguchi
发明人： Hiroshi Niwa , Fumiyuki Onoda , Michio Sato , Akira Taniguchi
IPC分类号： A62C13/76
摘要： A holding device 20 includes a fixed portion 21 having a rectangular hole 21a and locking grooves 21b; a holding groove 22 having a notch portion 22a through which an intermediated portion of a probe 1 passes; and a holding hole 23 through which the distal portion of the probe 1 is inserted. The depth of the holding groove 22 is formed to a sufficient extent to allow the intermediate portion 1b to be pressed down into the holding groove at least twice in a superimposed state. The width of the notch portion 22a is formed so as to prevent the intermediated portion 1b from falling out. In order to locate the top portion 23a of the holding hole 23 on the lower side than the bottom portion 22c of the holding groove 22, a spacing B is provided therebetween. A rectangular projection 31a is engaged in a rectangular hole 21a in the fixed portion 21.
摘要翻译： 保持装置20包括具有矩形孔21a和锁定槽21b的固定部分21; 具有切口部分21a的保持槽22，探头1的中间部分穿过该槽口部分通过; 以及保持孔23，探针1的前端部插入该保持孔23。 保持槽22的深度形成为足够的程度，以允许中间部分1b以叠加状态被压入保持槽中至少两次。 形成切口部分22a的宽度以防止中间部分1b脱落。 为了将保持孔23的顶部23a位于比保持槽22的底部22c更下侧，在它们之间设置间隔B. 矩形突出部31a与固定部21中的矩形孔21a接合。
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公开(公告)号：US20060169851A1
公开(公告)日：2006-08-03
申请号：US10544263
申请日：2003-08-22
申请人： Hiroshi Niwa , Fumiyuki Onoda , Michio Sato , Akira Taniguchi
发明人： Hiroshi Niwa , Fumiyuki Onoda , Michio Sato , Akira Taniguchi
IPC分类号： B05B15/06
摘要： A holding device 20 includes a fixed portion 21 having a rectangular hole 21a and locking grooves 21b; a holding groove 22 having a notch portion 22a through which an intermediated portion of a probe 1 passes; and a holding hole 23 through which the distal portion of the probe 1 is inserted. The depth of the holding groove 22 is formed to a sufficient extent to allow the intermediate portion 1b to be pressed down into the holding groove at least twice in a superimposed state. The width of the notch portion 22a is formed so as to prevent the intermediated portion 1b from falling out. In order to locate the top portion 23a of the holding hole 23 on the lower side than the bottom portion 22c of the holding groove 22, a spacing B is provided therebetween. A rectangular projection 31a is engaged in a rectangular hole 21a in the fixed portion 21.
摘要翻译： 保持装置20包括具有矩形孔21a和锁定槽21b的固定部分21; 具有切口部分21a的保持槽22，探头1的中间部分穿过该槽口部分通过; 以及保持孔23，探针1的前端部插入该保持孔23。 保持槽22的深度形成为足够的程度，以允许中间部分1b以叠加状态被压入保持槽中至少两次。 形成切口部分22a的宽度以防止中间部分1b脱落。 为了将保持孔23的顶部23a定位在比保持槽22的底部22c更下侧，在它们之间设置间隔B. 矩形突出部31a与固定部21中的矩形孔21a接合。
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公开(公告)号：US07896801B2
公开(公告)日：2011-03-01
申请号：US11585300
申请日：2006-10-19
IPC分类号： A61B1/005
CPC分类号： A61B1/0055 , A61B1/00071 , A61B1/00078
摘要： An endoscope is provided wherein a variable rigidity portion is not restricted by a physical mechanism, and which allows a surgeon, in performing a rigidity varying operation, to operate the rigidity varying operation along with other operations without releasing inputting sections. The endoscope of the invention includes an inserting section and an operating section. The inserting section has variable-rigidity actuators. The operating section has a rigidity-variation controlling section, a trackball, and scope switches.
摘要翻译： 提供了一种内窥镜，其中可变刚度部分不受物理机构限制，并且允许外科医生在执行刚度变化操作时操作刚度变化操作以及其他操作而不释放输入部分。 本发明的内窥镜包括插入部和操作部。 插入部分具有可变刚性致动器。 操作部具有刚性变化控制部，轨迹球，示范开关。 内窥镜还包括形状检测部，用于显示插入部的形状的图像。 可变刚性致动器的刚性与插入部分的形状的图像一起显示在显示器上。
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公开(公告)号：US07896804B2
公开(公告)日：2011-03-01
申请号：US11510830
申请日：2006-08-25
CPC分类号： A61B1/041 , A61B1/00016 , A61B1/00045 , A61B1/00114 , A61B1/00121
摘要： First and second illumination and image pickup units are provided in the container body having opposite reference view field directions and are respectively freely tilted in an arbitrary direction within predetermined inclination angles from the reference view field direction.
摘要翻译： 第一和第二照明和图像拾取单元设置在具有相反的参考视野方向的容器主体中，并且分别在从参考视场方向预定的倾斜角度内的任意方向上自由地倾斜。
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