WO1997029679A3 - Precise position determination of endoscopes - Google Patents

Precise position determination of endoscopes Download PDF

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Publication number
WO1997029679A3
WO1997029679A3 PCT/IL1997/000061 IL9700061W WO9729679A3 WO 1997029679 A3 WO1997029679 A3 WO 1997029679A3 IL 9700061 W IL9700061 W IL 9700061W WO 9729679 A3 WO9729679 A3 WO 9729679A3
Authority
WO
WIPO (PCT)
Prior art keywords
endoscope
endoscopes
position determination
sensors
precise position
Prior art date
Application number
PCT/IL1997/000061
Other languages
French (fr)
Other versions
WO1997029679A2 (en
Inventor
Shlomo Ben-Haim
Original Assignee
Biosense Inc
Ben Haim Shlomo
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
Priority claimed from IL11714896A external-priority patent/IL117148A/en
Priority claimed from IL11926296A external-priority patent/IL119262A0/en
Priority claimed from PCT/IL1997/000010 external-priority patent/WO1997024981A2/en
Priority to ES97904556T priority Critical patent/ES2241037T3/en
Priority to JP52916597A priority patent/JP4130226B2/en
Priority to IL12578197A priority patent/IL125781A/en
Application filed by Biosense Inc, Ben Haim Shlomo filed Critical Biosense Inc
Priority to DE69733249T priority patent/DE69733249T8/en
Priority to EP97904556A priority patent/EP0883375B1/en
Priority to AU17315/97A priority patent/AU711668B2/en
Priority to US09/117,792 priority patent/US6203493B1/en
Priority to CA002246341A priority patent/CA2246341C/en
Publication of WO1997029679A2 publication Critical patent/WO1997029679A2/en
Publication of WO1997029679A3 publication Critical patent/WO1997029679A3/en

Links

Classifications

    • 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
    • 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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00135—Oversleeves mounted on the endoscope prior to insertion
    • 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
    • A61B1/31—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 for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
    • A—HUMAN NECESSITIES
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
    • A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
    • A61B17/22012—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
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    • 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
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
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    • A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
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    • A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • A—HUMAN NECESSITIES
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    • A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
    • A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
    • A61B2017/22005—Effects, e.g. on tissue
    • A61B2017/22007—Cavitation or pseudocavitation, i.e. creation of gas bubbles generating a secondary shock wave when collapsing
    • A61B2017/22008—Cavitation or pseudocavitation, i.e. creation of gas bubbles generating a secondary shock wave when collapsing used or promoted
    • 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
    • A61B2034/2051—Electromagnetic tracking systems
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    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • 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
    • A61B2090/363—Use of fiducial points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
    • A61B2090/3958—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI emitting a signal
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    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0266—Operational features for monitoring or limiting apparatus function
    • A61B2560/0276—Determining malfunction
    • 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
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61M25/00—Catheters; Hollow probes
    • A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
    • A61M25/0023—Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter
    • A61M2025/0025—Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter having a collapsible lumen
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    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/10—Balloon catheters
    • A61M2025/1043—Balloon catheters with special features or adapted for special applications
    • A61M2025/1052—Balloon catheters with special features or adapted for special applications for temporarily occluding a vessel for isolating a sector
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    • A61M25/00—Catheters; Hollow probes
    • A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
    • A61M25/0023—Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter

Abstract

A locatable endoscope (14) attachment including an attachment (20) connectable to an insertion tube portion of an endoscope for determining the endoscope's (14) position; and one or more sensors (22), fixedly positioned with respect to the attachment (20), which are used for determining the positions of the one or more sensors (22). Preferably, when the attachment (20) is fixedly attached to the endoscope (14), the one or more sensors (22) are distanced from elements of the endoscope which interfere with determining the positions of the one or more sensors (22).
PCT/IL1997/000061 1996-02-15 1997-02-14 Precise position determination of endoscopes WO1997029679A2 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
CA002246341A CA2246341C (en) 1996-02-15 1997-02-14 Precise position determination of endoscopes
US09/117,792 US6203493B1 (en) 1996-02-15 1997-02-14 Attachment with one or more sensors for precise position determination of endoscopes
AU17315/97A AU711668B2 (en) 1996-02-15 1997-02-14 Precise position determination of endoscopes
JP52916597A JP4130226B2 (en) 1996-02-15 1997-02-14 Precise positioning of endoscope
IL12578197A IL125781A (en) 1996-02-15 1997-02-14 Precise position determination of endoscopes
ES97904556T ES2241037T3 (en) 1996-02-15 1997-02-14 PRECISE DETERMINATION OF THE POSITION OF ENDOSCOPES.
DE69733249T DE69733249T8 (en) 1996-02-15 1997-02-14 DETERMINATION OF THE EXACT POSITION OF ENDOSCOPES
EP97904556A EP0883375B1 (en) 1996-02-15 1997-02-14 Precise position determination of endoscopes

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
US1174396P 1996-02-15 1996-02-15
IL11714896A IL117148A (en) 1996-02-15 1996-02-15 Catheter with lumen
US60/011,743 1996-02-15
IL117148 1996-02-15
US1224296P 1996-02-26 1996-02-26
US60/012,242 1996-02-26
IL11926296A IL119262A0 (en) 1996-02-15 1996-09-17 Locatable biopsy needle
IL119262 1996-09-17
PCT/IL1997/000010 WO1997024981A2 (en) 1996-01-08 1997-01-08 Cardiac electro-mechanics
ILPCT/IL97/00010 1997-01-08

Publications (2)

Publication Number Publication Date
WO1997029679A2 WO1997029679A2 (en) 1997-08-21
WO1997029679A3 true WO1997029679A3 (en) 1997-10-23

Family

ID=27517640

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL1997/000061 WO1997029679A2 (en) 1996-02-15 1997-02-14 Precise position determination of endoscopes

Country Status (9)

Country Link
US (1) US6203493B1 (en)
EP (1) EP0883375B1 (en)
JP (1) JP4130226B2 (en)
AU (1) AU711668B2 (en)
CA (1) CA2246341C (en)
DE (1) DE69733249T8 (en)
ES (1) ES2241037T3 (en)
IL (1) IL125781A (en)
WO (1) WO1997029679A2 (en)

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US8934975B2 (en) 2010-02-01 2015-01-13 Metacure Limited Gastrointestinal electrical therapy
US9101765B2 (en) 1999-03-05 2015-08-11 Metacure Limited Non-immediate effects of therapy
US9215970B2 (en) 2004-08-09 2015-12-22 Boston Scientific Scimed, Inc. Fiber optic imaging catheter
US9289618B1 (en) 1996-01-08 2016-03-22 Impulse Dynamics Nv Electrical muscle controller
US9339173B2 (en) 2004-03-23 2016-05-17 Boston Scientific Scimed, Inc. In-vivo visualization system
US11944344B2 (en) 2018-04-13 2024-04-02 Karl Storz Se & Co. Kg Guidance system, method and devices thereof

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IL121450A0 (en) * 1997-08-01 1998-02-08 Smollett Neil Ophthalmic surgical equipment
US6147480A (en) * 1997-10-23 2000-11-14 Biosense, Inc. Detection of metal disturbance
DE19800471A1 (en) * 1998-01-09 1999-07-15 Philips Patentverwaltung MR method with micro-coils located in the examination area
US6373240B1 (en) 1998-10-15 2002-04-16 Biosense, Inc. Metal immune system for tracking spatial coordinates of an object in the presence of a perturbed energy field
JP2002533143A (en) 1998-12-23 2002-10-08 ヤカブ、ピーター・ディー Magnetic resonance scanner with electromagnetic position and orientation tracking device
AU748703B2 (en) * 1999-03-17 2002-06-13 Ao Technology Ag Imaging and planning device for ligament graft placement
AU2001220693A1 (en) * 2000-01-27 2001-08-07 Vision Sciences, Inc. Endoscopic assembly with non-visual locating device
US6468203B2 (en) 2000-04-03 2002-10-22 Neoguide Systems, Inc. Steerable endoscope and improved method of insertion
US8517923B2 (en) * 2000-04-03 2013-08-27 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US6610007B2 (en) * 2000-04-03 2003-08-26 Neoguide Systems, Inc. Steerable segmented endoscope and method of insertion
US6984203B2 (en) * 2000-04-03 2006-01-10 Neoguide Systems, Inc. Endoscope with adjacently positioned guiding apparatus
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US6858005B2 (en) 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
EP1276532B1 (en) * 2000-04-21 2016-09-21 Covidien LP System and method for intravascular catheter navigation
US6484118B1 (en) 2000-07-20 2002-11-19 Biosense, Inc. Electromagnetic position single axis system
JP2004505748A (en) * 2000-08-23 2004-02-26 ミクロニックス　ピーティーワイ　リミテッド Catheter position display device and use thereof
US6846286B2 (en) * 2001-05-22 2005-01-25 Pentax Corporation Endoscope system
US6992477B2 (en) * 2001-06-15 2006-01-31 Biosense, Inc. Medical device with position sensor having core with high permeability material for determining location coordinates of a portion of the medical device
US7286868B2 (en) * 2001-06-15 2007-10-23 Biosense Inc. Medical device with position sensor having accuracy at high temperatures
US20030040670A1 (en) * 2001-06-15 2003-02-27 Assaf Govari Method for measuring temperature and of adjusting for temperature sensitivity with a medical device having a position sensor
US6745065B2 (en) * 2001-08-02 2004-06-01 Olympus Corporation Endoscope apparatus
DE10151398B4 (en) * 2001-10-18 2005-03-17 Schaerer Mayfield USA, Inc., Cincinnati Device for adapting surgical instruments as a pointing device
US7081097B2 (en) * 2002-01-04 2006-07-25 Vision Sciences, Inc. Endoscope sheath assemblies having an attached biopsy sampling device
US7338505B2 (en) 2002-01-09 2008-03-04 Neoguide Systems, Inc. Apparatus and method for endoscopic colectomy
US6790206B2 (en) * 2002-01-31 2004-09-14 Scimed Life Systems, Inc. Compensation for power variation along patient cables
GB0204549D0 (en) * 2002-02-27 2002-04-10 Depuy Int Ltd A surgical instrument system
JP4551051B2 (en) * 2002-04-17 2010-09-22 オリンパス株式会社 Ultrasonic diagnostic equipment
US7998062B2 (en) 2004-03-29 2011-08-16 Superdimension, Ltd. Endoscope structures and techniques for navigating to a target in branched structure
ATE369168T1 (en) * 2002-10-03 2007-08-15 Etview Ltd ENDOTRACHEAL TUBE WITH AN IMAGE SENSOR
US8862204B2 (en) * 2002-11-18 2014-10-14 Mediguide Ltd. Reducing mechanical stress on conductors and connection points in a position determinable interventional medical device
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