US 11,653,980 B2
Surgery supporting apparatus capable of measuring the movement of a medical instrument, control method of the same, and surgery supporting system
Takehiro Ando, Kashiwa (JP); Hiroyuki Miyamoto, Kashiwa (JP); Keita Awano, Kashiwa (JP); Yoshihide Sugiura, Kashiwa (JP); and Yuta Fukushima, Kashiwa (JP)
Assigned to A-TRACTION INC., Kashiwa (JP)
Filed by A-Traction Inc., Kashiwa (JP)
Filed on Sep. 18, 2019, as Appl. No. 16/574,315.
Claims priority of application No. JP2018-178054 (JP), filed on Sep. 21, 2018.
Prior Publication US 2020/0093546 A1, Mar. 26, 2020
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 17/29 (2006.01); A61B 90/50 (2016.01); A61B 1/313 (2006.01); A61B 17/34 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 17/29 (2013.01); A61B 34/30 (2016.02); A61B 90/08 (2016.02); A61B 1/3132 (2013.01); A61B 17/3421 (2013.01); A61B 90/50 (2016.02); A61B 2017/00398 (2013.01); A61B 2017/2908 (2013.01); A61B 2017/2927 (2013.01); A61B 2034/2048 (2016.02); A61B 2090/062 (2016.02); A61B 2090/067 (2016.02); A61B 2090/0811 (2016.02)] 15 Claims
OG exemplary drawing
1. A surgery supporting apparatus for performing 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 comprising:
a measurement device configured to measure an insertion depth and an insertion angle, with respect to the body cavity, of a shaft of the first surgical instrument,
wherein the measurement device includes a transmitter that is configured to be attached to one of the first surgical instrument and the sheath tube, and a receiver that is configured to be attached to the other of the first surgical instrument and the sheath tube,
the measurement device measures the insertion depth by measuring a sound wave propagating in a space between the transmitter and the receiver, and
the manipulation is performed based on the insertion depth and the insertion angle measured by the measurement device.