Treatment system, trocar, treatment method and calibration method

• US 20070265502A1
• Filed: 05/11/2006
• Published: 11/15/2007
• Est. Priority Date: 05/11/2006
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Medical Systems Corporation (Olympus Corporation)
• Inventors: Dejima, Takumi, Miyamoto, Manabu, Matsuno, Kiyotaka, Minosawa, Ryo
• Granted Patent: US 7,841,980 B2
• Time in Patent Office: Days
• US Class Current: 600/173
• CPC Class Codes: A61B 1/00177 for 90 degrees side-viewing
• CPC Class Codes: A61B 1/00181 for multiple fixed viewing angles A61B1/00193 takes precedence
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/34 Trocars; Puncturing needles pointed biopsy instruments A61B10/0233; devices for piercing the ear-lobes A44C7/001; seals or hemostasis valves A61M39/06
• CPC Class Codes: A61B 17/3417 Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating syringe needles A61M5/32; dilators A61M29/00
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 2017/00738 part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon
• CPC Class Codes: A61B 2090/062 penetration depth
• CPC Class Codes: A61B 2090/067 for measuring angles
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A treatment system includes a guide component that is used to insert a treatment tool into a body cavity, a tilt sensor that is provided in the guide component and detects an angle of inclination of the treatment tool that has been inserted inside the guide component, an insertion amount sensor that is provided in the guide component and detects an amount that the treatment tool has been inserted inside the guide component, a switching device that switches an observation range of images of an interior of the body cavity that are acquired by an observation device that has been introduced into the body cavity and are then displayed on a display unit, and a system control unit that drives the switching device based on information about the angle of inclination and insertion amount of the treatment tool.

Claims

1. A treatment system comprising:

a guide component that is used to insert a treatment tool into a body cavity;

a tilt sensor that is provided in the guide component and detects an angle of inclination of the treatment tool that has been inserted inside the guide component;

an insertion amount sensor that is provided in the guide component and detects an amount that the treatment tool has been inserted inside the guide component;

a switching device that switches an observation range of images of an interior of the body cavity that are acquired by an observation device that has been introduced into the body cavity and are then displayed on a display unit; and

a system control unit that drives the switching device based on information about the angle of inclination and insertion amount of the treatment tool.

2. The treatment system according to claim 1, wherein the system control unit has a switching device that switches the observation range of the observation device such that the distal end of the treatment tool is displayed in an area that is set within an image being displayed using the observation device.

3. The treatment system according to claim 2, wherein the switching device includes a bending portion of the observation device that is bent inside a body cavity.

4. The treatment system according to claim 2, wherein the switching device includes a zoom apparatus that changes an optical magnification of an image that is picked up.

5. The treatment system according to claim 2, wherein the switching device includes an offset apparatus that causes the image pickup device of the observation device to be offset from the insertion direction of the guide component.

6. The treatment system according to claim 2, wherein there is provided an input apparatus that sets an angle for the direction of the filed of view in order to fix the direction of the field of view of an image that is displayed using the observation device relative to the position of the distal end of the treatment tool.

7. The treatment system according to claim 1, wherein the system control unit has a structure that prohibits switching of the observation range of the observation device if the amount of movement of the treatment tool is within a predetermined range.

8. The treatment system according to claim 7, wherein the switching device includes a bending portion of the observation device that is bent inside a body cavity.

9. The treatment system according to claim 7, wherein the switching device includes a zoom apparatus that changes an optical magnification of an image that is picked up.

10. The treatment system according to claim 7, wherein the switching device causes the image pickup device of the observation device to be offset from the insertion direction of the guide component.

11. The treatment system according to claim 7, wherein there is provided an input device that is used to set a range in which switching of the observation range of the observation device is prohibited.

12. A treatment method, comprising the steps of:

detecting an insertion amount when a treatment tool is inserted through a guide component that has been made to pierce an abdominal wall;

detecting an angle of inclination of the guide component;

inserting an observation device into a body cavity through a second guide component that has been made to pierce the abdominal wall; and

switching an observation range of image of the body cavity interior which is displayed on a display unit and which is acquired by the observation device that has been introduced into the body cavity based on an angle of inclination and an insertion amount of the treatment tool.

13. The treatment method according to claim 12, wherein the step of switching the field of view of the observation range of image includes a step of moving the observation device such that the direction of the field of view in the display image is the same both prior to and after a movement of the treatment tool.

14. The treatment method according to claim 12, wherein the step of switching the observation range of the image inside the body cavity includes a step of changing a magnification of the displayed image prior to and after a movement of the treatment tool.

15. The treatment method according to claim 12, wherein the step of switching the observation range of the image inside the body cavity includes a step of changing a range that is displayed in an acquired image prior to and after a movement of the treatment tool.

16. A trocar comprising:

a mantle tube through which a treatment tool can be inserted is inserted into a body cavity through an abdominal wall;

a head portion that has a hole through which the treatment tool can be inserted and that is provided with a valve that isolates the body cavity interior from the body exterior;

an insertion sensor that is provided in the mantle tube and detects an insertion amount of the treatment tool; and

a tilt sensor that, using the gravitational direction as a reference, detects an angle of inclination of the mantle tube that is inclined together with the treatment tool.

17. A calibration method that is used to correlate a position of a guide component that pierces an abdominal wall in order for a treatment tool to be introduced into a body cavity with a position of an observation device inserted into the body cavity, comprising the steps of:

acquiring an insertion amount and an angle of inclination of an adjustment tool inserted into a body cavity through the guide component;

acquiring an image of the distal end component of the adjustment tool using the observation device;

calculating a position and size of the distal end component using image processing; and

calculating a position of the guide component based on the position and size of the distal end component acquired at three or more different positions and from the insertion amount and angle of inclination of the adjustment tool at each position.