Endoscopy system

• US 9,492,061 B2
• Filed: 07/10/2006
• Issued: 11/15/2016
• Est. Priority Date: 07/11/2005
• Status: Active Grant

• Current Assignee: Siemens Healthcare GMBH (Siemens AG)
• Original Assignee: Siemens AG
• Inventors: Rckelein, Rudolf, Abraham-Fuchs, Klaus, Graumann, Rainer, Kuth, Rainer, Reinschke, Johannes, Schmidt, Sebastian
• Primary Examiner(s): Leubecker, John P
• Assistant Examiner(s): Torres Diaz, Arnaldo
• Application Number:
  US11/995,409
• Publication Number:
  US 20080249359A1
• Time in Patent Office: 3,781 Days
• Field of Search: 600/114, 600117-118, 600/424, 128/899, 335/219, 568/1
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00147 Holding or positioning arrangements
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 2034/732 arranged around the patient, e.g. in a gantry
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 5/073 Intestinal transmitters
• CPC Class Codes: A61B 5/704 Tables

Abstract

An endoscopy system has an endo-robot that is navigable within an anatomical lumen of a patient by interacting with a magnetic field generated by an extracorporeal magnet system. The patient lies on a patient bed that is movable in one or more directions and/or orientations, and an obstacle detects objects in the movement path of the endo-robot in the anatomical lumen and produces a signal that causes the position and/or orientation of the patient bed to be altered dependent thereon.

Claims

1. An endoscopy system comprising:

an endo-robot configured for in vivo navigation in an anatomical lumen of a patient;

an extracorporeal magnet system that generates a temporally variable and spatially non-homogenous magnetic field that interacts with the endo-robot to move said endo-robot in said anatomical lumen;

a patient positioning system comprising a patient bed configured to receive the patient thereon while said endo-robot is in said anatomical lumen, said patient bed having a longitudinal axis and being operable to execute at least one movement, and comprising a first supporting shell, and wherein said patient bed comprises a second supporting shell with said first supporting shell being supported by an air cushion in said second supporting shell and tilting on said air cushion relative to said second supporting shell, as said at least one movement;

an obstacle detector that detects obstacles to the movement of the endo-robot in the anatomical lumen, said obstacle detector generating a detector signal upon said endo-robot encountering an obstacle to the movement of the endo-robot in the anatomical lumen; and

a control unit configured to automatically operate said extracorporeal magnetic system and said patient positioning system, and being automatically supplied with said detector signal, said control unit being configured, upon said detector signal indicating that said endo-robot has encountered an obstacle, to automatically cause said patient positioning system to execute said at least one movement to assist said endo-robot in overcoming said obstacle and to avoid said magnetic field generated by said extracorporeal magnet system from having to move the endo-robot, by virtue of the magnetic field itself, to overcome said obstacle.

2. An endoscopy system as claimed in claim 1 comprising at least one stepper motor in mechanical engagement with said patient bed, and wherein said control unit is configured to operate said stepper motor to drive said patient bed to execute said at least one movement.

3. An endoscopy system as claimed in claim 1 wherein said magnet system has a magnet system longitudinal axis and is operable to execute at least one movement selected from the group consisting of rotation around said magnitude system longitudinal axis, inclination relative to said magnet system longitudinal axis, and displacement in at least one spatial direction.

4. An endoscopy system as claimed in claim 1 wherein said obstacle detector comprises a sensor on said endo-robot that detects a counter force acting on said endo-robot in said anatomical lumen counter to said movement of said endo-robot.

5. An endoscopy system as claimed in claim 1 wherein said obstacle detector comprises an imaging system that produces, as said detector signal, an image of said obstacle.

6. An endoscopy system as claimed in claim 1 wherein said control unit is configured to derive an endo-robot position measurement from said detector signal that is indicative of a direction of movement of the endo-robot.

7. An endoscopy system as claimed in claim 1 wherein said control unit is configured to automatically control at least one of said magnet system and said patient bed to cause power consumed by said magnetic coil to be minimized or not to exceed a predetermined value.

8. An endoscopy system as claimed in claim 1 wherein said patient bed is formed substantially completely of non-ferromagnetic material.

9. An endoscopy system as claimed in claim 1 wherein said patient bed is comprised substantially completely of a material having a low electrical conductivity.

10. An endoscopy system as claimed in claim 1 wherein said patient bed comprises at least one patient retention device.

11. An endoscopy system as claimed in claim 1 comprising a closed magnetic resonance scanner and wherein said extracorporeal magnet system is a magnet system of said closed magnetic resonance scanner.

12. An endoscopy system as claimed in claim 1 comprising a closed magnetic resonance scanner and wherein said extracorporeal magnet system is a magnet system of said open magnetic resonance scanner.