Control apparatus and control method of insertion apparatus, insertion apparatus having control apparatus, control program for insertion apparatus, and controlling integrated electronic circuit of insertion apparatus

Patent metadata

Field	Value
Publication number	US-9827047-B2
Application number	US-201414293236-A
Country	US
Kind code	B2
Filing date	Jun 2, 2014
Priority date	Jul 10, 2012
Publication date	Nov 28, 2017
Grant date	Nov 28, 2017

Abstract

A control apparatus of an insertion apparatus in which a state specifying unit specifies a state of an insertion member to carry out vibration control depending on the state, thereby removing getting-stuck of a tip of the insertion member with a vibration having such a proper magnitude as not to cause an overload in a case where the tip of the insertion member is gotten stuck.

First claim

What is claimed is:

1. A control apparatus of an insertion apparatus configured to insert an insertion member of a catheter into a body lumen, the control apparatus comprising:
a tip movement information acquiring unit that acquires tip movement information indicative of presence of movement in the body lumen of a tip of the insertion member;
a non-tip area movement information acquiring unit that acquires non-tip area movement information indicative of presence of a moving operation in the body lumen of a non-tip area other than the tip of the insertion member;
a state specifying unit that, by using the non-tip area movement information acquired by the non-tip area movement information acquiring unit and the tip movement information acquired by the tip movement information acquiring unit,
(a) specifies as a first tip stop state for vibrating the insertion member with a first magnitude of a vibration, a case where the non-tip area of the insertion member is moved and the tip of the insertion member is not moved, and
(b) specifies as a second tip stop state for vibrating the insertion member with a second magnitude of a vibration greater than the first magnitude of the vibration in the first tip stop state of (a), a case where the non-tip area of the insertion member is not moved and the tip of the insertion member is not moved;
an operation information generating unit that generates operation information about the insertion apparatus to execute the first tip stop state of (a) or the second tip stop state of (b) which is specified by the state specifying unit; and
a control unit that controls an operation of the insertion member based on the operation information generated by the operation information generating unit,
wherein a maximum value of the second magnitude of the vibration in the second tip stop state is set to be an amplitude of 0.3 mm, and
the control unit controls the operation of the insertion member by applying vibration control to execute the vibrating of the insertion member in the first tip stop state of (a) or the second tip stop state of (b).

2. The control apparatus of an insertion apparatus according to claim 1 , wherein
the state specifying unit specifies the first tip stop state of (a) and the second tip stop state of (b) by using the non-tip area movement information acquired by the non-tip area movement information acquiring unit and the tip movement information acquired by the tip movement information acquiring unit, and specifies as a state in which the insertion member is not vibrated, a case where the tip of the insertion member is moved regardless of the presence of the moving operation in the non-tip area of the insertion member, and
the operation information generating unit generates the operation information about the insertion apparatus for executing any of the states specified by the state specifying unit.

3. The control apparatus of an insertion apparatus according to claim 1 , wherein
the state specifying unit specifies the first tip stop state of (a) and the second tip stop state of (b) by using the non-tip area movement information acquired by the non-tip area movement information acquiring unit and the tip movement information acquired by the tip movement information acquiring unit, and
(c) specifies as a state in which the insertion member is vibrated less than in the first tip stop state of (a), a case where the non-tip area of the insertion member is moved and the tip of the insertion member is moved, and
the operation information generating unit generates the operation information about the insertion apparatus for executing any of the states (a) to (c) specified by the state specifying unit.

4. The control apparatus of an insertion apparatus according to claim 3 , wherein
the state specifying unit specifies the first tip stop state of (a), the second tip stop state of (b), and the state of (c) by using the non-tip area movement information acquired by the non-tip area movement information acquiring unit and the tip movement information acquired by the tip movement information acquiring unit, and
(d) specifies as a second tip area movement state in which the insertion member is not vibrated, a case where the non-tip area of the insertion member is not moved and the tip of the insertion member is moved, and
the operation information generating unit generates the operation information about the insertion apparatus for executing any of the states (a) to (d) specified by the state specifying unit.

5. The control apparatus of an insertion apparatus according to claim 1 , wherein
the operation information generating unit generates the operation information about the insertion apparatus in which a vibration of the insertion member is in an insertion direction of the insertion member and/or a rotation direction around the insertion direction of the insertion member in a case where the state specified by the state specifying unit is the first tip stop state of (a) or the second tip stop state of (b).

6. The control apparatus of an insertion apparatus according to claim 1 , wherein
the operation information generating unit generates the operation information about the insertion apparatus such that the vibration in the second tip stop state of (b) has a vibration amplitude, a vibration cycle, or an advance ratio greater than the vibration in the first tip stop state of (a).

7. The control apparatus of an insertion apparatus according to claim 1 , wherein
the state specifying unit specifies the first tip stop state of (a) and the second tip stop state of (b) by using the non-tip area movement information acquired by the non-tip area movement information acquiring unit and the tip movement information acquired by the tip movement information acquiring unit, and
(o) specifies as a first tip area movement state in which the insertion member is not vibrated, a case where the non-tip area of the insertion member is moved and the tip of the insertion member is moved, and
the operation information generating unit generates the operation information about the insertion apparatus for executing the first tip stop state of (a), the second tip stop state of (b), or the first tip area movement state of (o) which is specified by the state specifying unit.

8. The control apparatus of an insertion apparatus according to claim 7 , further comprising:
a state transition storage unit that generates state transition information in which the non-tip area movement information and the tip movement information acquired by the state specifying unit are arranged in time-series order and stores the generated state transition information,
wherein when generating the state transition information, the state transition storage unit
(A) adds the non-tip area movement information and the tip movement information acquired by the state specifying unit to the state transition information in a case where a state acquired by the state specifying unit is different from a state acquired by the state specifying unit immediately before, and
(B) does not add the non-tip area movement information and the tip movement information acquired by the state specifying unit to the state transition information in a case where the state acquired by the state specifying unit is identical to the state acquired by the state specifying unit immediately before, and
the state specifying unit uses the non-tip area movement information acquired by the non-tip area movement information acquiring unit, the tip movement information acquired by the tip movement information acquiring unit, and the state transition information acquired by the state transition storage unit to
(e) specify as a state in which the insertion member is vibrated, a case where a newest state

Assignees

• Panasonic Ip Man Co Ltd

Inventors

• Fudaba Yudai
• Tsusaka Yuko
• Sato Taichi

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• G05B19/423

  Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path · CPC title

• A61B1/0016

  using motor drive units · CPC title

• A61M25/01

  Introducing, guiding, advancing, emplacing or holding catheters (A61M25/10 takes precedence) · CPC title

• A61B34/32

  operating autonomously · CPC title