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US-12622719-B2 - Medical system, operation method for medical system, and information storage medium

US12622719B2US 12622719 B2US12622719 B2US 12622719B2US-12622719-B2

Abstract

The medical system includes a basket treatment tool a processor. The processor determines, one or more of: a first determination, based on a transmissive image including the biliary duct, of whether a size of a gallstone allows the basket treatment tool to remove the gallstone from the papillary orifice, or a second determination, based on a resistance when the basket treatment tool is pulled, of whether the resistance allows the basket treatment tool to remove the gallstone from the papillary orifice; and controls the basket treatment tool to remove the gallstone from the papillary orifice when one or more of the first determination or the second determination determines that the gallstone is removable from the papillary orifice.

Inventors

  • Genri Inagaki
  • Masayasu CHIDA
  • Yuji Sakamoto
  • Makoto ISHIKAKE
  • Seiichiro Sakaguchi
  • Shohei Hemmi

Assignees

  • OLYMPUS CORPORATION

Dates

Publication Date
20260512
Application Date
20230511

Claims (18)

  1. 1 . A medical system comprising: a basket treatment tool configured to be inserted into a biliary duct from a papillary orifice and to be driven to open/close and advance/retreat; and a processor comprising hardware, the processor being configured to: determine, when the basket treatment tool is coupled with a gallstone and retreated, a retraction resistance corresponding to an amount of force used to retreat the basket treatment tool; determine, based on the retraction resistance, whether the basket treatment tool is able to remove the gallstone via the papillary orifice; and responsive to determining that the basket treatment tool is able to remove the gallstone via the papillary orifice, control the basket treatment tool to retreat to remove the gallstone via the papillary orifice.
  2. 2 . The medical system of claim 1 , wherein the processor is configured to control crushing the gallstone responsive to determining that the basket treatment tool is unable to remove the gallstone via the papillary orifice.
  3. 3 . The medical system of claim 2 , wherein the processor is configured to control the crushing of the gallstone using the basket treatment tool.
  4. 4 . The medical system of claim 2 , wherein the processor is configured to determine whether the basket treatment tool is able to remove the gallstone via the papillary orifice responsive to controlling the crushing of the gallstone.
  5. 5 . The medical system of claim 2 , wherein the processor is configured to determine that the basket treatment tool is unable to remove the gallstone via the papillary orifice based on the retraction resistance being equal to or greater than a predetermined value.
  6. 6 . The medical system of claim 1 , wherein the processor is configured to determine that the basket treatment tool is able to remove the gallstone via the papillary orifice based on the retraction resistance being less than a predetermined value.
  7. 7 . The medical system of claim 1 , wherein the processor is configured to control an insertion of the basket treatment tool into the biliary duct effective to catch the gallstone prior to determining whether the basket treatment tool is able to remove the gallstone via the papillary orifice.
  8. 8 . The medical system of claim 1 , wherein the processor is configured to drive the basket treatment tool via electric driving.
  9. 9 . The medical system of claim 1 , wherein: the processor is configured to determine, based on a transmissive image including the biliary duct, a size of the gallstone; and the determination of whether the basket treatment tool is able to remove the gallstone via the papillary orifice is responsive to a determination that the size of the gallstone is smaller than or equal to a predetermined size.
  10. 10 . The medical system of claim 9 , wherein the transmissive image is an endoscopic retrograde cholangiopancreatography (ERCP) image or a magnetic resonance cholangiopancreatography (MRCP) image.
  11. 11 . The medical system of claim 1 , further comprising a motor configured to drive the opening/closing and advancing/retreating of the basket treatment tool, wherein the processor is configured to control the motor so that the basket treatment tool crushes the gallstone or the basket treatment tool is inserted.
  12. 12 . The medical system of claim 1 , wherein the retraction resistance is based on one or more of: information from a strain gauge within the basket treatment tool or a motor or motor controller used to retreat the basket treatment tool.
  13. 13 . A control apparatus comprising: a processor comprising hardware, wherein the processor is configured to: determine, when a basket treatment tool is inserted into a biliary duct via a papillary orifice, coupled with a gallstone, and retreated, a retraction resistance corresponding to an amount of force used to retreat the basket treatment tool; determine, based on the retraction resistance, whether the basket treatment tool is able to remove the gallstone via the papillary orifice; and responsive to determining that the basket treatment tool is able to remove the gallstone via the papillary orifice, control the basket treatment tool to remove the gallstone via the papillary orifice.
  14. 14 . The control apparatus of claim 13 , wherein the processor is configured to control crushing the gallstone responsive to determining that the basket treatment tool is unable to remove the gallstone via the papillary orifice.
  15. 15 . The control apparatus of claim 14 , wherein the processor is configured to control the crushing of the gallstone using the basket treatment tool.
  16. 16 . The control apparatus of claim 14 , wherein the processor is configured to determine whether the basket treatment tool is able to remove the gallstone via the papillary orifice after controlling the crushing of the gallstone using the basket treatment tool.
  17. 17 . The control apparatus of claim 13 , wherein the processor is configured to: determine, based on a transmissive image including the biliary duct, whether a size of the gallstone is smaller than or equal to a predetermined size; and determine that the basket treatment tool is able to remove the gallstone via the papillary orifice responsive to a determination that the size of the gallstone is smaller than or equal to the predetermined size.
  18. 18 . The control apparatus of claim 14 , wherein the processor is configured to determine that the basket treatment tool is unable to remove the gallstone via the papillary orifice based on the retraction resistance being equal to or greater than a predetermined value.

Description

RELATED APPLICATION DATA This application is based on and claims priority under 37 U.S.C. § 119 to U.S. Provisional Application No. 63/341,515 filed on May 13, 2022, and U.S. Provisional Application No. 63/347,656 filed on Jun. 1, 2022, the entire contents of each of which are incorporated herein by reference. BACKGROUND Known is a medical system that remotely performs electric control of a main body of an endoscope inserted into a body cavity and various types of treatment tools each inserted through a forceps channel. The specification of United States Patent Application Publication No. 2007/0185377 discloses a method of advancing/retreating and opening/closing a basket forceps in accordance with an embedded program. SUMMARY In accordance with one of some aspect, there is provided a medical system comprising: a basket treatment tool configured to be inserted into a biliary duct from a papillary orifice and configured to be driven to for open/close and advance/retreat; anda processor comprising hardware, the processor being configured to: determine, one or more of: a first determination, based on a transmissive image including the biliary duct, of whether a size of a gallstone allows the basket treatment tool to remove the gallstone from the papillary orifice, ora second determination, based on a resistance when the basket treatment tool is pulled, of whether the resistance allows the basket treatment tool to remove the gallstone from the papillary orifice; and control the basket treatment tool to remove the gallstone from the papillary orifice when one or more of the first determination or the second determination determines that the gallstone is removable from the papillary orifice. In accordance with one of some aspect, there is provided an operation method for a medical system, the operation method comprising: determining one or more of: a first determination, based on a transmissive image including the biliary duct, of whether a size of a gallstone allows the basket treatment tool to remove the gallstone from the papillary orifice, ora second determination, based on a resistance when the basket treatment tool is pulled, of whether the resistance allows the basket treatment tool to remove the gallstone from the papillary orifice; and control a basket treatment tool configured to be inserted into a biliary duct from a papillary orifice and configured to be driven to open/close and advance/retreat to remove the gallstone from the papillary orifice using the basket treatment tool when one or more of the first determination or the second determination determines that the gallstone is removable from the papillary orifice. In accordance with one of some aspect, there is provided a control apparatus comprising: a processor configured to: determine one or more of:a first determination, based on a transmissive image including the biliary duct, of whether a size of a gallstone allows the basket treatment tool to remove the gallstone from the papillary orifice, ora second determination, based on a resistance when the basket treatment tool is pulled, of whether the resistance allows the basket treatment tool to remove the gallstone from the papillary orifice; andcontrol a basket treatment tool configured to be inserted into a biliary duct from a papillary orifice and configured to be driven to open/close and advance/retreat to remove the gallstone from the papillary orifice using the basket treatment tool when one or more of the first determination or the second determination determines that the gallstone is removable from the papillary orifice. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating organs and tissues that are related to manipulation of endoscopic retrograde cholangiopancreatography (ERCP). FIG. 2 illustrates the flow of manipulation of the ERCP. FIG. 3 is a diagram for describing a configuration example of a medical system. FIG. 4 is a diagram for describing a more detailed configuration example of the medical system. FIG. 5 is a diagram for describing a configuration example of a drive control device. FIG. 6 is a diagram for describing an example of a tip portion of an endoscope, the tip portion including a raising base of a treatment tool. FIG. 7 is a diagram for describing an example of control of a basket treatment tool. FIG. 8 is a flowchart describing a processing example of a method in accordance with the present embodiment. FIG. 9 is a flowchart describing a processing example of gallstone removal processing. FIG. 10 is a flowchart describing an example of a first determination. FIG. 11 is a diagram for describing an example of a first determination criteria. FIG. 12 is a flowchart describing an example of a second determination. FIG. 13 is a flowchart describing another modification of the gallstone removal processing. FIG. 14 is a flowchart describing another modification of the gallstone removal processing. FIG. 15 is