AU2018289116B2 - Robotic systems for determining a pose of a medical device in luminal networks - Google Patents

Robotic systems for determining a pose of a medical device in luminal networks Download PDF

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Publication number
AU2018289116B2
AU2018289116B2 AU2018289116A AU2018289116A AU2018289116B2 AU 2018289116 B2 AU2018289116 B2 AU 2018289116B2 AU 2018289116 A AU2018289116 A AU 2018289116A AU 2018289116 A AU2018289116 A AU 2018289116A AU 2018289116 B2 AU2018289116 B2 AU 2018289116B2
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virtual
depth
luminal network
bronchus
instrument
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AU2018289116A1 (en
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Ritwik Ummalaneni
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Auris Health Inc
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Auris Health Inc
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00154—Holding or positioning arrangements using guiding arrangements for insertion
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/267—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
    • A—HUMAN NECESSITIES
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    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres
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    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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    • A61B2090/3614—Image-producing devices, e.g. surgical cameras using optical fibre
    • A—HUMAN NECESSITIES
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    • A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
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    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
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    • A61B6/46—Arrangements for interfacing with the operator or the patient
    • A61B6/461—Displaying means of special interest
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    • A61B6/487—Diagnostic techniques involving generating temporal series of image data involving fluoroscopy
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Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Otolaryngology (AREA)
  • Physiology (AREA)
  • Pulmonology (AREA)
  • Signal Processing (AREA)
  • Endoscopes (AREA)
AU2018289116A 2017-06-23 2018-06-06 Robotic systems for determining a pose of a medical device in luminal networks Active AU2018289116B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/631,691 2017-06-23
US15/631,691 US10022192B1 (en) 2017-06-23 2017-06-23 Automatically-initialized robotic systems for navigation of luminal networks
PCT/US2018/036329 WO2018236587A1 (en) 2017-06-23 2018-06-06 Robotic systems for determining a pose of a medical device in luminal networks

Publications (2)

Publication Number Publication Date
AU2018289116A1 AU2018289116A1 (en) 2020-01-16
AU2018289116B2 true AU2018289116B2 (en) 2022-12-08

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AU2018289116A Active AU2018289116B2 (en) 2017-06-23 2018-06-06 Robotic systems for determining a pose of a medical device in luminal networks

Country Status (7)

Country Link
US (5) US10022192B1 (enExample)
EP (1) EP3641687B1 (enExample)
JP (2) JP2020524579A (enExample)
KR (1) KR102582808B1 (enExample)
CN (2) CN110831537B (enExample)
AU (1) AU2018289116B2 (enExample)
WO (1) WO2018236587A1 (enExample)

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