CN101959470B - 通过电磁跟踪和光子针进行的活检引导 - Google Patents

通过电磁跟踪和光子针进行的活检引导 Download PDF

Info

Publication number
CN101959470B
CN101959470B CN200980107645.2A CN200980107645A CN101959470B CN 101959470 B CN101959470 B CN 101959470B CN 200980107645 A CN200980107645 A CN 200980107645A CN 101959470 B CN101959470 B CN 101959470B
Authority
CN
China
Prior art keywords
biopsy
needle
spectroscopy
tissue
optical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN200980107645.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN101959470A (zh
Inventor
B·H·W·亨德里克斯
G·S·舍克特
D·巴比克
W·克鲁伊曼斯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips Electronics NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics NV filed Critical Koninklijke Philips Electronics NV
Publication of CN101959470A publication Critical patent/CN101959470A/zh
Application granted granted Critical
Publication of CN101959470B publication Critical patent/CN101959470B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A61B5/6848—Needles
    • 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
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0075—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by spectroscopy, i.e. measuring spectra, e.g. Raman spectroscopy, infrared absorption spectroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
    • A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/0233—Pointed or sharp biopsy instruments
    • A61B10/0266—Pointed or sharp biopsy instruments means for severing sample
    • A61B10/0275—Pointed or sharp biopsy instruments means for severing sample with sample notch, e.g. on the side of inner stylet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments, e.g. catheter-type instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00057—Light
    • A61B2017/00061—Light spectrum
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00057—Light
    • A61B2017/00066—Light intensity
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2576/00—Medical imaging apparatus involving image processing or analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0062—Arrangements for scanning
    • A61B5/0066—Optical coherence imaging

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Investigating, Analyzing Materials By Fluorescence Or Luminescence (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)
CN200980107645.2A 2008-03-03 2009-02-27 通过电磁跟踪和光子针进行的活检引导 Active CN101959470B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US3305608P 2008-03-03 2008-03-03
US61/033056 2008-03-03
US5894108P 2008-06-05 2008-06-05
US61/058941 2008-06-05
PCT/IB2009/050793 WO2009109879A2 (en) 2008-03-03 2009-02-27 Biopsy guidance by electromagnetic tracking and photonic needle

Publications (2)

Publication Number Publication Date
CN101959470A CN101959470A (zh) 2011-01-26
CN101959470B true CN101959470B (zh) 2015-07-22

Family

ID=40647150

Family Applications (1)

Application Number Title Priority Date Filing Date
CN200980107645.2A Active CN101959470B (zh) 2008-03-03 2009-02-27 通过电磁跟踪和光子针进行的活检引导

Country Status (5)

Country Link
US (1) US9179985B2 (https=)
EP (1) EP2249737B1 (https=)
JP (1) JP5701615B2 (https=)
CN (1) CN101959470B (https=)
WO (1) WO2009109879A2 (https=)

Families Citing this family (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009109873A1 (en) 2008-03-03 2009-09-11 Koninklijke Philips Electronics N.V. Biopsy guidance by image-based x-ray guidance system and photonic needle
US9687190B2 (en) * 2008-07-30 2017-06-27 Vanderbilt University Intra-operative use of fluorescence spectroscopy and applications of same
US10517688B2 (en) * 2009-05-29 2019-12-31 Jack Wade Method for enhanced data analysis with specialized video enabled software tools for medical environments
US10433917B2 (en) * 2009-05-29 2019-10-08 Jack Wade System and method for enhanced data analysis with video enabled software tools for medical environments
US20110105946A1 (en) * 2009-10-31 2011-05-05 Sorensen Peter L Biopsy system with infrared communications
US20140005465A1 (en) 2011-03-24 2014-01-02 Koninklijke Philips N.V. Apparatus and method for electronic brachytherapy
WO2012147034A1 (en) 2011-04-27 2012-11-01 Koninklijke Philips Electronics N.V. Energy application apparatus
CN104244861B (zh) * 2012-03-23 2017-09-08 皇家飞利浦有限公司 一种用于在身体内引导仪器的引导系统
US9468380B2 (en) 2012-03-30 2016-10-18 Children's Hospital Medical Center Method to identify tissue oxygenation state by spectrographic analysis
CN104427945B (zh) * 2012-06-26 2017-02-22 皇家飞利浦有限公司 在尖端处具有大的光纤距离的活检针
US9867599B2 (en) 2013-02-27 2018-01-16 Koninklijke Philips N.V. Optical guided vacuum assisted biopsy device
US10448862B2 (en) * 2013-09-06 2019-10-22 Covidien Lp System and method for light based lung visualization
US10098565B2 (en) 2013-09-06 2018-10-16 Covidien Lp System and method for lung visualization using ultrasound
WO2015091580A1 (en) * 2013-12-20 2015-06-25 Koninklijke Philips N.V. User interface for photonic tools and electromagnetic tracking guided bronchoscope
US20160051221A1 (en) * 2014-08-25 2016-02-25 Covidien Lp System and Method for Planning, Monitoring, and Confirming Treatment
CN106793948B (zh) * 2014-08-28 2020-09-29 皇家飞利浦有限公司 侧视肺部活检装置
WO2016158060A1 (ja) * 2015-03-31 2016-10-06 富士フイルム株式会社 穿刺装置および光音響計測装置
CA2975901C (en) * 2015-04-08 2020-06-30 Synaptive Medical (Barbados) Inc. Systems, devices and methods for tissue removal and analysis
WO2017111576A1 (en) * 2015-12-21 2017-06-29 Erasmus University Medical Center Rotterdam Optical probe for measuring a tissue sample
US11478150B2 (en) 2016-03-28 2022-10-25 Becton, Dickinson And Company Optical fiber sensor
US10850046B2 (en) * 2016-03-28 2020-12-01 Becton, Dickinson And Company Cannula locator device
US10835718B2 (en) 2016-03-28 2020-11-17 Becton, Dickinson And Company Cannula with light-emitting optical fiber
CN113834869B (zh) 2016-09-02 2024-12-06 得克萨斯大学体系董事会 收集探针及其使用方法
US11202590B2 (en) * 2017-04-09 2021-12-21 Intelligent Optical Systems, Inc. Sensor integrated biopsy needle system
EP3646012B1 (en) * 2017-06-30 2023-03-08 Agency for Science, Technology and Research Sers-active opto-fluidic photonic crystal fiber probe including a biopsy needle and method using the probe
US11129679B2 (en) 2017-11-14 2021-09-28 Mako Surgical Corp. Fiber optic tracking system
EP3717901A4 (en) 2017-11-27 2021-08-25 Board Of Regents, The University Of Texas System MINIMALLY INVASIVE DETECTION PROBE AND METHOD OF USING IT
NL2020329B1 (en) * 2018-01-26 2019-07-31 Stichting Het Nederlands Kanker Inst Antoni Van Leeuwenhoek Ziekenhuis Surgical instrument and surgical system
US20190262082A1 (en) * 2018-02-26 2019-08-29 Covidien Lp System and method for performing a percutaneous navigation procedure
WO2019213133A1 (en) * 2018-04-30 2019-11-07 City Of Hope Cancer detection and ablation system and method
CN109394255B (zh) * 2018-12-14 2019-09-03 邱军 一种智能肝病检查装置
EP3914891B1 (en) * 2019-01-25 2026-04-01 Board of Regents, The University of Texas System Apparatus for cleaning and/or exchanging medical devices
US20230032021A1 (en) * 2019-12-11 2023-02-02 University Health Network (Uhn) Ultrafine needle endoscope apparatus for deep interstitial examination by white light imaging, autofluorescence imaging and raman spectroscopy
US12453512B2 (en) 2020-08-06 2025-10-28 Medtronic Navigation, Inc. Tumor ablation planning using interstitial optical mapping
CN115429403A (zh) * 2022-09-26 2022-12-06 江苏阀艮科技有限公司 基于ct图像引导机器人穿刺活检空间定位装置
CA3238285A1 (en) 2023-05-15 2025-07-07 Northern Digital Inc. Fiber optic shape sensing mangement

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003020119A2 (en) * 2001-09-04 2003-03-13 Bioluminate, Inc. Multisensor probe for tissue identification
WO2007147058A2 (en) * 2006-06-14 2007-12-21 Cornova, Inc. Method and apparatus for identifying and treating myocardial infarction
CN101099684A (zh) * 2006-05-22 2008-01-09 伊西康内外科公司 Mri活组织检查装置

Family Cites Families (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5823958A (en) * 1990-11-26 1998-10-20 Truppe; Michael System and method for displaying a structural data image in real-time correlation with moveable body
US5318023A (en) * 1991-04-03 1994-06-07 Cedars-Sinai Medical Center Apparatus and method of use for a photosensitizer enhanced fluorescence based biopsy needle
US6564087B1 (en) * 1991-04-29 2003-05-13 Massachusetts Institute Of Technology Fiber optic needle probes for optical coherence tomography imaging
US5913820A (en) * 1992-08-14 1999-06-22 British Telecommunications Public Limited Company Position location system
US5829444A (en) * 1994-09-15 1998-11-03 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications
EP0951874A3 (en) * 1994-09-15 2000-06-14 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications using a reference unit secured to a patients head
US6006750A (en) * 1996-04-30 1999-12-28 Medtronic, Inc. Position sensing system and method for using the same
US6293911B1 (en) * 1996-11-20 2001-09-25 Olympus Optical Co., Ltd. Fluorescent endoscope system enabling simultaneous normal light observation and fluorescence observation in infrared spectrum
JPH10216134A (ja) * 1997-02-10 1998-08-18 Olympus Optical Co Ltd 穿刺針システム
US6580938B1 (en) 1997-02-25 2003-06-17 Biosense, Inc. Image-guided thoracic therapy and apparatus therefor
DE69819289T2 (de) * 1997-06-23 2004-08-05 Philips Intellectual Property & Standards Gmbh Bildgeführtes chirurgisches system
IL122336A0 (en) * 1997-11-27 1998-04-05 Ultra Guide Ltd System and method for guiding the movements of a device to a target particularly for medical applications
US6233476B1 (en) * 1999-05-18 2001-05-15 Mediguide Ltd. Medical positioning system
US6826424B1 (en) * 2000-12-19 2004-11-30 Haishan Zeng Methods and apparatus for fluorescence and reflectance imaging and spectroscopy and for contemporaneous measurements of electromagnetic radiation with multiple measuring devices
US6785571B2 (en) * 2001-03-30 2004-08-31 Neil David Glossop Device and method for registering a position sensor in an anatomical body
US7769426B2 (en) * 2002-04-23 2010-08-03 Ethicon Endo-Surgery, Inc. Method for using an MRI compatible biopsy device with detachable probe
US7826883B2 (en) * 2002-04-23 2010-11-02 Devicor Medical Products, Inc. Localization mechanism for an MRI compatible biopsy device
US20050154277A1 (en) * 2002-12-31 2005-07-14 Jing Tang Apparatus and methods of using built-in micro-spectroscopy micro-biosensors and specimen collection system for a wireless capsule in a biological body in vivo
JP4533615B2 (ja) * 2003-10-14 2010-09-01 オリンパス株式会社 穿刺針及び超音波内視鏡システム
EP1691666B1 (en) * 2003-12-12 2012-05-30 University of Washington Catheterscope 3d guidance and interface system
US20050203419A1 (en) * 2004-02-24 2005-09-15 Nirmala Ramanujam Side-firing probe for performing optical spectroscopy during core needle biopsy
JP4724883B2 (ja) 2004-05-24 2011-07-13 独立行政法人産業技術総合研究所 生体内組織の同定装置
WO2006095343A1 (en) 2005-03-10 2006-09-14 Anatoly Babchenko An optical sensor and a method of its use
US9289267B2 (en) * 2005-06-14 2016-03-22 Siemens Medical Solutions Usa, Inc. Method and apparatus for minimally invasive surgery using endoscopes
WO2007002079A2 (en) * 2005-06-21 2007-01-04 Traxtal Inc. System, method and apparatus for navigated therapy and diagnosis
DE102005048892B4 (de) * 2005-09-22 2009-01-15 Siemens Ag Vorrichtung zur Durchführung von Rotablation sowie medizinische Behandlungseinrichtung
US7835785B2 (en) * 2005-10-04 2010-11-16 Ascension Technology Corporation DC magnetic-based position and orientation monitoring system for tracking medical instruments
US7603161B2 (en) * 2005-12-30 2009-10-13 Medtronic, Inc. Position detection in a magnetic field
US20100222647A1 (en) * 2006-01-18 2010-09-02 Dune Medical Devices Ltd. System and method for analysis and treatment of a body tissue
US20080292164A1 (en) * 2006-08-29 2008-11-27 Siemens Corporate Research, Inc. System and method for coregistration and analysis of non-concurrent diffuse optical and magnetic resonance breast images
IL187667A (en) * 2006-11-27 2011-12-29 Mediguide Ltd System and method for navigating a surgical needle toward an organ of the body of a patient
CN101553162A (zh) * 2006-12-06 2009-10-07 皇家飞利浦电子股份有限公司 获取光学组织特性
WO2009109873A1 (en) * 2008-03-03 2009-09-11 Koninklijke Philips Electronics N.V. Biopsy guidance by image-based x-ray guidance system and photonic needle
WO2009115952A1 (en) * 2008-03-18 2009-09-24 Koninklijke Philips Electronics N.V. Biopsy device
WO2010058344A1 (en) * 2008-11-19 2010-05-27 Koninklijke Philips Electronics N.V. Needle with optical fibers
CN102215742A (zh) * 2008-11-19 2011-10-12 皇家飞利浦电子股份有限公司 带集成纤维的针
WO2010084445A1 (en) * 2009-01-23 2010-07-29 Koninklijke Philips Electronics N.V. Optical examination device adapted to be at least partially inserted into a turbid medium

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003020119A2 (en) * 2001-09-04 2003-03-13 Bioluminate, Inc. Multisensor probe for tissue identification
CN101099684A (zh) * 2006-05-22 2008-01-09 伊西康内外科公司 Mri活组织检查装置
WO2007147058A2 (en) * 2006-06-14 2007-12-21 Cornova, Inc. Method and apparatus for identifying and treating myocardial infarction

Also Published As

Publication number Publication date
US20100317964A1 (en) 2010-12-16
EP2249737A2 (en) 2010-11-17
EP2249737B1 (en) 2020-07-01
US9179985B2 (en) 2015-11-10
WO2009109879A2 (en) 2009-09-11
CN101959470A (zh) 2011-01-26
JP2011514197A (ja) 2011-05-06
JP5701615B2 (ja) 2015-04-15
WO2009109879A3 (en) 2009-12-23

Similar Documents

Publication Publication Date Title
CN101959470B (zh) 通过电磁跟踪和光子针进行的活检引导
US11412985B2 (en) Biopsy guidance by image-based X-ray system and photonic needle
EP2440118B1 (en) Algorithm for photonic needle console
CN104768451B (zh) 用于获得病理信息的具有光子活检设备的系统
US9763744B2 (en) Biopsy device with integrated optical spectroscopy guidance
US20090326385A1 (en) Obtaining optical tissue properties
JP6188829B2 (ja) 光学的にガイドされる真空補助生検装置
EP2548516A1 (en) A system for enabling generation of photoacoustic images
CN106793948B (zh) 侧视肺部活检装置
US20160030022A1 (en) Optical Biopsy Needle and Endoscope System
JP2017508573A (ja) 材料に挿入して材料検体を採取するための医療装置およびその方法

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant