CN103957772B - 形状感测辅助的医疗过程 - Google Patents

形状感测辅助的医疗过程 Download PDF

Info

Publication number
CN103957772B
CN103957772B CN201280051307.3A CN201280051307A CN103957772B CN 103957772 B CN103957772 B CN 103957772B CN 201280051307 A CN201280051307 A CN 201280051307A CN 103957772 B CN103957772 B CN 103957772B
Authority
CN
China
Prior art keywords
path
shape
elongated devices
elongated
shape sensing
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
CN201280051307.3A
Other languages
English (en)
Chinese (zh)
Other versions
CN103957772A (zh
Inventor
T·克林德
B·拉马钱德兰
R·曼茨克
R·陈
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 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 NV filed Critical Koninklijke Philips NV
Publication of CN103957772A publication Critical patent/CN103957772A/zh
Application granted granted Critical
Publication of CN103957772B publication Critical patent/CN103957772B/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
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • A61B5/066—Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • 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
    • A61B1/267—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 or bronchoscopes
    • A61B1/2676—Bronchoscopes
    • 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
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient; User input means
    • A61B5/7405—Details of notification to user or communication with user or patient; User input means using sound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient; User input means
    • A61B5/742—Details of notification to user or communication with user or patient; User input means using visual displays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient; User input means
    • A61B5/7455—Details of notification to user or communication with user or patient; User input means characterised by tactile indication, e.g. vibration or electrical stimulation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • 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
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • 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
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A61B2017/00123—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation and automatic shutdown
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pulmonology (AREA)
  • Human Computer Interaction (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Otolaryngology (AREA)
  • Physiology (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Endoscopes (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Image Processing (AREA)
CN201280051307.3A 2011-10-20 2012-10-08 形状感测辅助的医疗过程 Active CN103957772B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201161549281P 2011-10-20 2011-10-20
US61/549,281 2011-10-20
PCT/IB2012/055415 WO2013057620A1 (en) 2011-10-20 2012-10-08 Shape sensing assisted medical procedure

Publications (2)

Publication Number Publication Date
CN103957772A CN103957772A (zh) 2014-07-30
CN103957772B true CN103957772B (zh) 2017-05-10

Family

ID=47227983

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201280051307.3A Active CN103957772B (zh) 2011-10-20 2012-10-08 形状感测辅助的医疗过程

Country Status (6)

Country Link
US (1) US11109775B2 (enExample)
EP (1) EP2744391B1 (enExample)
CN (1) CN103957772B (enExample)
BR (1) BR112014009327A2 (enExample)
IN (1) IN2014CN02655A (enExample)
WO (1) WO2013057620A1 (enExample)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6195822B2 (ja) * 2011-03-31 2017-09-13 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 医療処置を支援する形状検出
US9295430B2 (en) * 2013-02-07 2016-03-29 Biosense Webster (Israel), Ltd. Operator controlled mixed modality feedback
WO2015010859A1 (en) * 2013-07-23 2015-01-29 Koninklijke Philips N.V. Registration system for registering an imaging device with a tracking device
CN105517489B (zh) * 2013-09-06 2020-06-05 皇家飞利浦有限公司 导航系统
CN106659374B (zh) 2014-07-02 2021-04-02 柯惠有限合伙公司 在3d导航时提供距离和取向反馈的系统和方法
KR20220065894A (ko) 2014-07-28 2022-05-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술중 세그먼트화를 위한 시스템 및 방법
EP3037056B1 (en) 2014-12-23 2021-04-21 Stryker European Holdings I, LLC System for reconstructing a trajectory of an optical fiber
US10271907B2 (en) 2015-05-13 2019-04-30 Brainsgate Ltd. Implant and delivery system for neural stimulator
GB201521848D0 (en) * 2015-12-11 2016-01-27 Micromass Ltd Feedback apparatus
WO2017102898A1 (en) * 2015-12-15 2017-06-22 Koninklijke Philips N.V. Navigation assistance system
US11229503B2 (en) * 2017-02-03 2022-01-25 Do Hyun Kim Implant surgery guiding method
JP7179527B2 (ja) * 2017-10-12 2022-11-29 キヤノンメディカルシステムズ株式会社 Ｘ線診断装置、医用画像処理装置、医用画像処理システム、及び医用画像処理プログラム
WO2019092261A1 (en) * 2017-11-13 2019-05-16 Koninklijke Philips N.V. Robotic tool control
EP3860426A4 (en) 2018-10-02 2022-12-07 Convergascent LLC ENDOSCOPE WITH INERTIAL MEASUREMENT UNITS AND/OR HAPTIC INPUT CONTROLS
WO2020191269A1 (en) * 2019-03-21 2020-09-24 The Brigham And Women's Hospital, Inc. Robotic artificial intelligence nasal/oral/ rectal enteric tube
US12342989B2 (en) * 2019-05-31 2025-07-01 The Boeing Company Optical fiber sensor system
US12349980B2 (en) 2020-08-13 2025-07-08 Intuitive Surgical Operations, Inc. Alerting and mitigating divergence of anatomical feature locations from prior images to real-time interrogation
JP7681294B2 (ja) * 2021-04-14 2025-05-22 ｉ－ＰＲＯ株式会社 内視鏡システム
KR20240133353A (ko) * 2023-02-28 2024-09-04 한국과학기술연구원 의료 도구의 3차원 네비게이션 장치 및 방법
WO2024184879A1 (en) * 2023-03-05 2024-09-12 Magnisity Ltd. Unsupervised calibration of an electromagnetic shape sensor
CN121568656A (zh) * 2023-07-28 2026-02-24 柯惠有限合伙公司 使用形状检测的导管控制

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5274551A (en) 1991-11-29 1993-12-28 General Electric Company Method and apparatus for real-time navigation assist in interventional radiological procedures
JP2001061861A (ja) * 1999-06-28 2001-03-13 Siemens Ag 画像撮影手段を備えたシステムおよび医用ワークステーション
DE10210645B4 (de) * 2002-03-11 2006-04-13 Siemens Ag Verfahren zur Erfassung und Darstellung eines in einen Untersuchungsbereich eines Patienten eingeführten medizinischen Katheters
US7697972B2 (en) * 2002-11-19 2010-04-13 Medtronic Navigation, Inc. Navigation system for cardiac therapies
DE10354496B4 (de) * 2003-11-21 2011-03-31 Siemens Ag Medizinisches Untersuchungs- und/oder Behandlungssystem
US20050182319A1 (en) * 2004-02-17 2005-08-18 Glossop Neil D. Method and apparatus for registration, verification, and referencing of internal organs
US7756563B2 (en) 2005-05-23 2010-07-13 The Penn State Research Foundation Guidance method based on 3D-2D pose estimation and 3D-CT registration with application to live bronchoscopy
US9661991B2 (en) 2005-08-24 2017-05-30 Koninklijke Philips N.V. System, method and devices for navigated flexible endoscopy
US20070167714A1 (en) 2005-12-07 2007-07-19 Siemens Corporate Research, Inc. System and Method For Bronchoscopic Navigational Assistance
KR101422558B1 (ko) * 2007-01-29 2014-07-24 인튜어티브 서지컬 인코포레이티드 형상 센서를 이용하여 기계를 제어하는 시스템
US9037215B2 (en) * 2007-01-31 2015-05-19 The Penn State Research Foundation Methods and apparatus for 3D route planning through hollow organs
US20090036900A1 (en) * 2007-02-02 2009-02-05 Hansen Medical, Inc. Surgery methods using a robotic instrument system
US20130165945A9 (en) * 2007-08-14 2013-06-27 Hansen Medical, Inc. Methods and devices for controlling a shapeable instrument
EP2187830A1 (en) 2007-08-14 2010-05-26 Hansen Medical, Inc. Robotic instrument systems and methods utilizing optical fiber sensor
US20100030063A1 (en) 2008-07-31 2010-02-04 Medtronic, Inc. System and method for tracking an instrument
EP2381868A1 (en) * 2008-12-29 2011-11-02 Koninklijke Philips Electronics B.V. Planning for curvature interactions, multiple radii of curvature and adaptive neighborhoods
EP3859682A1 (en) 2009-03-26 2021-08-04 Intuitive Surgical Operations, Inc. System for providing visual guidance for steering a tip of an endoscopic device towards one or more landmarks and assisting an operator in endoscopic navigation
US10004387B2 (en) * 2009-03-26 2018-06-26 Intuitive Surgical Operations, Inc. Method and system for assisting an operator in endoscopic navigation
US8715184B2 (en) * 2010-12-16 2014-05-06 Siemens Medical Solutions Usa, Inc. Path parametric visualization in medical diagnostic ultrasound
JP6195822B2 (ja) * 2011-03-31 2017-09-13 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 医療処置を支援する形状検出
US8900131B2 (en) * 2011-05-13 2014-12-02 Intuitive Surgical Operations, Inc. Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery

Also Published As

Publication number Publication date
BR112014009327A2 (pt) 2017-04-11
EP2744391A1 (en) 2014-06-25
US11109775B2 (en) 2021-09-07
WO2013057620A1 (en) 2013-04-25
IN2014CN02655A (enExample) 2015-06-26
EP2744391B1 (en) 2018-04-18
US20140243660A1 (en) 2014-08-28
CN103957772A (zh) 2014-07-30

Similar Documents

Publication Publication Date Title
EP2744391B1 (en) Shape sensing assisted medical procedure
US20230061771A1 (en) Systems and methods of registration for image-guided procedures
US20240374334A1 (en) Systems and methods for adaptive input mapping
US20240197408A1 (en) Systems and methods for data filtering of passageway sensor data
US20250049422A1 (en) Systems and methods of accessing encapsulated targets
JP7154832B2 (ja) 形状推定をともなう軌道情報による位置合わせの改良
CN103458764B (zh) 形状感测辅助的医疗程序
EP2709512B1 (en) Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery
CN105828721B (zh) 用于微创介入的形状感测的机器人超声
US20190038365A1 (en) Systems and methods of pose estimation and calibration of perspective imaging system in image guided surgery
JP2020503134A (ja) 形状検知デバイスを使用した医療ナビゲーションシステム及びその動作方法
CN108024838A (zh) 用于在图像引导手术中使用配准荧光透视图像的系统和方法
CN105451802A (zh) 用于导管定位和插入的图形用户界面
CN102946784A (zh) 用于内窥镜实时校准的系统和方法
WO2023060198A1 (en) Medical instrument guidance systems, including guidance systems for percutaneous nephrolithotomy procedures, and associated devices and methods
WO2022240790A1 (en) Medical instrument guidance systems and associated methods

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant