CN105828721B - 用于微创介入的形状感测的机器人超声 - Google Patents

用于微创介入的形状感测的机器人超声 Download PDF

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Publication number
CN105828721B
CN105828721B CN201480069123.9A CN201480069123A CN105828721B CN 105828721 B CN105828721 B CN 105828721B CN 201480069123 A CN201480069123 A CN 201480069123A CN 105828721 B CN105828721 B CN 105828721B
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China
Prior art keywords
shape sensing
medical devices
sensing enabled
enabled medical
optical fiber
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Expired - Fee Related
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CN201480069123.9A
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English (en)
Chinese (zh)
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CN105828721A (zh
Inventor
B·拉马钱德兰
N·N·卡亚
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Koninklijke Philips NV
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Koninklijke Philips NV
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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
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00013—Operational features of endoscopes characterised by signal transmission using optical means
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • 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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/085—Clinical applications involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
    • 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
    • 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
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Optics & Photonics (AREA)
  • Vascular Medicine (AREA)
  • Endoscopes (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Surgical Instruments (AREA)
CN201480069123.9A 2013-12-17 2014-11-27 用于微创介入的形状感测的机器人超声 Expired - Fee Related CN105828721B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361916821P 2013-12-17 2013-12-17
US61/916,821 2013-12-17
PCT/IB2014/066378 WO2015092581A1 (en) 2013-12-17 2014-11-27 Shape sensed robotic ultrasound for minimally invasive interventions

Publications (2)

Publication Number Publication Date
CN105828721A CN105828721A (zh) 2016-08-03
CN105828721B true CN105828721B (zh) 2020-11-06

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CN201480069123.9A Expired - Fee Related CN105828721B (zh) 2013-12-17 2014-11-27 用于微创介入的形状感测的机器人超声

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Country Link
US (1) US20170265946A1 (enExample)
EP (1) EP3082610A1 (enExample)
JP (2) JP6706576B2 (enExample)
CN (1) CN105828721B (enExample)
WO (1) WO2015092581A1 (enExample)

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CN108472082B (zh) * 2015-12-29 2021-08-10 皇家飞利浦有限公司 用于医学导航的配准系统以及其操作方法
CN109982656B (zh) * 2016-06-30 2022-04-08 皇家飞利浦有限公司 采用光学位置感测的医学导航系统及其操作方法
WO2018211590A1 (ja) * 2017-05-16 2018-11-22 オリンパス株式会社 内視鏡のための画像処理装置及び内視鏡システム
US10813620B2 (en) * 2017-08-24 2020-10-27 General Electric Company Method and system for enhanced ultrasound image acquisition using ultrasound patch probes with interchangeable brackets
CN107736897A (zh) * 2017-09-04 2018-02-27 北京航空航天大学 一种基于六自由度并联平台的超声配准及长骨复位装置及方法
CN113490465B (zh) * 2019-02-28 2024-12-31 皇家飞利浦有限公司 用于机器学习模型的训练数据收集
EP3705020A1 (en) * 2019-03-05 2020-09-09 FBGS Technologies GmbH Methods and systems for shape sensing
EP4091129A1 (en) * 2020-01-14 2022-11-23 Koninklijke Philips N.V. Image enhancement based on fiber optic shape sensing
CN120788622A (zh) 2020-09-25 2025-10-17 巴德阿克塞斯系统股份有限公司 超声成像系统和最小导管长度工具
WO2022187701A1 (en) 2021-03-05 2022-09-09 Bard Access Systems, Inc. Systems and methods for ultrasound-and-bioimpedance-based guidance of medical devices
EP4358853A1 (en) 2021-06-22 2024-05-01 Bard Access Systems, Inc. Ultrasound detection system
WO2023031688A1 (en) * 2021-09-01 2023-03-09 Rsip Neph Ltd. Combined multi-imaging modalities in surgical procedures
WO2023064492A1 (en) * 2021-10-14 2023-04-20 Bard Access Systems, Inc. Fiber optic ultrasound probe
CN116135154A (zh) 2021-11-16 2023-05-19 巴德阿克塞斯系统股份有限公司 超声成像系统、超声探测器装置和利用超声成像系统的方法
US20230289976A1 (en) * 2022-03-09 2023-09-14 Claire SooHoo Multi-component system for computerized x-ray vision to track motion during surgery

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US5417210A (en) * 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
EP0571184A3 (en) * 1992-05-22 1995-01-25 Puritan Bennett Corp Sensor in the form of a mechanically reinforced catheter.
US6846286B2 (en) * 2001-05-22 2005-01-25 Pentax Corporation Endoscope system
JP2004049558A (ja) * 2002-07-19 2004-02-19 Toshiba Corp 超音波治療システム
US8052636B2 (en) * 2004-03-05 2011-11-08 Hansen Medical, Inc. Robotic catheter system and methods
US20070106147A1 (en) * 2005-11-01 2007-05-10 Altmann Andres C Controlling direction of ultrasound imaging catheter
US7930065B2 (en) * 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
DE602007012450D1 (de) * 2006-10-02 2011-03-24 Hansen Medical Inc System für dreidimensionale ultraschall-abbildung
US8672836B2 (en) * 2007-01-31 2014-03-18 The Penn State Research Foundation Method and apparatus for continuous guidance of endoscopy
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EP3552653A3 (en) * 2011-10-14 2019-12-25 Intuitive Surgical Operations Inc. Catheter systems

Also Published As

Publication number Publication date
JP2017500935A (ja) 2017-01-12
WO2015092581A1 (en) 2015-06-25
JP6706576B2 (ja) 2020-06-10
CN105828721A (zh) 2016-08-03
EP3082610A1 (en) 2016-10-26
US20170265946A1 (en) 2017-09-21
JP2019213879A (ja) 2019-12-19

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