CN105934215B - 具有光学形状感测的成像设备的机器人控制 - Google Patents

具有光学形状感测的成像设备的机器人控制 Download PDF

Info

Publication number
CN105934215B
CN105934215B CN201480073795.7A CN201480073795A CN105934215B CN 105934215 B CN105934215 B CN 105934215B CN 201480073795 A CN201480073795 A CN 201480073795A CN 105934215 B CN105934215 B CN 105934215B
Authority
CN
China
Prior art keywords
probe
shape
robot
image
instrument
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.)
Expired - Fee Related
Application number
CN201480073795.7A
Other languages
English (en)
Chinese (zh)
Other versions
CN105934215A (zh
Inventor
D·P·努南
M·L·弗莱克斯曼
A·波波维奇
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 CN105934215A publication Critical patent/CN105934215A/zh
Application granted granted Critical
Publication of CN105934215B publication Critical patent/CN105934215B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • 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
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • 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
    • 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
    • A61B34/30—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
    • 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
    • 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
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • A61B2090/3784—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument both receiver and transmitter being in the instrument or receiver being also transmitter

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Manipulator (AREA)
CN201480073795.7A 2014-01-24 2014-12-11 具有光学形状感测的成像设备的机器人控制 Expired - Fee Related CN105934215B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461930977P 2014-01-24 2014-01-24
US61/930,977 2014-01-24
PCT/IB2014/066812 WO2015110882A1 (en) 2014-01-24 2014-12-11 Robotic control of imaging devices with optical shape sensing

Publications (2)

Publication Number Publication Date
CN105934215A CN105934215A (zh) 2016-09-07
CN105934215B true CN105934215B (zh) 2019-11-26

Family

ID=52462346

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480073795.7A Expired - Fee Related CN105934215B (zh) 2014-01-24 2014-12-11 具有光学形状感测的成像设备的机器人控制

Country Status (5)

Country Link
US (1) US10687909B2 (enExample)
EP (1) EP3096705A1 (enExample)
JP (1) JP6568084B2 (enExample)
CN (1) CN105934215B (enExample)
WO (1) WO2015110882A1 (enExample)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018519047A (ja) 2015-06-19 2018-07-19 ニューラル アナリティクス、インコーポレイテッド 頭蓋内ドップラープローブ
US10973595B2 (en) * 2015-08-13 2021-04-13 Siemens Healthcare Gmbh Device and method for controlling a system comprising an imaging modality
WO2017051279A1 (en) * 2015-09-24 2017-03-30 Koninklijke Philips N.V. System and method to find improved views in transcatheter valve replacement with combined optical shape sensing and ultrasound image guidance
JP2019500155A (ja) * 2016-01-05 2019-01-10 ニューラル アナリティクス、インコーポレイテッド 一体型プローブ構造
WO2017120388A1 (en) 2016-01-05 2017-07-13 Neural Analytics, Inc. Systems and methods for determining clinical indications
US11589836B2 (en) 2016-01-05 2023-02-28 Novasignal Corp. Systems and methods for detecting neurological conditions
EP3402408B1 (en) * 2016-01-15 2020-09-02 Koninklijke Philips N.V. Automated probe steering to clinical views using annotations in a fused image guidance system
JP6907247B2 (ja) * 2016-06-30 2021-07-21 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 光学的位置感知を使用する医療用ナビゲーション・システム及びその操作方法
AU2017371074B2 (en) 2016-12-09 2019-09-12 Verb Surgical Inc. User interface devices for use in robotic surgery
US11779192B2 (en) * 2017-05-03 2023-10-10 Covidien Lp Medical image viewer control from surgeon's camera
US12380686B2 (en) 2018-03-12 2025-08-05 Koninklijke Philips N.V. Ultrasound imaging dataset acquisition for neural network training and associated devices, systems, and methods
US11712220B2 (en) * 2018-03-12 2023-08-01 Koninklijke Philips N.V. Ultrasound imaging plane alignment using neural networks and associated devices, systems, and methods
JP6859557B2 (ja) * 2018-03-22 2021-04-14 ソニア・セラピューティクス株式会社 治療装置
EP3613351A1 (en) * 2018-08-22 2020-02-26 Koninklijke Philips N.V. Coronary circulation using intra-cardiac echo
US12167896B2 (en) * 2019-05-31 2024-12-17 Tva Medical, Inc. Systems, methods, and catheters for endovascular treatment of a blood vessel
WO2021161515A1 (ja) * 2020-02-14 2021-08-19 朝日インテック株式会社 長尺状医療用デバイスの位置検出システムおよび方法
EP4104768A4 (en) * 2020-02-14 2023-11-08 Asahi Intecc Co., Ltd. ULTRASONIC PROBE OPERATION SYSTEM AND METHOD
US12193768B2 (en) * 2020-04-21 2025-01-14 Mazor Robotics Ltd. System and method for aligning an imaging device
WO2022048984A1 (en) * 2020-09-02 2022-03-10 Koninklijke Philips N.V. Medical intervention control based on device type identification
WO2022048979A1 (en) * 2020-09-03 2022-03-10 Koninklijke Philips N.V. A flexible robotic interface for performing robotics assisted ultrasound guided interventions
WO2023280732A1 (en) * 2021-07-08 2023-01-12 Koninklijke Philips N.V. System and device control using shape clustering
CN113876356A (zh) * 2021-10-15 2022-01-04 无锡触典科技有限公司 一种用于医疗成像的投影方法、超声设备系统及存储介质
GB2616029A (en) * 2022-02-24 2023-08-30 Robe Gmbh Improvements in or relating to the navigation of an ultrasound probe device
CN115474885B (zh) * 2022-09-06 2025-10-28 上海微创微航机器人有限公司 内镜控制方法、内镜以及手术机器人

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101069645A (zh) * 2005-11-01 2007-11-14 韦伯斯特生物官能公司 超声成像导管的方向控制

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6425865B1 (en) * 1998-06-12 2002-07-30 The University Of British Columbia Robotically assisted medical ultrasound
US6459926B1 (en) * 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
JP4152402B2 (ja) 2005-06-29 2008-09-17 株式会社日立メディコ 手術支援装置
US7930065B2 (en) * 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
JP5028219B2 (ja) * 2007-10-30 2012-09-19 オリンパスメディカルシステムズ株式会社 マニピュレータ装置および医療機器システム
EP2585841B1 (de) 2010-06-28 2015-09-09 SMA Solar Technology AG Vorrichtung und verfahren zur überwachung einer photovoltaikanlage
MX2013004542A (es) 2010-10-27 2013-07-03 Koninkl Philips Electronics Nv Imagenologia adaptable y velocidad y optimizacion de velocidad de cuadro con base en deteccion de forma en tiempo real de instrumentos medicos.
RU2013139873A (ru) 2011-01-28 2015-03-10 Конинклейке Филипс Электроникс Н.В. Опорные отметки для идентификации точки начала в системах определения оптической формы
JP6129750B2 (ja) 2011-02-24 2017-05-17 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 血管内の装置の形状を用いた血管画像の非剛体モーフィング
WO2014053925A1 (en) 2012-10-01 2014-04-10 Koninklijke Philips N.V. Three dimensional polyline registration using shape constraints
KR20140110685A (ko) * 2013-03-08 2014-09-17 삼성전자주식회사 싱글 포트 수술 로봇의 제어 방법

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101069645A (zh) * 2005-11-01 2007-11-14 韦伯斯特生物官能公司 超声成像导管的方向控制

Also Published As

Publication number Publication date
JP2017508502A (ja) 2017-03-30
JP6568084B2 (ja) 2019-08-28
WO2015110882A1 (en) 2015-07-30
EP3096705A1 (en) 2016-11-30
CN105934215A (zh) 2016-09-07
US20160324585A1 (en) 2016-11-10
US10687909B2 (en) 2020-06-23

Similar Documents

Publication Publication Date Title
CN105934215B (zh) 具有光学形状感测的成像设备的机器人控制
JP7050733B6 (ja) 光学形状検出装置の視点を伴う仮想画像
JP7631416B2 (ja) 管状網のナビゲーション
US11445988B2 (en) Systems and methods for using x-ray field emission to determine instrument position and orientation
JP6706576B2 (ja) 最小侵襲性のインターベンションのための形状センスされるロボット超音波
US7945310B2 (en) Surgical instrument path computation and display for endoluminal surgery
US7466303B2 (en) Device and process for manipulating real and virtual objects in three-dimensional space
US8213693B1 (en) System and method to track and navigate a tool through an imaged subject
JP6938559B2 (ja) ユーザが規定可能な関心領域を含む画像ガイダンスシステム
KR20250041081A (ko) 의료 기구 항행 및 표적 선정을 위한 시스템 및 방법
CN104507394B (zh) 对点的从超声图像到跟踪系统的准确且快速的映射
US20080071143A1 (en) Multi-dimensional navigation of endoscopic video
WO2010140074A1 (en) Distance-based position tracking method and system
JP2017500935A5 (enExample)
Octorina Dewi et al. Position tracking systems for ultrasound imaging: a survey
US20250339644A1 (en) Directionality indication for medical instrument driving
US20250339175A1 (en) Percutaneous access guidance
WO2025229542A1 (en) Target localization for percutaneous access

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20191126

Termination date: 20211211

CF01 Termination of patent right due to non-payment of annual fee