CN106170265B - 用于介入工具的虚拟导航的组织的非刚性变形的系统和方法 - Google Patents

用于介入工具的虚拟导航的组织的非刚性变形的系统和方法 Download PDF

Info

Publication number
CN106170265B
CN106170265B CN201580013286.XA CN201580013286A CN106170265B CN 106170265 B CN106170265 B CN 106170265B CN 201580013286 A CN201580013286 A CN 201580013286A CN 106170265 B CN106170265 B CN 106170265B
Authority
CN
China
Prior art keywords
dimensional
deformed
deformation
geometric model
branched
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
CN201580013286.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN106170265A (zh
Inventor
P·乔普拉
V·多文载姆
赵涛
L·徐
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.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
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 Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of CN106170265A publication Critical patent/CN106170265A/zh
Application granted granted Critical
Publication of CN106170265B publication Critical patent/CN106170265B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
    • G06T19/20—Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts
    • 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
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • A61B2034/2051—Electromagnetic tracking systems
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/41—Medical
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
    • G06T2219/20—Indexing scheme for editing of 3D models
    • G06T2219/2021—Shape modification

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Computer Graphics (AREA)
  • Architecture (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
CN201580013286.XA 2014-02-04 2015-02-03 用于介入工具的虚拟导航的组织的非刚性变形的系统和方法 Active CN106170265B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461935547P 2014-02-04 2014-02-04
US61/935,547 2014-02-04
PCT/US2015/014226 WO2015119935A1 (en) 2014-02-04 2015-02-03 Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools

Publications (2)

Publication Number Publication Date
CN106170265A CN106170265A (zh) 2016-11-30
CN106170265B true CN106170265B (zh) 2020-06-30

Family

ID=53778370

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580013286.XA Active CN106170265B (zh) 2014-02-04 2015-02-03 用于介入工具的虚拟导航的组织的非刚性变形的系统和方法

Country Status (6)

Country Link
US (7) US10314656B2 (enExample)
EP (2) EP3102143A4 (enExample)
JP (2) JP2017511712A (enExample)
KR (2) KR20210156301A (enExample)
CN (1) CN106170265B (enExample)
WO (1) WO2015119935A1 (enExample)

Families Citing this family (136)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8218847B2 (en) 2008-06-06 2012-07-10 Superdimension, Ltd. Hybrid registration method
US8672837B2 (en) 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US9271663B2 (en) 2013-03-15 2016-03-01 Hansen Medical, Inc. Flexible instrument localization from both remote and elongation sensors
US9629595B2 (en) 2013-03-15 2017-04-25 Hansen Medical, Inc. Systems and methods for localizing, tracking and/or controlling medical instruments
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
US9763741B2 (en) 2013-10-24 2017-09-19 Auris Surgical Robotics, Inc. System for robotic-assisted endolumenal surgery and related methods
KR20210156301A (ko) 2014-02-04 2021-12-24 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 중재 도구의 가상 항행을 위한 조직의 비강체 변형을 위한 시스템 및 방법
US10772684B2 (en) * 2014-02-11 2020-09-15 Koninklijke Philips N.V. Spatial visualization of internal mammary artery during minimally invasive bypass surgery
EP2923669B1 (en) 2014-03-24 2017-06-28 Hansen Medical, Inc. Systems and devices for catheter driving instinctiveness
US9603668B2 (en) 2014-07-02 2017-03-28 Covidien Lp Dynamic 3D lung map view for tool navigation inside the lung
US9633431B2 (en) 2014-07-02 2017-04-25 Covidien Lp Fluoroscopic pose estimation
KR20220065894A (ko) 2014-07-28 2022-05-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술중 세그먼트화를 위한 시스템 및 방법
US10373719B2 (en) 2014-09-10 2019-08-06 Intuitive Surgical Operations, Inc. Systems and methods for pre-operative modeling
KR102292155B1 (ko) 2014-09-30 2021-08-25 아우리스 헬스, 인크. 가상 레일 및 가요성 내시경을 구비하는 구성 변경 가능한 로봇 수술 시스템
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
US9974525B2 (en) 2014-10-31 2018-05-22 Covidien Lp Computed tomography enhanced fluoroscopic system, device, and method of utilizing the same
WO2016164824A1 (en) 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
US10702226B2 (en) 2015-08-06 2020-07-07 Covidien Lp System and method for local three dimensional volume reconstruction using a standard fluoroscope
US10716525B2 (en) 2015-08-06 2020-07-21 Covidien Lp System and method for navigating to target and performing procedure on target utilizing fluoroscopic-based local three dimensional volume reconstruction
US10674982B2 (en) 2015-08-06 2020-06-09 Covidien Lp System and method for local three dimensional volume reconstruction using a standard fluoroscope
CN108778113B (zh) 2015-09-18 2022-04-15 奥瑞斯健康公司 管状网络的导航
EP3353753B1 (en) * 2015-09-26 2025-03-19 Boston Scientific Scimed Inc. Systems and methods for anatomical shell editing
US10405766B2 (en) 2015-09-26 2019-09-10 Boston Scientific Scimed, Inc. Method of exploring or mapping internal cardiac structures
US10271757B2 (en) 2015-09-26 2019-04-30 Boston Scientific Scimed Inc. Multiple rhythm template monitoring
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
JP6701232B2 (ja) * 2016-01-08 2020-05-27 オリンパス株式会社 マニピュレータシステムとその駆動方法
US9898858B2 (en) * 2016-05-18 2018-02-20 Siemens Healthcare Gmbh Human body representation with non-rigid parts in an imaging system
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
WO2018122946A1 (ja) 2016-12-27 2018-07-05 オリンパス株式会社 医療用マニピュレータの形状取得方法および制御方法
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US11793579B2 (en) 2017-02-22 2023-10-24 Covidien Lp Integration of multiple data sources for localization and navigation
JP7208915B2 (ja) * 2017-03-23 2023-01-19 ザ ジェネラル ホスピタル コーポレイション 管腔構造のインサイチュ３次元再構成のための装置、方法、及びコンピュータのアクセス可能な媒体
AU2018243364B2 (en) 2017-03-31 2023-10-05 Auris Health, Inc. Robotic systems for navigation of luminal networks that compensate for physiological noise
EP3613057B1 (en) * 2017-04-18 2025-06-04 Intuitive Surgical Operations, Inc. Graphical user interface for planning a procedure
KR102695556B1 (ko) 2017-05-12 2024-08-20 아우리스 헬스, 인코포레이티드 생검 장치 및 시스템
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
WO2019005872A1 (en) 2017-06-28 2019-01-03 Auris Health, Inc. INSTRUMENT INSERTION COMPENSATION
US10699448B2 (en) 2017-06-29 2020-06-30 Covidien Lp System and method for identifying, marking and navigating to a target using real time two dimensional fluoroscopic data
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
US10893843B2 (en) 2017-10-10 2021-01-19 Covidien Lp System and method for identifying and marking a target in a fluoroscopic three-dimensional reconstruction
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
US10555778B2 (en) 2017-10-13 2020-02-11 Auris Health, Inc. Image-based branch detection and mapping for navigation
US11058493B2 (en) 2017-10-13 2021-07-13 Auris Health, Inc. Robotic system configured for navigation path tracing
WO2019113249A1 (en) 2017-12-06 2019-06-13 Auris Health, Inc. Systems and methods to correct for uncommanded instrument roll
JP7322026B2 (ja) 2017-12-14 2023-08-07 オーリス ヘルス インコーポレイテッド 器具の位置推定のシステムおよび方法
EP3684283B1 (en) 2017-12-18 2026-01-14 Auris Health, Inc. System for instrument tracking and navigation within luminal networks
MX2020007623A (es) 2018-01-17 2020-09-14 Auris Health Inc Plataforma quirurgica con soportes de brazo regulable.
US10930064B2 (en) 2018-02-08 2021-02-23 Covidien Lp Imaging reconstruction system and method
US10905498B2 (en) 2018-02-08 2021-02-02 Covidien Lp System and method for catheter detection in fluoroscopic images and updating displayed position of catheter
US11364004B2 (en) 2018-02-08 2022-06-21 Covidien Lp System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target
JP7301884B2 (ja) 2018-02-13 2023-07-03 オーリス ヘルス インコーポレイテッド 医療用器具を駆動するためのシステム及び方法
WO2019164271A1 (ko) * 2018-02-20 2019-08-29 (주)휴톰 가상신체모델 생성 방법 및 장치
KR102014359B1 (ko) * 2018-02-20 2019-08-26 (주)휴톰 수술영상 기반 카메라 위치 제공 방법 및 장치
CN110891469B (zh) 2018-03-28 2023-01-13 奥瑞斯健康公司 用于定位传感器的配准的系统和方法
CN110913791B (zh) 2018-03-28 2021-10-08 奥瑞斯健康公司 用于显示所估计的器械定位的系统和方法
EP3801190A4 (en) * 2018-05-30 2022-03-02 Auris Health, Inc. SYSTEMS AND METHODS FOR SENSOR-BASED BRANCH LOCATION PREDICTION
WO2019231891A1 (en) 2018-05-31 2019-12-05 Auris Health, Inc. Path-based navigation of tubular networks
JP7214757B2 (ja) 2018-05-31 2023-01-30 オーリス ヘルス インコーポレイテッド 生理学的ノイズを検出する管腔網のナビゲーションのためのロボットシステム及び方法
EP3801348B1 (en) 2018-05-31 2024-05-01 Auris Health, Inc. Image-based airway analysis and mapping
WO2020005370A1 (en) 2018-06-27 2020-01-02 Auris Health, Inc. Systems and techniques for providing multiple perspectives during medical procedures
US11071591B2 (en) 2018-07-26 2021-07-27 Covidien Lp Modeling a collapsed lung using CT data
US11705238B2 (en) 2018-07-26 2023-07-18 Covidien Lp Systems and methods for providing assistance during surgery
US10881280B2 (en) 2018-08-24 2021-01-05 Auris Health, Inc. Manually and robotically controllable medical instruments
MX2021003099A (es) 2018-09-17 2021-05-13 Auris Health Inc Sistemas y metodos para procedimientos medicos concomitantes.
US10765487B2 (en) 2018-09-28 2020-09-08 Auris Health, Inc. Systems and methods for docking medical instruments
US11944388B2 (en) 2018-09-28 2024-04-02 Covidien Lp Systems and methods for magnetic interference correction
CN119924988A (zh) * 2018-09-28 2025-05-06 奥瑞斯健康公司 用于伴随内窥镜和经皮医学规程的机器人系统和方法
US11877806B2 (en) 2018-12-06 2024-01-23 Covidien Lp Deformable registration of computer-generated airway models to airway trees
US11045075B2 (en) 2018-12-10 2021-06-29 Covidien Lp System and method for generating a three-dimensional model of a surgical site
US11801113B2 (en) 2018-12-13 2023-10-31 Covidien Lp Thoracic imaging, distance measuring, and notification system and method
US11617493B2 (en) 2018-12-13 2023-04-04 Covidien Lp Thoracic imaging, distance measuring, surgical awareness, and notification system and method
EP4425203A3 (en) 2018-12-16 2024-11-20 Magnisity Ltd. Magnetic localization using a dc magnetometer
EP3866718A4 (en) 2018-12-20 2022-07-20 Auris Health, Inc. Systems and methods for robotic arm alignment and docking
WO2020140072A1 (en) 2018-12-28 2020-07-02 Auris Health, Inc. Percutaneous sheath for robotic medical systems and methods
US11357593B2 (en) 2019-01-10 2022-06-14 Covidien Lp Endoscopic imaging with augmented parallax
US11625825B2 (en) 2019-01-30 2023-04-11 Covidien Lp Method for displaying tumor location within endoscopic images
US11925333B2 (en) 2019-02-01 2024-03-12 Covidien Lp System for fluoroscopic tracking of a catheter to update the relative position of a target and the catheter in a 3D model of a luminal network
US11564751B2 (en) 2019-02-01 2023-01-31 Covidien Lp Systems and methods for visualizing navigation of medical devices relative to targets
US11744643B2 (en) 2019-02-04 2023-09-05 Covidien Lp Systems and methods facilitating pre-operative prediction of post-operative tissue function
CN113423359A (zh) 2019-02-08 2021-09-21 奥瑞斯健康公司 机器人控制的凝块操纵和移除
US12229950B2 (en) * 2019-03-14 2025-02-18 Koninklijke Philips N.V. Dynamic interventional three-dimensional model deformation
US12478444B2 (en) 2019-03-21 2025-11-25 The Board Of Trustees Of The Leland Stanford Junior University Systems and methods for localization based on machine learning
US11819285B2 (en) 2019-04-05 2023-11-21 Covidien Lp Magnetic interference detection systems and methods
JP2022527834A (ja) 2019-04-08 2022-06-06 オーリス ヘルス インコーポレイテッド 付随する処置のためのシステム、方法、及びワークフロー
US20200375665A1 (en) * 2019-05-31 2020-12-03 Canon U.S.A., Inc. Medical continuum robot and methods thereof
EP3989841A4 (en) 2019-06-26 2023-09-20 Auris Health, Inc. SYSTEMS AND METHODS FOR ALIGNING AND DOCKING ROBOTIC ARMS
US12089902B2 (en) 2019-07-30 2024-09-17 Coviden Lp Cone beam and 3D fluoroscope lung navigation
EP3771449A1 (de) 2019-07-31 2021-02-03 Siemens Healthcare GmbH Verfahren zur verformungssimulation und vorrichtung
EP4007678B1 (en) 2019-08-02 2026-03-04 Auris Health, Inc. Systems and methods for adjusting remote center distances in medical procedures
KR20220050151A (ko) 2019-08-15 2022-04-22 아우리스 헬스, 인코포레이티드 다수의 굽힘 섹션을 갖는 의료 장치
US12059281B2 (en) 2019-08-19 2024-08-13 Covidien Lp Systems and methods of fluoro-CT imaging for initial registration
US11269173B2 (en) 2019-08-19 2022-03-08 Covidien Lp Systems and methods for displaying medical video images and/or medical 3D models
US11207141B2 (en) * 2019-08-30 2021-12-28 Auris Health, Inc. Systems and methods for weight-based registration of location sensors
KR20220058918A (ko) 2019-08-30 2022-05-10 아우리스 헬스, 인코포레이티드 기구 이미지 신뢰성 시스템 및 방법
US11864935B2 (en) 2019-09-09 2024-01-09 Covidien Lp Systems and methods for pose estimation of a fluoroscopic imaging device and for three-dimensional imaging of body structures
US11931111B2 (en) 2019-09-09 2024-03-19 Covidien Lp Systems and methods for providing surgical guidance
JP7720293B2 (ja) 2019-09-09 2025-08-07 マグニシティ リミテッド デジタル磁力計を用いた可撓性カテーテルの磁気追跡システムおよび方法
US11234780B2 (en) 2019-09-10 2022-02-01 Auris Health, Inc. Systems and methods for kinematic optimization with shared robotic degrees-of-freedom
US11627924B2 (en) 2019-09-24 2023-04-18 Covidien Lp Systems and methods for image-guided navigation of percutaneously-inserted devices
EP4034350A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
WO2021059099A1 (en) 2019-09-26 2021-04-01 Auris Health, Inc. Systems and methods for collision detection and avoidance
FR3102288B1 (fr) * 2019-10-18 2024-04-05 Sim&Cure Simulation de la déformation après implantation d’un dispositif médical implantable
US12102298B2 (en) 2019-12-10 2024-10-01 Covidien Lp Lymphatic system tracking
WO2021137072A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Anatomical feature identification and targeting
KR20260020213A (ko) 2019-12-31 2026-02-10 아우리스 헬스, 인코포레이티드 경피 접근을 위한 정렬 인터페이스
WO2021137109A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Alignment techniques for percutaneous access
US11847730B2 (en) 2020-01-24 2023-12-19 Covidien Lp Orientation detection in fluoroscopic images
US11380060B2 (en) 2020-01-24 2022-07-05 Covidien Lp System and method for linking a segmentation graph to volumetric data
JP7322762B2 (ja) 2020-03-13 2023-08-08 信越化学工業株式会社 ケチミン構造を有する有機ケイ素化合物の製造方法
EP4125689A4 (en) 2020-03-30 2024-04-17 Auris Health, Inc. WORKSPACE OPTIMIZATION FOR ROBOTIC SURGERY
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
CN111627092B (zh) * 2020-05-07 2021-03-09 江苏原力数字科技股份有限公司 一种从拓扑关系构建高强度的弯曲约束的方法
CN113674838B (zh) 2020-05-15 2024-08-13 佳能医疗系统株式会社 医学图像处理装置、医学图像处理方法和记录介质
US12064191B2 (en) 2020-06-03 2024-08-20 Covidien Lp Surgical tool navigation using sensor fusion
CN115802975A (zh) 2020-06-29 2023-03-14 奥瑞斯健康公司 用于检测连杆与外部对象之间的接触的系统和方法
EP4171373A1 (en) * 2020-06-29 2023-05-03 Bard Access Systems, Inc. Automatic dimensional frame reference for fiber optic
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
CN115734765A (zh) 2020-06-30 2023-03-03 奥瑞斯健康公司 具有碰撞接近度指示器的机器人医疗系统
US11950950B2 (en) 2020-07-24 2024-04-09 Covidien Lp Zoom detection and fluoroscope movement detection for target overlay
US12383352B2 (en) 2020-08-13 2025-08-12 Covidien Lp Endoluminal robotic (ELR) systems and methods
US12256923B2 (en) 2020-08-13 2025-03-25 Covidien Lp Endoluminal robotic systems and methods for suturing
US12161309B2 (en) 2020-09-24 2024-12-10 Covidien Lp Articulating mechanism for the laparoscopic ablation device for blunt dissection
WO2022123577A1 (en) * 2020-12-10 2022-06-16 Magnisity Ltd. Dynamic deformation tracking for navigational bronchoscopy
US11475632B1 (en) * 2020-12-17 2022-10-18 Neucures Inc System and method for electro-anatomical mapping (EAM) based on a surface mesh
US20230013884A1 (en) * 2021-07-14 2023-01-19 Cilag Gmbh International Endoscope with synthetic aperture multispectral camera array
US12558175B2 (en) 2021-08-12 2026-02-24 Imperative Care, Inc. Multi catheter method of performing a robotic neurovascular procedure
WO2023037367A1 (en) * 2021-09-09 2023-03-16 Magnisity Ltd. Self-steering endoluminal device using a dynamic deformable luminal map
WO2023218468A1 (en) * 2022-05-12 2023-11-16 Magnisity Ltd. Curve inductive sensor
US12303220B2 (en) 2022-01-26 2025-05-20 Covidien Lp Autonomous endobronchial access with an EM guided catheter
US12558164B2 (en) 2022-05-27 2026-02-24 Covidien Lp Creating a navigation pathway to a target in the lung and method of navigating to the target
US12257082B2 (en) 2022-06-30 2025-03-25 Covidien Lp Cone beam computed tomography integration for creating a navigation pathway to a target in the lung and method of navigating to the target
US12636022B2 (en) 2022-08-02 2026-05-26 Imperative Care, Inc. Multi catheter system with integrated fluidics management
EP4648666A1 (en) * 2023-01-12 2025-11-19 Magnisity Ltd. Dynamic anatomy deformation tracking for in-vivo navigation
WO2024238831A2 (en) 2023-05-17 2024-11-21 Imperative Care, Inc. Fluidics control system for multi catheter stack

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008076910A1 (en) * 2006-12-15 2008-06-26 The Board Of Trustees Of The Leland Stanford Junior University Image mosaicing systems and methods
WO2009147683A1 (en) * 2008-06-06 2009-12-10 Superdimension Ltd. Hybrid registration method
CN101961245A (zh) * 2009-07-23 2011-02-02 通用电气公司 在采集的放射线照相术图像中补偿呼吸运动的系统和方法
CN102449666A (zh) * 2009-03-26 2012-05-09 直观外科手术操作公司 用于为操纵内窥镜设备的末端朝向一个或更多个界标转向提供视觉引导和在内窥镜导航中辅助操作者的系统
CN102970926A (zh) * 2010-06-28 2013-03-13 皇家飞利浦电子股份有限公司 Em校准的实时质量控制
CN103079478A (zh) * 2010-08-23 2013-05-01 皇家飞利浦电子股份有限公司 用于医疗流程的标测系统和方法

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5892515A (en) * 1994-11-18 1999-04-06 Hitachi, Ltd. Method and apparatus for dividing shape expressed on three-dimensional space into elements
JP3510025B2 (ja) * 1995-11-10 2004-03-22 ジーイー横河メディカルシステム株式会社 超音波撮像装置
AU1616497A (en) 1997-02-13 1998-09-08 Super Dimension Ltd. Six-degree tracking system
GB9713018D0 (en) 1997-06-20 1997-08-27 Secr Defence Optical fibre bend sensor
JP2000182076A (ja) * 1998-12-16 2000-06-30 Sony Corp データ処理装置およびデータ処理方法、並びに提供媒体
US8922552B2 (en) * 2003-01-15 2014-12-30 Koninklijke Philips N.V. Image processing method for automatic adaptation of 3-D deformable model onto a substantially tubular surface of a 3-D object
WO2005058137A2 (en) * 2003-12-12 2005-06-30 University Of Washington Catheterscope 3d guidance and interface system
DE602005023833D1 (de) * 2004-01-20 2010-11-11 Philips Intellectual Property Vorrichtung und verfahren zur navigation eines katheters
US7450743B2 (en) * 2004-01-21 2008-11-11 Siemens Medical Solutions Usa, Inc. Method and system of affine registration of inter-operative two dimensional images and pre-operative three dimensional images
US7772541B2 (en) 2004-07-16 2010-08-10 Luna Innnovations Incorporated Fiber optic position and/or shape sensing based on rayleigh scatter
US7781724B2 (en) 2004-07-16 2010-08-24 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
US20060013523A1 (en) 2004-07-16 2006-01-19 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US20070231779A1 (en) * 2006-02-15 2007-10-04 University Of Central Florida Research Foundation, Inc. Systems and Methods for Simulation of Organ Dynamics
WO2008085193A2 (en) * 2006-08-14 2008-07-17 University Of Maryland Quantitative real-time 4d strees test analysis
WO2008041165A2 (en) 2006-10-03 2008-04-10 Koninklijke Philips Electronics N. V. Model-based coronary centerline localization
US9129359B2 (en) * 2006-11-10 2015-09-08 Covidien Lp Adaptive navigation technique for navigating a catheter through a body channel or cavity
US8473030B2 (en) 2007-01-12 2013-06-25 Medtronic Vascular, Inc. Vessel position and configuration imaging apparatus and methods
US20080193904A1 (en) * 2007-02-14 2008-08-14 University Of Central Florida Research Foundation Systems and Methods for Simulation of Organ Dynamics
US8405661B2 (en) * 2007-02-23 2013-03-26 International Business Machines Corporation Method for modeling and animating object trajectories in three-dimensional space
KR20080110242A (ko) * 2007-06-15 2008-12-18 한국외국어대학교 연구산학협력단 지문 정합 시스템 및 방법
WO2009064715A1 (en) * 2007-11-14 2009-05-22 Auckland Uniservices Limited Method for multi-scale meshing of branching biological structures
US8400455B2 (en) * 2008-01-11 2013-03-19 Sony Corporation Method and apparatus for efficient offset curve deformation from skeletal animation
US8219179B2 (en) 2008-03-06 2012-07-10 Vida Diagnostics, Inc. Systems and methods for navigation within a branched structure of a body
US8681147B1 (en) * 2009-10-02 2014-03-25 Pixar Fractured texture coordinates
JP5586917B2 (ja) 2009-10-27 2014-09-10 キヤノン株式会社 情報処理装置、情報処理方法およびプログラム
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
EP3470003B1 (en) * 2012-05-14 2024-09-11 Intuitive Surgical Operations, Inc. Systems for deformation compensation using shape sensing
US10134167B2 (en) * 2013-03-15 2018-11-20 Dreamworks Animation Llc Using curves to emulate soft body deformation
US9349216B2 (en) * 2013-06-28 2016-05-24 Disney Enterprises, Inc. Sketch-based generation and editing of quad meshes
KR20210156301A (ko) 2014-02-04 2021-12-24 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 중재 도구의 가상 항행을 위한 조직의 비강체 변형을 위한 시스템 및 방법

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008076910A1 (en) * 2006-12-15 2008-06-26 The Board Of Trustees Of The Leland Stanford Junior University Image mosaicing systems and methods
WO2009147683A1 (en) * 2008-06-06 2009-12-10 Superdimension Ltd. Hybrid registration method
CN102449666A (zh) * 2009-03-26 2012-05-09 直观外科手术操作公司 用于为操纵内窥镜设备的末端朝向一个或更多个界标转向提供视觉引导和在内窥镜导航中辅助操作者的系统
CN101961245A (zh) * 2009-07-23 2011-02-02 通用电气公司 在采集的放射线照相术图像中补偿呼吸运动的系统和方法
CN102970926A (zh) * 2010-06-28 2013-03-13 皇家飞利浦电子股份有限公司 Em校准的实时质量控制
CN103079478A (zh) * 2010-08-23 2013-05-01 皇家飞利浦电子股份有限公司 用于医疗流程的标测系统和方法

Also Published As

Publication number Publication date
JP2020032230A (ja) 2020-03-05
US20240065769A1 (en) 2024-02-29
KR20160118295A (ko) 2016-10-11
US11376075B2 (en) 2022-07-05
JP6928059B2 (ja) 2021-09-01
US10314656B2 (en) 2019-06-11
US20200078095A1 (en) 2020-03-12
US20220378509A1 (en) 2022-12-01
CN106170265A (zh) 2016-11-30
JP2017511712A (ja) 2017-04-27
US20170189118A1 (en) 2017-07-06
US20190254752A1 (en) 2019-08-22
US12161423B2 (en) 2024-12-10
US10499993B2 (en) 2019-12-10
US10966790B2 (en) 2021-04-06
EP3102143A1 (en) 2016-12-14
US11786311B2 (en) 2023-10-17
US20250057600A1 (en) 2025-02-20
US20210236206A1 (en) 2021-08-05
WO2015119935A1 (en) 2015-08-13
EP3979210A1 (en) 2022-04-06
KR20210156301A (ko) 2021-12-24
EP3102143A4 (en) 2017-11-08

Similar Documents

Publication Publication Date Title
US12161423B2 (en) Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools
US12354727B2 (en) Systems and methods for filtering localization data
US12502224B2 (en) Systems and methods for registering elongate devices to three-dimensional images in image-guided procedures
US12369980B2 (en) Systems and methods for intelligently seeding registration
JP6666379B2 (ja) 形状センシングを使用した変形補償のためのシステム及び方法
KR102214145B1 (ko) 축소된 탐색 공간을 이용하여 의료 장치를 조정하는 시스템 및 방법
KR102337440B1 (ko) 장치-인지 가요성 도구 정합을 위한 시스템 및 방법
US11514591B2 (en) Systems and methods related to registration for image guided surgery

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