CN106456935B - 使用可操控管心针和柔性针的设备、系统以及方法 - Google Patents

使用可操控管心针和柔性针的设备、系统以及方法 Download PDF

Info

Publication number
CN106456935B
CN106456935B CN201580021691.6A CN201580021691A CN106456935B CN 106456935 B CN106456935 B CN 106456935B CN 201580021691 A CN201580021691 A CN 201580021691A CN 106456935 B CN106456935 B CN 106456935B
Authority
CN
China
Prior art keywords
stylet
actuation
needle
minimally invasive
invasive system
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
CN201580021691.6A
Other languages
English (en)
Chinese (zh)
Other versions
CN106456935A (zh
Inventor
G·M·普里斯科
M·西米
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
Priority to CN201911219102.1A priority Critical patent/CN110833382B/zh
Publication of CN106456935A publication Critical patent/CN106456935A/zh
Application granted granted Critical
Publication of CN106456935B publication Critical patent/CN106456935B/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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • 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
    • 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
    • A61B1/01—Guiding arrangements therefore
    • 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
    • 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
    • A61B17/3478—Endoscopic needles, e.g. for infusion
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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, bronchoscopes
    • A61B1/2676—Bronchoscopes
    • 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
    • A61B2010/0208—Biopsy devices with actuators, e.g. with triggered spring mechanisms
    • 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
    • A61B2010/045—Needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Surgical Instruments (AREA)
  • Pulmonology (AREA)
  • Endoscopes (AREA)
  • Otolaryngology (AREA)
  • Physiology (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
CN201580021691.6A 2014-04-02 2015-03-23 使用可操控管心针和柔性针的设备、系统以及方法 Active CN106456935B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911219102.1A CN110833382B (zh) 2014-04-02 2015-03-23 使用可操控管心针和柔性针的设备、系统以及方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461974113P 2014-04-02 2014-04-02
US61/974,113 2014-04-02
PCT/US2015/022006 WO2015153174A1 (en) 2014-04-02 2015-03-23 Devices, systems, and methods using a steerable stylet and flexible needle

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN201911219102.1A Division CN110833382B (zh) 2014-04-02 2015-03-23 使用可操控管心针和柔性针的设备、系统以及方法

Publications (2)

Publication Number Publication Date
CN106456935A CN106456935A (zh) 2017-02-22
CN106456935B true CN106456935B (zh) 2019-12-24

Family

ID=54241106

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201911219102.1A Active CN110833382B (zh) 2014-04-02 2015-03-23 使用可操控管心针和柔性针的设备、系统以及方法
CN201580021691.6A Active CN106456935B (zh) 2014-04-02 2015-03-23 使用可操控管心针和柔性针的设备、系统以及方法

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201911219102.1A Active CN110833382B (zh) 2014-04-02 2015-03-23 使用可操控管心针和柔性针的设备、系统以及方法

Country Status (6)

Country Link
US (2) US10779803B2 (enExample)
EP (1) EP3125983B1 (enExample)
JP (2) JP6629230B2 (enExample)
KR (1) KR102337419B1 (enExample)
CN (2) CN110833382B (enExample)
WO (1) WO2015153174A1 (enExample)

Families Citing this family (117)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8814921B2 (en) 2008-03-06 2014-08-26 Aquabeam Llc Tissue ablation and cautery with optical energy carried in fluid stream
US12290277B2 (en) 2007-01-02 2025-05-06 Aquabeam, Llc Tissue resection with pressure sensing
US9232959B2 (en) 2007-01-02 2016-01-12 Aquabeam, Llc Multi fluid tissue resection methods and devices
WO2013130895A1 (en) 2012-02-29 2013-09-06 Aquabeam, Llc Automated image-guided tissue resection and treatment
US20120191083A1 (en) 2011-01-20 2012-07-26 Hansen Medical, Inc. System and method for endoluminal and translumenal therapy
US10231867B2 (en) 2013-01-18 2019-03-19 Auris Health, Inc. Method, apparatus and system for a water jet
WO2014201165A1 (en) 2013-06-11 2014-12-18 Auris Surgical Robotics, Inc. System for robotic assisted cataract surgery
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
US10779803B2 (en) 2014-04-02 2020-09-22 Intuitive Surgical Operations, Inc. Devices, systems, and methods using a steerable stylet and flexible needle
US20160287279A1 (en) 2015-04-01 2016-10-06 Auris Surgical Robotics, Inc. Microsurgical tool for robotic applications
US11457987B2 (en) * 2015-05-15 2022-10-04 The Johns Hopkins University Manipulator device and therapeutic and diagnostic methods
WO2016199305A1 (ja) * 2015-06-12 2016-12-15 オリンパス株式会社 可撓管挿入装置
WO2017013942A1 (ja) * 2015-07-17 2017-01-26 オリンパス株式会社 マニピュレータ
US10575754B2 (en) 2015-09-23 2020-03-03 Covidien Lp Catheter having a sensor and an extended working channel
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
WO2017091682A1 (en) * 2015-11-25 2017-06-01 Spiration, Inc. Sheaths for needle delivery
EP3216415A1 (en) * 2016-03-07 2017-09-13 Deutsches Krebsforschungszentrum Stiftung des Öffentlichen Rechts A system for navigated punction, biopsy or ablation comprising a needle-like instrument and a removable sensor carrier
JP2019520119A (ja) * 2016-05-16 2019-07-18 トラックエックス・テクノロジー，エルエルシー 医療処置中のエフェクタの画像定位のためのシステム及び方法
US10825177B2 (en) * 2016-05-16 2020-11-03 TrackX Technology, LLC Imaging system and method for image localization of effecters during a medical procedure
CN115429337A (zh) * 2016-05-31 2022-12-06 直观外科手术操作公司 顺从性活检针系统
WO2018005928A1 (en) * 2016-07-01 2018-01-04 Intuitive Surgical Operations, Inc. Systems and methods for flexible computer-assisted instrument control
US10682192B2 (en) * 2016-09-30 2020-06-16 Intuitive Surgical Operations, Inc. Variable-length guide apparatus for delivery of a flexible instrument and methods of use
US11648031B2 (en) 2016-10-05 2023-05-16 The Trustees Of The University Of Pennsylvania Sharp turning steerable needle
WO2018071573A1 (en) * 2016-10-12 2018-04-19 Intuitive Surgical Operations, Inc. Surgical puncture device insertion systems and related methods
US11529190B2 (en) 2017-01-30 2022-12-20 Covidien Lp Enhanced ablation and visualization techniques for percutaneous surgical procedures
EP4420623A3 (en) * 2017-02-28 2024-10-30 Boston Scientific Scimed, Inc. Articulating needles
AU2018234510B2 (en) * 2017-03-16 2020-07-30 Boston Scientific Scimed, Inc. Biopsy needle for accessing peripheral lung nodules
WO2018176032A1 (en) * 2017-03-24 2018-09-27 Cottone Robert J Systems and methods for tissue displacement
EP3599979A4 (en) 2017-03-28 2021-01-06 Auris Health, Inc. SHAFT DRIVE HANDLE
CN115089089A (zh) * 2017-04-03 2022-09-23 奥林巴斯株式会社 外套管和医疗系统
WO2018187244A2 (en) * 2017-04-03 2018-10-11 Broncus Medical Inc. Electrosurgical access sheath
US10285574B2 (en) * 2017-04-07 2019-05-14 Auris Health, Inc. Superelastic medical instrument
US10987174B2 (en) 2017-04-07 2021-04-27 Auris Health, Inc. Patient introducer alignment
CN211884909U (zh) 2017-04-07 2020-11-10 巴德阿克塞斯系统股份有限公司 基于光纤的医疗设备跟踪和监测系统
IT201700042116A1 (it) * 2017-04-14 2018-10-14 Medical Microinstruments Spa Assieme robotico per chirurgia
CN106943183B (zh) * 2017-04-26 2023-09-08 郑明辉 微创柔性穿刺管、微创通道穿刺组件
CN111050702B (zh) * 2017-07-13 2022-07-05 坦迪尼控股股份有限公司 人工心脏瓣膜及用于递送人工心脏瓣膜的设备和方法
CN111107790B (zh) * 2017-08-22 2023-07-14 皇家飞利浦有限公司 可调节柔性/刚度管腔内设备和相关联的设备、系统和方法
US11179203B2 (en) * 2017-10-26 2021-11-23 Biosense Webster (Israel) Ltd. Position-tracking-enabling connector for an ear-nose-throat (ENT) tool
CN111447878B (zh) * 2017-12-08 2024-01-02 皇家飞利浦有限公司 用于腔内超声成像装置的具有集成窗口的卷式柔性衬底
US10456556B2 (en) * 2018-02-19 2019-10-29 Bendit Technologies Ltd. Steering tool with enhanced flexibility and trackability
JP6990292B2 (ja) 2018-02-21 2022-01-12 オリンパス株式会社 医療システムおよび医療システムの作動方法
US10872449B2 (en) 2018-05-02 2020-12-22 Covidien Lp System and method for constructing virtual radial ultrasound images from CT data and performing a surgical navigation procedure using virtual ultrasound images
JP7267309B2 (ja) 2018-06-07 2023-05-01 オーリス ヘルス インコーポレイテッド 高力器具を有するロボット医療システム
KR102817263B1 (ko) 2018-06-28 2025-06-10 아우리스 헬스, 인코포레이티드 풀리 공유를 통합한 의료 시스템
US11071591B2 (en) 2018-07-26 2021-07-27 Covidien Lp Modeling a collapsed lung using CT data
WO2020036685A1 (en) 2018-08-15 2020-02-20 Auris Health, Inc. Medical instruments for tissue cauterization
EP3806758A4 (en) 2018-08-17 2022-04-06 Auris Health, Inc. BIPOLAR MEDICAL INSTRUMENT
CN112770689B (zh) * 2018-09-26 2024-07-19 奥瑞斯健康公司 用于抽吸和冲洗的系统和器械
US11553831B2 (en) * 2018-10-04 2023-01-17 Biosense Webster (Israel) Ltd. Malleable suction device
US11576738B2 (en) 2018-10-08 2023-02-14 Auris Health, Inc. Systems and instruments for tissue sealing
CN109431606B (zh) * 2018-10-09 2021-03-09 北京术锐技术有限公司 一种血管介入手术机器人组合系统及其使用方法
CN109316654A (zh) * 2018-10-23 2019-02-12 中国福利会国际和平妇幼保健院 语音识别智能气管导管
US12419713B2 (en) 2018-11-15 2025-09-23 Intuitive Surgical Operations, Inc. Surgical instrument with sensor aligned cable guide
EP3870075B1 (en) 2018-12-20 2025-06-11 Auris Health, Inc. Shielding for wristed instruments
CN113347938A (zh) 2019-01-25 2021-09-03 奥瑞斯健康公司 具有加热和冷却能力的血管密封器
CN113613566B (zh) 2019-03-25 2024-10-11 奥瑞斯健康公司 用于医疗缝合的系统和方法
US11975157B2 (en) 2019-04-12 2024-05-07 Covidien Lp Method of manufacturing an elongated catheter having multiple sensors for three-dimensional location of the catheter
EP3962356B1 (en) * 2019-05-02 2023-05-24 Intersect ENT International GmbH Sensor carrier
US12138003B2 (en) 2019-06-25 2024-11-12 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
US11369386B2 (en) 2019-06-27 2022-06-28 Auris Health, Inc. Systems and methods for a medical clip applier
WO2020263949A1 (en) 2019-06-28 2020-12-30 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
US12246151B2 (en) * 2019-07-29 2025-03-11 Sam Youl YOON Biliary drainage device for negative pressure-retrograde installation of percutaneous transhepatic biliary drainage
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
EP4034350A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
US12357409B2 (en) 2019-11-21 2025-07-15 Auris Health, Inc. Systems and methods for draping a surgical system
CN112826497B (zh) 2019-11-25 2025-09-09 巴德阿克塞斯系统股份有限公司 光学尖端追踪系统及其方法
US11525670B2 (en) 2019-11-25 2022-12-13 Bard Access Systems, Inc. Shape-sensing systems with filters and methods thereof
US11439419B2 (en) 2019-12-31 2022-09-13 Auris Health, Inc. Advanced basket drive mode
US11950872B2 (en) 2019-12-31 2024-04-09 Auris Health, Inc. Dynamic pulley system
CN115515523A (zh) 2020-03-30 2022-12-23 奥瑞斯健康公司 机器人外科手术的工作空间优化
US12239393B2 (en) * 2020-05-18 2025-03-04 Intuitive Surgical Operations, Inc. Hard stop that produces a reactive moment upon engagement for cantilever-based force sensing
US12064191B2 (en) 2020-06-03 2024-08-20 Covidien Lp Surgical tool navigation using sensor fusion
US11701492B2 (en) 2020-06-04 2023-07-18 Covidien Lp Active distal tip drive
CA3183162A1 (en) 2020-06-19 2021-12-23 Jake Anthony Sganga Systems and methods for guidance of intraluminal devices within the vasculature
EP4171423A1 (en) 2020-06-26 2023-05-03 Bard Access Systems, Inc. Malposition detection system
US11839969B2 (en) 2020-06-29 2023-12-12 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
US11883609B2 (en) 2020-06-29 2024-01-30 Bard Access Systems, Inc. Automatic dimensional frame reference for fiber optic
US12402955B2 (en) * 2020-06-29 2025-09-02 Regents Of The University Of Minnesota Extended-reality visualization of endovascular navigation
WO2022003493A1 (en) 2020-06-30 2022-01-06 Auris Health, Inc. Robotic medical system with collision proximity indicators
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
US11020099B1 (en) * 2020-07-01 2021-06-01 Verix Health, Inc. Lung access device
EP4178431A1 (en) 2020-07-10 2023-05-17 Bard Access Systems, Inc. Continuous fiber optic functionality monitoring and self-diagnostic reporting system
US12478764B2 (en) * 2020-07-16 2025-11-25 Canon U.S.A., Inc. Medical apparatus and method of use thereof
CN216675721U (zh) 2020-08-03 2022-06-07 巴德阿克塞斯系统股份有限公司 布拉格光栅光纤波动感测与监测系统
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
CN217525118U (zh) 2020-09-25 2022-10-04 巴德阿克塞斯系统股份有限公司 用于将医疗器械插入患者体内的医疗器械系统
CN112370125B (zh) * 2020-11-13 2022-08-05 哈尔滨理工大学 一种缠绕式柔性针穿刺机构
CN116744847A (zh) * 2020-12-07 2023-09-12 富朗德医疗公司 用于身体内腔医疗设备定位的方法和系统
CN217040287U (zh) * 2021-01-06 2022-07-26 巴德阿克塞斯系统股份有限公司 用于将医疗器械插入患者体内的医疗器械系统
WO2022164902A1 (en) 2021-01-26 2022-08-04 Bard Access Systems, Inc. Fiber optic shape sensing system associated with port placement
WO2022245987A1 (en) 2021-05-18 2022-11-24 Bard Access Systems, Inc. Anatomical oscillation and fluctuation sensing and confirmation system
US12121307B2 (en) 2021-07-01 2024-10-22 Remedy Robotics, Inc. Vision-based position and orientation determination for endovascular tools
US11707332B2 (en) 2021-07-01 2023-07-25 Remedy Robotics, Inc. Image space control for endovascular tools
EP4364163A1 (en) 2021-07-01 2024-05-08 Remedy Robotics, Inc. Vision-based position and orientation determination for endovascular tools
CN116019552A (zh) 2021-10-25 2023-04-28 巴德阿克塞斯系统股份有限公司 用于医疗设备放置的参考平面
FR3129601A1 (fr) 2021-12-01 2023-06-02 Universite De Lille Dispositif de chargement et de poussée de grains radioactifs
US12303220B2 (en) 2022-01-26 2025-05-20 Covidien Lp Autonomous endobronchial access with an EM guided catheter
CN114795411B (zh) * 2022-04-15 2024-07-19 哈尔滨理工大学 一种具有开槽支撑的柔性针穿刺机构
CN115211908B (zh) * 2022-06-17 2024-07-02 清华大学 基于弹簧的多用途柔性可控器械
US12343117B2 (en) 2022-06-28 2025-07-01 Bard Access Systems, Inc. Fiber optic medical systems and methods for identifying blood vessels
US12349984B2 (en) 2022-06-29 2025-07-08 Bard Access Systems, Inc. System, method, and apparatus for improved confirm of an anatomical position of a medical instrument
CN115444573B (zh) * 2022-08-10 2024-10-29 上海优医基医学科技有限公司 柔性器械的控制方法、系统及手术机器人
CN115869508A (zh) * 2022-11-17 2023-03-31 同济大学 可弯曲介入手术导管、导管系统及其使用方法
EP4648664A1 (en) * 2023-01-12 2025-11-19 Magnisity Ltd. Camera module and flexible circuit board for an elongated interventional device
US20250040961A1 (en) * 2023-08-04 2025-02-06 Boston Scientific Medical Device Limited Steerable endoscopic needle
CN117017453B (zh) * 2023-09-12 2024-05-10 哈尔滨工业大学 用于医学检测与治疗的可操纵柔性针
KR102875761B1 (ko) * 2024-02-23 2025-10-23 주식회사 메디인테크 상부 위장관 이미지 획득을 위한 내시경 장치 및 제어 방법
KR102875760B1 (ko) * 2024-02-23 2025-10-23 주식회사 메디인테크 하부 위장관 이미지 획득을 위한 내시경 장치 및 제어 방법
CN119184768B (zh) * 2024-09-25 2025-04-11 江苏省肿瘤医院 微创手术模块式变形缝合针及其形态控制方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009023779A1 (en) * 2007-08-15 2009-02-19 Chunyuan Qiu Systems and methods for intubation

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4651718A (en) * 1984-06-29 1987-03-24 Warner-Lambert Technologies Inc. Vertebra for articulatable shaft
US5833632A (en) 1995-12-07 1998-11-10 Sarcos, Inc. Hollow guide wire apparatus catheters
US6123699A (en) * 1997-09-05 2000-09-26 Cordis Webster, Inc. Omni-directional steerable catheter
US6858005B2 (en) 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
US6817974B2 (en) * 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US6616628B2 (en) 2001-11-16 2003-09-09 Cardiac Pacemakers, Inc. Steerable catheter with a longitudinally adjustable curved core
AU2003240512B2 (en) * 2002-06-04 2009-11-05 The Board Of Trustees Of The Leland Stanford Junior University Device and method for rapid aspiration and collection of body tissue from within an enclosed body space
US7662128B2 (en) 2002-12-23 2010-02-16 Salcudean Septimiu E Steerable needle
US7678117B2 (en) * 2004-06-07 2010-03-16 Novare Surgical Systems, Inc. Articulating mechanism with flex-hinged links
EP1816945B1 (en) * 2004-11-23 2019-08-21 PneumRx, Inc. Steerable device for accessing a target site
US20090062606A1 (en) * 2007-08-31 2009-03-05 Hoya Corporation Endoscope guiding tube device
JP2009056054A (ja) * 2007-08-31 2009-03-19 Hoya Corp 内視鏡案内管装置
US8649847B1 (en) * 2009-05-04 2014-02-11 Intelligent Fiber Optic Systems, Inc. Steerable shape sensing biopsy needle and catheter
US8746252B2 (en) * 2010-05-14 2014-06-10 Intuitive Surgical Operations, Inc. Surgical system sterile drape
US9055960B2 (en) * 2010-11-15 2015-06-16 Intuitive Surgical Operations, Inc. Flexible surgical devices
EP2654583A2 (en) * 2010-12-20 2013-10-30 Spine View, Inc. Articulating tissue removal systems and methods
JP6290099B2 (ja) * 2012-02-03 2018-03-07 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 埋め込み型形状感知機能を有する操縦可能な可撓性針
GB2500784B (en) * 2012-02-28 2015-07-22 Spiration Inc Lung Biopsy Needle
WO2013177469A1 (en) * 2012-05-23 2013-11-28 Veritract Elongate medical instrument with sheath
US9011429B2 (en) * 2012-06-07 2015-04-21 Smith & Nephew, Inc. Flexible probe with adjustable tip
US10029073B2 (en) * 2012-11-13 2018-07-24 Abbott Cardiovascular Systems, Inc. Steerable assembly for surgical catheter
CN114366181B (zh) 2013-12-13 2024-08-02 直观外科手术操作公司 伸缩式活检针
US10779803B2 (en) * 2014-04-02 2020-09-22 Intuitive Surgical Operations, Inc. Devices, systems, and methods using a steerable stylet and flexible needle

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009023779A1 (en) * 2007-08-15 2009-02-19 Chunyuan Qiu Systems and methods for intubation

Also Published As

Publication number Publication date
KR102337419B1 (ko) 2021-12-13
US10779803B2 (en) 2020-09-22
EP3125983B1 (en) 2021-05-05
CN110833382B (zh) 2023-05-30
JP2020032277A (ja) 2020-03-05
US20170095234A1 (en) 2017-04-06
KR20160140840A (ko) 2016-12-07
EP3125983A4 (en) 2018-03-21
CN106456935A (zh) 2017-02-22
CN110833382A (zh) 2020-02-25
WO2015153174A1 (en) 2015-10-08
JP6816243B2 (ja) 2021-01-20
JP2017511187A (ja) 2017-04-20
EP3125983A1 (en) 2017-02-08
JP6629230B2 (ja) 2020-01-15
US20210015470A1 (en) 2021-01-21
US20180214138A9 (en) 2018-08-02

Similar Documents

Publication Publication Date Title
CN106456935B (zh) 使用可操控管心针和柔性针的设备、系统以及方法
JP7553006B2 (ja) 医療ツール
US20240374246A1 (en) Telescoping biopsy needle
CN109715037B (zh) 用于器械弯折检测的系统和方法
CN110833455B (zh) 带有嵌入式致动导管的柔性器械
CN106714724A (zh) 用于规划多个介入程序的系统和方法
WO2015088961A1 (en) Sensor stylet

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