CN106716071B - 利用光学形状感测的对表面接触的检测 - Google Patents

利用光学形状感测的对表面接触的检测 Download PDF

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Publication number
CN106716071B
CN106716071B CN201580048327.9A CN201580048327A CN106716071B CN 106716071 B CN106716071 B CN 106716071B CN 201580048327 A CN201580048327 A CN 201580048327A CN 106716071 B CN106716071 B CN 106716071B
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shape sensing
instrument
contact
pattern
sensing feedback
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CN106716071A (zh
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M·L·弗莱克斯曼
D·P·努南
B·拉马钱德兰
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/353—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • General Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Endoscopes (AREA)
  • Optical Transform (AREA)
CN201580048327.9A 2014-09-08 2015-08-27 利用光学形状感测的对表面接触的检测 Active CN106716071B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462047363P 2014-09-08 2014-09-08
US62/047,363 2014-09-08
PCT/IB2015/056490 WO2016038492A1 (en) 2014-09-08 2015-08-27 Detection of surface contact with optical shape sensing

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CN106716071A CN106716071A (zh) 2017-05-24
CN106716071B true CN106716071B (zh) 2021-08-24

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US (1) US20170231699A1 (enExample)
EP (1) EP3191800B1 (enExample)
JP (1) JP6717805B2 (enExample)
CN (1) CN106716071B (enExample)
WO (1) WO2016038492A1 (enExample)

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WO2021108697A1 (en) 2019-11-25 2021-06-03 Bard Access Systems, Inc. Optical tip-tracking systems and methods thereof
CN215340440U (zh) 2020-02-28 2021-12-28 巴德阿克塞斯系统股份有限公司 电学和光学连接系统及光学连接系统
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CN215608602U (zh) 2020-03-03 2022-01-25 巴德阿克塞斯系统股份有限公司 医疗设备和医疗设备监视系统
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CN216319408U (zh) 2020-06-26 2022-04-19 巴德阿克塞斯系统股份有限公司 错位检测系统
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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
EP4225138A1 (en) 2020-10-13 2023-08-16 Bard Access Systems, Inc. Fiber optic enabled deployable medical devices for monitoring, assessment and capture of deployment information
WO2022081586A1 (en) 2020-10-13 2022-04-21 Bard Access Systems, Inc. Disinfecting covers for functional connectors of medical devices and methods thereof
US12285572B2 (en) 2020-11-18 2025-04-29 Bard Access Systems, Inc. Optical-fiber stylet holders and methods thereof
CN217041033U (zh) 2020-11-24 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
WO2022150411A1 (en) 2021-01-06 2022-07-14 Bard Access Systems, Inc. Needle guidance using fiber optic shape sensing
CN114788733A (zh) 2021-01-26 2022-07-26 巴德阿克塞斯系统股份有限公司 与端口放置相关联的光纤形状传感系统
CN217960085U (zh) 2021-05-18 2022-12-06 巴德阿克塞斯系统股份有限公司 用于检测医疗设备在患者身体内的放置的医疗设备系统
EP4104778A1 (en) * 2021-06-14 2022-12-21 Koninklijke Philips N.V. Apparatus, system and method for identifying subintimal path of a flexible elongated device
CN115813547A (zh) 2021-09-16 2023-03-21 巴德阿克塞斯系统股份有限公司 连接部件和执行医疗操作的方法
WO2023076143A1 (en) 2021-10-25 2023-05-04 Bard Access Systems, Inc. Reference plane for medical device placement
US12318149B2 (en) 2022-03-08 2025-06-03 Bard Access Systems, Inc. Medical shape sensing devices and systems
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Publication number Publication date
CN106716071A (zh) 2017-05-24
EP3191800A1 (en) 2017-07-19
EP3191800B1 (en) 2021-08-18
JP2017534837A (ja) 2017-11-24
JP6717805B2 (ja) 2020-07-08
WO2016038492A1 (en) 2016-03-17
US20170231699A1 (en) 2017-08-17

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