CN106999094B - 用于基于导管的导航的虚拟定向的电磁跟踪线圈 - Google Patents

用于基于导管的导航的虚拟定向的电磁跟踪线圈 Download PDF

Info

Publication number
CN106999094B
CN106999094B CN201580065320.8A CN201580065320A CN106999094B CN 106999094 B CN106999094 B CN 106999094B CN 201580065320 A CN201580065320 A CN 201580065320A CN 106999094 B CN106999094 B CN 106999094B
Authority
CN
China
Prior art keywords
coil
medical device
medical
tracking
axis
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
CN201580065320.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN106999094A (zh
Inventor
A·梅亨达尔
F·沙欣
G·克莱
苏浩
V·帕塔萨拉蒂
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 CN106999094A publication Critical patent/CN106999094A/zh
Application granted granted Critical
Publication of CN106999094B publication Critical patent/CN106999094B/zh
Expired - Fee Related 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
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • 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
    • 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
    • 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
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/42—Detecting, measuring or recording for evaluating the gastrointestinal, the endocrine or the exocrine systems
    • A61B5/4222—Evaluating particular parts, e.g. particular organs
    • A61B5/425—Evaluating particular parts, e.g. particular organs pancreas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0127—Magnetic means; Magnetic markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • 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
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00274—Prostate operation, e.g. prostatectomy, turp, bhp treatment
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Pulmonology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Human Computer Interaction (AREA)
  • Physiology (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Robotics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Otolaryngology (AREA)
  • Gastroenterology & Hepatology (AREA)
  • Endocrinology (AREA)
  • Endoscopes (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • High Energy & Nuclear Physics (AREA)
CN201580065320.8A 2014-12-01 2015-11-12 用于基于导管的导航的虚拟定向的电磁跟踪线圈 Expired - Fee Related CN106999094B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462085685P 2014-12-01 2014-12-01
US62/085,685 2014-12-01
PCT/IB2015/058726 WO2016087970A1 (en) 2014-12-01 2015-11-12 Virtually-oriented electromagnetic tracking coil for catheter based navigation

Publications (2)

Publication Number Publication Date
CN106999094A CN106999094A (zh) 2017-08-01
CN106999094B true CN106999094B (zh) 2021-04-13

Family

ID=54704044

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580065320.8A Expired - Fee Related CN106999094B (zh) 2014-12-01 2015-11-12 用于基于导管的导航的虚拟定向的电磁跟踪线圈

Country Status (5)

Country Link
US (2) US10966629B2 (enExample)
EP (1) EP3226762B1 (enExample)
JP (1) JP6789942B2 (enExample)
CN (1) CN106999094B (enExample)
WO (1) WO2016087970A1 (enExample)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10238837B2 (en) 2011-10-14 2019-03-26 Intuitive Surgical Operations, Inc. Catheters with control modes for interchangeable probes
US9387048B2 (en) 2011-10-14 2016-07-12 Intuitive Surgical Operations, Inc. Catheter sensor systems
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
KR102332023B1 (ko) 2013-10-24 2021-12-01 아우리스 헬스, 인크. 로봇-보조식 내강 내부 수술용 시스템 및 이와 관련된 방법
EP2923669B1 (en) 2014-03-24 2017-06-28 Hansen Medical, Inc. Systems and devices for catheter driving instinctiveness
CN107427327A (zh) 2014-09-30 2017-12-01 奥瑞斯外科手术机器人公司 具有虚拟轨迹和柔性内窥镜的可配置机器人外科手术系统
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
JP2020513882A (ja) * 2016-12-19 2020-05-21 ボストン サイエンティフィック サイムド，インコーポレイテッドＢｏｓｔｏｎ Ｓｃｉｅｎｔｉｆｉｃ Ｓｃｉｍｅｄ，Ｉｎｃ． 優位軸航行センサ
US11058321B2 (en) 2016-12-20 2021-07-13 Boston Scientific Scimed Inc. Current driven sensor for magnetic navigation
US10782114B2 (en) 2016-12-20 2020-09-22 Boston Scientific Scimed Inc. Hybrid navigation sensor
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
EP3576622B1 (en) 2017-02-06 2025-11-19 Boston Scientific Scimed Inc. Sensor assemblies for electromagnetic navigation systems
CN110831498B (zh) 2017-05-12 2022-08-12 奥瑞斯健康公司 活检装置和系统
KR102341451B1 (ko) 2017-06-28 2021-12-23 아우리스 헬스, 인코포레이티드 기기의 삽입 보상을 위한 로봇 시스템, 방법 및 비일시적 컴퓨터 가독 저장 매체
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
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
CN116370084A (zh) 2018-02-13 2023-07-04 奥瑞斯健康公司 用于驱动医疗器械的系统和方法
US20190388156A1 (en) * 2018-06-20 2019-12-26 Acclarent, Inc. Medical instrument with multi-coil position sensor
EP3856065A4 (en) 2018-09-28 2022-06-29 Auris Health, Inc. Robotic systems and methods for concomitant endoscopic and percutaneous medical procedures
WO2020069430A1 (en) 2018-09-28 2020-04-02 Auris Health, Inc. Systems and methods for docking medical instruments
EP3632363A1 (en) * 2018-10-04 2020-04-08 Koninklijke Philips N.V. Apparatus for designing or configuring a trans-bronchial needle guide
US11660147B2 (en) 2019-12-31 2023-05-30 Auris Health, Inc. Alignment techniques for percutaneous access
KR20220123087A (ko) 2019-12-31 2022-09-05 아우리스 헬스, 인코포레이티드 경피 접근을 위한 정렬 인터페이스
CN119055360A (zh) 2019-12-31 2024-12-03 奥瑞斯健康公司 解剖特征识别和瞄准
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4431005A (en) * 1981-05-07 1984-02-14 Mccormick Laboratories, Inc. Method of and apparatus for determining very accurately the position of a device inside biological tissue
CN1049288A (zh) * 1989-05-24 1991-02-20 麦克罗尼克森Pty有限公司 医疗器械的定位装置
US5255680A (en) * 1991-09-03 1993-10-26 General Electric Company Automatic gantry positioning for imaging systems
CN1132470A (zh) * 1993-10-06 1996-10-02 巴依奥桑斯股份有限公司 位置和取向的磁方式确定
CN1576883A (zh) * 2003-07-01 2005-02-09 Ge医药系统环球科技公司 使用单线圈发射器的电磁跟踪系统与方法
CN1654027A (zh) * 2003-09-05 2005-08-17 西门子公司 用电磁线圈系统在操作空间无接触移动/定位磁体的设备
CN1681448A (zh) * 2002-07-16 2005-10-12 麦格耐泰克斯公司 导管的导引控制及成像设备
CN101035462A (zh) * 2004-09-01 2007-09-12 皇家飞利浦电子股份有限公司 基于磁共振标记的位置和方向探针

Family Cites Families (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3805768A (en) * 1972-04-11 1974-04-23 Carolina Medical Electronics I Electromagnetic blood flow probe
US3871359A (en) * 1973-06-25 1975-03-18 Interscience Technology Corp Impedance measuring system
DK10891A (da) * 1991-01-23 1992-07-24 Radiometer As Fremgangsmaade ved overvaagning af positionen af en sensor
WO2000025675A1 (en) * 1998-10-30 2000-05-11 Volusense As Volumetric physiological measuring system
US6837846B2 (en) * 2000-04-03 2005-01-04 Neo Guide Systems, Inc. Endoscope having a guide tube
US7928416B2 (en) 2006-12-22 2011-04-19 Cymer, Inc. Laser produced plasma EUV light source
JP2003019104A (ja) * 2001-07-06 2003-01-21 Olympus Optical Co Ltd 挿入部検出プローブ
US8197494B2 (en) * 2006-09-08 2012-06-12 Corpak Medsystems, Inc. Medical device position guidance system with wireless connectivity between a noninvasive device and an invasive device
US7782046B2 (en) 2007-02-05 2010-08-24 General Electric Company Electromagnetic tracking method and system
US20090062739A1 (en) * 2007-08-31 2009-03-05 General Electric Company Catheter Guidewire Tracking System and Method
JP5137540B2 (ja) * 2007-11-29 2013-02-06 オリンパスメディカルシステムズ株式会社 内視鏡システム
US8398697B2 (en) * 2008-06-13 2013-03-19 Boston Scientific Scimed, Inc. Bifurcation catheter assembly with distally mounted side balloon and methods
JP5596037B2 (ja) * 2008-10-10 2014-09-24 バイオセンサーズ インターナショナル グループ、リミテッド 備品を控えたカテーテルシステム
US8504139B2 (en) * 2009-03-10 2013-08-06 Medtronic Xomed, Inc. Navigating a surgical instrument
US20100305427A1 (en) * 2009-06-01 2010-12-02 General Electric Company Long-range planar sensor array for use in a surgical navigation system
WO2010140441A1 (ja) * 2009-06-01 2010-12-09 オリンパスメディカルシステムズ株式会社 医療機器システムおよび医療器具のキャリブレーション方法
CN102469914B (zh) 2009-09-30 2014-11-05 奥林巴斯医疗株式会社 内窥镜装置以及弯曲驱动控制方法
US8391956B2 (en) * 2010-11-18 2013-03-05 Robert D. Zellers Medical device location systems, devices and methods
JP2014502911A (ja) * 2011-01-20 2014-02-06 エナヴ メディカル リミテッド 物体の場所および配向を推定するシステムおよび方法
US10492868B2 (en) * 2011-01-28 2019-12-03 Medtronic Navigation, Inc. Method and apparatus for image-based navigation
US8864599B2 (en) * 2011-07-18 2014-10-21 Swing-Wright, Llc Teaching aid
JP2014209930A (ja) * 2011-08-31 2014-11-13 テルモ株式会社 呼吸域用ナビゲーションシステム
US8747343B2 (en) * 2011-09-30 2014-06-10 Covidien Lp Hemodialysis catheter with improved side opening design
US20150051482A1 (en) * 2012-02-09 2015-02-19 Koninklijke Philips N.V Shaft tracker for real-time navigation tracking
US10249036B2 (en) * 2012-02-22 2019-04-02 Veran Medical Technologies, Inc. Surgical catheter having side exiting medical instrument and related systems and methods for four dimensional soft tissue navigation
US20130303945A1 (en) * 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Electromagnetic tip sensor
CN102772249B (zh) * 2012-06-19 2015-01-21 深圳市惠泰医疗器械有限公司 肾动脉轨道射频消融电极导管
CN203042389U (zh) * 2012-10-29 2013-07-10 青岛市市立医院 一种具有辅助置管功能的硬脊膜外穿刺针
US9474466B2 (en) * 2013-12-23 2016-10-25 Biosense Webster (Israel) Ltd. Low-profile location pad for magnetic-based intra-body probe tracking system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4431005A (en) * 1981-05-07 1984-02-14 Mccormick Laboratories, Inc. Method of and apparatus for determining very accurately the position of a device inside biological tissue
CN1049288A (zh) * 1989-05-24 1991-02-20 麦克罗尼克森Pty有限公司 医疗器械的定位装置
US5255680A (en) * 1991-09-03 1993-10-26 General Electric Company Automatic gantry positioning for imaging systems
CN1132470A (zh) * 1993-10-06 1996-10-02 巴依奥桑斯股份有限公司 位置和取向的磁方式确定
CN1681448A (zh) * 2002-07-16 2005-10-12 麦格耐泰克斯公司 导管的导引控制及成像设备
CN1576883A (zh) * 2003-07-01 2005-02-09 Ge医药系统环球科技公司 使用单线圈发射器的电磁跟踪系统与方法
CN1654027A (zh) * 2003-09-05 2005-08-17 西门子公司 用电磁线圈系统在操作空间无接触移动/定位磁体的设备
CN101035462A (zh) * 2004-09-01 2007-09-12 皇家飞利浦电子股份有限公司 基于磁共振标记的位置和方向探针

Also Published As

Publication number Publication date
EP3226762A1 (en) 2017-10-11
US11925453B2 (en) 2024-03-12
EP3226762B1 (en) 2021-05-19
WO2016087970A1 (en) 2016-06-09
US20210219865A1 (en) 2021-07-22
CN106999094A (zh) 2017-08-01
JP6789942B2 (ja) 2020-11-25
US10966629B2 (en) 2021-04-06
US20170325715A1 (en) 2017-11-16
JP2018500079A (ja) 2018-01-11

Similar Documents

Publication Publication Date Title
CN106999094B (zh) 用于基于导管的导航的虚拟定向的电磁跟踪线圈
US11786318B2 (en) Intelligent real-time tool and anatomy visualization in 3D imaging workflows for interventional procedures
US11918340B2 (en) Electromagnetic sensor with probe and guide sensing elements
JP6843073B2 (ja) 画像誘導式生検のための処置中の精度フィードバック
CN102573691B (zh) 用于生物物理学参数的快速分布式测量的光学感测使能的介入仪器
US20130303945A1 (en) Electromagnetic tip sensor
US11771337B2 (en) Magnetic field generator with minimal image occlusion and minimal impact on dimensions in c-arm x-ray environments
JP2023080220A (ja) 狭い通路における侵襲的手順の内視鏡画像
US9641808B2 (en) Navigating attachment for optical devices in medicine, and method
CN105828721B (zh) 用于微创介入的形状感测的机器人超声
EP2584952A1 (en) System and method for real-time endoscope calibration
CN109414589A (zh) 导航和局部测温
EP3620127A1 (en) Single axis sensor (sas) with hall sensor using external magnet
US20250268665A1 (en) Elongate instrument with proximal pose and shape sensing

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
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: 20210413

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