CN107334509B - 一种用于将细长工具与闭塞目标相对齐的系统和方法 - Google Patents
一种用于将细长工具与闭塞目标相对齐的系统和方法 Download PDFInfo
- Publication number
- CN107334509B CN107334509B CN201710544152.1A CN201710544152A CN107334509B CN 107334509 B CN107334509 B CN 107334509B CN 201710544152 A CN201710544152 A CN 201710544152A CN 107334509 B CN107334509 B CN 107334509B
- Authority
- CN
- China
- Prior art keywords
- target
- elongate tool
- tool
- pivoting point
- image
- 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.)
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Classifications
-
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
- A61B34/20—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
- A61B2034/2055—Optical 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
- A61B34/30—Surgical robots
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
-
- 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
- A61B2090/374—NMR or MRI
-
- 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
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
-
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3966—Radiopaque markers visible in an X-ray image
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Vascular Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
Description
Claims (23)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SG10201700386PA SG10201700386PA (en) | 2017-01-17 | 2017-01-17 | A System And Method For Aligning An Elongated Tool To An Occluded Target |
SG10201700386P | 2017-01-17 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107334509A CN107334509A (zh) | 2017-11-10 |
CN107334509B true CN107334509B (zh) | 2019-08-27 |
Family
ID=60218592
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710544152.1A Active CN107334509B (zh) | 2017-01-17 | 2017-07-05 | 一种用于将细长工具与闭塞目标相对齐的系统和方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10299879B2 (zh) |
CN (1) | CN107334509B (zh) |
SG (1) | SG10201700386PA (zh) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11501661B2 (en) * | 2018-03-29 | 2022-11-15 | Cae Healthcare Canada Inc. | Method and system for simulating an insertion of an elongated instrument into a subject |
WO2019198061A1 (en) | 2018-04-13 | 2019-10-17 | Universidade Do Minho | Guidance system, method and devices thereof |
JP2022500225A (ja) * | 2018-07-24 | 2022-01-04 | エヌディーアール メディカル テクノロジー プライベート リミテッドNdr Medical Technology Pte Ltd | 細長ツールの軌道を決定するためのシステムおよび方法 |
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 |
RU2715684C1 (ru) * | 2019-03-27 | 2020-03-02 | Общество с ограниченной ответственностью "МРОБОТИКС" (ООО "МРОБОТИКС") | Автономный мобильный модуль роботизированного хирургического инструмента |
WO2021137109A1 (en) * | 2019-12-31 | 2021-07-08 | Auris Health, Inc. | Alignment techniques for percutaneous access |
US11529738B2 (en) * | 2020-07-02 | 2022-12-20 | NDR Medical Technology Pte. Ltd. | Control system and a method for operating a robot |
GB2621584A (en) * | 2022-08-15 | 2024-02-21 | Cmr Surgical Ltd | Alarm system for a surgical robot |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8253936B2 (en) * | 2008-08-08 | 2012-08-28 | Chemimage Corporation | Raman characterization of transplant tissue |
US20130345550A1 (en) * | 2012-06-25 | 2013-12-26 | Tzachi Rafaeli | Systems and methods for localizing an opaque medical device with nuclear medicine imaging |
DE102012214351B4 (de) * | 2012-08-13 | 2014-11-06 | Siemens Aktiengesellschaft | Angiographisches Untersuchungsverfahren eines Gefäßsystems |
CN104615894B (zh) * | 2015-02-13 | 2018-09-28 | 上海中医药大学 | 一种基于k近邻标签特定权重特征的中医诊断系统 |
US9905000B2 (en) * | 2015-02-19 | 2018-02-27 | Sony Corporation | Method and system for surgical tool localization during anatomical surgery |
-
2017
- 2017-01-17 SG SG10201700386PA patent/SG10201700386PA/en unknown
- 2017-04-28 US US15/581,706 patent/US10299879B2/en active Active
- 2017-07-05 CN CN201710544152.1A patent/CN107334509B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
US20180200015A1 (en) | 2018-07-19 |
SG10201700386PA (en) | 2018-08-30 |
CN107334509A (zh) | 2017-11-10 |
US10299879B2 (en) | 2019-05-28 |
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Legal Events
Date | Code | Title | Description |
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PB01 | 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 | ||
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20171110 Assignee: Shanghai Shuhang robot Co.,Ltd. Assignor: NDR MEDICAL TECHNOLOGY Pte. Ltd. Contract record no.: X2021990000469 Denomination of invention: A system and method for aligning a slender tool with an occluded target Granted publication date: 20190827 License type: Exclusive License Record date: 20210809 |
|
CP01 | Change in the name or title of a patent holder | ||
CP01 | Change in the name or title of a patent holder |
Address after: No. 31, 2nd floor, 21 belan bend, Singapore Patentee after: NDR Medical Technology Pte. Ltd. Address before: No. 31, 2nd floor, 21 belan bend, Singapore Patentee before: NDR MEDICAL TECHNOLOGY Pte. Ltd. |
|
CP02 | Change in the address of a patent holder | ||
CP02 | Change in the address of a patent holder |
Address after: Room 19, 2 / F, 75 Yue Road, ajalaja Bay, Singapore Patentee after: NDR Medical Technology Pte. Ltd. Address before: No. 31, 2nd floor, 21 belan bend, Singapore Patentee before: NDR Medical Technology Pte. Ltd. |