CN108784702B - 用于跟踪介入器械的形状传感器系统以及使用方法 - Google Patents

用于跟踪介入器械的形状传感器系统以及使用方法 Download PDF

Info

Publication number
CN108784702B
CN108784702B CN201810733962.6A CN201810733962A CN108784702B CN 108784702 B CN108784702 B CN 108784702B CN 201810733962 A CN201810733962 A CN 201810733962A CN 108784702 B CN108784702 B CN 108784702B
Authority
CN
China
Prior art keywords
shape sensor
shape
sensor
image
model
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
CN201810733962.6A
Other languages
English (en)
Chinese (zh)
Other versions
CN108784702A (zh
Inventor
P·乔普拉
V·多文戴姆
J·科尔
T·赵
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 CN108784702A publication Critical patent/CN108784702A/zh
Application granted granted Critical
Publication of CN108784702B publication Critical patent/CN108784702B/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
    • 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
    • A61B5/064—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 markers
    • 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
    • A61B34/10—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
    • A61B34/20—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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • 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
    • A61B2090/363—Use of fiducial points
    • 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
    • A61B2090/3937—Visible markers
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/04—Constructional details of apparatus
    • A61B2560/0456—Apparatus provided with a docking unit
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6879—Means for maintaining contact with the body

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Endoscopes (AREA)
CN201810733962.6A 2013-03-15 2014-03-11 用于跟踪介入器械的形状传感器系统以及使用方法 Active CN108784702B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361799524P 2013-03-15 2013-03-15
US61/799,524 2013-03-15
CN201480014713.1A CN105050525B (zh) 2013-03-15 2014-03-11 用于跟踪介入器械的形状传感器系统以及使用方法

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201480014713.1A Division CN105050525B (zh) 2013-03-15 2014-03-11 用于跟踪介入器械的形状传感器系统以及使用方法

Publications (2)

Publication Number Publication Date
CN108784702A CN108784702A (zh) 2018-11-13
CN108784702B true CN108784702B (zh) 2021-11-12

Family

ID=51530425

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201810733962.6A Active CN108784702B (zh) 2013-03-15 2014-03-11 用于跟踪介入器械的形状传感器系统以及使用方法
CN201480014713.1A Active CN105050525B (zh) 2013-03-15 2014-03-11 用于跟踪介入器械的形状传感器系统以及使用方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201480014713.1A Active CN105050525B (zh) 2013-03-15 2014-03-11 用于跟踪介入器械的形状传感器系统以及使用方法

Country Status (6)

Country Link
US (1) US9918659B2 (enExample)
EP (2) EP2968857B1 (enExample)
JP (3) JP6363165B2 (enExample)
KR (1) KR102234145B1 (enExample)
CN (2) CN108784702B (enExample)
WO (1) WO2014150509A1 (enExample)

Families Citing this family (179)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7728868B2 (en) 2006-08-02 2010-06-01 Inneroptic Technology, Inc. System and method of providing real-time dynamic imagery of a medical procedure site using multiple modalities
US8218847B2 (en) 2008-06-06 2012-07-10 Superdimension, Ltd. Hybrid registration method
US8690776B2 (en) 2009-02-17 2014-04-08 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image guided surgery
US11464578B2 (en) 2009-02-17 2022-10-11 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures
US8641621B2 (en) 2009-02-17 2014-02-04 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US9314306B2 (en) 2010-09-17 2016-04-19 Hansen Medical, Inc. Systems and methods for manipulating an elongate member
US9138166B2 (en) 2011-07-29 2015-09-22 Hansen Medical, Inc. Apparatus and methods for fiber integration and registration
US10149720B2 (en) 2013-03-08 2018-12-11 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US20140257095A1 (en) * 2013-03-11 2014-09-11 Volcano Corporation Shape sensing interventional catheters and methods of use
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US10314559B2 (en) 2013-03-14 2019-06-11 Inneroptic Technology, Inc. Medical device guidance
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
US20140275810A1 (en) * 2013-03-15 2014-09-18 Inneroptic Technology, Inc. Sensor mount
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
CN105473097B (zh) 2013-07-29 2018-12-11 直观外科手术操作公司 具有冗余感测的形状传感器系统
US9763741B2 (en) 2013-10-24 2017-09-19 Auris Surgical Robotics, Inc. System for robotic-assisted endolumenal surgery and related methods
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
US10569052B2 (en) 2014-05-15 2020-02-25 Auris Health, Inc. Anti-buckling mechanisms for catheters
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
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
JP6703524B2 (ja) 2014-08-25 2020-06-03 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 医療器具力検知のためのシステム及び方法
US11793578B2 (en) * 2014-09-08 2023-10-24 Koninklijke Philips N.V. Optical shape sensing for instrument tracking in orthopedics
US9901406B2 (en) 2014-10-02 2018-02-27 Inneroptic Technology, Inc. Affected region display associated with a medical device
US10376134B2 (en) 2014-10-17 2019-08-13 Intutitive Surgical Operations, Inc. Systems and methods for reducing measurement error using optical fiber shape sensors
US9974525B2 (en) 2014-10-31 2018-05-22 Covidien Lp Computed tomography enhanced fluoroscopic system, device, and method of utilizing the same
CN106999153B (zh) 2014-12-02 2020-08-28 皇家飞利浦有限公司 在末端不固定的情况下使用光学形状感测对超声探头的自动跟踪和配准
US10188467B2 (en) 2014-12-12 2019-01-29 Inneroptic Technology, Inc. Surgical guidance intersection display
EP3247311B1 (en) * 2015-01-22 2020-03-18 Koninklijke Philips N.V. Endograft visualization with pre-integrated optical shape sensing attachments
JP2018505728A (ja) * 2015-01-22 2018-03-01 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 光学形状検出フィードバックを伴う血管内配置装置のロボット制御
US11819636B2 (en) 2015-03-30 2023-11-21 Auris Health, Inc. Endoscope pull wire electrical circuit
CN114795471A (zh) * 2015-04-06 2022-07-29 直观外科手术操作公司 在图像引导的外科手术中的配准补偿的系统和方法
WO2016179039A1 (en) * 2015-05-01 2016-11-10 Intuitive Surgical Operations, Inc. Fiber management in medical instrument backend
US11116581B2 (en) 2015-05-22 2021-09-14 Intuitive Surgical Operations, Inc. Systems and methods of registration for image guided surgery
US9949700B2 (en) 2015-07-22 2018-04-24 Inneroptic Technology, Inc. Medical device approaches
US10674982B2 (en) 2015-08-06 2020-06-09 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
US10702226B2 (en) 2015-08-06 2020-07-07 Covidien Lp System and method for local three dimensional volume reconstruction using a standard fluoroscope
KR102429651B1 (ko) 2015-09-09 2022-08-05 아우리스 헬스, 인크. 수술 로봇 시스템을 위한 기구 장치 조작기
US11278354B2 (en) 2015-09-10 2022-03-22 Intuitive Surgical Operations, Inc. Systems and methods for using tracking in image-guided medical procedure
JP7171432B2 (ja) * 2015-10-02 2022-11-15 コーニンクレッカ フィリップス エヌ ヴェ 光学形状感知されるガイドワイヤによるデバイスナビゲーションのためのハブ
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9947091B2 (en) * 2015-11-16 2018-04-17 Biosense Webster (Israel) Ltd. Locally applied transparency for a CT image
CN108472090B (zh) * 2015-12-29 2021-06-18 皇家飞利浦有限公司 用于控制外科手术机器人的系统、控制单元和方法
US11826107B2 (en) * 2015-12-29 2023-11-28 Koninklijke Philips N.V. Registration system for medical navigation and method of operation thereof
EP3413829B1 (en) * 2016-02-12 2024-05-22 Intuitive Surgical Operations, Inc. Systems of pose estimation and calibration of perspective imaging system in image guided surgery
US9675319B1 (en) 2016-02-17 2017-06-13 Inneroptic Technology, Inc. Loupe display
US20170239013A1 (en) * 2016-02-24 2017-08-24 General Electric Company Patient reference assembly for an electromagnetic navigation system
JP2019508174A (ja) * 2016-03-15 2019-03-28 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 光ファイバー実形状感知式栄養チューブ
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
WO2017223350A1 (en) * 2016-06-23 2017-12-28 Intuitive Surgical Operations, Inc. Removing light energy from a fiber cladding
US11224405B2 (en) * 2016-06-30 2022-01-18 Koninklijke Philips N.V. Medical navigation system employing optical position sensing and method of operation thereof
US10463439B2 (en) 2016-08-26 2019-11-05 Auris Health, Inc. Steerable catheter with shaft load distributions
AU2016422171B2 (en) 2016-08-31 2022-01-20 Auris Health, Inc. Length conservative surgical instrument
US10278778B2 (en) 2016-10-27 2019-05-07 Inneroptic Technology, Inc. Medical device navigation using a virtual 3D space
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
WO2018125917A1 (en) * 2016-12-28 2018-07-05 Auris Surgical Robotics, Inc. Apparatus for flexible instrument insertion
US11793579B2 (en) 2017-02-22 2023-10-24 Covidien Lp Integration of multiple data sources for localization and navigation
US10839956B2 (en) * 2017-03-03 2020-11-17 University of Maryland Medical Center Universal device and method to integrate diagnostic testing into treatment in real-time
JP6787211B2 (ja) * 2017-03-24 2020-11-18 トヨタ自動車株式会社 フィラメントワインディング装置
WO2018187708A1 (en) 2017-04-07 2018-10-11 Bard Access Systems, Inc. Optical fiber-based medical device tracking and monitoring system
AU2018270785B2 (en) 2017-05-17 2023-11-23 Auris Health, Inc. Exchangeable working channel
WO2018222834A1 (en) * 2017-05-31 2018-12-06 Abb Schweiz Ag Robot system for real-time inspection of switchgear
EP3642646B1 (en) * 2017-06-19 2025-02-19 Koninklijke Philips N.V. Interleaved imaging and tracking sequences for ultrasound-based instrument tracking
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
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
EP3661446B1 (en) 2017-07-31 2024-03-13 Intuitive Surgical Operations, Inc. Systems for safe operation of a device
US11259879B2 (en) 2017-08-01 2022-03-01 Inneroptic Technology, Inc. Selective transparency to assist medical device navigation
CN111163697B (zh) 2017-10-10 2023-10-03 柯惠有限合伙公司 用于在荧光三维重构中识别和标记目标的系统和方法
US11179203B2 (en) * 2017-10-26 2021-11-23 Biosense Webster (Israel) Ltd. Position-tracking-enabling connector for an ear-nose-throat (ENT) tool
US11877816B2 (en) 2017-11-21 2024-01-23 Intuitive Surgical Operations, Inc. Systems and methods for master/tool registration and control for intuitive motion
BR112020011444A2 (pt) 2017-12-11 2021-02-02 Auris Health, Inc. sistemas e métodos para arquiteturas de inserção baseadas em instrumentos
WO2019118767A1 (en) 2017-12-14 2019-06-20 Auris Health, Inc. System and method for estimating instrument location
US11484365B2 (en) 2018-01-23 2022-11-01 Inneroptic Technology, Inc. Medical image guidance
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
CN117017505A (zh) 2018-03-28 2023-11-10 奥瑞斯健康公司 复合器械和机器人系统
KR102846224B1 (ko) 2018-06-27 2025-08-18 아우리스 헬스, 인코포레이티드 의료 기구를 위한 정렬 및 부착 시스템
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
KR102612146B1 (ko) * 2018-08-07 2023-12-13 아우리스 헬스, 인코포레이티드 카테터 제어와의 변형-기반 형상 감지의 조합
EP3813634B1 (en) 2018-09-26 2025-10-22 Auris Health, Inc. Articulating medical instruments
WO2020069080A1 (en) 2018-09-28 2020-04-02 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
US11944388B2 (en) 2018-09-28 2024-04-02 Covidien Lp Systems and methods for magnetic interference correction
CN112384339B (zh) 2018-10-22 2024-05-14 直观外科手术操作公司 用于主机/工具配准和控制以进行直观运动的系统和方法
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
US11617493B2 (en) 2018-12-13 2023-04-04 Covidien Lp Thoracic imaging, distance measuring, surgical awareness, and notification system and method
US11801113B2 (en) 2018-12-13 2023-10-31 Covidien Lp Thoracic imaging, distance measuring, and notification system and method
US11986257B2 (en) * 2018-12-28 2024-05-21 Auris Health, Inc. Medical instrument with articulable segment
US11357593B2 (en) 2019-01-10 2022-06-14 Covidien Lp Endoscopic imaging with augmented parallax
EP3682836A1 (en) * 2019-01-21 2020-07-22 Koninklijke Philips N.V. Assisting in moving an insertion element within an object
US11625825B2 (en) 2019-01-30 2023-04-11 Covidien Lp Method for displaying tumor location within endoscopic images
US11564751B2 (en) 2019-02-01 2023-01-31 Covidien Lp Systems and methods for visualizing navigation of medical devices relative to targets
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
US11744643B2 (en) 2019-02-04 2023-09-05 Covidien Lp Systems and methods facilitating pre-operative prediction of post-operative tissue function
CN113490464B (zh) * 2019-02-28 2025-07-18 皇家飞利浦有限公司 对末端执行器的前馈连续定位控制
CN109793489A (zh) * 2019-03-26 2019-05-24 上海优益基医用材料有限公司 可视化定位导管
US11617627B2 (en) 2019-03-29 2023-04-04 Auris Health, Inc. Systems and methods for optical strain sensing in medical instruments
US11819285B2 (en) 2019-04-05 2023-11-21 Covidien Lp Magnetic interference detection systems and methods
JP7661300B2 (ja) * 2019-07-12 2025-04-14 バード・アクセス・システムズ，インコーポレーテッド 発光ダイオードアレイを含むカテーテル追跡及び留置システム
US12089902B2 (en) 2019-07-30 2024-09-17 Coviden Lp Cone beam and 3D fluoroscope lung navigation
EP4013338A4 (en) 2019-08-12 2023-08-30 Bard Access Systems, Inc. FORM MEASUREMENT SYSTEMS AND PROCESSES FOR MEDICAL DEVICES
KR20220050151A (ko) 2019-08-15 2022-04-22 아우리스 헬스, 인코포레이티드 다수의 굽힘 섹션을 갖는 의료 장치
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
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
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
US11627924B2 (en) 2019-09-24 2023-04-18 Covidien Lp Systems and methods for image-guided navigation of percutaneously-inserted devices
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
CN110638659A (zh) * 2019-11-01 2020-01-03 广州驭林医药科技有限公司 一种胃肠管营养系统
EP4061272A4 (en) 2019-11-25 2023-11-22 Bard Access Systems, Inc. Shape-sensing systems with filters and methods thereof
CN214804697U (zh) 2019-11-25 2021-11-23 巴德阿克塞斯系统股份有限公司 光学尖端追踪系统
WO2021116094A1 (en) * 2019-12-09 2021-06-17 Deutsches Krebsforschungszentrum A kit for a fiducial marker-based registration of preinterventional image data to an intra-interventional scene
US12102298B2 (en) 2019-12-10 2024-10-01 Covidien Lp Lymphatic system tracking
WO2021137104A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Dynamic pulley system
JP7640052B2 (ja) 2019-12-31 2025-03-05 オーリス ヘルス インコーポレイテッド 高度バスケット駆動モード
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
CN111265299B (zh) * 2020-02-19 2023-08-18 上海理工大学 基于光纤形状传感的手术导航系统
WO2021173861A1 (en) 2020-02-28 2021-09-02 Bard Access Systems, Inc. Optical connection systems and methods thereof
CN113318324A (zh) 2020-02-28 2021-08-31 巴德阿克塞斯系统股份有限公司 具有光学形状感测能力的导管
CN111580230A (zh) * 2020-03-02 2020-08-25 华中科技大学 柔性光纤、制备方法及基于该光纤的可驱动激光手术刀
WO2021178578A1 (en) 2020-03-03 2021-09-10 Bard Access Systems, Inc. System and method for optic shape sensing and electrical signal conduction
CN113456054B (zh) 2020-03-30 2025-08-12 巴德阿克塞斯系统股份有限公司 光学和电气诊断系统及其方法
US12064191B2 (en) 2020-06-03 2024-08-20 Covidien Lp Surgical tool navigation using sensor fusion
EP4171423A1 (en) 2020-06-26 2023-05-03 Bard Access Systems, Inc. Malposition detection system
CN113926050A (zh) 2020-06-29 2022-01-14 巴德阿克塞斯系统股份有限公司 用于光纤的自动尺寸参考系
CN216317552U (zh) 2020-07-10 2022-04-19 巴德阿克塞斯系统股份有限公司 用于检测医疗装置的光纤技术的损坏和潜在损坏的医疗装置系统
US11950950B2 (en) 2020-07-24 2024-04-09 Covidien Lp Zoom detection and fluoroscope movement detection for target overlay
US11630009B2 (en) 2020-08-03 2023-04-18 Bard Access Systems, Inc. Bragg grated fiber optic fluctuation sensing and monitoring system
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
CN120788622A (zh) 2020-09-25 2025-10-17 巴德阿克塞斯系统股份有限公司 超声成像系统和最小导管长度工具
WO2022067096A1 (en) 2020-09-25 2022-03-31 Bard Access Systems, Inc. Fiber optics oximetry system for detection and confirmation
WO2022081586A1 (en) 2020-10-13 2022-04-21 Bard Access Systems, Inc. Disinfecting covers for functional connectors of medical devices and methods thereof
CN216558785U (zh) 2020-11-18 2022-05-17 巴德阿克塞斯系统股份有限公司 光纤管心针保持器
US12220219B2 (en) 2020-11-24 2025-02-11 Bard Access Systems, Inc. Steerable fiber optic shape sensing enabled elongated medical instrument
CN114711960A (zh) * 2021-01-06 2022-07-08 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、计算机可读介质和方法
US12426954B2 (en) 2021-01-26 2025-09-30 Bard Access Systems, Inc. Fiber optic shape sensing system associated with port placement
CN115005871A (zh) 2021-03-05 2022-09-06 巴德阿克塞斯系统股份有限公司 用于接入患者体内目标的具有基于超声和生物阻抗的引导的超声系统及其方法
CN112914731A (zh) * 2021-03-08 2021-06-08 上海交通大学 基于增强现实的介入机器人无接触遥操系统及标定方法
CN115363565A (zh) 2021-05-18 2022-11-22 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和方法
US12446988B2 (en) 2021-09-16 2025-10-21 Bard Access Systems, Inc. Swappable high mating cycle fiber connection interface
EP4404861A1 (en) * 2021-09-30 2024-07-31 Bard Access Systems, Inc. Shape sensing reference frame
US20230121370A1 (en) * 2021-10-14 2023-04-20 Bard Access Systems, Inc. Fiber Optic Ultrasound Probe
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
EP4426225A1 (en) 2021-11-16 2024-09-11 Bard Access Systems, Inc. Ultrasound probe with integrated data collection methodologies
KR20240153547A (ko) 2021-11-30 2024-10-23 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 배리어 드레이프 어댑터
KR20240144086A (ko) 2021-11-30 2024-10-02 엔도퀘스트 로보틱스 인코포레이티드 일회용 엔드 이펙터
WO2023101968A1 (en) 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Steerable overtube assemblies for robotic surgical systems
TWI838986B (zh) 2021-11-30 2024-04-11 美商安督奎斯特機器人公司 患者控制台、具有該患者控制台的機器人手術系統及其執行方法
KR20240134850A (ko) 2021-11-30 2024-09-10 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 마스터 제어 시스템
WO2023101974A1 (en) 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Force transmission systems for robotically controlled medical devices
KR102681315B1 (ko) * 2021-12-24 2024-07-05 한국과학기술연구원 스트레인 변화 또는 형상 변화를 이용하여 삽입 길이를 측정하는 방법 및 이를 위한 삽입 장치
US12303220B2 (en) 2022-01-26 2025-05-20 Covidien Lp Autonomous endobronchial access with an EM guided catheter
US12318149B2 (en) 2022-03-08 2025-06-03 Bard Access Systems, Inc. Medical shape sensing devices and systems
US12426956B2 (en) 2022-03-16 2025-09-30 Bard Access Systems, Inc. Medical system and method for monitoring medical device insertion and illumination patterns
US12089815B2 (en) 2022-03-17 2024-09-17 Bard Access Systems, Inc. Fiber optic medical systems and devices with atraumatic tip
US12207967B2 (en) 2022-04-20 2025-01-28 Bard Access Systems, Inc. Ultrasound imaging system
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
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
CN119584912A (zh) * 2022-07-21 2025-03-07 直观外科手术操作公司 形状定位柔性器械
CN115300750A (zh) * 2022-07-28 2022-11-08 同济大学 智能pci手术导管、其控制系统及控制方法
WO2025019569A1 (en) * 2023-07-18 2025-01-23 Intuitive Surgical Operations, Inc. Intra-operative imaging to robotic-assisted navigation

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101155540A (zh) * 2005-04-18 2008-04-02 奥林巴斯医疗株式会社 内窥镜形状检测装置
CN103327892A (zh) * 2011-01-27 2013-09-25 皇家飞利浦电子股份有限公司 形状感测设备特有的信息存储和检索

Family Cites Families (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0661948B1 (en) * 1992-09-23 1997-11-19 Endocardial Solutions, Inc. Endocardial mapping system
JP3135068B2 (ja) * 1994-09-15 2001-02-13 ビジュアリゼイション テクノロジー インコーポレイテッド 患者の頭部に固定された基準ユニットを用いた医学的応用に使用される位置追跡及び画像生成システム
WO1998036236A1 (en) 1997-02-13 1998-08-20 Super Dimension Ltd. Six-degree tracking system
GB9713018D0 (en) 1997-06-20 1997-08-27 Secr Defence Optical fibre bend sensor
US6381485B1 (en) 1999-10-28 2002-04-30 Surgical Navigation Technologies, Inc. Registration of human anatomy integrated for electromagnetic localization
JP2003515104A (ja) * 1999-10-29 2003-04-22 アドヴァンスド、センサ、テクナラジ、エルエルシー 光ファイバ・ナビゲーション・システム
US7747312B2 (en) * 2000-01-04 2010-06-29 George Mason Intellectual Properties, Inc. System and method for automatic shape registration and instrument tracking
US8241274B2 (en) 2000-01-19 2012-08-14 Medtronic, Inc. Method for guiding a medical device
WO2002038043A2 (en) * 2000-11-13 2002-05-16 Argose, Inc. Reduction of spectral site to site variation
US6846286B2 (en) * 2001-05-22 2005-01-25 Pentax Corporation Endoscope system
US7787934B2 (en) * 2002-07-29 2010-08-31 Medtronic, Inc. Fiducial marker devices, tools, and methods
US20060013523A1 (en) 2004-07-16 2006-01-19 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
US7781724B2 (en) 2004-07-16 2010-08-24 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
US7772541B2 (en) 2004-07-16 2010-08-10 Luna Innnovations Incorporated Fiber optic position and/or shape sensing based on rayleigh scatter
US7751868B2 (en) * 2004-11-12 2010-07-06 Philips Electronics Ltd Integrated skin-mounted multifunction device for use in image-guided surgery
US8611983B2 (en) * 2005-01-18 2013-12-17 Philips Electronics Ltd Method and apparatus for guiding an instrument to a target in the lung
WO2006113394A2 (en) * 2005-04-15 2006-10-26 Surgisense Corporation Surgical instruments with sensors for detecting tissue properties, and systems using such instruments
US9526587B2 (en) 2008-12-31 2016-12-27 Intuitive Surgical Operations, Inc. Fiducial marker design and detection for locating surgical instrument in images
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US9186046B2 (en) * 2007-08-14 2015-11-17 Koninklijke Philips Electronics N.V. Robotic instrument systems and methods utilizing optical fiber sensor
GB2437250C (en) * 2006-04-18 2012-08-15 Iti Scotland Ltd Method and system for monitoring the condition of livestock
US20100149183A1 (en) * 2006-12-15 2010-06-17 Loewke Kevin E Image mosaicing systems and methods
US8175677B2 (en) * 2007-06-07 2012-05-08 MRI Interventions, Inc. MRI-guided medical interventional systems and methods
EP2240111B1 (en) * 2008-06-18 2019-07-24 Mako Surgical Corp. Fiber optic tracking system
US7720322B2 (en) * 2008-06-30 2010-05-18 Intuitive Surgical, Inc. Fiber optic shape sensor
US8183520B2 (en) * 2009-11-13 2012-05-22 Intuitive Surgical Operations, Inc. Optical fiber shape sensor calibration
US8657809B2 (en) * 2010-09-29 2014-02-25 Stryker Leibinger Gmbh & Co., Kg Surgical navigation system
US9625254B2 (en) * 2011-01-27 2017-04-18 Koninklijke Philips N.V. Integration of fiber optic shape sensing within an interventional environment
RU2013139873A (ru) * 2011-01-28 2015-03-10 Конинклейке Филипс Электроникс Н.В. Опорные отметки для идентификации точки начала в системах определения оптической формы
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
EP2723240B1 (en) * 2011-06-27 2018-08-08 Koninklijke Philips N.V. Live 3d angiogram using registration of a surgical tool curve to an x-ray image
US9138166B2 (en) * 2011-07-29 2015-09-22 Hansen Medical, Inc. Apparatus and methods for fiber integration and registration

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101155540A (zh) * 2005-04-18 2008-04-02 奥林巴斯医疗株式会社 内窥镜形状检测装置
CN103327892A (zh) * 2011-01-27 2013-09-25 皇家飞利浦电子股份有限公司 形状感测设备特有的信息存储和检索

Also Published As

Publication number Publication date
JP2020022865A (ja) 2020-02-13
EP2968857B1 (en) 2022-05-04
EP2968857A4 (en) 2016-11-02
JP2016515862A (ja) 2016-06-02
EP2968857A1 (en) 2016-01-20
JP6620191B2 (ja) 2019-12-11
EP4049706A1 (en) 2022-08-31
KR102234145B1 (ko) 2021-03-31
JP6363165B2 (ja) 2018-07-25
JP6976303B2 (ja) 2021-12-08
CN105050525A (zh) 2015-11-11
US9918659B2 (en) 2018-03-20
KR20150132145A (ko) 2015-11-25
JP2018143817A (ja) 2018-09-20
CN105050525B (zh) 2018-07-31
US20140275997A1 (en) 2014-09-18
WO2014150509A1 (en) 2014-09-25
CN108784702A (zh) 2018-11-13

Similar Documents

Publication Publication Date Title
US12408891B2 (en) Systems and methods for interventional procedure planning
CN108784702B (zh) 用于跟踪介入器械的形状传感器系统以及使用方法
EP2849670B1 (en) Systems for registration of a medical device using a reduced search space
US20190133702A1 (en) Guide apparatus for delivery of a flexible instrument and methods of use

Legal Events

Date Code Title Description
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