CN109717955A - 用于提供与医疗工具并联的传感器的装置和系统 - Google Patents

用于提供与医疗工具并联的传感器的装置和系统 Download PDF

Info

Publication number
CN109717955A
CN109717955A CN201811281218.3A CN201811281218A CN109717955A CN 109717955 A CN109717955 A CN 109717955A CN 201811281218 A CN201811281218 A CN 201811281218A CN 109717955 A CN109717955 A CN 109717955A
Authority
CN
China
Prior art keywords
sensor
sensor sleeve
tubular body
tool
sleeve according
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.)
Pending
Application number
CN201811281218.3A
Other languages
English (en)
Inventor
W·S·克里姆斯基
J·B·斯托派克
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.)
Nellcor Puritan Bennett LLC
Covidien LP
Original Assignee
Nellcor Puritan Bennett LLC
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 Nellcor Puritan Bennett LLC filed Critical Nellcor Puritan Bennett LLC
Publication of CN109717955A publication Critical patent/CN109717955A/zh
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00114—Electrical cables in or with an endoscope
    • 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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00135—Oversleeves mounted on the endoscope prior to insertion
    • 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
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/018—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 characterised by internal passages or accessories therefor for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/00336—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means with a protective sleeve, e.g. retractable or slidable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Pulmonology (AREA)
  • Otolaryngology (AREA)
  • Physiology (AREA)
  • Robotics (AREA)
  • Endoscopes (AREA)

Abstract

本发明题为“用于提供与医疗工具并联的传感器的装置和系统”。本发明公开一种用于使用传感器套筒与外科手术工具的系统、装置和方法。在本公开的一个方面，传感器套筒包括管状主体，该管状主体限定中心纵向轴线并具有其中限定的管腔，该管状主体被构造成接收工具；多个传感器，该多个传感器附接到管状主体；缆线，该缆线从该管状主体朝远侧延伸；以及接口连接器，该接口连接器联接至该缆线并被构造成与导航系统进行交互。

Description

用于提供与医疗工具并联的传感器的装置和系统
背景技术
技术领域
本公开涉及医疗器械，并且更具体地，涉及应用于外科工具的导航传感器。
相关领域
医学规程中使用的工具包括诊断和治疗观察器。诊断和治疗观察器是可用于导航到患者的身体的不同区域并检测这些区域的装置。一种常用观察器为支气管镜。通常，支气管镜通过患者的鼻部或口部插入患者的气道中，并且可以延伸到患者的肺部中。典型的支气管镜包括具有用于照亮支气管镜的顶端的照明组件的细长柔性管，以及用于提供来自支气管镜的顶端的视频图像的成像组件。各种器械，例如诊断和治疗器械和/或工作通道可以通过支气管镜插入患者的气道中。
在患者体内进行导航时，可能需要确定支气管镜在患者体内的物理位置。一种用于确定支气管镜的物理位置的方法是通过使用放置在与支气管镜一起利用的工具或导管上的传感器。利用此类传感器的示例系统是目前由Medtronic PLC销售的ILOGIC电磁导航支气管镜(ILOGIC ELECTROMAGNETIC NAVIGATION BRONCHOSCOPY,ENB)系统。此类系统的详情描述于2004年3月29日由Gilboa提交并且题为“用于导航到分支结构中的目标的内窥镜结构和技术(ENDOSCOPE STRUCTURES AND TECHNIQUES FOR NAVIGATING TO A TARGET INBRANCHED STRUCTURE)”的共同转让的美国专利7,233,820中，该专利的完整内容以引用方式并入本文。虽然美国专利7,233,820中所述的系统是相当胜任的，但始终需要开发对此类系统的改进和添加。
发明内容
根据本公开的实施方案提供用于与工具一起使用的传感器套筒。在本公开的一个方面，传感器套筒包括管状主体，该管状主体限定中心纵向轴线并具有其中限定的管腔，该管状主体被构造成接收工具；多个传感器，该多个传感器附接到管状主体；缆线，该缆线从该管状主体朝远侧延伸；以及接口连接器，该接口连接器联接至该缆线并被构造成与导航系统进行交互。
在本公开的另一方面，缆线包括被构造成将缆线固定到工具的多个附接件。
在本公开的另一方面，该多个附接件为o型环。
在本公开的另一方面，该多个附接件为粘结垫。
在本公开的另一方面，该管腔具有至少部分地由润滑材料制造的内表面。
在本公开的另一方面，该管状主体至少部分地由柔性生物相容性材料制造。
在本公开的另一个方面，管状主体是圆柱形的。
在本公开的另一个方面，该多个传感器选自由以下项组成的组：电磁(EM)传感器、超声传感器、光学传感器、以及压电聚偏氟乙烯(PVDF)膜。
在本公开的又一个方面，管状主体还包括沿着在平行于中心纵向轴线的方向中延伸的第一轴线铰接在一起的第一壳体和第二壳体。
在本公开的另一个方面，传感器套筒还包括附接至第一壳体的多个卡扣和附接至第二壳体的多个凹槽。
在本公开的又一个方面，第一壳体和第二壳体能够沿着第一轴线以铰接方式打开。
在本公开的另一方面，该管状主体被构造成从第一位置转变到第二位置。
在本公开的另一方面，第一位置为打开的，并且第二位置为闭合的。
在本公开的又一个方面，当处于第一位置时，第一壳体和第二壳体是半圆柱形的。
在本公开的另一个方面，当处于第二位置时，第一壳体和第二壳体沿着在平行于中心纵向轴线和第一轴线的方向中延伸的第二轴线连接。
在本公开的又一个方面，当处于第二位置中时，该多个卡扣和该多个凹槽可配合地接合。
在本公开的另一方面，该管状主体至少部分地由半刚性生物相容性材料制造。
在本公开的又一个方面，管状主体还包括沿着在平行于中心纵向轴线的方向中延伸的第一轴线的开口狭缝。
在本公开的另一个方面，管状主体被构造成沿着开口狭缝从打开位置转变到闭合位置，并且在闭合位置中是自偏置的。
附图说明
在参照附图阅读其各种实施方案的描述时，本发明所公开的装置和方法的对象和特征对于本领域的普通技术人员将显而易见，其中：
图1为根据本公开的一个实施方案的传感器套筒的图示；
图2A为根据本公开的第二实施方案的传感器套筒处于闭合位置中的图示；
图2B为根据本公开的第二实施方案的图2A的传感器套筒处于打开位置中的图示；
图3为根据本公开的一个实施方案的包括光学传感器的传感器套筒的图示；
图4A为用于与本公开的传感器套筒一起使用的观察器的图示；
图4B为用于与本公开的传感器套筒一起使用的支气管内光学传感器(EBUS)支气管镜工具的图示；
图5A至图5C是根据本公开的一个实施方案与图4A的观察器一起使用的图1的传感器套筒在不同阶段的依次操作图示；
图6为根据本公开的一个实施方案与图4B的EBUS支气管镜工具一起使用的图2A和图2B的传感器套筒的图示；并且
图7示出可与本公开一起使用的支气管内导航系统。
具体实施方式
本公开涉及用于提供与手术工具并联的传感器的装置和系统。更具体地，本公开涉及用于用导航、可视化和/或其他传感器改装各种手术工具的装置，诸如支气管镜、胃镜、内窥镜、以及超声检查仪(在下文中称为“工具”)。除上述工具以外，本领域的技术人员将认识到下文描述的传感器和传感器套筒也可以适配到其他手术工具，诸如腹腔镜工具、胸腔镜工具、经皮工具等。虽然下文描述为附接到观察器和具有管腔的其他装置，但是本领域的技术人员将会认识到传感器和传感器套筒也可以与不具有管腔的工具一起使用。传感器可包括为改装工具提供位置确认以及在适当时进一步可视化和成像能力的电磁(EM)传感器、光学传感器、超声传感器以及其他传感器。光学传感器的类型包括共焦、近红外、拉曼光谱、光学相干断层摄影、窄带等。可与本公开一起使用的传感器类型的其他示例包括被构造成检测正电子发射断层显像(PET)快速损伤的代谢和/或热传感器、被构造成检测注射到身体中以检测它们聚集之处的放射性核素的辐射传感器、以及pH相关性传感器和/或蛋白质传感器、以及其他传感器。
图1示出本公开的第一实施方案，其示出用于能够追踪工具的位置的柔性传感器套筒100(图4A)。传感器套筒100通常包括管状主体102和缆线104。管状主体102是中空管状构件，其具有延伸穿过其中并限定中心纵向轴线的管腔106。管状主体102包括远侧部分108、近侧部分110、外表面112和内表面114。如图1所示，在管状主体102的外表面112上包括一个或多个传感器116。在其他实施方案中，一个或多个传感器116位于形成管状主体102的材料内的外表面112与内表面114之间。
如图1所示，管状主体102是圆柱形的。预期对于传感器套筒100，管状主体102的直径范围为约2mm至约6mm并且能够在类似尺寸的工具上滑动地配合。在一些实施方案中，传感器套筒100包括位于远侧部分108处的顶盖(未示出)，该顶盖防止工具在完全插入传感器套筒100中时就进一步纵向运动。另选地，管状主体102可包括直径减小的邻近远侧部分108的区域，一旦完全插入，工具就无法越过。在其他实施方案中，如图1、图5C和图6所示，传感器套筒100和200不具有顶盖，但由于由管状主体102和插入的工具的界面产生的摩擦而保持固定。
预期传感器套筒100由柔性生物相容性材料诸如硅氧烷、氨基甲酸酯、热塑性弹性体、聚烯烃、烯烃共聚物和乙烯基聚合物制造。内表面114可以由足够润滑使得它们允许工具诸如图4A的支气管镜400滑动地插入的材料形成。如本领域的技术人员将理解的，管状主体102的润滑性与摩擦配合之间的协调将导致采用适当材料。
一个或多个传感器116为例如EM传感器(诸如美国专利7,233,820中所述的那些)、光学成像传感器、超声传感器(诸如压电聚乙烯(PVDF)膜)、和/或它们的组合。在一些实施方案中，一个或多个传感器116被制造到传感器套筒100的管状主体102上。在其他实施方案中，一个或多个传感器116可以是允许沿着管状主体102的整个长度感测形状和/或取向数据的光学形状感测纤维。虽然示出为传感器套筒100的管状主体102上的多个环，但预期一个或多个传感器116可形成提供位置信息的其他构形和形状。在利用超声传感器的示例中，在另一个实施方案中，一个或多个传感器116位于传感器套筒100的远侧部分108处，使得当使用传感器套筒100时，可进行超声成像。一个或多个传感器116可被构造成通过有线和/或无线连接来连接到工作站诸如工作站780(图7)。例如，一个或多个传感器116可通过缆线104中包括的一条或多条导线和/或通过无线连接(诸如蓝牙连接)连接到工作站780。在实施方案中，一个或多个传感器116可包括具有有线和/或无线通信能力的印刷电路板，以用于传递图像数据和/或其他询问或感测的数据。一个或多个传感器116还可包括电池和/或其他无线功率容量。
在使用EM传感器的实施方案中，一旦附接到工具，一个或多个传感器116就创建一种六自由度的EM跟踪系统(类似于在美国专利6,188,355和公布的PCT申请WO 00/10456和WO 01/67035中所公开的那些，其各自的全部内容均以引用方式并入本文，或任何其他合适的位置测量系统)，以用于执行导航并且如图7的详细描述中进一步描述的。
缆线104示出为联接到管状主体102的近端部分110并且包括一个或多个附接件118。在一个实施方案中，如图1所示，一个或多个附接件118为o型环，其被构造成滑动地接收工具的主体并且摩擦地将工具的主体附接到缆线104。在另一个实施方案中，并且如图2A、图2B和图3所示，一个或多个附接件118是被构造成将缆线104粘接性地附接到工具的主体的粘合片。还预期缆线104在近端处包括被构造成与导航系统或成像系统(诸如超声成像系统)进行交互的一个或多个接口连接器(未示出)，如图7所示。一个或多个接口连接器可以是呈通用串行总线(USB)3.0、两杈或三杈电源插头和/或香蕉插头的形式。
现在参见图2A和图2B，示出刚性或半刚性传感器套筒200的第二实施方案的图示。如图2B的说明中进一步详细描述，传感器套筒200能够从第一闭合位置(图2A)打开至第二打开位置(图2B)。如图2A所示，类似于图1的传感器套筒100，传感器套筒200具有管状主体102和缆线104。管状主体102包括延伸穿过其中并限定纵向轴线的管腔106、远侧部分108、近侧部分110、外表面112和内表面114。在管状主体102的外表面112上包括一个或多个传感器116。在其他实施方案中，一个或多个传感器116位于外表面112和内表面114之间，这取决于所利用的传感器的类型。另外，在管状主体102的外表面112上的传感器套筒200中包括一个或多个卡扣202和一个或多个凹槽204，如图2A示出在闭合位置中。一旦处于闭合位置，就在一个或多个卡扣202与一个或多个凹槽204之间沿轴线“B”形成连接。如图2A进一步示出，在传感器套筒200转变到打开位置中时，轴“B”分开传感器套筒200的第一部分“I”和第二部分“II”。
类似于图1，如图2A所示，管状主体102是圆柱形的。预期对于传感器套筒200，管状主体102的直径范围为2mm至6mm并且能够在类似尺寸的小工具上卡扣配合，并且由刚性或半刚性的和柔性润滑生物相容性材料诸如硅氧烷制造。
现在参见图2B，示出了处于打开位置中的传感器套筒200。如图2B所示，传感器套筒200能够围绕纵向轴线“A”铰接地打开。一旦处于打开位置，传感器套筒200分离成第一部分“I”和第二部分“II”，并且每个部分通过铰链206沿着轴线“A”连接。如图2B所示，缆线104附接到第一部分“I”。预期缆线104可附接到第一部分“I”或第二部分“I I”。
一个或多个卡扣202示出为多个插片，并且多个凹槽204之一示出为被构造成接收一个或多个卡扣202的凹槽。一个或多个凹槽204和一个或多个按扣202各自沿着管状主体102的边缘B和B'示出。一旦闭合，边缘“B”和“B’”具有配对以将管状主体102固定在工具102周围的凹槽204和卡扣202。虽然传感器套筒200示出为处于铰接地打开的位置中的刚性或半刚性套筒，其中一个或多个凹槽204和一个或多个卡扣202一起用于在闭合位置中时固定传感器套筒200，在其他实施方案中类似于传感器套筒200的传感器套筒不包括一个或多个凹槽204和一个或多个卡扣202并且由自偏置的柔性材料制造，基于制造材料，在闭合位置中具有限定边缘“B”和“B’”的开口狭缝。在此实施方案中，使用者可能打开传感器套筒，插入工具，诸如图4A和图4B所示的那些，并且允许传感器套筒200的材料的弹性闭合在工具周围并将管状主体102固定到工具。
图3示出类似于传感器套筒100但包括光学成像传感器的传感器套筒300。在管状主体102内包括一个或多个光纤缆线302和一个或多个光学传感器304。如图3所示，一个或多个光纤缆线302位于管状主体102内部，在外表面112与内表面114之间。
光纤缆线302示出为制造在管状主体102内，并且在整个管状主体102中从近侧部分110延伸至远侧部分108。光纤缆线302用于从传感器套筒300的远端部分108发射光，其可由一个或多个光学传感器304反射并接收。光纤缆线通过缆线104从远侧部分108延伸穿过管状主体102。另选地，它们可以形成在外表面112上。预期光学传感器304可以单独使用或与一个或多个传感器116结合使用。这种构型可尤其适合与支气管内光学传感器(EBUS)观察器或径向支气管内超声传感器(REBUS)观察器一起使用，不仅能够超声成像，而且还能够EM导航(如以上所述)和光学成像。如图3所示，示出多个光纤缆线，然而仅有一条为必要的，并且使用多个光学传感器可实现更清晰的视图和更宽广的视野。这可通过基于由一个或多个光学传感器304接收的组合光学数据形成复合图像来实现。
图4A和图4B示出可采用传感器套筒100、200和/或300的工具400、450的两个示例。图4A示出用于查看患者的气道内部的图像的工具400的远侧部分。工具400包括插入患者的气道中的主体部分402。主体部分402包括表面404和远侧面406，其包括被构造成允许光学查看患者的气道的成像透镜408和多个工作通道410。如本文所述，传感器套筒100、200和/或300被构造成接收工具400或尺寸类似于工具400的另一个工具。
图4B示出具有用于在超声规程期间使用的经支气管针452的EBUS 450。EBUS 450包括在主体458的远侧部分456处的超声成像器件454。一般来讲，超声成像器件454允许临床医生利用超声对支气管内结构进行成像。任选地，在一些情况下，EBUS 450可包括可回缩通道460，通过该可回缩通道可以插入可回缩经支气管针452。基于所描绘的构型，在超声可视化下可获得组织样品。一般来讲，可回缩通道460是中空管，通过该中空管可推进可伸缩的经支气管针452。在图4B的示例中，可回缩通道460和可回缩经支气管针452各自以完全延伸位置示出。在完全回缩位置中，可回缩通道460和可回缩经支气管针452均位于EBUS 450的内部。
现在参见图5A至图5C，示出工具400的图示，该工具在三个阶段由传感器套筒100接收。图5A示出在方向“D”中插入传感器套筒100之前的工具400。如图5A所示，工具400完全位于传感器套筒100的管腔106外部，其中工具400的远端面406与传感器套筒的近侧部分110对准。在图5A至图5C所示的实施方案中，一个或多个附接件118为o型环，并且在工具400插入传感器套筒100中之前，工具400通过一个或多个附接件118中的每一个插入。在其中一个或多个附接件118为粘合片的另一个实施方案中，在工具400插入的这个阶段期间，一个或多个附接件118未粘附到工具400的表面404。
图5B示出在方向“D”中部分地插入传感器套筒100中的工具400。如图5B所示，传感器套筒100已接收工具400的远侧面406。一旦接收，预期传感器套筒100的内表面114将与工具400的表面404发生物理接触。由于内表面114通常由足够润滑的材料制造，因此工具400能够由传感器套筒100滑动地接收，同时还保持摩擦接合。另外，传感器套筒100可由弹性材料形成，从而允许其稍微展开以接收工具400并将传感器套筒100固定到工具400。
现在参见图5C，工具400示出为由传感器套筒100完全接收。一旦工具400完全插入传感器套筒100中，则传感器套筒100的远侧部分108与工具400的远侧表面406平行。如图5C所示，工具400示出为插入穿过一个或多个附接件118中的每一个，这些附接件示出为在工具400的主体402周围的o型环。在其他实施方案中，一个或多个附接件118是附接到工具400的表面404的粘合附接件。预期一旦完全插入传感器套筒100中，工具400就与传感器套筒100摩擦接合，使得在将工具400插入患者的气道中并在其中移动之后，传感器套筒100保持与工具400接合。
类似于图5C，图6示出具有由传感器套筒200完全接收的经支气管针452的EBUS450。如图6所示，可回缩经支气管针452从EBUS 450的主体458横向延伸。如图2A和图2B的描述所示，在将EBUS 400插入传感器套筒200之前，传感器套筒200可通过从一个或多个凹槽204分离一个或多个卡扣202并且将EBUS 420插入传感器套筒200中来打开。一旦插入EBUS400，可通过将一个或多个卡扣202与一个或多个凹槽204连接来闭合EBUS 450周围的传感器套筒200。在围绕EBUS 450闭合传感器套筒200后，传感器套筒200可以朝向可回缩通道460滑动地运动。一旦朝向可回缩通道460滑动地移动，一个或多个附接件118可粘结性地附接到EBUS 400的主体458的表面。在其他实施方案中，一个或多个附接件118是o型环，其滑动地接合在EBUS 400的主体458周围。预期一旦完全插入传感器套筒200，EBUS 450就与传感器套筒200摩擦接合，使得在患者的气道内运动并将插入该气道中期间，传感器套筒200保持与EBUS 450接合。尽管使用传感器套筒200示出，但如在图4的描述中所述，可回缩通道460和可回缩经支气管支针452可回缩到EBUS 400中，并且一旦回缩到EBUS 400中，就可通过类似于传感器套筒100、300和本文所述那些的传感器套筒来接收EBUS 400。
现在参见图7，示出与本公开结合使用的EM导航(EMN)系统710。EMN系统710通常包括手术台740，其被构造成支撑患者；支气管镜750(诸如工具400)，其被构造成用于通过患者的口部和/或鼻部插入该患者的气道中；监测设备760，其联接到支气管镜750以用于显示从支气管镜750接收的视频图像；跟踪系统770，其包括跟踪模块772、多个参照传感器774、以及EM场发生器776；以及工作站780，其包括用于便于路径规划、确定目标区域和到目标区域的导航的软件和/或硬件。
如图7所示，其示出患者躺在手术台740上，其中工具400与传感器套筒100附接并且通过患者的口部插入并进入患者的气道。工具400包括光源和视频成像系统(未明确显示)并联接到监测设备760，例如，视频显示器，用于显示接收来自工具400的视频成像系统的视频图像。如图7所示，传感器套筒利用一个或多个附接件118附接到工具400，该一个或多个附接件示出为滑动地接收工具400的o型环。缆线104示出为与监测设备760和跟踪模块772进行交互。
如图7进一步示出，EM场发生器776定位在患者下方。EM场发生器776和多个参照传感器774与跟踪模块772互连，从而获取各个参照传感器774的六自由度位置。跟踪模块772被构造成在患者体内与工具400结合运动时跟踪一个或多个传感器116的位置。根据本公开的一个方面，EM场由EM场发生器776生成。一个或多个传感器116的位置以及因此工具400的位置可基于由EM场在一个或多个传感器116中感应到的电流来测定。该感应电流被供给至工作站180，该工作站包括应用程序781并且可将检测到的电流转换为映射到由EM场发生器所生成的场的位置。采用EM场的此跟踪系统的示例是目前由Medtronic PLC提供的SUPERDIMENSION导航系统。类似地，一个或多个参考传感器774一旦附接到患者的胸部，就允许六个自由度的坐标发送至工作站180，该工作站包括来自一个或多个参考传感器774的数据用于计算患者坐标参照系的应用程序781。
在另一个实施方案中，一个或多个传感器116相对于患病组织的位置可基于在一个或多个传感器116周围的组织的阻抗特性来测定。在身体的任何部分中，患病组织将具有与周围组织不同的特性，并且因此可鉴别患病组织的距离将发生改变。例如，根据疾病的类型，患病组织可被鉴别为距离传感器116至多2厘米或甚至至多4厘米。因此，例如肺部的患病区域可具有与周围正常组织不同的阻抗特性，使得声音信号将以不同频率从所发送的信号返回(甚至没有将其转换成图像)。这类似地适用于返回光学波长(可见光、红外光或紫外线)的光谱。相同的概念适用于代谢、辐射和其他类型的传感器。通过使用此类基于频率的询问方法，可基于周围组织的阻抗特性来确定在诊断或治疗位置处一个或多个传感器116(以及因此工具400)相对于健康组织和患病组织的放置。
基于前述公开内容，工具能够用传感器套筒改装，该传感器套筒提供与工具一起使用的独立传感器。目前公开的外科系统和设备的实施方案参考附图详细描述，其中类似参照数字标识类似或相同的元件。在附图中以及在前述描述中，术语“近侧”应理解为是指在适当使用期间最靠近使用者的设备的部分或端部或其部件，而术语“远侧”应理解为是指在适当使用期间距离使用者最远的设备的部分或端部或其部件，与本领域的传统和常规情况一样。这些具体实施方案仅是本公开的示例，其可能以多种形式体现。因此，本文所公开的特定的结构和功能细节不应理解为限制性的，而仅是权力要求书的基础，并作为具有代表性的基础用于允许本领域技术人员以基本上任何合适的具体结构不同地运用本公开。

Claims (15)

1.一种用于与工具一起使用的传感器套筒，所述传感器套筒包括：
管状主体，所述管状主体限定中心纵向轴线并且具有限定穿过其中的管腔，所述管状主体被构造成接收工具；
多个传感器，所述多个传感器附接到所述管状主体；
缆线，所述缆线从所述管状主体朝远侧延伸；以及
接口连接器，所述接口连接器联接到所述缆线并被构造成与导航系统进行交互。
2.根据权利要求1所述的传感器套筒，其中所述缆线包括被构造成将所述缆线固定到所述工具的多个附接件。
3.根据权利要求2所述的传感器套筒，其中所述多个附接件是o型环。
4.根据权利要求2所述的传感器套筒，其中所述多个附接件是粘结垫。
5.根据权利要求1所述的传感器套筒，其中所述管腔具有至少部分地由润滑材料制造的内表面。
6.根据权利要求1所述的传感器套筒，其中所述管状主体至少部分地由柔性生物相容性材料制造。
7.根据权利要求1所述的传感器套筒，其中所述管状主体是圆柱形的。
8.根据权利要求1所述的传感器套筒，其中所述多个传感器选自由以下项组成的组：电磁(EM)传感器、超声传感器、光学传感器和压电聚偏氟乙烯(PVDF)膜。
9.根据权利要求1所述的传感器套筒，其中所述管状主体还包括沿着在平行于所述中心纵向轴线的方向中延伸的第一轴线铰接在一起的第一壳体和第二壳体。
10.根据权利要求9所述的传感器套筒，还包括：
附接到所述第一壳体的多个卡扣；以及
附接到所述第二壳体的多个凹槽。
11.根据权利要求10所述的传感器套筒，其中所述第一壳体和所述第二壳体能够沿着所述第一轴线以铰接方式打开。
12.根据权利要求10所述的传感器套筒，其中所述管状主体被构造成从第一位置转变到第二位置。
13.根据权利要求12所述的传感器套筒，其中所述第一位置是打开的，并且所述第二位置是闭合的。
14.根据权利要求13所述的传感器套筒，其中在所述第一位置中时，所述第一壳体和所述第二壳体是半圆柱形的。
15.根据权利要求13所述的传感器套筒，其中在所述第二位置中时，所述第一壳体和所述第二壳体沿着在平行于所述中心纵向轴线和所述第一轴线的方向中延伸的第二轴线连接。
CN201811281218.3A 2017-10-31 2018-10-31 用于提供与医疗工具并联的传感器的装置和系统 Pending CN109717955A (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201762579295P 2017-10-31 2017-10-31
US62/579,295 2017-10-31
US16/150,340 2018-10-03
US16/150,340 US11219489B2 (en) 2017-10-31 2018-10-03 Devices and systems for providing sensors in parallel with medical tools

Publications (1)

Publication Number Publication Date
CN109717955A true CN109717955A (zh) 2019-05-07

Family

ID=64048826

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811281218.3A Pending CN109717955A (zh) 2017-10-31 2018-10-31 用于提供与医疗工具并联的传感器的装置和系统

Country Status (3)

Country Link
US (1) US11219489B2 (zh)
EP (1) EP3482671B1 (zh)
CN (1) CN109717955A (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180338673A1 (en) * 2017-05-26 2018-11-29 Covidien Lp Surgical sheath and surgical apparatus including the same

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2541498A1 (fr) * 1980-03-13 1984-08-24 Sarfati Gilbert Cable electrique adhesif souple
US20130274720A1 (en) * 2012-04-11 2013-10-17 James K. Brannon Split endoscopic instrument
CN203852380U (zh) * 2014-04-02 2014-10-01 无锡怡华科技发展有限公司 带定位传感器的支气管镜用活检钳
US20150073217A1 (en) * 2010-06-04 2015-03-12 Nelson Powell Intelligent endoscopy systems and methods
US20160296105A1 (en) * 2013-11-18 2016-10-13 Meditech Endoscopy Ltd Gripping Device

Family Cites Families (672)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1735726A (en) 1929-11-12 bornhardt
US1576781A (en) 1924-04-22 1926-03-16 Herman B Philips Fluoroscopic fracture apparatus
US2407845A (en) 1943-01-16 1946-09-17 California Inst Res Found Aligning device for tools
US2650588A (en) 1950-12-29 1953-09-01 Drew Harry Guy Radcliffe Artificial femoral head having an x-ray marker
US2697433A (en) 1951-12-04 1954-12-21 Max A Zehnder Device for accurately positioning and guiding guide wires used in the nailing of thefemoral neck
US3073310A (en) 1957-08-05 1963-01-15 Zenon R Mocarski Surgical instrument positioning device
US3016899A (en) 1958-11-03 1962-01-16 Carl B Stenvall Surgical instrument
BE576462A (zh) 1959-03-07 1900-01-01
US3017887A (en) 1960-01-19 1962-01-23 William T Heyer Stereotaxy device
US3109588A (en) 1962-01-26 1963-11-05 William L Polhemus Celestial computers
US3294083A (en) 1963-08-26 1966-12-27 Alderson Res Lab Inc Dosimetry system for penetrating radiation
US3367326A (en) 1965-06-15 1968-02-06 Calvin H. Frazier Intra spinal fixation rod
DE1238814B (de) 1966-02-23 1967-04-13 Merckle Flugzeugwerke G M B H Induktiver Winkelgeber nach dem Transformatorprinzip
US3577160A (en) 1968-01-10 1971-05-04 James E White X-ray gauging apparatus with x-ray opaque markers in the x-ray path to indicate alignment of x-ray tube, subject and film
GB1257034A (zh) 1968-03-25 1971-12-15
SE336642B (zh) 1969-10-28 1971-07-12 Astra Meditec Ab
US3644825A (en) 1969-12-31 1972-02-22 Texas Instruments Inc Magnetic detection system for detecting movement of an object utilizing signals derived from two orthogonal pickup coils
US3704707A (en) 1971-04-06 1972-12-05 William X Halloran Orthopedic drill guide apparatus
US3702935A (en) 1971-10-13 1972-11-14 Litton Medical Products Mobile fluoroscopic unit for bedside catheter placement
US3821469A (en) 1972-05-15 1974-06-28 Amperex Electronic Corp Graphical data device
US3868565A (en) 1973-07-30 1975-02-25 Jack Kuipers Object tracking and orientation determination means, system and process
US4017858A (en) 1973-07-30 1977-04-12 Polhemus Navigation Sciences, Inc. Apparatus for generating a nutating electromagnetic field
US3941127A (en) 1974-10-03 1976-03-02 Froning Edward C Apparatus and method for stereotaxic lateral extradural disc puncture
US3983474A (en) 1975-02-21 1976-09-28 Polhemus Navigation Sciences, Inc. Tracking and determining orientation of object using coordinate transformation means, system and process
US4052620A (en) 1975-11-28 1977-10-04 Picker Corporation Method and apparatus for improved radiation detection in radiation scanning systems
US4054881A (en) 1976-04-26 1977-10-18 The Austin Company Remote object position locater
US4037592A (en) 1976-05-04 1977-07-26 Kronner Richard F Guide pin locating tool and method
US5291199A (en) 1977-01-06 1994-03-01 Westinghouse Electric Corp. Threat signal detection system
US4298874A (en) 1977-01-17 1981-11-03 The Austin Company Method and apparatus for tracking objects
DE2718804C3 (de) 1977-04-27 1979-10-31 Karlheinz Prof. Dr. 3000 Hannover Renner Vorrichtung zur PositionierungskontroUe von Patienten und/oder Bestrahlungsquellen
US4173228A (en) 1977-05-16 1979-11-06 Applied Medical Devices Catheter locating device
US4182312A (en) 1977-05-20 1980-01-08 Mushabac David R Dental probe
SU745505A1 (ru) 1977-09-28 1980-07-05 Научно-Исследовательский Институт Экспериментальной Медицины Амн Ссср Способ наведени стереотаксического инструмента на целевую точку
US4117337A (en) 1977-11-03 1978-09-26 General Electric Company Patient positioning indication arrangement for a computed tomography system
DE7805301U1 (de) 1978-02-22 1978-07-06 Howmedica International, Inc. Zweigniederlassung Kiel, 2300 Kiel Distales Zielgerät für die Verriegeliingsnagelung
US4202349A (en) 1978-04-24 1980-05-13 Jones James W Radiopaque vessel markers
USRE32619E (en) 1978-11-20 1988-03-08 Apparatus and method for nuclear magnetic resonance scanning and mapping
US4256112A (en) 1979-02-12 1981-03-17 David Kopf Instruments Head positioner
US4341220A (en) 1979-04-13 1982-07-27 Pfizer Inc. Stereotactic surgery apparatus and method
FR2458838A1 (fr) 1979-06-06 1981-01-02 Thomson Csf Dispositif de mesure de l'orientation relative de deux corps et systeme de reperage de direction correspondant
US4314251A (en) 1979-07-30 1982-02-02 The Austin Company Remote object position and orientation locater
US4287809A (en) 1979-08-20 1981-09-08 Honeywell Inc. Helmet-mounted sighting system
US4608977A (en) 1979-08-29 1986-09-02 Brown Russell A System using computed tomography as for selective body treatment
US4419012A (en) 1979-09-11 1983-12-06 Elliott Brothers (London) Limited Position measuring system
US4317078A (en) 1979-10-15 1982-02-23 Ohio State University Research Foundation Remote position and orientation detection employing magnetic flux linkage
US4319136A (en) 1979-11-09 1982-03-09 Jinkins J Randolph Computerized tomography radiograph data transfer cap
DE2950819A1 (de) 1979-12-17 1981-06-25 Siemens AG, 1000 Berlin und 8000 München Strahlendiagnostikgeraet fuer die erzeugung von schichtbildern
US4328548A (en) 1980-04-04 1982-05-04 The Austin Company Locator for source of electromagnetic radiation having unknown structure or orientation
US4346384A (en) 1980-06-30 1982-08-24 The Austin Company Remote object position and orientation locator
EP0039206B1 (en) 1980-04-23 1984-10-10 Inoue-Japax Research Incorporated Magnetic treatment device
US4688037A (en) 1980-08-18 1987-08-18 Mcdonnell Douglas Corporation Electromagnetic communications and switching system
US4339953A (en) 1980-08-29 1982-07-20 Aisin Seiki Company, Ltd. Position sensor
US4638798A (en) 1980-09-10 1987-01-27 Shelden C Hunter Stereotactic method and apparatus for locating and treating or removing lesions
US4328813A (en) 1980-10-20 1982-05-11 Medtronic, Inc. Brain lead anchoring system
US4358856A (en) 1980-10-31 1982-11-09 General Electric Company Multiaxial x-ray apparatus
DE3042343A1 (de) 1980-11-10 1982-06-09 Philips Patentverwaltung Gmbh, 2000 Hamburg Tomosynthese-verfahren und -vorrichtung zur erzeugung artefaktarmer schichtbilder
AU7986682A (en) 1981-02-12 1982-08-19 New York University Apparatus for stereotactic surgery
NL8101722A (nl) 1981-04-08 1982-11-01 Philips Nv Kontourmeter.
US4710708A (en) 1981-04-27 1987-12-01 Develco Method and apparatus employing received independent magnetic field components of a transmitted alternating magnetic field for determining location
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
FI64282C (fi) 1981-06-04 1983-11-10 Instrumentarium Oy Diagnosapparatur foer bestaemmande av vaevnadernas struktur oc sammansaettning
US4422041A (en) 1981-07-30 1983-12-20 The United States Of America As Represented By The Secretary Of The Army Magnet position sensing system
US4396945A (en) 1981-08-19 1983-08-02 Solid Photography Inc. Method of sensing the position and orientation of elements in space
US4645343A (en) 1981-11-11 1987-02-24 U.S. Philips Corporation Atomic resonance line source lamps and spectrophotometers for use with such lamps
US4485815A (en) 1982-08-30 1984-12-04 Kurt Amplatz Device and method for fluoroscope-monitored percutaneous puncture treatment
US4506676A (en) 1982-09-10 1985-03-26 Duska Alois A Radiographic localization technique
US4447224A (en) 1982-09-20 1984-05-08 Infusaid Corporation Variable flow implantable infusion apparatus
US4584577A (en) 1982-10-20 1986-04-22 Brookes & Gatehouse Limited Angular position sensor
US4961422A (en) 1983-01-21 1990-10-09 Marchosky J Alexander Method and apparatus for volumetric interstitial conductive hyperthermia
US4651732A (en) 1983-03-17 1987-03-24 Frederick Philip R Three-dimensional light guidance system for invasive procedures
NL8300965A (nl) 1983-03-17 1984-10-16 Nicolaas Roelof Snijder Stelsel voor onderzoek aan skeletdelen van het lichaam van een levend wezen, in het bijzonder de wervelkolom van het menselijk lichaam.
US4613866A (en) 1983-05-13 1986-09-23 Mcdonnell Douglas Corporation Three dimensional digitizer with electromagnetic coupling
NL8302228A (nl) 1983-06-22 1985-01-16 Optische Ind De Oude Delft Nv Meetstelsel voor het onder gebruikmaking van een op driehoeksmeting berustend principe, contactloos meten van een door een oppervlakcontour van een objectvlak gegeven afstand tot een referentieniveau.
DE3332642A1 (de) 1983-09-09 1985-04-04 Ortopedia Gmbh, 2300 Kiel Vorrichtung zum auffinden von querbohrungen intramedullaerer implantate
US4618978A (en) 1983-10-21 1986-10-21 Cosman Eric R Means for localizing target coordinates in a body relative to a guidance system reference frame in any arbitrary plane as viewed by a tomographic image through the body
SE8306243L (sv) 1983-11-14 1985-05-15 Cytex Medicinteknik Ab Lokaliseringsmetodik
DE3342675A1 (de) 1983-11-25 1985-06-05 Fa. Carl Zeiss, 7920 Heidenheim Verfahren und vorrichtung zur beruehrungslosen vermessung von objekten
US4753528A (en) 1983-12-13 1988-06-28 Quantime, Inc. Laser archery distance device
US4549555A (en) 1984-02-17 1985-10-29 Orthothronics Limited Partnership Knee laxity evaluator and motion module/digitizer arrangement
US4841967A (en) 1984-01-30 1989-06-27 Chang Ming Z Positioning device for percutaneous needle insertion
US4571834A (en) 1984-02-17 1986-02-25 Orthotronics Limited Partnership Knee laxity evaluator and motion module/digitizer arrangement
US4583538A (en) 1984-05-04 1986-04-22 Onik Gary M Method and apparatus for stereotaxic placement of probes in the body utilizing CT scanner localization
US4649504A (en) 1984-05-22 1987-03-10 Cae Electronics, Ltd. Optical position and orientation measurement techniques
US4642786A (en) 1984-05-25 1987-02-10 Position Orientation Systems, Ltd. Method and apparatus for position and orientation measurement using a magnetic field and retransmission
DE8417428U1 (de) 1984-06-08 1984-09-13 Howmedica International, Inc. Zweigniederlassung Kiel, 2300 Kiel Zielgerät
US4572198A (en) 1984-06-18 1986-02-25 Varian Associates, Inc. Catheter for use with NMR imaging systems
US4548208A (en) 1984-06-27 1985-10-22 Medtronic, Inc. Automatic adjusting induction coil treatment device
JPS6149205A (ja) 1984-08-16 1986-03-11 Seiko Instr & Electronics Ltd ロボツト制御方式
US4889526A (en) 1984-08-27 1989-12-26 Magtech Laboratories, Inc. Non-invasive method and apparatus for modulating brain signals through an external magnetic or electric field to reduce pain
US4617925A (en) 1984-10-01 1986-10-21 Laitinen Lauri V Adapter for definition of the position of brain structures
US4705395A (en) 1984-10-03 1987-11-10 Diffracto Ltd. Triangulation data integrity
US4821206A (en) 1984-11-27 1989-04-11 Photo Acoustic Technology, Inc. Ultrasonic apparatus for positioning a robot hand
US4706665A (en) 1984-12-17 1987-11-17 Gouda Kasim I Frame for stereotactic surgery
DE3500605A1 (de) 1985-01-10 1986-07-10 Markus Dr. 5300 Bonn Hansen Vorrichtung zur messung der positionen und bewegungen des unterkiefers relativ zum oberkiefer
US4722336A (en) 1985-01-25 1988-02-02 Michael Kim Placement guide
DE3508730A1 (de) 1985-03-12 1986-09-18 Siemens AG, 1000 Berlin und 8000 München Messvorrichtung fuer medizinische zwecke
US4782239A (en) 1985-04-05 1988-11-01 Nippon Kogaku K. K. Optical position measuring apparatus
CH671873A5 (zh) 1985-10-03 1989-10-13 Synthes Ag
US4838265A (en) 1985-05-24 1989-06-13 Cosman Eric R Localization device for probe placement under CT scanner imaging
US4737921A (en) 1985-06-03 1988-04-12 Dynamic Digital Displays, Inc. Three dimensional medical image display system
DE3520782A1 (de) 1985-06-10 1986-12-11 Siemens AG, 1000 Berlin und 8000 München Medikamentendosiergeraet mit vorratsspeicher und dosierspeicher
SE447848B (sv) 1985-06-14 1986-12-15 Anders Bengtsson Instrument for metning av ytors topografi
US4743771A (en) 1985-06-17 1988-05-10 View Engineering, Inc. Z-axis height measurement system
US4805615A (en) 1985-07-02 1989-02-21 Carol Mark P Method and apparatus for performing stereotactic surgery
US4653509A (en) 1985-07-03 1987-03-31 The United States Of America As Represented By The Secretary Of The Air Force Guided trephine samples for skeletal bone studies
US4719419A (en) 1985-07-15 1988-01-12 Harris Graphics Corporation Apparatus for detecting a rotary position of a shaft
US4737032A (en) 1985-08-26 1988-04-12 Cyberware Laboratory, Inc. Surface mensuration sensor
US4705401A (en) 1985-08-12 1987-11-10 Cyberware Laboratory Inc. Rapid three-dimensional surface digitizer
IL76517A (en) 1985-09-27 1989-02-28 Nessim Igal Levy Distance measuring device
US4709156A (en) 1985-11-27 1987-11-24 Ex-Cell-O Corporation Method and apparatus for inspecting a surface
US4794262A (en) 1985-12-03 1988-12-27 Yukio Sato Method and apparatus for measuring profile of three-dimensional object
US4737794A (en) 1985-12-09 1988-04-12 Mcdonnell Douglas Corporation Method and apparatus for determining remote object orientation and position
US4742356A (en) 1985-12-09 1988-05-03 Mcdonnell Douglas Corporation Method and apparatus for determining remote object orientation and position
DE3543867C3 (de) 1985-12-12 1994-10-06 Wolf Gmbh Richard Vorrichtung zur räumlichen Ortung und zur Zerstörung von Konkrementen in Körperhöhlen
US4742815A (en) 1986-01-02 1988-05-10 Ninan Champil A Computer monitoring of endoscope
US4722056A (en) 1986-02-18 1988-01-26 Trustees Of Dartmouth College Reference display systems for superimposing a tomagraphic image onto the focal plane of an operating microscope
JP2685071B2 (ja) 1986-03-10 1997-12-03 三菱電機株式会社 数値制御装置
SE469321B (sv) 1986-04-14 1993-06-21 Joenkoepings Laens Landsting Saett och anordning foer att framstaella en modifierad tredimensionell avbildning av ett elastiskt deformerbart foeremaal
US5002058A (en) 1986-04-25 1991-03-26 Intra-Sonix, Inc. Ultrasonic transducer
US4821731A (en) 1986-04-25 1989-04-18 Intra-Sonix, Inc. Acoustic image system and method
US4862893A (en) 1987-12-08 1989-09-05 Intra-Sonix, Inc. Ultrasonic transducer
US4977655A (en) 1986-04-25 1990-12-18 Intra-Sonix, Inc. Method of making a transducer
US5078140A (en) 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US4822163A (en) 1986-06-26 1989-04-18 Robotic Vision Systems, Inc. Tracking vision sensor
US4723544A (en) 1986-07-09 1988-02-09 Moore Robert R Hemispherical vectoring needle guide for discolysis
US4791934A (en) 1986-08-07 1988-12-20 Picker International, Inc. Computer tomography assisted stereotactic surgery system and method
US4733969A (en) 1986-09-08 1988-03-29 Cyberoptics Corporation Laser probe for determining distance
US4743770A (en) 1986-09-22 1988-05-10 Mitutoyo Mfg. Co., Ltd. Profile-measuring light probe using a change in reflection factor in the proximity of a critical angle of light
US4761072A (en) 1986-09-30 1988-08-02 Diffracto Ltd. Electro-optical sensors for manual control
US4849692A (en) 1986-10-09 1989-07-18 Ascension Technology Corporation Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields
US4945305A (en) 1986-10-09 1990-07-31 Ascension Technology Corporation Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields
US4750487A (en) 1986-11-24 1988-06-14 Zanetti Paul H Stereotactic frame
DE3703422A1 (de) 1987-02-05 1988-08-18 Zeiss Carl Fa Optoelektronischer abstandssensor
US4745290A (en) 1987-03-19 1988-05-17 David Frankel Method and apparatus for use in making custom shoes
US4804261A (en) 1987-03-27 1989-02-14 Kirschen David G Anti-claustrophobic glasses
JPH0685784B2 (ja) 1987-03-30 1994-11-02 株式会社東芝 手術用３次元ピユ−ア−システム
US4875478A (en) 1987-04-10 1989-10-24 Chen Harry H Portable compression grid & needle holder
US4793355A (en) 1987-04-17 1988-12-27 Biomagnetic Technologies, Inc. Apparatus for process for making biomagnetic measurements
US4809694A (en) 1987-05-19 1989-03-07 Ferrara Vincent L Biopsy guide
DE3717871C3 (de) 1987-05-27 1995-05-04 Georg Prof Dr Schloendorff Verfahren und Vorrichtung zum reproduzierbaren optischen Darstellen eines chirururgischen Eingriffes
US4836778A (en) 1987-05-26 1989-06-06 Vexcel Corporation Mandibular motion monitoring system
JPH02503519A (ja) 1987-05-27 1990-10-25 サージカル　ナビゲーション　テクノロジース　インコーポレーティッド（アン　アフィリエイティッド　カンパニー　オブ　ソファマー　ダンネク　グループ　インコーポレーティッド） 外科手術を再生可能に光学的に表示するための方法及び装置
US4845771A (en) 1987-06-29 1989-07-04 Picker International, Inc. Exposure monitoring in radiation imaging
US4989608A (en) 1987-07-02 1991-02-05 Ratner Adam V Device construction and method facilitating magnetic resonance imaging of foreign objects in a body
FR2618211B1 (fr) 1987-07-15 1991-11-15 Chardon Bernard Dispositif d'eclairage frontal permettant d'observer des cavites etroites et profondes.
US4829373A (en) 1987-08-03 1989-05-09 Vexcel Corporation Stereo mensuration apparatus
US4769005A (en) 1987-08-06 1988-09-06 Robert Ginsburg Selective catheter guide
US4797907A (en) 1987-08-07 1989-01-10 Diasonics Inc. Battery enhanced power generation for mobile X-ray machine
US4931056A (en) 1987-09-04 1990-06-05 Neurodynamics, Inc. Catheter guide apparatus for perpendicular insertion into a cranium orifice
JPS6472736A (en) 1987-09-14 1989-03-17 Toshiba Corp Mri apparatus
US4991579A (en) 1987-11-10 1991-02-12 Allen George S Method and apparatus for providing related images over time of a portion of the anatomy using fiducial implants
US4875165A (en) 1987-11-27 1989-10-17 University Of Chicago Method for determination of 3-D structure in biplane angiography
US5079699A (en) 1987-11-27 1992-01-07 Picker International, Inc. Quick three-dimensional display
US5027818A (en) 1987-12-03 1991-07-02 University Of Florida Dosimetric technique for stereotactic radiosurgery same
US4869255A (en) 1987-12-04 1989-09-26 Ad-Tech Medical Instrument Corp. Electrical connection device
EP0326768A3 (en) 1988-02-01 1991-01-23 Faro Medical Technologies Inc. Computer-aided surgery apparatus
US5251127A (en) 1988-02-01 1993-10-05 Faro Medical Technologies Inc. Computer-aided surgery apparatus
US4951653A (en) 1988-03-02 1990-08-28 Laboratory Equipment, Corp. Ultrasound brain lesioning system
US4869247A (en) 1988-03-11 1989-09-26 The University Of Virginia Alumni Patents Foundation Video tumor fighting system
US4884566A (en) 1988-04-15 1989-12-05 The University Of Michigan System and method for determining orientation of planes of imaging
NL8801750A (nl) 1988-07-11 1990-02-01 Philips Nv Roentgenonderzoekapparaat met een uitgebalanceerde statiefarm.
US5050608A (en) 1988-07-12 1991-09-24 Medirand, Inc. System for indicating a position to be operated in a patient's body
US4896673A (en) 1988-07-15 1990-01-30 Medstone International, Inc. Method and apparatus for stone localization using ultrasound imaging
US4860331A (en) 1988-09-12 1989-08-22 Williams John F Image marker device
US4905698A (en) 1988-09-13 1990-03-06 Pharmacia Deltec Inc. Method and apparatus for catheter location determination
US5265611A (en) 1988-09-23 1993-11-30 Siemens Aktiengellschaft Apparatus for measuring weak, location-dependent and time-dependent magnetic field
EP0359864B1 (de) 1988-09-23 1993-12-01 Siemens Aktiengesellschaft Einrichtung und Verfahren zur Messung von schwachen, orts- und zeitabhängigen Magnetfeldern
IT1227365B (it) 1988-11-18 1991-04-08 Istituto Neurologico Carlo Bes Procedimento ed apparecchiatura particolarmente per la guida di opera zioni neurochirurgiche
US5143076A (en) 1988-12-23 1992-09-01 Tyrone L. Hardy Three-dimensional beam localization microscope apparatus for stereotactic diagnoses or surgery
US5099846A (en) 1988-12-23 1992-03-31 Hardy Tyrone L Method and apparatus for video presentation from a variety of scanner imaging sources
US5098426A (en) 1989-02-06 1992-03-24 Phoenix Laser Systems, Inc. Method and apparatus for precision laser surgery
US5197476A (en) 1989-03-16 1993-03-30 Christopher Nowacki Locating target in human body
CN1049287A (zh) 1989-05-24 1991-02-20 住友电气工业株式会社 治疗导管
US5024226A (en) 1989-08-17 1991-06-18 Critikon, Inc. Epidural oxygen sensor
US5285787A (en) 1989-09-12 1994-02-15 Kabushiki Kaisha Toshiba Apparatus for calculating coordinate data of desired point in subject to be examined
GB8920697D0 (en) 1989-09-13 1989-10-25 Isis Innovation Apparatus and method for aligning drilling apparatus in surgical procedures
US5257998A (en) 1989-09-20 1993-11-02 Mitaka Kohki Co., Ltd. Medical three-dimensional locating apparatus
US5681260A (en) 1989-09-22 1997-10-28 Olympus Optical Co., Ltd. Guiding apparatus for guiding an insertable body within an inspected object
IL91805A (en) 1989-09-27 1996-12-05 Elscint Ltd Quadrature surface coil
EP0419729A1 (de) 1989-09-29 1991-04-03 Siemens Aktiengesellschaft Ortung eines Katheters mittels nichtionisierender Felder
FR2652928B1 (fr) 1989-10-05 1994-07-29 Diadix Sa Systeme interactif d'intervention locale a l'interieur d'une zone d'une structure non homogene.
US5005592A (en) 1989-10-27 1991-04-09 Becton Dickinson And Company Method and apparatus for tracking catheters
EP0647428A3 (en) 1989-11-08 1995-07-12 George S Allen Interactive image-guided surgery system.
US5222499A (en) 1989-11-15 1993-06-29 Allen George S Method and apparatus for imaging the anatomy
US5188126A (en) 1989-11-16 1993-02-23 Fabian Carl E Surgical implement detector utilizing capacitive coupling
US5107862A (en) 1991-05-06 1992-04-28 Fabian Carl E Surgical implement detector utilizing a powered marker
US5329944A (en) 1989-11-16 1994-07-19 Fabian Carl E Surgical implement detector utilizing an acoustic marker
US5057095A (en) 1989-11-16 1991-10-15 Fabian Carl E Surgical implement detector utilizing a resonant marker
US5105829A (en) 1989-11-16 1992-04-21 Fabian Carl E Surgical implement detector utilizing capacitive coupling
US5190059A (en) 1989-11-16 1993-03-02 Fabian Carl E Surgical implement detector utilizing a powered marker
US5047036A (en) 1989-11-17 1991-09-10 Koutrouvelis Panos G Stereotactic device
US5308352A (en) 1989-11-17 1994-05-03 Koutrouvelis Panos G Stereotactic device
CA2260688A1 (en) 1989-11-21 1991-05-21 I.S.G. Technologies, Inc. Probe-correlated viewing of anatomical image data
WO1991007913A1 (en) 1989-11-24 1991-06-13 Technomed International A method and apparatus for determining the position of a target relative to known co-ordinates
FR2655415B1 (fr) 1989-12-01 1992-02-21 Sextant Avionique Detecteur electromagnetique de position et d'orientation.
US5013317A (en) 1990-02-07 1991-05-07 Smith & Nephew Richards Inc. Medical drill assembly transparent to X-rays and targeting drill bit
US5031203A (en) 1990-02-09 1991-07-09 Trecha Randal R Coaxial laser targeting device for use with x-ray equipment and surgical drill equipment during surgical procedures
US5214615A (en) 1990-02-26 1993-05-25 Will Bauer Three-dimensional displacement of a body with computer interface
JP2653210B2 (ja) 1990-03-16 1997-09-17 天美 加藤 定位的脳手術支援装置
FI89132C (fi) 1990-04-06 1993-08-25 Orion Yhtymae Oy Foerfarande foer finnaolsbiopsi eller foer utfoerande av en vaevnadsmarkering i samband med mammografi och arrangemang foer utfoerande av foerfarandet
US5224049A (en) 1990-04-10 1993-06-29 Mushabac David R Method, system and mold assembly for use in preparing a dental prosthesis
JP2750201B2 (ja) 1990-04-13 1998-05-13 オリンパス光学工業株式会社 内視鏡の挿入状態検出装置
US5253647A (en) 1990-04-13 1993-10-19 Olympus Optical Co., Ltd. Insertion position and orientation state pickup for endoscope
US5107839A (en) 1990-05-04 1992-04-28 Pavel V. Houdek Computer controlled stereotaxic radiotherapy system and method
US5030222A (en) 1990-05-09 1991-07-09 James Calandruccio Radiolucent orthopedic chuck
US5086401A (en) 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5295483A (en) 1990-05-11 1994-03-22 Christopher Nowacki Locating target in human body
US5457641A (en) 1990-06-29 1995-10-10 Sextant Avionique Method and apparatus for determining an orientation associated with a mobile system, especially a line of sight inside a helmet visor
US5017139A (en) 1990-07-05 1991-05-21 Mushabac David R Mechanical support for hand-held dental/medical instrument
GB9018660D0 (en) 1990-08-24 1990-10-10 Imperial College Probe system
US5193106A (en) 1990-08-28 1993-03-09 Desena Danforth X-ray identification marker
US5160337A (en) 1990-09-24 1992-11-03 Cosman Eric R Curved-shaped floor stand for use with a linear accelerator in radiosurgery
US5198877A (en) 1990-10-15 1993-03-30 Pixsys, Inc. Method and apparatus for three-dimensional non-contact shape sensing
EP0553246B1 (en) 1990-10-19 2000-09-13 St. Louis University Surgical probe locating system for head use
US6347240B1 (en) 1990-10-19 2002-02-12 St. Louis University System and method for use in displaying images of a body part
US5059789A (en) 1990-10-22 1991-10-22 International Business Machines Corp. Optical position and orientation sensor
FR2668359B1 (fr) 1990-10-24 1998-02-20 Gen Electric Cgr Mammographe muni d'un porte-aiguille perfectionne.
US5823958A (en) 1990-11-26 1998-10-20 Truppe; Michael System and method for displaying a structural data image in real-time correlation with moveable body
JP2715762B2 (ja) 1990-11-30 1998-02-18 富士写真光機株式会社 超音波検査装置
US5054492A (en) 1990-12-17 1991-10-08 Cardiovascular Imaging Systems, Inc. Ultrasonic imaging catheter having rotational image correlation
US6405072B1 (en) 1991-01-28 2002-06-11 Sherwood Services Ag Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus
US5947981A (en) 1995-01-31 1999-09-07 Cosman; Eric R. Head and neck localizer
US5662111A (en) 1991-01-28 1997-09-02 Cosman; Eric R. Process of stereotactic optical navigation
US6006126A (en) 1991-01-28 1999-12-21 Cosman; Eric R. System and method for stereotactic registration of image scan data
US5480439A (en) 1991-02-13 1996-01-02 Lunar Corporation Method for periprosthetic bone mineral density measurement
US5228442A (en) 1991-02-15 1993-07-20 Cardiac Pathways Corporation Method for mapping, ablation, and stimulation using an endocardial catheter
US5161536A (en) 1991-03-22 1992-11-10 Catheter Technology Ultrasonic position indicating apparatus and methods
US5257636A (en) 1991-04-02 1993-11-02 Steven J. White Apparatus for determining position of an endothracheal tube
US5339799A (en) 1991-04-23 1994-08-23 Olympus Optical Co., Ltd. Medical system for reproducing a state of contact of the treatment section in the operation unit
US5291889A (en) 1991-05-23 1994-03-08 Vanguard Imaging Ltd. Apparatus and method for spatially positioning images
FI93607C (fi) 1991-05-24 1995-05-10 John Koivukangas Leikkaustoimenpidelaite
US5187475A (en) 1991-06-10 1993-02-16 Honeywell Inc. Apparatus for determining the position of an object
US5417210A (en) 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
DE9107298U1 (de) 1991-06-13 1991-07-25 Howmedica GmbH, 2314 Schönkirchen Vorrichtung zum Setzen von Löchern für die Verriegelungsnagelung
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5261404A (en) 1991-07-08 1993-11-16 Mick Peter R Three-dimensional mammal anatomy imaging system and method
US5249581A (en) 1991-07-15 1993-10-05 Horbal Mark T Precision bone alignment
US5211165A (en) 1991-09-03 1993-05-18 General Electric Company Tracking system to follow the position and orientation of a device with radiofrequency field gradients
EP0531081A1 (en) 1991-09-03 1993-03-10 General Electric Company Tracking system to follow the position and orientation of a device with radiofrequency fields
US5255680A (en) 1991-09-03 1993-10-26 General Electric Company Automatic gantry positioning for imaging systems
US5265610A (en) 1991-09-03 1993-11-30 General Electric Company Multi-planar X-ray fluoroscopy system using radiofrequency fields
US5251635A (en) 1991-09-03 1993-10-12 General Electric Company Stereoscopic X-ray fluoroscopy system using radiofrequency fields
US5425367A (en) 1991-09-04 1995-06-20 Navion Biomedical Corporation Catheter depth, position and orientation location system
US5645065A (en) 1991-09-04 1997-07-08 Navion Biomedical Corporation Catheter depth, position and orientation location system
DE4134481C2 (de) 1991-10-18 1998-04-09 Zeiss Carl Fa Operationsmikroskop zur rechnergestützten, stereotaktischen Mikrochirurgie
US5207688A (en) 1991-10-31 1993-05-04 Medco, Inc. Noninvasive head fixation method and apparatus
US5300080A (en) 1991-11-01 1994-04-05 David Clayman Stereotactic instrument guided placement
US5330485A (en) 1991-11-01 1994-07-19 Clayman David A Cerebral instrument guide frame and procedures utilizing it
US5437277A (en) 1991-11-18 1995-08-01 General Electric Company Inductively coupled RF tracking system for use in invasive imaging of a living body
US5445150A (en) 1991-11-18 1995-08-29 General Electric Company Invasive system employing a radiofrequency tracking system
US5371778A (en) 1991-11-29 1994-12-06 Picker International, Inc. Concurrent display and adjustment of 3D projection, coronal slice, sagittal slice, and transverse slice images
US5274551A (en) 1991-11-29 1993-12-28 General Electric Company Method and apparatus for real-time navigation assist in interventional radiological procedures
US5178621A (en) 1991-12-10 1993-01-12 Zimmer, Inc. Two-piece radio-transparent proximal targeting device for a locking intramedullary nail
US5230623A (en) 1991-12-10 1993-07-27 Radionics, Inc. Operating pointer with interactive computergraphics
WO1993012718A1 (en) 1991-12-23 1993-07-08 Pharmacia Deltec, Inc. Guide wire apparatus with location sensing member
US5478341A (en) 1991-12-23 1995-12-26 Zimmer, Inc. Ratchet lock for an intramedullary nail locking bolt
US5233990A (en) 1992-01-13 1993-08-10 Gideon Barnea Method and apparatus for diagnostic imaging in radiation therapy
US5212720A (en) 1992-01-29 1993-05-18 Research Foundation-State University Of N.Y. Dual radiation targeting system
US5320111A (en) 1992-02-07 1994-06-14 Livingston Products, Inc. Light beam locator and guide for a biopsy needle
US5237996A (en) 1992-02-11 1993-08-24 Waldman Lewis K Endocardial electrical mapping catheter
US5306271A (en) 1992-03-09 1994-04-26 Izi Corporation Radiation therapy skin markers
DE4207632C2 (de) 1992-03-11 1995-07-20 Bodenseewerk Geraetetech Vorrichtung und Verfahren zur Positionierung eines Körperteils für Behandlungszwecke
DE4207901C3 (de) 1992-03-12 1999-10-07 Aesculap Ag & Co Kg Verfahren und Vorrichtung zur Darstellung eines Arbeitsbereiches in einer dreidimensionalen Struktur
US5318025A (en) 1992-04-01 1994-06-07 General Electric Company Tracking system to monitor the position and orientation of a device using multiplexed magnetic resonance detection
US5271400A (en) 1992-04-01 1993-12-21 General Electric Company Tracking system to monitor the position and orientation of a device using magnetic resonance detection of a sample contained within the device
US5573533A (en) 1992-04-10 1996-11-12 Medtronic Cardiorhythm Method and system for radiofrequency ablation of cardiac tissue
US5299253A (en) 1992-04-10 1994-03-29 Akzo N.V. Alignment system to overlay abdominal computer aided tomography and magnetic resonance anatomy with single photon emission tomography
US5389101A (en) 1992-04-21 1995-02-14 University Of Utah Apparatus and method for photogrammetric surgical localization
US5603318A (en) 1992-04-21 1997-02-18 University Of Utah Research Foundation Apparatus and method for photogrammetric surgical localization
JP3257640B2 (ja) 1992-06-09 2002-02-18 オリンパス光学工業株式会社 立体視内視鏡装置
IL102218A (en) 1992-06-16 2003-06-24 Elbit Systems Ltd Tracker employing a rotating electromagnetic field
GB2280343A (en) 1993-07-08 1995-01-25 Innovative Care Ltd A laser targeting device for use with image intensifiers
US5307072A (en) 1992-07-09 1994-04-26 Polhemus Incorporated Non-concentricity compensation in position and orientation measurement systems
US5325873A (en) 1992-07-23 1994-07-05 Abbott Laboratories Tube placement verifier system
US5269759A (en) 1992-07-28 1993-12-14 Cordis Corporation Magnetic guidewire coupling for vascular dilatation apparatus
US5197965A (en) 1992-07-29 1993-03-30 Codman & Shurtleff, Inc. Skull clamp pin assembly
DE4225112C1 (de) 1992-07-30 1993-12-09 Bodenseewerk Geraetetech Einrichtung zum Messen der Position eines Instruments relativ zu einem Behandlungsobjekt
FR2694881B1 (fr) 1992-07-31 1996-09-06 Univ Joseph Fourier Procede de determination de la position d'un organe.
AU675077B2 (en) 1992-08-14 1997-01-23 British Telecommunications Public Limited Company Position location system
EP0655138B1 (en) 1992-08-14 1998-04-29 BRITISH TELECOMMUNICATIONS public limited company Position location system
CA2143639C (en) 1992-09-01 2004-07-20 Edwin L. Adair Sterilizable endoscope with separable disposable tube assembly
US5643175A (en) 1992-09-01 1997-07-01 Adair; Edwin L. Sterilizable endoscope with separable disposable tube assembly
US5368030A (en) 1992-09-09 1994-11-29 Izi Corporation Non-invasive multi-modality radiographic surface markers
US5469847A (en) 1992-09-09 1995-11-28 Izi Corporation Radiographic multi-modality skin markers
US5297549A (en) 1992-09-23 1994-03-29 Endocardial Therapeutics, Inc. Endocardial mapping system
US5647361A (en) 1992-09-28 1997-07-15 Fonar Corporation Magnetic resonance imaging method and apparatus for guiding invasive therapy
US5375596A (en) 1992-09-29 1994-12-27 Hdc Corporation Method and apparatus for determining the position of catheters, tubes, placement guidewires and implantable ports within biological tissue
DE4233978C1 (de) 1992-10-08 1994-04-21 Leibinger Gmbh Vorrichtung zum Markieren von Körperstellen für medizinische Untersuchungen
US5568384A (en) 1992-10-13 1996-10-22 Mayo Foundation For Medical Education And Research Biomedical imaging and analysis
US5456718A (en) 1992-11-17 1995-10-10 Szymaitis; Dennis W. Apparatus for detecting surgical objects within the human body
US5309913A (en) 1992-11-30 1994-05-10 The Cleveland Clinic Foundation Frameless stereotaxy system
US5732703A (en) 1992-11-30 1998-03-31 The Cleveland Clinic Foundation Stereotaxy wand and tool guide
US5517990A (en) 1992-11-30 1996-05-21 The Cleveland Clinic Foundation Stereotaxy wand and tool guide
US5353807A (en) 1992-12-07 1994-10-11 Demarco Thomas J Magnetically guidable intubation device
US5305091A (en) 1992-12-07 1994-04-19 Oreo Products Inc. Optical coordinate measuring system for large objects
US5427097A (en) 1992-12-10 1995-06-27 Accuray, Inc. Apparatus for and method of carrying out stereotaxic radiosurgery and radiotherapy
US5353795A (en) 1992-12-10 1994-10-11 General Electric Company Tracking system to monitor the position of a device using multiplexed magnetic resonance detection
US5353800A (en) 1992-12-11 1994-10-11 Medtronic, Inc. Implantable pressure sensor lead
JPH06194639A (ja) 1992-12-25 1994-07-15 Matsushita Electric Ind Co Ltd 液晶表示パネル
US5385146A (en) 1993-01-08 1995-01-31 Goldreyer; Bruce N. Orthogonal sensing for use in clinical electrophysiology
US5333168A (en) 1993-01-29 1994-07-26 Oec Medical Systems, Inc. Time-based attenuation compensation
US5423334A (en) 1993-02-01 1995-06-13 C. R. Bard, Inc. Implantable medical device characterization system
US5448610A (en) 1993-02-09 1995-09-05 Hitachi Medical Corporation Digital X-ray photography device
US5551429A (en) 1993-02-12 1996-09-03 Fitzpatrick; J. Michael Method for relating the data of an image space to physical space
US5799099A (en) 1993-02-12 1998-08-25 George S. Allen Automatic technique for localizing externally attached fiducial markers in volume images of the head
US5575794A (en) 1993-02-12 1996-11-19 Walus; Richard L. Tool for implanting a fiducial marker
DE4304571A1 (de) 1993-02-16 1994-08-18 Mdc Med Diagnostic Computing Verfahren zur Planung und Kontrolle eines chirurgischen Eingriffs
US5433198A (en) 1993-03-11 1995-07-18 Desai; Jawahar M. Apparatus and method for cardiac ablation
US5483961A (en) 1993-03-19 1996-01-16 Kelly; Patrick J. Magnetic field digitizer for stereotactic surgery
US5787886A (en) 1993-03-19 1998-08-04 Compass International Incorporated Magnetic field digitizer for stereotatic surgery
EP0615833B1 (en) 1993-03-19 1997-05-28 Vip Industries Limited A heat sealing method and luggage case
US5336222A (en) 1993-03-29 1994-08-09 Boston Scientific Corporation Integrated catheter for diverse in situ tissue therapy
DE4310993A1 (de) 1993-04-03 1994-10-06 Philips Patentverwaltung MR-Abbildungsverfahren und Anordnung zur Durchführung des Verfahrens
US5453686A (en) 1993-04-08 1995-09-26 Polhemus Incorporated Pulsed-DC position and orientation measurement system
WO1994024631A1 (en) 1993-04-20 1994-10-27 General Electric Company Computer graphic and live video system for enhancing visualisation of body structures during surgery
ZA942812B (en) 1993-04-22 1995-11-22 Pixsys Inc System for locating the relative positions of objects in three dimensional space
WO1994024933A1 (en) 1993-04-26 1994-11-10 St. Louis University Indicating the position of a surgical probe
US5325728A (en) 1993-06-22 1994-07-05 Medtronic, Inc. Electromagnetic flow meter
DE69432148T2 (de) 1993-07-01 2003-10-16 Boston Scientific Ltd., St. Michael Katheter zur bilddarstellung, zur anzeige elektrischer signale und zur ablation
US5391199A (en) 1993-07-20 1995-02-21 Biosense, Inc. Apparatus and method for treating cardiac arrhythmias
US5487757A (en) 1993-07-20 1996-01-30 Medtronic Cardiorhythm Multicurve deflectable catheter
US5738096A (en) 1993-07-20 1998-04-14 Biosense, Inc. Cardiac electromechanics
US5385148A (en) 1993-07-30 1995-01-31 The Regents Of The University Of California Cardiac imaging and ablation catheter
FR2709656B1 (fr) 1993-09-07 1995-12-01 Deemed Int Sa Installation pour opération de microchirurgie assistée par ordinateur et procédés mis en Óoeuvre par ladite installation.
US5425382A (en) 1993-09-14 1995-06-20 University Of Washington Apparatus and method for locating a medical tube in the body of a patient
DE9314075U1 (de) 1993-09-17 1994-01-20 DWL Elektronische Systeme GmbH, 78354 Sipplingen Vorrichtung zur Aufnahme wenigstens einer sonographischen Sonde
DK110193A (da) 1993-09-30 1995-03-31 Per Baunsgaard Klemmeanordning
US5558091A (en) 1993-10-06 1996-09-24 Biosense, Inc. Magnetic determination of position and orientation
US5446548A (en) 1993-10-08 1995-08-29 Siemens Medical Systems, Inc. Patient positioning and monitoring system
US5464446A (en) 1993-10-12 1995-11-07 Medtronic, Inc. Brain lead anchoring system
EP0649117A3 (en) 1993-10-15 1996-01-31 George S Allen Process for the production of medical images.
US5840024A (en) 1993-10-18 1998-11-24 Olympus Optical Co., Ltd. Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope
US6059718A (en) 1993-10-18 2000-05-09 Olympus Optical Co., Ltd. Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope
US5394875A (en) 1993-10-21 1995-03-07 Lewis; Judith T. Automatic ultrasonic localization of targets implanted in a portion of the anatomy
CA2176149C (en) 1993-11-10 2001-02-27 Richard S. Jaraczewski Electrode array catheter
US5399146A (en) 1993-12-13 1995-03-21 Nowacki; Christopher Isocentric lithotripter
US5403321A (en) 1993-12-15 1995-04-04 Smith & Nephew Richards Inc. Radiolucent drill guide
US5445144A (en) 1993-12-16 1995-08-29 Purdue Research Foundation Apparatus and method for acoustically guiding, positioning, and monitoring a tube within a body
JP3400835B2 (ja) 1993-12-20 2003-04-28 テルモ株式会社 副伝導路検出装置
US5487391A (en) 1994-01-28 1996-01-30 Ep Technologies, Inc. Systems and methods for deriving and displaying the propagation velocities of electrical events in the heart
US5485849A (en) 1994-01-31 1996-01-23 Ep Technologies, Inc. System and methods for matching electrical characteristics and propagation velocities in cardiac tissue
WO1995020348A1 (en) 1994-01-28 1995-08-03 Ep Technologies, Inc. Matching electrical characteristics and propagation velocities to locate ablation sites
US5531227A (en) 1994-01-28 1996-07-02 Schneider Medical Technologies, Inc. Imaging device and method
US5800535A (en) 1994-02-09 1998-09-01 The University Of Iowa Research Foundation Wireless prosthetic electrode for the brain
US5444756A (en) 1994-02-09 1995-08-22 Minnesota Mining And Manufacturing Company X-ray machine, solid state radiation detector and method for reading radiation detection information
US5571083A (en) 1994-02-18 1996-11-05 Lemelson; Jerome H. Method and system for cell transplantation
US5596228A (en) 1994-03-10 1997-01-21 Oec Medical Systems, Inc. Apparatus for cooling charge coupled device imaging systems
US5503416A (en) 1994-03-10 1996-04-02 Oec Medical Systems, Inc. Undercarriage for X-ray diagnostic equipment
US5426683A (en) 1994-03-14 1995-06-20 Oec Medical Systems, Inc. One piece C-arm for X-ray diagnostic equipment
EP0673166B1 (de) 1994-03-15 1999-06-02 Siemens Aktiengesellschaft Verfahren zur empfangsseitigen Taktversorgung für digital mittels ATM übertragene Videosignale in Faser-/Koaxial-Teilnehmeranschlussnetzen
US5490196A (en) 1994-03-18 1996-02-06 Metorex International Oy Multi energy system for x-ray imaging applications
DK0673621T3 (da) 1994-03-18 1998-11-30 Schneider Europ Gmbh System til visning af magnetisk resonans for at følge et medicinsk udstyr
US5546949A (en) 1994-04-26 1996-08-20 Frazin; Leon Method and apparatus of logicalizing and determining orientation of an insertion end of a probe within a biotic structure
DE4417944A1 (de) 1994-05-21 1995-11-23 Zeiss Carl Fa Verfahren zum Korrelieren verschiedener Koordinatensysteme in der rechnergestützten, stereotaktischen Chirurgie
US5419325A (en) 1994-06-23 1995-05-30 General Electric Company Magnetic resonance (MR) angiography using a faraday catheter
US5643286A (en) 1994-06-24 1997-07-01 Cytotherapeutics, Inc. Microdrive for use in stereotactic surgery
US5600330A (en) 1994-07-12 1997-02-04 Ascension Technology Corporation Device for measuring position and orientation using non-dipole magnet IC fields
US5619261A (en) 1994-07-25 1997-04-08 Oec Medical Systems, Inc. Pixel artifact/blemish filter for use in CCD video camera
CA2607769C (en) 1994-08-19 2012-04-24 Biosense, Inc. Medical diagnosis, treatment and imaging systems
US5999840A (en) 1994-09-01 1999-12-07 Massachusetts Institute Of Technology System and method of registration of three-dimensional data sets
US5531520A (en) 1994-09-01 1996-07-02 Massachusetts Institute Of Technology System and method of registration of three-dimensional data sets including anatomical body data
AU3371595A (en) 1994-09-06 1996-03-27 Sims Deltec, Inc. Method and apparatus for location of a catheter tip
DE4432891C2 (de) 1994-09-15 2003-11-06 Brainlab Ag Vorrichtung und Maskenteilesatz zur nicht invasiven stereotaktischen Immobilisation in reproduzierbarer Position
US5829444A (en) 1994-09-15 1998-11-03 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications
DE4432890B4 (de) 1994-09-15 2004-02-19 Brainlab Ag Vorrichtung zum Erfassen der Position von Bestrahlungszielpunkten
ATE252349T1 (de) 1994-09-15 2003-11-15 Visualization Technology Inc System zur positionserfassung mittels einer an einem patientenkopf angebrachten referenzeinheit zur anwendung im medizinischen gebiet
DE4434519A1 (de) 1994-09-27 1996-03-28 Brainlab Med Computersyst Gmbh Fixationsstift zum Fixieren eines Referenzsystems an knöchernen Strukturen
US5695501A (en) 1994-09-30 1997-12-09 Ohio Medical Instrument Company, Inc. Apparatus for neurosurgical stereotactic procedures
US5891157A (en) 1994-09-30 1999-04-06 Ohio Medical Instrument Company, Inc. Apparatus for surgical stereotactic procedures
DE29521895U1 (de) 1994-10-07 1998-09-10 St. Louis University, St. Louis, Mo. Chirurgisches Navigationssystem umfassend Referenz- und Lokalisationsrahmen
US5674296A (en) 1994-11-14 1997-10-07 Spinal Dynamics Corporation Human spinal disc prosthesis
US5611025A (en) 1994-11-23 1997-03-11 General Electric Company Virtual internal cavity inspection system
EP0714636B1 (en) 1994-11-28 2003-04-16 The Ohio State University Interventional medicine apparatus
US5583909C1 (en) 1994-12-20 2001-03-27 Oec Medical Systems Inc C-arm mounting structure for mobile x-ray imaging system
US5762064A (en) 1995-01-23 1998-06-09 Northrop Grumman Corporation Medical magnetic positioning system and method for determining the position of a magnetic probe
US6690963B2 (en) 1995-01-24 2004-02-10 Biosense, Inc. System for determining the location and orientation of an invasive medical instrument
US5682890A (en) 1995-01-26 1997-11-04 Picker International, Inc. Magnetic resonance stereotactic surgery with exoskeleton tissue stabilization
SE9500274D0 (sv) 1995-01-26 1995-01-26 Siemens Elema Ab Anordning för lokalisering av port på medicinskt implantat
US5971997A (en) 1995-02-03 1999-10-26 Radionics, Inc. Intraoperative recalibration apparatus for stereotactic navigators
US5588430A (en) 1995-02-14 1996-12-31 University Of Florida Research Foundation, Inc. Repeat fixation for frameless stereotactic procedure
DE19506197A1 (de) 1995-02-23 1996-09-05 Aesculap Ag Verfahren und Vorrichtung zur Ortsbestimmung eines Körperteils
DE69615007T2 (de) 1995-02-27 2002-06-13 Medtronic, Inc. Externer referenz-messfühler für einen patienten
US5636644A (en) 1995-03-17 1997-06-10 Applied Medical Resources Corporation Method and apparatus for endoconduit targeting
JP3307519B2 (ja) 1995-03-24 2002-07-24 株式会社モリタ製作所 医療用ｘ線撮影装置
US5797849A (en) 1995-03-28 1998-08-25 Sonometrics Corporation Method for carrying out a medical procedure using a three-dimensional tracking and imaging system
US5730129A (en) 1995-04-03 1998-03-24 General Electric Company Imaging of interventional devices in a non-stationary subject
US5566681A (en) 1995-05-02 1996-10-22 Manwaring; Kim H. Apparatus and method for stabilizing a body part
US6122541A (en) 1995-05-04 2000-09-19 Radionics, Inc. Head band for frameless stereotactic registration
US5640170A (en) 1995-06-05 1997-06-17 Polhemus Incorporated Position and orientation measuring system having anti-distortion source configuration
US5617857A (en) 1995-06-06 1997-04-08 Image Guided Technologies, Inc. Imaging system having interactive medical instruments and methods
US5713853A (en) 1995-06-07 1998-02-03 Interventional Innovations Corporation Methods for treating thrombosis
US5729129A (en) 1995-06-07 1998-03-17 Biosense, Inc. Magnetic location system with feedback adjustment of magnetic field generator
US5752513A (en) 1995-06-07 1998-05-19 Biosense, Inc. Method and apparatus for determining position of object
US5718241A (en) 1995-06-07 1998-02-17 Biosense, Inc. Apparatus and method for treating cardiac arrhythmias with no discrete target
JP3782113B2 (ja) 1995-06-12 2006-06-07 コーディス ウェブスター，インコーポレイティド 電磁式ガイダンスセンサを備えたカテーテル
US5592939A (en) 1995-06-14 1997-01-14 Martinelli; Michael A. Method and system for navigating a catheter probe
US5627873B1 (en) 1995-08-04 2000-03-14 Oec Medical Systems Mini c-arm assembly for mobile x-ray imaging system
US5617462A (en) 1995-08-07 1997-04-01 Oec Medical Systems, Inc. Automatic X-ray exposure control system and method of use
US5642395A (en) 1995-08-07 1997-06-24 Oec Medical Systems, Inc. Imaging chain with miniaturized C-arm assembly for mobile X-ray imaging system
US5696500A (en) 1995-08-18 1997-12-09 Motorola, Inc. Multi-media receiver and system therefor
US5638819A (en) 1995-08-29 1997-06-17 Manwaring; Kim H. Method and apparatus for guiding an instrument to a target
US6351659B1 (en) 1995-09-28 2002-02-26 Brainlab Med. Computersysteme Gmbh Neuro-navigation system
US5715822A (en) 1995-09-28 1998-02-10 General Electric Company Magnetic resonance devices suitable for both tracking and imaging
DE19639861A1 (de) 1995-09-28 1997-04-10 Brainlab Med Computersyst Gmbh Lamellenkollimator für die Strahlentherapie
US5769861A (en) 1995-09-28 1998-06-23 Brainlab Med. Computersysteme Gmbh Method and devices for localizing an instrument
US5772594A (en) 1995-10-17 1998-06-30 Barrick; Earl F. Fluoroscopic image guided orthopaedic surgery system with intraoperative registration
US5697377A (en) 1995-11-22 1997-12-16 Medtronic, Inc. Catheter mapping system and method
WO1997019362A1 (en) 1995-11-24 1997-05-29 Philips Electronics N.V. Mri-system and catheter for interventional procedures
DE19547977A1 (de) 1995-12-21 1997-06-26 Zeiss Carl Fa Tastsystem für Koordinatenmeßgeräte
US5682886A (en) 1995-12-26 1997-11-04 Musculographics Inc Computer-assisted surgical system
US5727552A (en) 1996-01-11 1998-03-17 Medtronic, Inc. Catheter and electrical lead location system
US5711299A (en) 1996-01-26 1998-01-27 Manwaring; Kim H. Surgical guidance method and system for approaching a target within a body
WO1997029679A2 (en) 1996-02-15 1997-08-21 Biosense Inc. Precise position determination of endoscopes
WO1997029710A1 (en) 1996-02-15 1997-08-21 Biosense, Inc. Medical probes with field transducers
DE69738274T2 (de) 1996-02-15 2008-08-28 Biosense Webster, Inc., Diamond Bar Bewegliche Empfangs- und Sendespulen für ein Ortsbestimmungssystem
CA2246287C (en) 1996-02-15 2006-10-24 Biosense, Inc. Medical procedures and apparatus using intrabody probes
ES2210498T3 (es) 1996-02-15 2004-07-01 Biosense, Inc. Transductores posicionables independientemente para sistema de localizacion.
AU720441B2 (en) 1996-02-15 2000-06-01 Biosense, Inc. Catheter with lumen
AU721034B2 (en) 1996-02-15 2000-06-22 Biosense, Inc. Catheter based surgery
US5769843A (en) 1996-02-20 1998-06-23 Cormedica Percutaneous endomyocardial revascularization
US5828770A (en) 1996-02-20 1998-10-27 Northern Digital Inc. System for determining the spatial position and angular orientation of an object
JP4141500B2 (ja) 1996-02-27 2008-08-27 バイオセンス・ウェブスター・インコーポレイテッド 位置決め装置およびその動作方法
US5735278A (en) 1996-03-15 1998-04-07 National Research Council Of Canada Surgical procedure with magnetic resonance imaging
US5727553A (en) 1996-03-25 1998-03-17 Saad; Saad A. Catheter with integral electromagnetic location identification device
DE59706099D1 (de) 1996-03-27 2002-02-28 Mednetix Ag Villigen Vorrichtung und verfahren zur positionsbestimmung
US5868749A (en) 1996-04-05 1999-02-09 Reed; Thomas M. Fixation devices
US5782765A (en) 1996-04-25 1998-07-21 Medtronic, Inc. Medical positioning system
JPH09294720A (ja) 1996-04-30 1997-11-18 Nikon Corp 眼科装置
AUPN958296A0 (en) 1996-05-01 1996-05-23 Golden Circle Limited Novel acc synthase genes from pineapple
IL126864A (en) 1996-05-06 2003-05-29 Biosense Inc Method and apparatus for calibrating a magnetic field generator
US5799055A (en) 1996-05-15 1998-08-25 Northwestern University Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy
US6129698A (en) 1996-05-24 2000-10-10 Beck; Robert C Catheter
US5767699A (en) 1996-05-28 1998-06-16 Sun Microsystems, Inc. Fully complementary differential output driver for high speed digital communications
US6013087A (en) 1996-05-29 2000-01-11 U.S. Philips Corporation Image-guided surgery system
US5742394A (en) 1996-06-14 1998-04-21 Ascension Technology Corporation Optical 6D measurement system with two fan shaped beams rotating around one axis
US5767960A (en) 1996-06-14 1998-06-16 Ascension Technology Corporation Optical 6D measurement system with three fan-shaped beams rotating around one axis
US5767669A (en) 1996-06-14 1998-06-16 Ascension Technology Corporation Magnetic field position and orientation measurement system with dynamic eddy current rejection
US5964793A (en) 1996-06-20 1999-10-12 Rutten; Jean Lead introducer with defibrillation electrode and method of atrial defibrillation
US5775322A (en) 1996-06-27 1998-07-07 Lucent Medical Systems, Inc. Tracheal tube and methods related thereto
US5983141A (en) 1996-06-27 1999-11-09 Radionics, Inc. Method and apparatus for altering neural tissue function
US6167296A (en) 1996-06-28 2000-12-26 The Board Of Trustees Of The Leland Stanford Junior University Method for volumetric image navigation
IL118784A (en) 1996-07-03 1999-04-11 Eliav Medical Imaging Systems Method and apparatus for processing images for removal of artifacts
US5823192A (en) 1996-07-31 1998-10-20 University Of Pittsburgh Of The Commonwealth System Of Higher Education Apparatus for automatically positioning a patient for treatment/diagnoses
US5820553A (en) 1996-08-16 1998-10-13 Siemens Medical Systems, Inc. Identification system and method for radiation therapy
US5744953A (en) 1996-08-29 1998-04-28 Ascension Technology Corporation Magnetic motion tracker with transmitter placed on tracked object
US5865842A (en) 1996-08-29 1999-02-02 Medtronic, Inc. System and method for anchoring brain stimulation lead or catheter
US5831260A (en) 1996-09-10 1998-11-03 Ascension Technology Corporation Hybrid motion tracker
US5951571A (en) 1996-09-19 1999-09-14 Surgical Navigation Specialist Inc. Method and apparatus for correlating a body with an image of the body
DE19639924C1 (de) 1996-09-27 1998-04-30 Siemens Ag Wärmestrahlungsschild und seine Verwendung bei einer supraleitenden Antenne
US5980535A (en) 1996-09-30 1999-11-09 Picker International, Inc. Apparatus for anatomical tracking
US6016439A (en) 1996-10-15 2000-01-18 Biosense, Inc. Method and apparatus for synthetic viewpoint imaging
US6423009B1 (en) 1996-11-29 2002-07-23 Life Imaging Systems, Inc. System, employing three-dimensional ultrasonographic imaging, for assisting in guiding and placing medical instruments
US5810008A (en) 1996-12-03 1998-09-22 Isg Technologies Inc. Apparatus and method for visualizing ultrasonic images
WO1998029033A1 (en) 1997-01-03 1998-07-09 Biosense, Inc. Bend-responsive catheter
US6122538A (en) 1997-01-16 2000-09-19 Acuson Corporation Motion--Monitoring method and system for medical devices
US5935160A (en) 1997-01-24 1999-08-10 Cardiac Pacemakers, Inc. Left ventricular access lead for heart failure pacing
DE19703556A1 (de) 1997-01-31 1998-08-06 Philips Patentverwaltung Verfahren und Anordnung zur Positionsbestimmung bei der Röntgenbildgebung
US7453490B2 (en) 1997-01-31 2008-11-18 Gyrus Acmi, Inc. Correction of image signals characteristic of non-uniform images in an endoscopic imaging system
US5954796A (en) 1997-02-11 1999-09-21 Compaq Computer Corporation System and method for automatically and dynamically changing an address associated with a device disposed in a fire channel environment
US5928248A (en) 1997-02-14 1999-07-27 Biosense, Inc. Guided deployment of stents
US6314310B1 (en) 1997-02-14 2001-11-06 Biosense, Inc. X-ray guided surgical location system with extended mapping volume
US6580938B1 (en) 1997-02-25 2003-06-17 Biosense, Inc. Image-guided thoracic therapy and apparatus therefor
US6006127A (en) 1997-02-28 1999-12-21 U.S. Philips Corporation Image-guided surgery system
WO1998038908A1 (en) 1997-03-03 1998-09-11 Schneider Medical Technologies, Inc. Imaging device and method
US6019725A (en) 1997-03-07 2000-02-01 Sonometrics Corporation Three-dimensional tracking and imaging system
DE19751761B4 (de) 1997-04-11 2006-06-22 Brainlab Ag System und Verfahren zur aktuell exakten Erfassung von Behandlungszielpunkten
US5921992A (en) 1997-04-11 1999-07-13 Radionics, Inc. Method and system for frameless tool calibration
DE19715202B4 (de) 1997-04-11 2006-02-02 Brainlab Ag Referenzierungsvorrichtung mit einem Mundstück
US5834759A (en) 1997-05-22 1998-11-10 Glossop; Neil David Tracking device having emitter groups with different emitting directions
US5907395A (en) 1997-06-06 1999-05-25 Image Guided Technologies, Inc. Optical fiber probe for position measurement
CA2240776C (en) 1997-07-18 2006-01-10 Image Guided Technologies, Inc. Improved optical tracking system
AU8600598A (en) 1997-07-31 1999-02-22 Case Western Reserve University Electrolphysiological cardiac mapping system based on a non-contact non-expandable miniature multi-electrode catheter and method therefor
US6490474B1 (en) 1997-08-01 2002-12-03 Cardiac Pathways Corporation System and method for electrode localization using ultrasound
DE19736030A1 (de) 1997-08-20 1999-02-25 Philips Patentverwaltung Verfahren zur Navigation eines magnetischen Objektes und MR-Anordung
DE69837826T2 (de) 1997-09-05 2008-01-31 Biosense Webster, Inc., Diamond Bar Steuerbarer Katheter zur Erkennung und Revaskularisierung myokardischeen ischämischen Geweben
US6096050A (en) 1997-09-19 2000-08-01 Surgical Navigation Specialist Inc. Method and apparatus for correlating a body with an image of the body
US6183444B1 (en) 1998-05-16 2001-02-06 Microheart, Inc. Drug delivery module
US6226548B1 (en) 1997-09-24 2001-05-01 Surgical Navigation Technologies, Inc. Percutaneous registration apparatus and method for use in computer-assisted surgical navigation
US5951475A (en) 1997-09-25 1999-09-14 International Business Machines Corporation Methods and apparatus for registering CT-scan data to multiple fluoroscopic images
US5987960A (en) 1997-09-26 1999-11-23 Picker International, Inc. Tool calibrator
US5999837A (en) 1997-09-26 1999-12-07 Picker International, Inc. Localizing and orienting probe for view devices
DE69738156T2 (de) 1997-09-27 2008-06-12 Brainlab Ag Verfahren und Gerät zur Aufnahme eines drei-dimensionalen Bildes eines Körperteils
US5923727A (en) 1997-09-30 1999-07-13 Siemens Corporate Research, Inc. Method and apparatus for calibrating an intra-operative X-ray system
US5978696A (en) 1997-10-06 1999-11-02 General Electric Company Real-time image-guided placement of anchor devices
US6201387B1 (en) 1997-10-07 2001-03-13 Biosense, Inc. Miniaturized position sensor having photolithographic coils for tracking a medical probe
US6304769B1 (en) 1997-10-16 2001-10-16 The Regents Of The University Of California Magnetically directable remote guidance systems, and methods of use thereof
DE19746092C2 (de) 1997-10-17 2002-09-05 Siemens Ag Röntgenaufnahmeeinrichtung zur 3D-Bildgebung
US6147480A (en) 1997-10-23 2000-11-14 Biosense, Inc. Detection of metal disturbance
US5882304A (en) 1997-10-27 1999-03-16 Picker Nordstar Corporation Method and apparatus for determining probe location
DE19747427C2 (de) 1997-10-28 1999-12-09 Zeiss Carl Fa Vorrichtung zur Knochensegmentnavigation
ATE259623T1 (de) 1997-11-05 2004-03-15 Synthes Ag Virtuelle darstellung eines knochens oder eines knochengelenkes
US6014580A (en) 1997-11-12 2000-01-11 Stereotaxis, Inc. Device and method for specifying magnetic field for surgical applications
US6104944A (en) 1997-11-17 2000-08-15 Martinelli; Michael A. System and method for navigating a multiple electrode catheter
US6021343A (en) 1997-11-20 2000-02-01 Surgical Navigation Technologies Image guided awl/tap/screwdriver
US6149592A (en) 1997-11-26 2000-11-21 Picker International, Inc. Integrated fluoroscopic projection image data, volumetric image data, and surgical device position data
US5938603A (en) 1997-12-01 1999-08-17 Cordis Webster, Inc. Steerable catheter with electromagnetic sensor
US5967982A (en) 1997-12-09 1999-10-19 The Cleveland Clinic Foundation Non-invasive spine and bone registration for frameless stereotaxy
US6348058B1 (en) 1997-12-12 2002-02-19 Surgical Navigation Technologies, Inc. Image guided spinal surgery guide, system, and method for use thereof
IL122578A (en) 1997-12-12 2000-08-13 Super Dimension Ltd Wireless six-degree-of-freedom locator
US6073043A (en) 1997-12-22 2000-06-06 Cormedica Corporation Measuring position and orientation using magnetic fields
AU2022799A (en) 1997-12-31 1999-07-19 Surgical Navigation Technologies, Inc. Wireless probe system for use with a stereotactic surgical device
DE69835422T2 (de) 1998-01-22 2006-12-21 Biosense Webster, Inc., Diamond Bar Messung im körperinneren
EP1415609A1 (en) 1998-01-28 2004-05-06 Sherwood Services AG Optical object tracking system
US7749215B1 (en) 1998-02-05 2010-07-06 Biosense, Inc. Intracardiac cell delivery and cell transplantation
WO1999049783A1 (en) 1998-03-30 1999-10-07 Biosense Inc. Three-axis coil sensor
EP1068607A4 (en) 1998-04-03 2009-07-08 Image Guided Technologies Inc WIRELESS POSITION MEASURING OPTIC INSTRUMENT AND METHOD OF USING SAME
US6273896B1 (en) 1998-04-21 2001-08-14 Neutar, Llc Removable frames for stereotactic localization
US6298262B1 (en) 1998-04-21 2001-10-02 Neutar, Llc Instrument guidance for stereotactic surgery
ES2228043T3 (es) 1998-05-28 2005-04-01 Orthosoft, Inc. Sistema quirurgico interactivo asistido por ordenador.
US6118845A (en) 1998-06-29 2000-09-12 Surgical Navigation Technologies, Inc. System and methods for the reduction and elimination of image artifacts in the calibration of X-ray imagers
DE19829224B4 (de) 1998-06-30 2005-12-15 Brainlab Ag Verfahren zur Lokalisation von Behandlungszielen im Bereich weicher Körperteile
DE19829230A1 (de) 1998-06-30 2000-03-23 Brainlab Med Computersyst Gmbh Verfahren zur Erfassung der exakten Kontur, insbesondere Außenkontur von Behandlungszielen
US6447504B1 (en) 1998-07-02 2002-09-10 Biosense, Inc. System for treatment of heart tissue using viability map
DE69937888T2 (de) 1998-07-31 2009-01-02 Genzyme Corp., Cambridge Verfahren zur Herstellung mesenchymaler Stammzellen
JP2003524443A (ja) 1998-08-02 2003-08-19 スーパー ディメンション リミテッド 医療用体内誘導装置
US20030074011A1 (en) 1998-09-24 2003-04-17 Super Dimension Ltd. System and method of recording and displaying in context of an image a location of at least one point-of-interest in a body during an intra-body medical procedure
IL126333A0 (en) 1998-09-24 1999-05-09 Super Dimension Ltd System and method of recording and displaying in context of an image a location of at least one point-of-interest in body during an intra-body medical procedure
JP2002526188A (ja) 1998-09-24 2002-08-20 スーパー ディメンション リミテッド 体内への医療処置中にカテーテルの位置を判定するためのシステム及び方法
US6373240B1 (en) 1998-10-15 2002-04-16 Biosense, Inc. Metal immune system for tracking spatial coordinates of an object in the presence of a perturbed energy field
ATE267032T1 (de) 1998-12-14 2004-06-15 Tre Esse Progettazione Biomedi Kathetersystem zur durchführung einer intramyokardialen therapeutischen behandlung
CA2356322A1 (en) 1998-12-23 2000-06-29 Peter D. Jakab Magnetic resonance scanner with electromagnetic position and orientation tracking device
US6285902B1 (en) 1999-02-10 2001-09-04 Surgical Insights, Inc. Computer assisted targeting device for use in orthopaedic surgery
US7590441B2 (en) 1999-03-11 2009-09-15 Biosense, Inc. Invasive medical device with position sensing and display
US6470207B1 (en) 1999-03-23 2002-10-22 Surgical Navigation Technologies, Inc. Navigational guidance via computer-assisted fluoroscopic imaging
DE19917867B4 (de) 1999-04-20 2005-04-21 Brainlab Ag Verfahren und Vorrichtung zur Bildunterstützung bei der Behandlung von Behandlungszielen mit Integration von Röntgenerfassung und Navigationssystem
US7778688B2 (en) 1999-05-18 2010-08-17 MediGuide, Ltd. System and method for delivering a stent to a selected position within a lumen
US7343195B2 (en) 1999-05-18 2008-03-11 Mediguide Ltd. Method and apparatus for real time quantitative three-dimensional image reconstruction of a moving organ and intra-body navigation
US7840252B2 (en) 1999-05-18 2010-11-23 MediGuide, Ltd. Method and system for determining a three dimensional representation of a tubular organ
US9572519B2 (en) 1999-05-18 2017-02-21 Mediguide Ltd. Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors
US8442618B2 (en) 1999-05-18 2013-05-14 Mediguide Ltd. Method and system for delivering a medical device to a selected position within a lumen
US7386339B2 (en) 1999-05-18 2008-06-10 Mediguide Ltd. Medical imaging and navigation system
US6233476B1 (en) 1999-05-18 2001-05-15 Mediguide Ltd. Medical positioning system
US6192280B1 (en) 1999-06-02 2001-02-20 Medtronic, Inc. Guidewire placed implantable lead with tip seal
US6246231B1 (en) 1999-07-29 2001-06-12 Ascension Technology Corporation Magnetic field permeable barrier for magnetic position measurement system
US6213995B1 (en) 1999-08-31 2001-04-10 Phelps Dodge High Performance Conductors Of Sc And Ga, Inc. Flexible tubing with braided signal transmission elements
US6701179B1 (en) 1999-10-28 2004-03-02 Michael A. Martinelli Coil structures and methods for generating magnetic fields
US7366562B2 (en) 2003-10-17 2008-04-29 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
WO2001030437A1 (en) 1999-10-28 2001-05-03 Winchester Development Associates Patient-shielding and coil system
US6499488B1 (en) 1999-10-28 2002-12-31 Winchester Development Associates Surgical sensor
US6493573B1 (en) 1999-10-28 2002-12-10 Winchester Development Associates Method and system for navigating a catheter probe in the presence of field-influencing objects
US6474341B1 (en) 1999-10-28 2002-11-05 Surgical Navigation Technologies, Inc. Surgical communication and power system
US6381485B1 (en) 1999-10-28 2002-04-30 Surgical Navigation Technologies, Inc. Registration of human anatomy integrated for electromagnetic localization
US6172499B1 (en) 1999-10-29 2001-01-09 Ascension Technology Corporation Eddy current error-reduced AC magnetic position measurement system
DE19953177A1 (de) 1999-11-04 2001-06-21 Brainlab Ag Exakte Patientenpositionierung durch Vergleich von rekonstruierten und Linac-Röntgenbildern
DE19956814B4 (de) 1999-11-25 2004-07-15 Brainlab Ag Formerfassung von Behandlungsvorrichtungen
US6437567B1 (en) 1999-12-06 2002-08-20 General Electric Company Radio frequency coil for open magnetic resonance imaging system
US6611700B1 (en) 1999-12-30 2003-08-26 Brainlab Ag Method and apparatus for positioning a body for radiation using a position sensor
WO2001054579A1 (en) 2000-01-10 2001-08-02 Super Dimension Ltd. Methods and systems for performing medical procedures with reference to projective images and with respect to pre-stored images
DE10000937B4 (de) 2000-01-12 2006-02-23 Brainlab Ag Intraoperative Navigationsaktualisierung
US20010034530A1 (en) 2000-01-27 2001-10-25 Malackowski Donald W. Surgery system
EP1269111A4 (en) 2000-03-09 2016-08-10 Covidien Lp OBJECT MARKING USING A SINGLE DETECTOR OR A PAIR OF DETECTORS
US6615155B2 (en) 2000-03-09 2003-09-02 Super Dimension Ltd. Object tracking using a single sensor or a pair of sensors
EP1269206A2 (en) 2000-03-24 2003-01-02 Surgi-Vision Apparatus, systems and methods for in vivo magnetic resonance imaging
ES2180481T3 (es) 2000-04-05 2003-02-16 Brainlab Ag Referenciacion de un paciente en un sistema de navegacion medica, utilizando puntos luminosos proyectados.
US6484049B1 (en) 2000-04-28 2002-11-19 Ge Medical Systems Global Technology Company, Llc Fluoroscopic tracking and visualization system
US6478802B2 (en) 2000-06-09 2002-11-12 Ge Medical Systems Global Technology Company, Llc Method and apparatus for display of an image guided drill bit
US7809421B1 (en) 2000-07-20 2010-10-05 Biosense, Inc. Medical system calibration with static metal compensation
US6484118B1 (en) 2000-07-20 2002-11-19 Biosense, Inc. Electromagnetic position single axis system
US6650927B1 (en) 2000-08-18 2003-11-18 Biosense, Inc. Rendering of diagnostic imaging data on a three-dimensional map
EP1190676B1 (de) 2000-09-26 2003-08-13 BrainLAB AG Vorrichtung zum Bestimmen der Position eines Schneidblocks
EP1219260B1 (de) 2000-12-19 2003-06-25 BrainLAB AG Verfahren und Vorrichtung zur navigationsgestüzten Zahnbehandlung
US20020103430A1 (en) 2001-01-29 2002-08-01 Hastings Roger N. Catheter navigation within an MR imaging device
US6620151B2 (en) 2001-03-01 2003-09-16 Advanced Neuromodulation Systems, Inc. Non-constant pressure infusion pump
US20030018251A1 (en) 2001-04-06 2003-01-23 Stephen Solomon Cardiological mapping and navigation system
WO2002085188A2 (en) 2001-04-24 2002-10-31 Kaplan Edward J Deflectable implantation device and method for use
ES2194809T3 (es) 2001-05-22 2003-12-01 Brainlab Ag Aparato para registrar imagenes radiograficas con un sistema de navegacion medica.
US7286868B2 (en) 2001-06-15 2007-10-23 Biosense Inc. Medical device with position sensor having accuracy at high temperatures
US6577752B2 (en) 2001-06-15 2003-06-10 Arch Development Corporation Automated method and system for the delineation of the chest wall in computed tomography scans for the assessment of pleural disease
JP4602602B2 (ja) 2001-07-19 2010-12-22 オリンパス株式会社 医療器具
ATE387892T1 (de) 2001-10-10 2008-03-15 Brainlab Ag Medizinisches instrument mit berührungsempfindlicher spitze
EP1306050B1 (de) 2001-10-24 2004-05-19 BrainLAB AG Navigierte Mikrosonde
US7729742B2 (en) 2001-12-21 2010-06-01 Biosense, Inc. Wireless position sensor
EP1329202B1 (de) 2002-01-18 2004-03-10 BrainLAB AG Verfahren und Einrichtung zur Zuordnung einer digitalen Bildinformation zu den Navigationsdaten eines medizinischen Navigationssystems
DE10203371A1 (de) 2002-01-29 2003-08-07 Siemens Ag Katheter, insbesondere intravaskulärer Katheter
US20040015049A1 (en) 2002-02-05 2004-01-22 Kersten Zaar Endoscope with sideview optics
US6947786B2 (en) 2002-02-28 2005-09-20 Surgical Navigation Technologies, Inc. Method and apparatus for perspective inversion
EP2380487B1 (en) 2002-04-17 2021-03-31 Covidien LP Endoscope structures for navigating to a target in branched structure
US7248914B2 (en) 2002-06-28 2007-07-24 Stereotaxis, Inc. Method of navigating medical devices in the presence of radiopaque material
US7020510B2 (en) 2002-07-25 2006-03-28 Koninklijke Philips Electronics, N.V. Optimal view map V.0.01
WO2004010857A1 (ja) 2002-07-31 2004-02-05 Olympus Corporation 内視鏡装置
US20050272971A1 (en) 2002-08-30 2005-12-08 Olympus Corporation Medical treatment system, endoscope system, endoscope insert operation program, and endoscope device
AU2003269460A1 (en) 2002-10-18 2004-05-04 Arieh Sher Atherectomy system with imaging guidewire
US20040086161A1 (en) 2002-11-05 2004-05-06 Radhika Sivaramakrishna Automated detection of lung nodules from multi-slice CT image data
US7881769B2 (en) 2002-11-18 2011-02-01 Mediguide Ltd. Method and system for mounting an MPS sensor on a catheter
US7697972B2 (en) 2002-11-19 2010-04-13 Medtronic Navigation, Inc. Navigation system for cardiac therapies
US7747307B2 (en) 2003-03-04 2010-06-29 Calypso Medical Technologies, Inc. Method and system for marker localization
US7505809B2 (en) 2003-01-13 2009-03-17 Mediguide Ltd. Method and system for registering a first image with a second image relative to the body of a patient
US6956369B2 (en) 2003-01-17 2005-10-18 Mednovus, Inc. Screening method and apparatus
US7660623B2 (en) 2003-01-30 2010-02-09 Medtronic Navigation, Inc. Six degree of freedom alignment display for medical procedures
US7399296B2 (en) 2003-02-26 2008-07-15 Medtronic Vascular, Inc. Catheter having highly radiopaque embedded segment
US6987995B2 (en) 2003-03-12 2006-01-17 Biosense Webster, Inc. Multifunctional catheter handle
US8118732B2 (en) 2003-04-01 2012-02-21 Boston Scientific Scimed, Inc. Force feedback control system for video endoscope
US7570987B2 (en) 2003-04-04 2009-08-04 Brainlab Ag Perspective registration and visualization of internal areas of the body
EP1615554B1 (en) 2003-04-15 2017-12-20 Philips Intellectual Property & Standards GmbH Method and arrangement for influencing magnetic particles and detecting interfering material
US7783441B2 (en) 2003-04-17 2010-08-24 Northern Digital Inc. Eddy current detection and compensation
US7321228B2 (en) 2003-07-31 2008-01-22 Biosense Webster, Inc. Detection of metal disturbance in a magnetic tracking system
US7697974B2 (en) 2003-10-10 2010-04-13 Ge Medical Systems Global Technology Company, Llc Methods and apparatus for analysis of angiographic and other cyclical images
JP3820244B2 (ja) 2003-10-29 2006-09-13 オリンパス株式会社 挿入支援システム
US7397364B2 (en) 2003-11-11 2008-07-08 Biosense Webster, Inc. Digital wireless position sensor
EP1691666B1 (en) 2003-12-12 2012-05-30 University of Washington Catheterscope 3d guidance and interface system
US7684849B2 (en) 2003-12-31 2010-03-23 Calypso Medical Technologies, Inc. Marker localization sensing system synchronized with radiation source
US6995729B2 (en) 2004-01-09 2006-02-07 Biosense Webster, Inc. Transponder with overlapping coil antennas on a common core
ATE482664T1 (de) 2004-01-20 2010-10-15 Koninkl Philips Electronics Nv Vorrichtung und verfahren zur navigation eines katheters
DE502004009884D1 (de) 2004-02-03 2009-09-24 Brainlab Ag Vorrichtung zum Bestimmen der Position eines Schneidblocks
JP4639199B2 (ja) 2004-02-18 2011-02-23 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 磁気位置決め装置の測定値補正
DE102004009237B3 (de) 2004-02-26 2005-09-22 Siemens Ag Vorrichtung zum Einbringen eines Stents in ein Hohlorgan
US7811294B2 (en) 2004-03-08 2010-10-12 Mediguide Ltd. Automatic guidewire maneuvering system and method
WO2005092188A1 (ja) 2004-03-29 2005-10-06 Olympus Corporation 被検体内位置検出システム
JP4481711B2 (ja) 2004-04-09 2010-06-16 オリンパス株式会社 挿入形状検出プローブ
US7720521B2 (en) 2004-04-21 2010-05-18 Acclarent, Inc. Methods and devices for performing procedures within the ear, nose, throat and paranasal sinuses
JP4732451B2 (ja) 2004-05-26 2011-07-27 メディカル・デバイス・イノベーションズ・リミテッド 組織分類機器
US7197354B2 (en) 2004-06-21 2007-03-27 Mediguide Ltd. System for determining the position and orientation of a catheter
US7599535B2 (en) 2004-08-02 2009-10-06 Siemens Medical Solutions Usa, Inc. System and method for tree-model visualization for pulmonary embolism detection
US7634122B2 (en) 2004-08-25 2009-12-15 Brainlab Ag Registering intraoperative scans
US7373271B1 (en) 2004-09-20 2008-05-13 Ascension Technology Corporation System and method for measuring position and orientation using distortion-compensated magnetic fields
US7636595B2 (en) 2004-10-28 2009-12-22 Medtronic Navigation, Inc. Method and apparatus for calibrating non-linear instruments
EP1827243B1 (en) 2004-11-05 2010-01-20 THE GOVERNMENT OF THE UNITED STATES OF AMERICA, as represented by THE SECRETARY, DEPARTMENT OF HEALTH AND HUMAN SERVICES Access system
EP1859413A2 (en) 2005-02-11 2007-11-28 Philips Intellectual Property & Standards GmbH Analysis of pulmonary nodules from ct scans using the contrast agent enhancement as a function of distance to the boundary of the nodule
US7236567B2 (en) 2005-03-24 2007-06-26 Siemens Aktiengesellschaft Method and apparatus for synchronizing operation of an x-ray system and a magnetic system
EP1871233A1 (en) 2005-04-11 2008-01-02 Philips Intellectual Property & Standards GmbH Three dimensional imaging for guiding interventional medical devices in a body volume
JP4958896B2 (ja) 2005-04-21 2012-06-20 アスマティックス，インコーポレイテッド エネルギー送出のための制御方法および装置
DE102005028873B4 (de) 2005-06-22 2014-07-24 Siemens Aktiengesellschaft Verfahren zur Durchführung einer Untersuchung und Diagnosevorrichtung hierfür
US7324915B2 (en) 2005-07-14 2008-01-29 Biosense Webster, Inc. Data transmission to a position sensor
US7536218B2 (en) 2005-07-15 2009-05-19 Biosense Webster, Inc. Hybrid magnetic-based and impedance-based position sensing
WO2007033379A2 (en) 2005-09-14 2007-03-22 Neoguide Systems, Inc. Methods and apparatus for performing transluminal and other procedures
DE102005044405A1 (de) 2005-09-16 2007-03-22 Siemens Ag Verfahren zur bildlichen Darstellung eines in ein Untersuchungsobjekt mindestens teilweise eingeführten, medizinischen Instruments
US7301332B2 (en) 2005-10-06 2007-11-27 Biosense Webster, Inc. Magnetic sensor assembly
US20070167806A1 (en) 2005-11-28 2007-07-19 Koninklijke Philips Electronics N.V. Multi-modality imaging and treatment
US20070167714A1 (en) 2005-12-07 2007-07-19 Siemens Corporate Research, Inc. System and Method For Bronchoscopic Navigational Assistance
US8225794B2 (en) 2006-01-13 2012-07-24 Olympus Medical Systems Corp. Overtube
US7769469B2 (en) 2006-06-26 2010-08-03 Meridian Medical Systems, Llc Integrated heating/sensing catheter apparatus for minimally invasive applications
US7688064B2 (en) 2006-07-11 2010-03-30 Biosense Webster Inc. Probe for assessment of metal distortion
US8150497B2 (en) 2006-09-08 2012-04-03 Medtronic, Inc. System for navigating a planned procedure within a body
US20080086051A1 (en) 2006-09-20 2008-04-10 Ethicon Endo-Surgery, Inc. System, storage medium for a computer program, and method for displaying medical images
ATE497729T1 (de) 2006-10-02 2011-02-15 Hansen Medical Inc System für dreidimensionale ultraschall-abbildung
DE502006003472D1 (de) 2006-10-20 2009-05-28 Brainlab Ag Markernavigationsvorrichtung insbesondere für medizinische Zwecke
WO2008125910A2 (en) 2006-11-10 2008-10-23 Superdimension, Ltd. Adaptive navigation technique for navigating a catheter through a body channel or cavity
IL187667A (en) 2006-11-27 2011-12-29 Mediguide Ltd System and method for navigating a surgical needle toward an organ of the body of a patient
US8320991B2 (en) 2006-12-01 2012-11-27 Medtronic Navigation Inc. Portable electromagnetic navigation system
US20080139915A1 (en) 2006-12-07 2008-06-12 Medtronic Vascular, Inc. Vascular Position Locating and/or Mapping Apparatus and Methods
JP2008142199A (ja) 2006-12-07 2008-06-26 Olympus Corp 内視鏡および内視鏡の湾曲操作装置
US7879004B2 (en) 2006-12-13 2011-02-01 University Of Washington Catheter tip displacement mechanism
US20080154172A1 (en) 2006-12-20 2008-06-26 Medtronic Vascular, Inc. Low Profile Catheters and Methods for Treatment of Chronic Total Occlusions and Other Disorders
US9220573B2 (en) 2007-01-02 2015-12-29 Medtronic Navigation, Inc. System and method for tracking positions of uniform marker geometries
IL188262A (en) 2007-01-10 2011-10-31 Mediguide Ltd System and method for superimposing a representation of the tip of a catheter on an image acquired by a moving imager
JP5089999B2 (ja) 2007-01-24 2012-12-05 オリンパス株式会社 位置検出回路及びその応用装置
DE102007024910B4 (de) 2007-05-29 2009-04-09 Siemens Ag Anordnung zur Magnetfeld-Vermessung
US8926511B2 (en) 2008-02-29 2015-01-06 Biosense Webster, Inc. Location system with virtual touch screen
JP5372407B2 (ja) 2008-05-23 2013-12-18 オリンパスメディカルシステムズ株式会社 医療機器
US20110066073A1 (en) 2008-06-12 2011-03-17 Stein Kuiper Biopsy device with acoustic element
US8206380B2 (en) 2008-06-13 2012-06-26 Advanced Caridiac Therapeutics Inc. Method and apparatus for measuring catheter contact force during a medical procedure
WO2010090701A1 (en) 2009-01-20 2010-08-12 Advanced Cardiac Therapeutics Inc. Method and apparatus for minimizing thermal trauma to an organ during tissue ablation of a different organ
US8731684B2 (en) 2009-01-20 2014-05-20 Meridian Medical Systems, Llc Method and apparatus for aligning an ablation catheter and a temperature probe during an ablation procedure
US8611984B2 (en) 2009-04-08 2013-12-17 Covidien Lp Locatable catheter
US9226791B2 (en) 2012-03-12 2016-01-05 Advanced Cardiac Therapeutics, Inc. Systems for temperature-controlled ablation using radiometric feedback
US9277961B2 (en) 2009-06-12 2016-03-08 Advanced Cardiac Therapeutics, Inc. Systems and methods of radiometrically determining a hot-spot temperature of tissue being treated
US8954161B2 (en) 2012-06-01 2015-02-10 Advanced Cardiac Therapeutics, Inc. Systems and methods for radiometrically measuring temperature and detecting tissue contact prior to and during tissue ablation
US8926605B2 (en) 2012-02-07 2015-01-06 Advanced Cardiac Therapeutics, Inc. Systems and methods for radiometrically measuring temperature during tissue ablation
WO2011102012A1 (ja) 2010-02-22 2011-08-25 オリンパスメディカルシステムズ株式会社 医療機器
WO2011104664A1 (en) 2010-02-26 2011-09-01 Koninklijke Philips Electronics N.V. Interventional ablation device with tissue discriminating capability
US8623004B2 (en) 2010-03-10 2014-01-07 Covidien Lp Method for determining proximity relative to a critical structure
US8709034B2 (en) 2011-05-13 2014-04-29 Broncus Medical Inc. Methods and devices for diagnosing, monitoring, or treating medical conditions through an opening through an airway wall
US20130281851A1 (en) 2012-04-19 2013-10-24 Kenneth L. Carr Heating/sensing catheter apparatus for minimally invasive applications
JP6231090B2 (ja) 2012-06-22 2017-11-15 コビディエン エルピー マイクロ波焼灼システムのためのマイクロ波温度測定
US9993295B2 (en) 2012-08-07 2018-06-12 Covidien Lp Microwave ablation catheter and method of utilizing the same
JP6441797B2 (ja) 2012-08-14 2018-12-19 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 最小侵襲器具におけるコンポーネントを構成するためのシステム及び方法
CN105451802B (zh) 2013-08-15 2019-04-19 直观外科手术操作公司 用于导管定位和插入的图形用户界面
CN106572834B (zh) 2014-07-02 2019-12-03 柯惠有限合伙公司 对准ct
US11188285B2 (en) 2014-07-02 2021-11-30 Covidien Lp Intelligent display
US20160051221A1 (en) 2014-08-25 2016-02-25 Covidien Lp System and Method for Planning, Monitoring, and Confirming Treatment
US10624697B2 (en) 2014-08-26 2020-04-21 Covidien Lp Microwave ablation system
US9705240B2 (en) * 2015-09-11 2017-07-11 Winchester Electronics Corporation Vibration resistant connector

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2541498A1 (fr) * 1980-03-13 1984-08-24 Sarfati Gilbert Cable electrique adhesif souple
US20150073217A1 (en) * 2010-06-04 2015-03-12 Nelson Powell Intelligent endoscopy systems and methods
US20130274720A1 (en) * 2012-04-11 2013-10-17 James K. Brannon Split endoscopic instrument
US20160296105A1 (en) * 2013-11-18 2016-10-13 Meditech Endoscopy Ltd Gripping Device
CN203852380U (zh) * 2014-04-02 2014-10-01 无锡怡华科技发展有限公司 带定位传感器的支气管镜用活检钳

Also Published As

Publication number Publication date
US11219489B2 (en) 2022-01-11
US20190125453A1 (en) 2019-05-02
EP3482671B1 (en) 2021-05-19
EP3482671A1 (en) 2019-05-15

Similar Documents

Publication Publication Date Title
US20230131558A1 (en) Pannable Endoscope
JP7366943B2 (ja) 医療器具のための位置合わせ及び取り付けシステム
US8016749B2 (en) Vision catheter having electromechanical navigation
CN104470575B (zh) 配置微创器械中的部件的系统和方法
US10154798B2 (en) Locatable catheter
US20120029289A1 (en) Optical Cap for Use With Arthroscopic System
JP2022000141A (ja) 向き参照マーカを有するロボット内視鏡プローブ
US20120029280A1 (en) Arthroscopic System
US20100217080A1 (en) Disposable Sheath for Use with an Imaging System
JP2009254837A (ja) 内視鏡構造と分岐構造内の標的にナビゲートするための技術
US20200205908A1 (en) Medical instrument with articulable segment
CN108926320A (zh) 外科护套和包括该外科护套的外科装置
US20140316199A1 (en) Arthroscopic system
JP2021530285A (ja) 医療ツールの存在を感知するためのシステムおよび方法
US20240316317A1 (en) Backend mechanism of a catheter control system
CN107106132A (zh) 用于通过使用用于超声成像的摄像机进行适当经食道超声心动描记术探针定位的设备、系统和方法
JP2021531853A (ja) ツール検出および関連する制御モードのためのシステムおよび方法
CN109717955A (zh) 用于提供与医疗工具并联的传感器的装置和系统
US20170127909A1 (en) Apparatus for Clinical Use
TWI762812B (zh) 內視鏡與內視鏡設備及內視鏡的定位方法
US20240081915A1 (en) Instrument presence and rotational offset sensing in flexible system

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
RJ01 Rejection of invention patent application after publication

Application publication date: 20190507

RJ01 Rejection of invention patent application after publication