CN110049741B - 用于利用形状感测导丝确定非形状感测介入设备的长度的系统和方法 - Google Patents

用于利用形状感测导丝确定非形状感测介入设备的长度的系统和方法 Download PDF

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Publication number
CN110049741B
CN110049741B CN201780075497.5A CN201780075497A CN110049741B CN 110049741 B CN110049741 B CN 110049741B CN 201780075497 A CN201780075497 A CN 201780075497A CN 110049741 B CN110049741 B CN 110049741B
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shape
sensing
interventional device
guidewire
hub
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CN110049741A (zh
Inventor
T·M·比德隆
A·伊金
P·西恩帕波
W·H·G·M·范登布门
M·L·弗莱克斯曼
M·B·范德马克
A·波波维奇
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Koninklijke Philips NV
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Koninklijke Philips NV
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
    • G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • A61B5/066—Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
    • G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
    • G01L1/246—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using integrated gratings, e.g. Bragg gratings
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
    • G02B6/02—Optical fibres with cladding with or without a coating
    • G02B6/02042—Multicore optical fibres
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3966—Radiopaque markers visible in an X-ray image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0261—Strain gauges
    • A61B2562/0266—Optical strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
CN201780075497.5A 2016-12-05 2017-12-01 用于利用形状感测导丝确定非形状感测介入设备的长度的系统和方法 Active CN110049741B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310437261.9A CN116211467A (zh) 2016-12-05 2017-12-01 用于利用形状感测导丝确定非形状感测介入设备的长度以及确定导丝相对于介入设备的状态的系统和方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662429907P 2016-12-05 2016-12-05
US62/429,907 2016-12-05
PCT/EP2017/081138 WO2018104162A1 (en) 2016-12-05 2017-12-01 Systems and methods for determining the length of a non-shape-sensed interventional device with a shape-sensed guidewire and determining a state of the guidewire with respect to an interventional device

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CN202310437261.9A Division CN116211467A (zh) 2016-12-05 2017-12-01 用于利用形状感测导丝确定非形状感测介入设备的长度以及确定导丝相对于介入设备的状态的系统和方法

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CN110049741B true CN110049741B (zh) 2023-07-25

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CN202310437261.9A Pending CN116211467A (zh) 2016-12-05 2017-12-01 用于利用形状感测导丝确定非形状感测介入设备的长度以及确定导丝相对于介入设备的状态的系统和方法

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Country Link
US (1) US11346730B2 (https=)
EP (1) EP3547946B1 (https=)
JP (1) JP7292205B2 (https=)
CN (2) CN110049741B (https=)
WO (1) WO2018104162A1 (https=)

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EP3590427B1 (de) * 2018-07-04 2020-08-26 Siemens Healthcare GmbH Verfahren zum ermitteln einer geeigneten angulation und vorrichtung
EP3979930B1 (en) * 2019-06-12 2024-08-21 Bard Access Systems, Inc. Microintroducer system
WO2021074437A1 (en) * 2019-10-17 2021-04-22 Koninklijke Philips N.V. Automatic oss based feature detection and device characterization
WO2021144228A1 (en) * 2020-01-14 2021-07-22 Koninklijke Philips N.V. Image enhancement based on fiber optic shape sensing
CN111437033B (zh) * 2020-04-03 2021-03-02 天津理工大学 一种用于血管介入手术机器人系统的虚拟传感器
CN112336297B (zh) * 2020-10-31 2022-06-07 同济大学 体内导入装置的控制方法、系统和计算机可读存储介质
EP4104778A1 (en) * 2021-06-14 2022-12-21 Koninklijke Philips N.V. Apparatus, system and method for identifying subintimal path of a flexible elongated device
CN114052828B (zh) * 2022-01-17 2022-04-12 极限人工智能有限公司 堵塞穿透控制装置及血管机器人系统
CN116172700B (zh) * 2022-12-21 2026-01-02 杭州堃博生物科技有限公司 定位方法、装置、非易失性存储介质及电子设备
CN116531092A (zh) * 2023-04-21 2023-08-04 深圳睿心智能医疗科技有限公司 基于多模态图像融合的血管介入手术导航方法及装置
EP4582041A1 (en) * 2024-01-02 2025-07-09 Koninklijke Philips N.V. Fors docking top location and orientation and device access site detection from device shape data
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Also Published As

Publication number Publication date
CN110049741A (zh) 2019-07-23
JP7292205B2 (ja) 2023-06-16
JP2020504640A (ja) 2020-02-13
US11346730B2 (en) 2022-05-31
CN116211467A (zh) 2023-06-06
EP3547946A1 (en) 2019-10-09
US20190346319A1 (en) 2019-11-14
WO2018104162A1 (en) 2018-06-14
EP3547946B1 (en) 2025-08-13

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