CN117323001A - 光纤形状感测系统 - Google Patents

光纤形状感测系统 Download PDF

Info

Publication number
CN117323001A
CN117323001A CN202311508286.XA CN202311508286A CN117323001A CN 117323001 A CN117323001 A CN 117323001A CN 202311508286 A CN202311508286 A CN 202311508286A CN 117323001 A CN117323001 A CN 117323001A
Authority
CN
China
Prior art keywords
shape sensing
fiber
optical
attachment device
optical shape
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
CN202311508286.XA
Other languages
English (en)
Chinese (zh)
Inventor
贺星驰
A·波波维奇
M·L·弗莱克斯曼
P·蒂安帕拉帕
D·P·努南
R·克龙
A·L·赖因施泰因
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips NV filed Critical Koninklijke Philips NV
Publication of CN117323001A publication Critical patent/CN117323001A/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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools for implanting artificial joints
    • A61F2/4657—Measuring instruments used for implanting artificial joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0042—Surgical instruments, devices or methods with special provisions for gripping
    • A61B2017/00438—Surgical instruments, devices or methods with special provisions for gripping connectable to a finger
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • 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
    • A61B2034/2061—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
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/741—Glove like input devices, e.g. "data gloves"
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/374—NMR or MRI
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools for implanting artificial joints
    • A61F2/4657—Measuring instruments used for implanting artificial joints
    • A61F2002/4663—Measuring instruments used for implanting artificial joints for measuring volumes or other three-dimensional shapes

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transplantation (AREA)
  • Radiology & Medical Imaging (AREA)
  • Gynecology & Obstetrics (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Surgical Instruments (AREA)
  • Length Measuring Devices By Optical Means (AREA)
CN202311508286.XA 2014-09-08 2015-08-31 光纤形状感测系统 Pending CN117323001A (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201462047338P 2014-09-08 2014-09-08
US62/047,338 2014-09-08
CN201580048328.3A CN107124867A (zh) 2014-09-08 2015-08-31 用于骨科导航的形状感测
PCT/IB2015/056595 WO2016038499A2 (en) 2014-09-08 2015-08-31 Shape sensing for orthopedic navigation

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201580048328.3A Division CN107124867A (zh) 2014-09-08 2015-08-31 用于骨科导航的形状感测

Publications (1)

Publication Number Publication Date
CN117323001A true CN117323001A (zh) 2024-01-02

Family

ID=54252351

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202311508286.XA Pending CN117323001A (zh) 2014-09-08 2015-08-31 光纤形状感测系统
CN201580048328.3A Pending CN107124867A (zh) 2014-09-08 2015-08-31 用于骨科导航的形状感测

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201580048328.3A Pending CN107124867A (zh) 2014-09-08 2015-08-31 用于骨科导航的形状感测

Country Status (5)

Country Link
US (1) US11219487B2 (https=)
EP (1) EP3191010A2 (https=)
JP (1) JP6713987B2 (https=)
CN (2) CN117323001A (https=)
WO (1) WO2016038499A2 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119385507A (zh) * 2024-10-22 2025-02-07 北京安颂科技有限公司 用于人体膝关节置换术中在线监测的光纤传感系统及方法

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9860477B2 (en) 2013-12-23 2018-01-02 Echostar Technologies L.L.C. Customized video mosaic
WO2016181317A2 (en) 2015-05-12 2016-11-17 Navix International Limited Calculation of an ablation plan
EP3294179B1 (en) 2015-05-12 2024-04-17 Navix International Limited Lesion assessment by dielectric property analysis
US10849550B2 (en) 2016-06-03 2020-12-01 RoboDiagnostics LLC Robotic joint testing apparatus and coordinate systems for joint evaluation and testing
WO2018011757A1 (en) 2016-07-14 2018-01-18 Navix International Limited Characteristic track catheter navigation
WO2018092071A1 (en) 2016-11-16 2018-05-24 Navix International Limited Estimators for ablation effectiveness
CN110177500B (zh) * 2016-11-16 2022-03-04 纳维斯国际有限公司 组织模型动态视觉渲染
US10709507B2 (en) 2016-11-16 2020-07-14 Navix International Limited Real-time display of treatment-related tissue changes using virtual material
US11331029B2 (en) 2016-11-16 2022-05-17 Navix International Limited Esophagus position detection by electrical mapping
US11284813B2 (en) 2016-11-16 2022-03-29 Navix International Limited Real-time display of tissue deformation by interactions with an intra-body probe
WO2018175737A1 (en) * 2017-03-22 2018-09-27 Intuitive Surgical Operations, Inc. Systems and methods for intelligently seeding registration
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
EP3621545B1 (en) * 2017-05-10 2024-02-21 MAKO Surgical Corp. Robotic spine surgery system
EP3644889A4 (en) * 2017-06-28 2021-04-07 Intuitive Surgical Operations, Inc. SYSTEMS AND METHODS FOR PROJECTING AN ENDOSCOPIC IMAGE ON A THREE-DIMENSIONAL VOLUME
CN107669349A (zh) * 2017-10-11 2018-02-09 余江 一种对股骨头中心、髌骨中点和第二趾骨进行定位的装置和定位设备
US11129679B2 (en) 2017-11-14 2021-09-28 Mako Surgical Corp. Fiber optic tracking system
TR201722919A2 (tr) * 2017-12-29 2019-07-22 Erhan Ilhan Konukseven Fi̇ber bragg izgara tabanli opti̇k sensörler i̇le cerrahi̇ branşlarda konum beli̇rleme si̇stemi̇
EP3518010A1 (en) * 2018-01-30 2019-07-31 Koninklijke Philips N.V. Optical shape sensor, optical shape sensing console and system, and optical shape sensing method
WO2019168863A1 (en) * 2018-02-27 2019-09-06 Mako Surgical Corp. Registration tools, systems, and methods
MX2020010377A (es) * 2018-04-02 2020-10-22 Saranas Inc Tecnica de deteccion de hemorragia por bioimpedancia direccional y regional.
US20190310819A1 (en) * 2018-04-10 2019-10-10 Carto Technologies, LLC Augmented reality image display systems and methods
GB2577718B (en) 2018-10-03 2022-08-24 Cmr Surgical Ltd Feature identification
GB2577719B (en) * 2018-10-03 2023-04-26 Cmr Surgical Ltd Navigational aid
US11642175B2 (en) * 2018-11-15 2023-05-09 Centerline Biomedical, Inc. Systems and methods for registration using an anatomical measurement wire
CN110123452A (zh) * 2019-05-08 2019-08-16 上海电气集团股份有限公司 机器人的导航方法及系统
CN110960321B (zh) 2019-12-18 2021-07-02 苏州微创畅行机器人有限公司 注册靶标、注册方法、装置、电子设备和存储介质
CN115802966A (zh) * 2020-06-05 2023-03-14 皇家飞利浦有限公司 用于将介入器械引导至内部目标的系统
GB202011995D0 (en) * 2020-07-31 2020-09-16 Zaman Tariq A system for monitoring strain
US20230289976A1 (en) * 2022-03-09 2023-09-14 Claire SooHoo Multi-component system for computerized x-ray vision to track motion during surgery
AU2023278867A1 (en) 2022-06-03 2025-01-09 Mako Surgical Corp. Surgical robotic system with compliance mechanism
WO2025019758A1 (en) * 2023-07-20 2025-01-23 The Cleveland Clinic Foundation System for automated surface contour matching for surgical navigation

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7169141B2 (en) * 1998-02-24 2007-01-30 Hansen Medical, Inc. Surgical instrument
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US7742802B2 (en) * 2004-03-11 2010-06-22 Howmedica Osteonics Corp. System for determining a position of a point on an object
US7657298B2 (en) 2004-03-11 2010-02-02 Stryker Leibinger Gmbh & Co. Kg System, device, and method for determining a position of an object
US7772541B2 (en) * 2004-07-16 2010-08-10 Luna Innnovations Incorporated Fiber optic position and/or shape sensing based on rayleigh scatter
AU2007254159B2 (en) 2006-05-19 2013-07-04 Mako Surgical Corp. System and method for verifying calibration of a surgical device
WO2009155325A2 (en) * 2008-06-18 2009-12-23 Mako Surgical Corp. Fiber optictracking system and method for tracking
JP5185773B2 (ja) * 2008-10-28 2013-04-17 オリンパスメディカルシステムズ株式会社 形状測定装置
JP5770207B2 (ja) * 2010-01-14 2015-08-26 コーニンクレッカ フィリップス エヌ ヴェ リアルタイム位置追跡のための医療スコープ用可撓性インサート
US9226799B2 (en) 2010-06-23 2016-01-05 Mako Surgical Corp. Inertially tracked objects
US10448837B2 (en) * 2010-08-23 2019-10-22 Knonklijke Philips N.V. Mapping system and method for medical procedures
US20130324833A1 (en) * 2011-02-24 2013-12-05 Koninklijke Philips N.V. Non-rigid-body morphing of vessel image using intravascular device shape
EP2723240B1 (en) * 2011-06-27 2018-08-08 Koninklijke Philips N.V. Live 3d angiogram using registration of a surgical tool curve to an x-ray image
US10575757B2 (en) * 2011-08-16 2020-03-03 Koninklijke Philips N.V. Curved multi-planar reconstruction using fiber optic shape data
BR112014009342A2 (pt) * 2011-10-20 2017-04-18 Koninklijke Philips Nv sistema; estação de trabalho para avaliação cardíaca funcional; e método
EP2744439B1 (en) * 2011-10-26 2015-06-17 Koninklijke Philips N.V. Smart tool holder for an optical shape-sensing fiber
CN108403088A (zh) 2012-10-02 2018-08-17 皇家飞利浦有限公司 使用光学形状传感器的体积映射
BR112015013510A2 (pt) 2012-12-14 2017-07-11 Koninklijke Philips Nv aparelho para determinação de posição para determinar a posição de um elemento de trabalho, sistema de intervenção, método para determinação de posição e programa de computador para determinar a posição de um elemento de trabalho

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119385507A (zh) * 2024-10-22 2025-02-07 北京安颂科技有限公司 用于人体膝关节置换术中在线监测的光纤传感系统及方法

Also Published As

Publication number Publication date
JP2017529914A (ja) 2017-10-12
US11219487B2 (en) 2022-01-11
JP6713987B2 (ja) 2020-06-24
WO2016038499A3 (en) 2016-05-06
EP3191010A2 (en) 2017-07-19
US20170281281A1 (en) 2017-10-05
CN107124867A (zh) 2017-09-01
WO2016038499A2 (en) 2016-03-17

Similar Documents

Publication Publication Date Title
US11219487B2 (en) Shape sensing for orthopedic navigation
US7747312B2 (en) System and method for automatic shape registration and instrument tracking
US11793578B2 (en) Optical shape sensing for instrument tracking in orthopedics
NL1034672C2 (nl) Medisch navigatiesysteem met gereedschap- en/of implantaatintegratie in fluoroscopische beeldprojecties en werkwijze voor het gebruik daarvan.
CN105555205B (zh) 用于定位可移动目标的形状传感器系统
US9320569B2 (en) Systems and methods for implant distance measurement
EP3316786B1 (en) Fiber-optical realshape sensing for fluoroscopic surgical navigation
US20060030771A1 (en) System and method for sensor integration
Caversaccio et al. Computer assistance for intraoperative navigation in ENT surgery
EP3082610A1 (en) Shape sensed robotic ultrasound for minimally invasive interventions
US20080154120A1 (en) Systems and methods for intraoperative measurements on navigated placements of implants
US20170273746A1 (en) Optical shape sensing for soft tissue balancing in orthopedics
Langlotz et al. Technical approaches to computer-assisted orthopedic surgery
Chen et al. External tracking devices and tracked tool calibration
US11141222B2 (en) Universal fiber-optical realshape insert
US12433761B1 (en) Systems and methods for determining the shape of spinal rods and spinal interbody devices for use with augmented reality displays, navigation systems and robots in minimally invasive spine procedures
US12507972B2 (en) Patient registration for total hip arthroplasty procedure using pre-operative computed tomography (CT), intra-operative fluoroscopy, and/or point cloud data
US20260013815A1 (en) Method for visualizing and navigating complex geometry for a medical procedure
WO2025195646A1 (en) Registration of pre-operative and intra-operative data
Thomas Real-time Navigation Procedure for Robot-assisted Surgery
Zheng et al. Image-Guided Orthopaedic Surgery

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