JP2015205216A5 - - Google Patents

Download PDF

Info

Publication number
JP2015205216A5
JP2015205216A5 JP2015159895A JP2015159895A JP2015205216A5 JP 2015205216 A5 JP2015205216 A5 JP 2015205216A5 JP 2015159895 A JP2015159895 A JP 2015159895A JP 2015159895 A JP2015159895 A JP 2015159895A JP 2015205216 A5 JP2015205216 A5 JP 2015205216A5
Authority
JP
Japan
Prior art keywords
shape sensor
cannula
proximal end
information
proximal
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.)
Granted
Application number
JP2015159895A
Other languages
English (en)
Japanese (ja)
Other versions
JP6457352B2 (ja
JP2015205216A (ja
Filing date
Publication date
Priority claimed from US12/839,642 external-priority patent/US9285246B2/en
Application filed filed Critical
Publication of JP2015205216A publication Critical patent/JP2015205216A/ja
Publication of JP2015205216A5 publication Critical patent/JP2015205216A5/ja
Application granted granted Critical
Publication of JP6457352B2 publication Critical patent/JP6457352B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2015159895A 2010-02-12 2015-08-13 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム Active JP6457352B2 (ja)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US30409410P 2010-02-12 2010-02-12
US61/304,094 2010-02-12
US12/839,642 US9285246B2 (en) 2010-02-12 2010-07-20 Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor
US12/839,642 2010-07-20

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
JP2012552896A Division JP5826770B2 (ja) 2010-02-12 2011-01-28 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2017113383A Division JP6336661B2 (ja) 2010-02-12 2017-06-08 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム

Publications (3)

Publication Number Publication Date
JP2015205216A JP2015205216A (ja) 2015-11-19
JP2015205216A5 true JP2015205216A5 (enExample) 2016-01-07
JP6457352B2 JP6457352B2 (ja) 2019-01-23

Family

ID=43859687

Family Applications (6)

Application Number Title Priority Date Filing Date
JP2012552896A Active JP5826770B2 (ja) 2010-02-12 2011-01-28 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム
JP2015159895A Active JP6457352B2 (ja) 2010-02-12 2015-08-13 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム
JP2017113383A Active JP6336661B2 (ja) 2010-02-12 2017-06-08 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム
JP2018088764A Withdrawn JP2018118138A (ja) 2010-02-12 2018-05-02 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム
JP2019214174A Active JP7149923B2 (ja) 2010-02-12 2019-11-27 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム
JP2021180894A Withdrawn JP2022010080A (ja) 2010-02-12 2021-11-05 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム

Family Applications Before (1)

Application Number Title Priority Date Filing Date
JP2012552896A Active JP5826770B2 (ja) 2010-02-12 2011-01-28 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム

Family Applications After (4)

Application Number Title Priority Date Filing Date
JP2017113383A Active JP6336661B2 (ja) 2010-02-12 2017-06-08 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム
JP2018088764A Withdrawn JP2018118138A (ja) 2010-02-12 2018-05-02 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム
JP2019214174A Active JP7149923B2 (ja) 2010-02-12 2019-11-27 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム
JP2021180894A Withdrawn JP2022010080A (ja) 2010-02-12 2021-11-05 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム

Country Status (6)

Country Link
US (7) US9285246B2 (enExample)
EP (2) EP3339799B1 (enExample)
JP (6) JP5826770B2 (enExample)
KR (4) KR101868081B1 (enExample)
CN (2) CN102753114B (enExample)
WO (1) WO2011100124A1 (enExample)

Families Citing this family (63)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8773650B2 (en) 2009-09-18 2014-07-08 Intuitive Surgical Operations, Inc. Optical position and/or shape sensing
US9285246B2 (en) 2010-02-12 2016-03-15 Intuitive Surgical Operations, Inc. Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor
US9025158B2 (en) 2010-06-01 2015-05-05 Intuitive Surgical Operations, Inc. Interferometric measurement with crosstalk suppression
EP2624780B1 (en) * 2010-10-08 2024-02-14 Koninklijke Philips N.V. Flexible tether with integrated sensors for dynamic instrument tracking
BR112013018987A2 (pt) * 2011-01-27 2017-11-07 Koninl Philips Electronics Nv sistema de detecção do formato óptico integrado e método
BR112014005451B1 (pt) * 2011-09-13 2021-11-09 Koninklijke Philips N.V. Sistema de registro
US9405085B2 (en) * 2011-10-26 2016-08-02 Koninklijke Philips N.V. Smart tool holder for an optical shape-sensing fiber
RU2014127125A (ru) * 2011-12-03 2016-01-27 Конинклейке Филипс Н.В. Определение местоположения точки введения хирургического инструмента
WO2013141112A1 (ja) * 2012-03-23 2013-09-26 住友電気工業株式会社 干渉測定装置
US9429696B2 (en) 2012-06-25 2016-08-30 Intuitive Surgical Operations, Inc. Systems and methods for reducing measurement error in optical fiber shape sensors
EP2869754A2 (en) 2012-07-09 2015-05-13 Koninklijke Philips N.V. Method and system for adaptive image guided intervention
WO2014049519A1 (en) * 2012-09-28 2014-04-03 Koninklijke Philips N.V. Lumen design for optimal fiber integration for optical shape sensing
WO2014053934A1 (en) * 2012-10-01 2014-04-10 Koninklijke Philips N.V. System and method for registering shape sensing with imaging using an optimal plane
US9057600B2 (en) * 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US10357323B2 (en) 2013-03-26 2019-07-23 Koninklijke Philips N.V. System and method for minimizing twist for optical shape sensing enabled instruments
WO2014170782A1 (en) * 2013-04-18 2014-10-23 Koninklijke Philips N.V. Optimal lumen design for optical shape sensing device
US9592095B2 (en) 2013-05-16 2017-03-14 Intuitive Surgical Operations, Inc. Systems and methods for robotic medical system integration with external imaging
JP6270347B2 (ja) * 2013-06-07 2018-01-31 オリンパス株式会社 形状センサ
CN105473097B (zh) * 2013-07-29 2018-12-11 直观外科手术操作公司 具有冗余感测的形状传感器系统
US9925012B2 (en) * 2013-09-04 2018-03-27 Koninklijke Philips N.V. Robotic system
RS59287B1 (sr) * 2013-09-05 2019-10-31 Idexx Lab Inc Postupci za otkrivanje bolesti bubrega
WO2015038740A1 (en) 2013-09-12 2015-03-19 Intuitive Surgical Operations, Inc. Shape sensor systems for localizing movable targets
US20160223753A1 (en) * 2013-09-30 2016-08-04 Koninklijke Philips N.V. Launch fixture for optical shape sensing
CN105612447A (zh) 2013-09-30 2016-05-25 皇家飞利浦有限公司 用于将光学形状感测使能的设备中的光纤扭曲最小化的系统和方法
EP3054889B1 (en) * 2013-09-30 2020-06-24 Koninklijke Philips N.V. Multipurpose lumen design for optical shape sensing
US11432880B2 (en) 2013-09-30 2022-09-06 Koninklijke Philips N.V. Docking device for optical shape sensing launch fixtures
WO2015142947A1 (en) * 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. System and method for aligning with a reference target
JP2016020865A (ja) * 2014-07-15 2016-02-04 古河電気工業株式会社 光ファイバを用いた応力分布測定方法および応力分布測定装置
JP6736544B2 (ja) * 2014-09-09 2020-08-05 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 異なる可撓性のガイド及びツールを備えるシステム
WO2016051302A1 (en) * 2014-09-30 2016-04-07 Koninklijke Philips N.V. Triggering with optical shape sensing fiber
CN107105974B (zh) * 2014-10-17 2019-12-27 直观外科手术操作公司 用于使用光纤形状传感器减小测量误差的系统和方法
EP3226772B1 (en) 2014-12-02 2022-10-19 Koninklijke Philips N.V. Automatic tracking and registration of ultrasound probe using optical shape sensing without tip fixation
EP3037056B1 (en) 2014-12-23 2021-04-21 Stryker European Holdings I, LLC System for reconstructing a trajectory of an optical fiber
CN107111078B (zh) * 2015-03-27 2019-11-08 直观外科手术操作公司 待连接的光学多芯光纤的干涉对准
KR102542190B1 (ko) * 2015-04-06 2023-06-12 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영상 안내 수술에서의 정합 보상의 시스템 및 방법
JP2018527041A (ja) * 2015-06-15 2018-09-20 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 後方散乱反射光測定を用いて医療デバイスの位置及び／又は形状を感知するための光学的形状感知システム並びに方法
JP6790000B2 (ja) * 2015-06-30 2020-11-25 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． Ｘ線透視外科手術ナビゲーションのための光ファイバリアルシェイプ感知
US9498300B1 (en) * 2015-07-30 2016-11-22 Novartis Ag Communication system for surgical devices
KR102457724B1 (ko) * 2015-09-22 2022-10-24 삼성전자주식회사 영상 처리를 수행하기 위한 방법 및 그 전자 장치
CN108135530B (zh) * 2015-10-02 2023-01-17 皇家飞利浦有限公司 利用光学形状感测导丝的设备导航的集线器
JP6902533B2 (ja) * 2015-10-02 2021-07-14 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 形状検出システムによる装置の配置のためのハブ
CN108430377B (zh) * 2015-12-28 2021-11-23 皇家飞利浦有限公司 用于光学形状感测的细长介入装置
US11826107B2 (en) 2015-12-29 2023-11-28 Koninklijke Philips N.V. Registration system for medical navigation and method of operation thereof
WO2017119112A1 (ja) * 2016-01-08 2017-07-13 オリンパス株式会社 マニピュレータシステムとその駆動方法
CN108024838B (zh) * 2016-02-12 2021-10-01 直观外科手术操作公司 用于在图像引导手术中使用配准荧光透视图像的系统和方法
US11478150B2 (en) * 2016-03-28 2022-10-25 Becton, Dickinson And Company Optical fiber sensor
EP3518807A4 (en) * 2016-09-30 2020-05-27 Intuitive Surgical Operations Inc. SYSTEMS AND METHODS FOR LOCALIZING AN ENTRY POINT
WO2018122946A1 (ja) 2016-12-27 2018-07-05 オリンパス株式会社 医療用マニピュレータの形状取得方法および制御方法
WO2019091962A1 (en) * 2017-11-13 2019-05-16 Koninklijke Philips N.V. Multi-stage robot for anatomical structure interventions
US10786311B2 (en) * 2017-12-22 2020-09-29 Acclarent, Inc. Apparatus and method for registering facial landmarks for surgical navigation system
US11007027B2 (en) * 2018-03-07 2021-05-18 Verb Surgical Inc. Surgical robotic user input apparatus having optical fiber-based intrinsic sensors
CN108577977B (zh) * 2018-03-19 2020-10-30 山东大学 穿刺针及穿刺针运动轨迹的三维重建方法及系统
CN114631002B (zh) * 2019-10-31 2024-09-27 欧特尼斯有限公司 用于测量三维曲线形状的特殊光纤及其制造方法、及利用特殊光纤测量三维曲线形状的系统
KR102226914B1 (ko) * 2019-10-31 2021-03-11 (주)옵토닉스 3차원 곡선 형상을 측정하기 위한 특수 광섬유 및 그의 제조 방법
KR102248064B1 (ko) * 2019-10-31 2021-05-04 (주)옵토닉스 특수 광섬유를 이용하여 3차원 곡선 형상을 측정하는 시스템
US11087557B1 (en) * 2020-06-03 2021-08-10 Tovy Kamine Methods and systems for remote augmented reality communication for guided surgery
US11883609B2 (en) * 2020-06-29 2024-01-30 Bard Access Systems, Inc. Automatic dimensional frame reference for fiber optic
US11730926B2 (en) 2020-08-31 2023-08-22 Avent, Inc. System and method for detecting medical device location and orientation in relation to patient anatomy
CN112826424A (zh) * 2021-02-25 2021-05-25 嘉兴学院 一种具有姿态感应功能的医用内窥镜结构及其使用方法
CN113483794B (zh) * 2021-09-08 2021-11-09 西北工业大学 便于监测调节角度和长度的f-p传感器制备装置
WO2024091387A1 (en) * 2022-10-24 2024-05-02 Verily Life Sciences Llc Systems and methods for endoscopic navigation and bookmarking
CN115420314B (zh) * 2022-11-03 2023-03-24 之江实验室 一种基于布拉格光栅位姿传感的电子内窥镜测控系统
CN116250917B (zh) * 2022-11-25 2023-12-19 哈尔滨工业大学 一种柔性前列腺手术器械

Family Cites Families (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK138564B (da) * 1976-11-09 1978-09-25 Nordiske Kabel Traad Fremgangsmåde ved fremstilling af et lysledende element til anbringelse i et rørformet hylster.
US4373779A (en) * 1980-11-07 1983-02-15 Litton Systems, Inc. Single channel optical slip ring
US5353798A (en) * 1991-03-13 1994-10-11 Scimed Life Systems, Incorporated Intravascular imaging apparatus and methods for use and manufacture
US5798521A (en) 1996-02-27 1998-08-25 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Apparatus and method for measuring strain in bragg gratings
GB9713018D0 (en) 1997-06-20 1997-08-27 Secr Defence Optical fibre bend sensor
AU6639900A (en) * 1999-08-13 2001-03-13 Advanced Sensor Technologies Llc Probe position sensing system for use in a coordinate measuring machine
JP2003515104A (ja) 1999-10-29 2003-04-22 アドヴァンスド、センサ、テクナラジ、エルエルシー 光ファイバ・ナビゲーション・システム
JP4454747B2 (ja) * 1999-12-21 2010-04-21 オリンパス株式会社 内視鏡挿入形状検出装置
JP2001275931A (ja) * 2000-04-03 2001-10-09 Olympus Optical Co Ltd 医療システム
JP2004251779A (ja) * 2003-02-20 2004-09-09 Fuji Photo Optical Co Ltd 長尺可撓部材の三次元形状検出装置
US8882657B2 (en) 2003-03-07 2014-11-11 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
EP1720450A4 (en) 2004-03-04 2010-08-25 Agency Science Tech & Res DEVICE FOR MEDICAL AND / OR SIMULATION PROCEDURES
US7772541B2 (en) 2004-07-16 2010-08-10 Luna Innnovations Incorporated Fiber optic position and/or shape sensing based on rayleigh scatter
US7781724B2 (en) * 2004-07-16 2010-08-24 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
US20060013523A1 (en) 2004-07-16 2006-01-19 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
JP2007025761A (ja) * 2005-07-12 2007-02-01 Sri Sports Ltd ゴルフクラブヘッドの設計方法およびゴルフクラブヘッド
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US9962066B2 (en) 2005-12-30 2018-05-08 Intuitive Surgical Operations, Inc. Methods and apparatus to shape flexible entry guides for minimally invasive surgery
US7814803B2 (en) * 2006-03-02 2010-10-19 Nsk Ltd. Torque sensor
WO2007146984A2 (en) * 2006-06-13 2007-12-21 Intuitive Surgical, Inc. Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
KR101422558B1 (ko) * 2007-01-29 2014-07-24 인튜어티브 서지컬 인코포레이티드 형상 센서를 이용하여 기계를 제어하는 시스템
JP5136747B2 (ja) 2007-02-01 2013-02-06 国立大学法人 名古屋工業大学 曲がり度合い検出装置およびそれを用いた曲がり度合い検出方法
US20080195081A1 (en) 2007-02-02 2008-08-14 Hansen Medical, Inc. Spinal surgery methods using a robotic instrument system
EP2626006B1 (en) 2007-08-14 2019-10-09 Koninklijke Philips N.V. Robotic instrument systems utilizing optical fiber sensors
US20090192355A1 (en) * 2008-01-28 2009-07-30 Mauricio Mejia Scope for managing difficult pathways and method to improve visibility of the same
US7815376B2 (en) 2008-06-30 2010-10-19 Intuitive Surgical Operations, Inc. Fixture for shape-sensing optical fiber in a kinematic chain
US7720322B2 (en) 2008-06-30 2010-05-18 Intuitive Surgical, Inc. Fiber optic shape sensor
US20100030063A1 (en) * 2008-07-31 2010-02-04 Medtronic, Inc. System and method for tracking an instrument
US8488130B2 (en) 2009-11-13 2013-07-16 Intuitive Surgical Operations, Inc. Method and system to sense relative partial-pose information using a shape sensor
US8183520B2 (en) * 2009-11-13 2012-05-22 Intuitive Surgical Operations, Inc. Optical fiber shape sensor calibration
US20110164846A1 (en) * 2010-01-06 2011-07-07 Zhang Boying B Fiber optic rotary joint using tec fiber
US9285246B2 (en) 2010-02-12 2016-03-15 Intuitive Surgical Operations, Inc. Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor
CA2905968A1 (en) 2013-03-15 2014-09-25 Sri International Hyperdexterous surgical system

Similar Documents

Publication Publication Date Title
JP2015205216A5 (enExample)
USD785183S1 (en) Medical X-ray imaging apparatus
JP2013510661A5 (enExample)
JP6581973B2 (ja) 針の挿入及び操縦のためのシステム
JP2016515871A5 (enExample)
EP3150131A3 (en) Apparatus for endoscopic procedures
ES2797683T3 (es) Disposiciones de guiado interactivo y detección de manipulación para un sistema robótico quirúrgico
Aksungur Remote center of motion (RCM) mechanisms for surgical operations
Bajo et al. Robotic-assisted micro-surgery of the throat: The trans-nasal approach
WO2013082220A3 (en) Surgical devices with intracorporeal elbow joint
JP2016514493A5 (enExample)
WO2015077584A3 (en) Steering techniques for surgical instruments
JP2009545338A5 (enExample)
EP4331522A3 (en) System and method for patient-side instrument control
SG10201903589VA (en) Endoscopy system components
JP2015077466A5 (enExample)
EP3028661A3 (en) Visual guidance system for surgical procedure
JP2015533525A5 (enExample)
GB2570518B (en) Interfacing a surgical robotic arm and instrument
EP4541305A3 (en) System and method for integrated surgical table
JP2009107074A5 (enExample)
DK1970091T3 (da) Indføringshoved til medicinske eller farmaceutiske anvendelser
WO2011153083A3 (en) Instrument positioning/holding devices
EP3175769A3 (en) Adding a tracking sensor to a rigid tool
FI20166026L (fi) Jäljityskappaleet leuan kovakudoksen liikkeiden jäljittämiseksi