JP2021521959A - 細長いデバイスに関するシステム及び方法 - Google Patents

細長いデバイスに関するシステム及び方法 Download PDF

Info

Publication number
JP2021521959A
JP2021521959A JP2020558890A JP2020558890A JP2021521959A JP 2021521959 A JP2021521959 A JP 2021521959A JP 2020558890 A JP2020558890 A JP 2020558890A JP 2020558890 A JP2020558890 A JP 2020558890A JP 2021521959 A JP2021521959 A JP 2021521959A
Authority
JP
Japan
Prior art keywords
image
catheter
distal end
imaging
imaging device
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
JP2020558890A
Other languages
English (en)
Japanese (ja)
Inventor
ディー. ソーパー,ティモシー
ディー. ソーパー,ティモシー
ケイ. アデバー,トロイ
ケイ. アデバー,トロイ
アール. カールソン,クリストファー
アール. カールソン,クリストファー
ジー. コーン,ベンジャミン
ジー. コーン,ベンジャミン
ドゥインダム,ヴィンセント
ジー. ガッダ,テレサ
ジー. ガッダ,テレサ
ジェイ. ワグナー,オリバー
ジェイ. ワグナー,オリバー
Original Assignee
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
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
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 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, 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 filed Critical 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
Publication of JP2021521959A publication Critical patent/JP2021521959A/ja
Priority to JP2023127865A priority Critical patent/JP2023133606A/ja
Pending legal-status Critical Current

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37Surgical systems with images on a monitor during operation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02Instruments for taking cell samples or for biopsy
    • A61B10/0233Pointed or sharp biopsy instruments
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods
    • A61B17/00234Surgical instruments, devices or methods for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods
    • A61B17/34Trocars; Puncturing needles
    • A61B17/3403Needle locating or guiding means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14Probes or electrodes therefor
    • A61B18/1492Probes or electrodes therefor having a flexible, catheter-like structure, e.g. for heart ablation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42Details of probe positioning or probe attachment to the patient
    • A61B8/4245Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361Image-producing devices, e.g. surgical cameras
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/0021Catheters; Hollow probes characterised by the form of the tubing
    • A61M25/0023Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter
    • A61M25/0026Multi-lumen catheters with stationary elements
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178Syringes
    • A61M5/31Details
    • A61M5/32Needles; Details of needles pertaining to their connection with syringe or hub; Accessories for bringing the needle into, or holding the needle on, the body; Devices for protection of needles
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/0002Inspection of images, e.g. flaw detection
    • G06T7/0012Biomedical image inspection
    • G06T7/0014Biomedical image inspection using an image reference approach
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/70Determining position or orientation of objects or cameras
    • G06T7/73Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods
    • A61B2017/00743Type of operation; Specification of treatment sites
    • A61B2017/00809Lung operations
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods
    • A61B17/34Trocars; Puncturing needles
    • A61B17/3403Needle locating or guiding means
    • A61B2017/3413Needle locating or guiding means guided by ultrasound
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00577Ablation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101Computer-aided simulation of surgical operations
    • A61B2034/105Modelling of the patient, e.g. for ligaments or bones
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2051Electromagnetic tracking systems
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2059Mechanical position encoders
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2061Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2063Acoustic tracking systems, e.g. using ultrasound
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/301Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361Image-producing devices, e.g. surgical cameras
    • A61B2090/3614Image-producing devices, e.g. surgical cameras using optical fibre
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364Correlation of different images or relation of image positions in respect to the body
    • A61B2090/367Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37Surgical systems with images on a monitor during operation
    • A61B2090/371Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37Surgical systems with images on a monitor during operation
    • A61B2090/376Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37Surgical systems with images on a monitor during operation
    • A61B2090/378Surgical systems with images on a monitor during operation using ultrasound
    • A61B2090/3782Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • A61B2090/3784Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument both receiver and transmitter being in the instrument or receiver being also transmitter
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/35Surgical robots for telesurgery
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10068Endoscopic image
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30004Biomedical image processing
    • G06T2207/30021Catheter; Guide wire

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Gynecology & Obstetrics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Otolaryngology (AREA)
  • Quality & Reliability (AREA)
  • Cardiology (AREA)
  • Plasma & Fusion (AREA)
  • Pulmonology (AREA)
  • Optics & Photonics (AREA)
  • Vascular Medicine (AREA)
  • Endoscopes (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)
JP2020558890A 2018-04-25 2019-04-23 細長いデバイスに関するシステム及び方法 Pending JP2021521959A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2023127865A JP2023133606A (ja) 2018-04-25 2023-08-04 細長いデバイスに関するシステム及び方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201862662440P 2018-04-25 2018-04-25
US62/662,440 2018-04-25
PCT/US2019/028617 WO2019209767A1 (en) 2018-04-25 2019-04-23 Systems and methods related to elongate devices

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2023127865A Division JP2023133606A (ja) 2018-04-25 2023-08-04 細長いデバイスに関するシステム及び方法

Publications (1)

Publication Number Publication Date
JP2021521959A true JP2021521959A (ja) 2021-08-30

Family

ID=66677209

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2020558890A Pending JP2021521959A (ja) 2018-04-25 2019-04-23 細長いデバイスに関するシステム及び方法
JP2023127865A Pending JP2023133606A (ja) 2018-04-25 2023-08-04 細長いデバイスに関するシステム及び方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2023127865A Pending JP2023133606A (ja) 2018-04-25 2023-08-04 細長いデバイスに関するシステム及び方法

Country Status (6)

Country Link
US (1) US20210100627A1 (enExample)
EP (1) EP3784161A1 (enExample)
JP (2) JP2021521959A (enExample)
KR (1) KR102843196B1 (enExample)
CN (1) CN112004496B (enExample)
WO (1) WO2019209767A1 (enExample)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11642182B2 (en) * 2016-09-27 2023-05-09 Brainlab Ag Efficient positioning of a mechatronic arm
CN214804697U (zh) 2019-11-25 2021-11-23 巴德阿克塞斯系统股份有限公司 光学尖端追踪系统
US20210169583A1 (en) * 2019-12-04 2021-06-10 Covidien Lp Method for maintaining localization of distal catheter tip to target during ventilation and/or cardiac cycles
CN216319408U (zh) 2020-06-26 2022-04-19 巴德阿克塞斯系统股份有限公司 错位检测系统
US20210401399A1 (en) * 2020-06-26 2021-12-30 Xenter, Inc. Nanoparticle-based imaging and therapy
EP4171373A1 (en) * 2020-06-29 2023-05-03 Bard Access Systems, Inc. Automatic dimensional frame reference for fiber optic
KR102423825B1 (ko) * 2020-07-14 2022-07-22 서울대학교병원 환자 맞춤형 정밀 종양 제거 시술을 위한 레이저 정보 연산 방법 및 이를 이용한 자동 레이저 시술 장치
US11844567B2 (en) * 2020-08-28 2023-12-19 Biosense Webster (Israel) Ltd. Fitting and directing an expandable catheter based on automatic pulmonary veins anatomical characterization
DE102020212086A1 (de) * 2020-09-25 2022-03-31 Siemens Healthcare Gmbh Ermitteln der Qualität einer Positionierung eines in einen Patientenkörper eingeführten Objekts
CN112741692B (zh) * 2020-12-18 2021-12-14 上海卓昕医疗科技有限公司 实现将器件导航至目标组织位置的快速导航方法及系统
WO2022164902A1 (en) 2021-01-26 2022-08-04 Bard Access Systems, Inc. Fiber optic shape sensing system associated with port placement
CN113017702B (zh) * 2021-03-05 2022-07-08 深圳英美达医疗技术有限公司 超声内镜小探头伸出长度的识别方法、系统及存储介质
EP4304484B1 (en) * 2021-03-10 2025-02-26 Intuitive Surgical Operations, Inc. Systems and methods for registering intraoperative image data
EP4321121A4 (en) * 2021-05-10 2024-09-25 Wuhan United Imaging Healthcare Surgical Technology Co., Ltd. Robot positioning and pose adjustment method and system
CN217960085U (zh) 2021-05-18 2022-12-06 巴德阿克塞斯系统股份有限公司 用于检测医疗设备在患者身体内的放置的医疗设备系统
US11857273B2 (en) * 2021-07-06 2024-01-02 Globus Medical, Inc. Ultrasonic robotic surgical navigation
CN114452508B (zh) * 2021-10-20 2024-01-23 上海微创微航机器人有限公司 导管运动控制方法、介入手术系统、电子设备和存储介质
EP4418994A1 (en) 2021-10-25 2024-08-28 Bard Access Systems, Inc. Reference plane for medical device placement
CN114376625A (zh) * 2022-01-14 2022-04-22 上海立升医疗科技有限公司 活检数据可视化系统和活检装置
EP4292510A1 (en) 2022-06-16 2023-12-20 Lys Medical SA Navigation catheter assembly with endoscopic vision probe
EP4298984A3 (en) 2022-06-27 2024-02-28 Cook Medical Technologies LLC Endoscope lighting control with camera extension
US12343117B2 (en) 2022-06-28 2025-07-01 Bard Access Systems, Inc. Fiber optic medical systems and methods for identifying blood vessels
US12349984B2 (en) 2022-06-29 2025-07-08 Bard Access Systems, Inc. System, method, and apparatus for improved confirm of an anatomical position of a medical instrument
CN115444573B (zh) * 2022-08-10 2024-10-29 上海优医基医学科技有限公司 柔性器械的控制方法、系统及手术机器人
CN118141417A (zh) * 2022-11-29 2024-06-07 深圳心寰科技有限公司 4d心腔内超声成像系统、超声成像方法及超声成像装置
EP4437992A1 (en) * 2023-03-30 2024-10-02 Koninklijke Philips N.V. Elongated device tracking
CN120359000A (zh) * 2022-12-16 2025-07-22 皇家飞利浦有限公司 细长设备跟踪
US12127804B1 (en) 2023-04-29 2024-10-29 Syncrobotix, Inc. Simplified highly maneuverable surgical catheter and bronchoscope
US12127737B1 (en) 2023-04-29 2024-10-29 Syncrobotix, Inc. System and method for operating a highly maneuverable surgical catheter and bronchoscope
US11950765B1 (en) 2023-04-29 2024-04-09 Syncrobotix, Inc. Highly maneuverable surgical catheter and bronchoscope
US12433693B2 (en) 2023-04-29 2025-10-07 Syncrobotix, Inc. Rotary and linear actuated robotic catheter steering system
US12127805B1 (en) 2023-04-29 2024-10-29 Syncrobotix, Inc. Highly maneuverable surgical catheter and drive system
CN116570375A (zh) * 2023-06-27 2023-08-11 上海博动医疗科技股份有限公司 介入手术系统的控制方法、装置、介入手术系统及介质
CN119214691A (zh) * 2024-12-05 2024-12-31 上海冰座晶依科技有限公司 心内超声导管的控制方法、控制装置及电子设备

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009297346A (ja) * 2008-06-16 2009-12-24 Fujifilm Corp 超音波観測装置、超音波内視鏡装置、画像処理方法及び画像処理プログラム
US20140187949A1 (en) * 2012-12-31 2014-07-03 Intuitive Surgical Operations, Inc. Systems and Methods For Interventional Procedure Planning
JP2017515613A (ja) * 2014-02-25 2017-06-15 ジョイントポイント,インコーポレイテッド 術中画像分析のためのシステム及び方法

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2567149B1 (fr) 1984-07-06 1986-12-05 Solvay Procede pour l'extraction de poly-beta-hydroxybutyrates au moyen d'un solvant a partir d'une suspension aqueuse de micro-organismes
DE4227800C2 (de) * 1991-08-21 1996-12-19 Toshiba Kawasaki Kk Thrombuslösende Behandlungsvorrichtung
US5740808A (en) * 1996-10-28 1998-04-21 Ep Technologies, Inc Systems and methods for guilding diagnostic or therapeutic devices in interior tissue regions
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
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
AU1616497A (en) 1997-02-13 1998-09-08 Super Dimension Ltd. Six-degree tracking system
CA2252825A1 (en) * 1997-02-25 1998-08-27 Biosense, Inc. Image-guided thoracic therapy and apparatus therefor
GB9713018D0 (en) 1997-06-20 1997-08-27 Secr Defence Optical fibre bend sensor
JP4095729B2 (ja) * 1998-10-26 2008-06-04 株式会社日立製作所 治療用超音波装置
US20040034297A1 (en) * 2002-08-13 2004-02-19 General Electric Company Medical device positioning system and method
US8364242B2 (en) * 2007-05-17 2013-01-29 General Electric Company System and method of combining ultrasound image acquisition with fluoroscopic image acquisition
US9161817B2 (en) * 2008-03-27 2015-10-20 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system
US8460236B2 (en) * 2010-06-24 2013-06-11 Hansen Medical, Inc. Fiber optic instrument sensing system
US8900131B2 (en) * 2011-05-13 2014-12-02 Intuitive Surgical Operations, Inc. Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery
WO2012172474A1 (en) * 2011-06-17 2012-12-20 Koninklijke Philips Electronics N.V. System and method for guided injection during endoscopic surgery
US10588595B2 (en) * 2011-07-01 2020-03-17 Koninklijke Philips N.V. Object-pose-based initialization of an ultrasound beamformer
US9592095B2 (en) * 2013-05-16 2017-03-14 Intuitive Surgical Operations, Inc. Systems and methods for robotic medical system integration with external imaging
US20150305612A1 (en) * 2014-04-23 2015-10-29 Mark Hunter Apparatuses and methods for registering a real-time image feed from an imaging device to a steerable catheter
CN107660134B (zh) 2015-05-22 2021-06-29 直观外科手术操作公司 图像引导手术记录的系统和方法
CN119856989A (zh) * 2016-02-12 2025-04-22 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
US9675319B1 (en) * 2016-02-17 2017-06-13 Inneroptic Technology, Inc. Loupe display
US20180064415A1 (en) * 2016-09-07 2018-03-08 Siemens Medical Solutions Usa, Inc. Acoustic ablation assisted intra-cardiac echocardiography catheter

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009297346A (ja) * 2008-06-16 2009-12-24 Fujifilm Corp 超音波観測装置、超音波内視鏡装置、画像処理方法及び画像処理プログラム
US20140187949A1 (en) * 2012-12-31 2014-07-03 Intuitive Surgical Operations, Inc. Systems and Methods For Interventional Procedure Planning
JP2017515613A (ja) * 2014-02-25 2017-06-15 ジョイントポイント,インコーポレイテッド 術中画像分析のためのシステム及び方法

Also Published As

Publication number Publication date
KR102843196B1 (ko) 2025-08-08
US20210100627A1 (en) 2021-04-08
WO2019209767A1 (en) 2019-10-31
CN112004496B (zh) 2024-10-18
KR20210005901A (ko) 2021-01-15
CN112004496A (zh) 2020-11-27
JP2023133606A (ja) 2023-09-22
EP3784161A1 (en) 2021-03-03

Similar Documents

Publication Publication Date Title
KR102843196B1 (ko) 세장형 장치와 관련된 시스템 및 방법
JP7703738B2 (ja) 画像誘導手術において位置合わせされた蛍光透視画像を使用するためのシステム及び方法
US12369980B2 (en) Systems and methods for intelligently seeding registration
US12138012B2 (en) Systems and methods for medical procedures using optical coherence tomography sensing
US11779396B2 (en) Systems and methods for registering elongate devices to three dimensional images in image-guided procedures
JP6797834B2 (ja) 画像誘導手術のための位置合わせのシステム及び方法
JP6772180B2 (ja) 画像誘導手術における位置合せ補償のシステム及び方法
CN108024693A (zh) 在图像引导医疗程序中利用跟踪的系统和方法
CN112423652A (zh) 与用于图像引导外科手术的配准相关的系统和方法
WO2019217366A1 (en) Systems and methods related to registration for image guided surgery
CN113710145A (zh) 用于患者解剖体的增强的配准的系统
US20220054202A1 (en) Systems and methods for registration of patient anatomy
US12502224B2 (en) Systems and methods for registering elongate devices to three-dimensional images in image-guided procedures
US20250359953A1 (en) Closed-loop feedback based on mixed dimensionality imaging

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20220415

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20221220

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230317

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20230404

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230804

A911 Transfer to examiner for re-examination before appeal (zenchi)

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20230815

A912 Re-examination (zenchi) completed and case transferred to appeal board

Free format text: JAPANESE INTERMEDIATE CODE: A912

Effective date: 20231027

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240930