JP5770207B2 - 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 - Google Patents
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 Download PDFInfo
- Publication number
- JP5770207B2 JP5770207B2 JP2012548490A JP2012548490A JP5770207B2 JP 5770207 B2 JP5770207 B2 JP 5770207B2 JP 2012548490 A JP2012548490 A JP 2012548490A JP 2012548490 A JP2012548490 A JP 2012548490A JP 5770207 B2 JP5770207 B2 JP 5770207B2
- Authority
- JP
- Japan
- Prior art keywords
- instrument channel
- optical fiber
- sheath
- balloon
- strain
- 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.)
- Expired - Fee Related
Links
- 239000013307 optical fiber Substances 0.000 claims description 39
- 239000000835 fiber Substances 0.000 claims description 37
- 230000003287 optical effect Effects 0.000 claims description 24
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 6
- 230000000717 retained effect Effects 0.000 claims 2
- 238000000034 method Methods 0.000 description 28
- 238000002591 computed tomography Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 238000001228 spectrum Methods 0.000 description 5
- 238000013276 bronchoscopy Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000001574 biopsy Methods 0.000 description 3
- 230000002596 correlated effect Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000003550 marker Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 210000000621 bronchi Anatomy 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 229920000642 polymer Polymers 0.000 description 2
- 238000004382 potting Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 239000004696 Poly ether ether ketone Substances 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- JUPQTSLXMOCDHR-UHFFFAOYSA-N benzene-1,4-diol;bis(4-fluorophenyl)methanone Chemical compound OC1=CC=C(O)C=C1.C1=CC(F)=CC=C1C(=O)C1=CC=C(F)C=C1 JUPQTSLXMOCDHR-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 230000036210 malignancy Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 229920002530 polyetherether ketone Polymers 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002685 pulmonary effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Images
Classifications
-
- 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 probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00082—Balloons
-
- 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
- A61B1/005—Flexible endoscopes
-
- 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
- A61B1/005—Flexible endoscopes
- A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
-
- 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
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1076—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions inside body cavities, e.g. using catheters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/353—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre
- G01D5/35306—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre using an interferometer arrangement
- G01D5/35309—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre using an interferometer arrangement using multiple waves interferometer
- G01D5/35316—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre using an interferometer arrangement using multiple waves interferometer using a Bragg gratings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/353—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre
- G01D5/35383—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre using multiple sensor devices using multiplexing techniques
-
- 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
-
- 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
- G02B6/02057—Optical fibres with cladding with or without a coating comprising gratings
- G02B6/02076—Refractive index modulation gratings, e.g. Bragg gratings
- G02B6/02195—Refractive index modulation gratings, e.g. Bragg gratings characterised by means for tuning the grating
- G02B6/022—Refractive index modulation gratings, e.g. Bragg gratings characterised by means for tuning the grating using mechanical stress, e.g. tuning by compression or elongation, special geometrical shapes such as "dog-bone" or taper
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Description
a)「含む、有する(comprising)」という語は、所与の請求項に列挙される以外の構成要素又は工程の存在を除外しない;
b)構成要素に先行する「a」又は「an」という語は、このような構成要素の複数の存在を除外しない;
c)請求項における如何なる参照符号も、本発明の範囲を制限しない;
d)幾つかの「手段」は、同じハードウェア又はソフトウェア実現構造のアイテムによって表現されることができる;
e)特に示されない限り、工程の特定のシーケンスが要求されることを意図しない。
Claims (12)
- 位置を決定する装置であって、
医療スコープの器具チャネル内に挿入可能であるように構成されたシースと、
前記シース内に配される少なくとも1つの光ファイバと、
前記少なくとも1つの光ファイバと光学的に通信し、前記光ファイバの歪み及び曲がりを測定する複数のセンサと、
前記器具チャネル内に位置し、前記器具チャネルの内壁及び前記シースの外表面と接触するように駆動されることによって、前記光ファイバの前記歪み及び前記曲がりが前記器具チャネルの位置を決定するために用いられるように、前記シース及び前記少なくとも1つの光ファイバを停留させるよう、前記シースを前記器具チャネル内に固定する、固定機構であって、前記固定機構は、身体内における前記器具チャネルの位置を特定するために、前記少なくとも1つの光ファイバにひずみを生成する、固定機構と
を有する装置。 - 前記複数のセンサは、ひずみを測定するために、前記少なくとも1つの光ファイバの長さにわたって分散されるファイバブラッググレーティングを含む、請求項1に記載の装置。
- 前記少なくとも1つの光ファイバは三つ組のファイバを含む、請求項1に記載の装置。
- 前記固定機構は、バルーン及び膨張管を有し、前記バルーンが膨張されると、前記シースが前記器具チャネル内に停留される、請求項1に記載の装置。
- 前記バルーンは円環体形状をもち、前記シースが、前記円環体形状内にフィットし、前記円環体形状の外側が、前記器具チャネルの内側と接触する、請求項4に記載の装置。
- 前記器具チャネルの端部に位置する光源をさらに有する、請求項1に記載の装置。
- 前記器具チャネルの端部に位置する光学系をさらに有する、請求項1に記載の装置。
- 前記光学系が前記器具チャネルの端部に位置するカメラを含む、請求項7に記載の装置。
- 前記シースが可撓性インサートであり、
前記複数のセンサが、前記光ファイバに組み込まれ、前記可撓性インサート内に配される、空間的に分散されたファイバブラッググレーティングを含み、
前記装置が、前記光ファイバの歪みが測定されるように、光を前記ファイバブラッググレーティングに供給し、前記ファイバブラッググレーティングから光を受け取るように構成される光学系と、
前記光ファイバの前記歪みに関連するパラメータを計算し、前記可撓性インサートのコンフィギュレーションを決定するための形状決定プログラムと、事前の走査から取得されたマップボリュームと、を含むコンピュータシステムであって、前記可撓性インサートの前記コンフィギュレーションと前記マップボリュームとの間の相関に基づいて、前記医療装置の位置が決定される、コンピュータシステムと、
をさらに有する、請求項1に記載の装置。 - 前記光ファイバは、三つ組のファイバを含む、請求項9に記載の装置。
- 前記固定機構は、バルーン及び膨張管を含み、前記バルーンが膨張されると、前記可撓性インサートが、前記器具チャネル内に停留される、請求項9に記載の装置。
- 前記バルーンは円環体形状をもち、前記可撓性インサートが、前記円環体形状内にフィットし、前記円環体形状の外側が、前記器具チャネルの内側と接触する、請求項11に記載の装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US29484910P | 2010-01-14 | 2010-01-14 | |
US61/294,849 | 2010-01-14 | ||
PCT/IB2010/055607 WO2011086432A2 (en) | 2010-01-14 | 2010-12-06 | Flexible instrument channel insert for scope with real-time position tracking |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013517032A JP2013517032A (ja) | 2013-05-16 |
JP5770207B2 true JP5770207B2 (ja) | 2015-08-26 |
Family
ID=43646423
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012548490A Expired - Fee Related JP5770207B2 (ja) | 2010-01-14 | 2010-12-06 | 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 |
Country Status (5)
Country | Link |
---|---|
US (2) | US20130109957A1 (ja) |
EP (1) | EP2523593B1 (ja) |
JP (1) | JP5770207B2 (ja) |
CN (1) | CN102711587B (ja) |
WO (1) | WO2011086432A2 (ja) |
Families Citing this family (50)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9254123B2 (en) | 2009-04-29 | 2016-02-09 | Hansen Medical, Inc. | Flexible and steerable elongate instruments with shape control and support elements |
US20120071752A1 (en) | 2010-09-17 | 2012-03-22 | Sewell Christopher M | User interface and method for operating a robotic medical system |
US9138166B2 (en) | 2011-07-29 | 2015-09-22 | Hansen Medical, Inc. | Apparatus and methods for fiber integration and registration |
WO2013144830A2 (en) | 2012-03-27 | 2013-10-03 | Koninklijke Philips N.V. | Guided photodynamic therapy |
JP2015525303A (ja) * | 2012-05-10 | 2015-09-03 | コーニンクレッカ フィリップス エヌ ヴェ | ジェスチャ制御 |
JP6128796B2 (ja) * | 2012-10-25 | 2017-05-17 | オリンパス株式会社 | 挿入システム、挿入支援装置、挿入支援装置の作動方法及びプログラム |
EP2735849A1 (en) * | 2012-11-23 | 2014-05-28 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | An absolute position measuring device and a method of performing an absolute position measurement |
US10149720B2 (en) | 2013-03-08 | 2018-12-11 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
US20140257095A1 (en) * | 2013-03-11 | 2014-09-11 | Volcano Corporation | Shape sensing interventional catheters and methods of use |
US10376672B2 (en) | 2013-03-15 | 2019-08-13 | Auris Health, Inc. | Catheter insertion system and method of fabrication |
JP6150579B2 (ja) * | 2013-03-26 | 2017-06-21 | オリンパス株式会社 | 挿入装置 |
CN104367324B (zh) * | 2013-08-16 | 2016-12-28 | 上海微创电生理医疗科技有限公司 | 压力传感装置及其制造方法、模具以及医疗导管 |
WO2015049612A2 (en) * | 2013-10-02 | 2015-04-09 | Koninklijke Philips N.V. | Hub design and methods for optical shape sensing registration |
WO2015152999A1 (en) * | 2014-03-31 | 2015-10-08 | Regents Of The University Of Minnesota | Navigation tools using shape sensing technology |
US10792464B2 (en) | 2014-07-01 | 2020-10-06 | Auris Health, Inc. | Tool and method for using surgical endoscope with spiral lumens |
US9561083B2 (en) | 2014-07-01 | 2017-02-07 | Auris Surgical Robotics, Inc. | Articulating flexible endoscopic tool with roll capabilities |
US9744335B2 (en) | 2014-07-01 | 2017-08-29 | Auris Surgical Robotics, Inc. | Apparatuses and methods for monitoring tendons of steerable catheters |
CN110101355A (zh) * | 2014-07-28 | 2019-08-09 | 直观外科手术操作公司 | 用于术中分割的系统和方法 |
CN107124867A (zh) | 2014-09-08 | 2017-09-01 | 皇家飞利浦有限公司 | 用于骨科导航的形状感测 |
EP3459488B1 (en) * | 2014-09-09 | 2022-12-28 | Intuitive Surgical Operations, Inc. | System with guides and tools of different flexibility |
EP3037056B1 (en) | 2014-12-23 | 2021-04-21 | Stryker European Holdings I, LLC | System for reconstructing a trajectory of an optical fiber |
WO2016112227A1 (en) * | 2015-01-07 | 2016-07-14 | Stereotaxis, Inc. | Method and apparatus for automated control of multiple medical devices with a single interventional remote navigation system |
JP6584518B2 (ja) * | 2015-02-20 | 2019-10-02 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 形状検知のための医療システム、装置及び方法 |
WO2016141962A1 (en) | 2015-03-06 | 2016-09-15 | Imperial Innovations Limited | Probe deployment device |
US11819636B2 (en) | 2015-03-30 | 2023-11-21 | Auris Health, Inc. | Endoscope pull wire electrical circuit |
US10143523B2 (en) | 2015-03-31 | 2018-12-04 | 7D Surgical Inc. | Systems, methods and devices for tracking and calibration of flexible instruments |
CN105105698A (zh) * | 2015-07-10 | 2015-12-02 | 中国科学院深圳先进技术研究院 | 内窥镜校准系统及方法 |
CN107847704B (zh) | 2015-07-22 | 2021-01-12 | 皇家飞利浦有限公司 | 无创式通气支气管镜检查观测器引导件和方法 |
EP3484572B1 (en) * | 2016-07-15 | 2022-04-06 | Koninklijke Philips N.V. | Flexible instrument comprising shape sensing optical fibers, method and computer program product |
US10463439B2 (en) | 2016-08-26 | 2019-11-05 | Auris Health, Inc. | Steerable catheter with shaft load distributions |
EP3565482B1 (en) | 2017-01-03 | 2021-03-10 | Koninklijke Philips N.V. | Medical navigation system using shape-sensing device and method of operation thereof |
CN110769736B (zh) | 2017-05-17 | 2023-01-13 | 奥瑞斯健康公司 | 可更换工作通道 |
EP3761872B1 (en) * | 2018-03-09 | 2024-03-27 | The University of Hong Kong | Mri tracking device design, fabrication, and methods of use for mri-guided robotic system |
KR20200139199A (ko) | 2018-03-28 | 2020-12-11 | 아우리스 헬스, 인코포레이티드 | 가변 굽힘 강성 프로파일을 갖는 의료 기구 |
AU2019262681A1 (en) * | 2018-05-04 | 2021-01-07 | CoapTech, Inc. | Systems, apparatus, and methods for delivering a medical device beyond a bifurcation in a body lumen |
US11903683B2 (en) * | 2018-08-03 | 2024-02-20 | Chelak Medical Solutions Inc | Non-barometric determination of hemodynamic effects of cardiac arrhythmias using signals sensed by an implantable device |
EP3820373A4 (en) * | 2018-08-07 | 2022-04-27 | Auris Health, Inc. | COMBINATION OF STRAIN-BASED FORM MEASUREMENT WITH CATHETER CONTROL |
WO2020068853A2 (en) | 2018-09-26 | 2020-04-02 | Auris Health, Inc. | Articulating medical instruments |
WO2020139973A1 (en) | 2018-12-28 | 2020-07-02 | Auris Health, Inc. | Medical instrument with articulable segment |
US11617627B2 (en) | 2019-03-29 | 2023-04-04 | Auris Health, Inc. | Systems and methods for optical strain sensing in medical instruments |
CN110032783B (zh) * | 2019-04-01 | 2022-06-10 | 南京航空航天大学 | 柔性缓冲气囊表面膨胀变形分布式光纤监测方法 |
CN110132473B (zh) * | 2019-05-21 | 2020-12-04 | 中国石油大学(华东) | 弯矩测量机构及测量方法、抽油杆弯矩测量装置及测量方法 |
CN110200573A (zh) * | 2019-06-17 | 2019-09-06 | 武汉理工大学 | 智能姿态感知医用内窥镜及姿态感知方法 |
JP2022544554A (ja) | 2019-08-15 | 2022-10-19 | オーリス ヘルス インコーポレイテッド | 複数の屈曲部を有する医療デバイス |
CN111012356B (zh) * | 2019-11-26 | 2022-06-24 | 武汉纺织大学 | 一种基于微纳光纤复合传感的步态检测与识别系统和方法 |
WO2021137104A1 (en) | 2019-12-31 | 2021-07-08 | Auris Health, Inc. | Dynamic pulley system |
CN113349929B (zh) * | 2021-05-21 | 2022-11-11 | 清华大学 | 用于髓内钉远端锁定孔的空间定位系统 |
CN113662657B (zh) * | 2021-08-26 | 2023-11-14 | 桂林电子科技大学 | 一种具有3d导航功能的介入式血管癌栓消融医疗系统 |
CN113520603A (zh) * | 2021-08-26 | 2021-10-22 | 复旦大学 | 一种基于内窥镜的微创手术机器人系统 |
US11874187B2 (en) | 2022-04-29 | 2024-01-16 | Chelak Medical Solutions Inc. | Miniaturization of Fiber Bragg Grating interrogation for integration into implantable devices |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA2325036A1 (en) * | 1999-10-29 | 2001-04-29 | Advanced Sensor Technology, Llc | Optical fiber navigation system |
GB0021976D0 (en) * | 2000-09-07 | 2000-10-25 | Optomed As | Multi-parameter fiber optic probes |
JP3850217B2 (ja) * | 2000-12-27 | 2006-11-29 | オリンパス株式会社 | 気管支用内視鏡位置検出装置 |
JP2002306403A (ja) * | 2001-04-18 | 2002-10-22 | Olympus Optical Co Ltd | 内視鏡装置 |
JP2004121749A (ja) * | 2002-10-07 | 2004-04-22 | Olympus Corp | 光走査プローブ装置 |
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 |
EP1691666B1 (en) * | 2003-12-12 | 2012-05-30 | University of Washington | Catheterscope 3d guidance and interface system |
US20060013523A1 (en) * | 2004-07-16 | 2006-01-19 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
US8797392B2 (en) * | 2005-01-05 | 2014-08-05 | Avantis Medical Sytems, Inc. | Endoscope assembly with a polarizing filter |
US9962066B2 (en) * | 2005-12-30 | 2018-05-08 | Intuitive Surgical Operations, Inc. | Methods and apparatus to shape flexible entry guides for minimally invasive surgery |
US7930065B2 (en) * | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
US8989528B2 (en) * | 2006-02-22 | 2015-03-24 | Hansen Medical, Inc. | Optical fiber grating sensors and methods of manufacture |
US20080091073A1 (en) * | 2006-10-16 | 2008-04-17 | Chul Hi Park | Inflatable actuation device |
CN101158734A (zh) * | 2007-02-16 | 2008-04-09 | 美国微光学公司 | 用于光学传感器的光纤锚固方法 |
-
2010
- 2010-12-06 EP EP10805645.8A patent/EP2523593B1/en not_active Not-in-force
- 2010-12-06 WO PCT/IB2010/055607 patent/WO2011086432A2/en active Application Filing
- 2010-12-06 JP JP2012548490A patent/JP5770207B2/ja not_active Expired - Fee Related
- 2010-12-06 CN CN201080061429.1A patent/CN102711587B/zh not_active Expired - Fee Related
- 2010-12-06 US US13/521,579 patent/US20130109957A1/en not_active Abandoned
-
2018
- 2018-06-08 US US16/003,147 patent/US11206999B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN102711587A (zh) | 2012-10-03 |
EP2523593B1 (en) | 2015-03-25 |
EP2523593A2 (en) | 2012-11-21 |
US20130109957A1 (en) | 2013-05-02 |
JP2013517032A (ja) | 2013-05-16 |
WO2011086432A2 (en) | 2011-07-21 |
CN102711587B (zh) | 2016-04-27 |
US20180303376A1 (en) | 2018-10-25 |
US11206999B2 (en) | 2021-12-28 |
WO2011086432A3 (en) | 2011-09-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5770207B2 (ja) | 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 | |
RU2628638C2 (ru) | Информация о вводе и выводе медицинского устройства с использованием распределенного измерения температуры оптическим волокном | |
JP5944395B2 (ja) | 動的な器具追跡のための一体化されたセンサを持つ柔軟なテザー | |
JP5826770B2 (ja) | 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 | |
US10448837B2 (en) | Mapping system and method for medical procedures | |
US11547489B2 (en) | Shape sensing of multiple over-the-wire devices | |
US10143523B2 (en) | Systems, methods and devices for tracking and calibration of flexible instruments | |
US9693707B2 (en) | Optical shape sensing fiber for tip and shape characterization of medical instruments | |
US20160213432A1 (en) | Hub design and methods for optical shape sensing registration | |
JP6195795B2 (ja) | 形状検出装置固有の情報の保存及び検索 | |
JP2003515104A (ja) | 光ファイバ・ナビゲーション・システム | |
JP2013542768A5 (ja) | ||
JP2013534433A (ja) | 光ファイバの形状再構成 | |
CN110049741B (zh) | 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 | |
RU2666580C2 (ru) | Отображение объема с использованием оптических датчиков формы | |
US10267624B2 (en) | System and method for reconstructing a trajectory of an optical fiber | |
US11730931B2 (en) | Balloon catheter comprising shape sensing optical fibers | |
JP2011189074A (ja) | 医療機器 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20131125 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20140826 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20140827 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20141126 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20141203 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20150223 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20150604 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20150624 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5770207 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |