JP6290099B2 - 埋め込み型形状感知機能を有する操縦可能な可撓性針 - Google Patents

埋め込み型形状感知機能を有する操縦可能な可撓性針 Download PDF

Info

Publication number
JP6290099B2
JP6290099B2 JP2014555605A JP2014555605A JP6290099B2 JP 6290099 B2 JP6290099 B2 JP 6290099B2 JP 2014555605 A JP2014555605 A JP 2014555605A JP 2014555605 A JP2014555605 A JP 2014555605A JP 6290099 B2 JP6290099 B2 JP 6290099B2
Authority
JP
Japan
Prior art keywords
needle
shape
flexible
surgical system
shape sensor
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.)
Active
Application number
JP2014555605A
Other languages
English (en)
Japanese (ja)
Other versions
JP2015505507A (ja
JP2015505507A5 (enExample
Inventor
ドゥインダム，ヴィンセント
プリスコ，ギュセッペ，マリア
ラーキン，デイヴィッド，キュー
ディアミオ，サイモン
パネスク，ドリン
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 JP2015505507A publication Critical patent/JP2015505507A/ja
Publication of JP2015505507A5 publication Critical patent/JP2015505507A5/ja
Application granted granted Critical
Publication of JP6290099B2 publication Critical patent/JP6290099B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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 diagnostic devices within or on the body of the patient
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments 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
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/0233—Pointed or sharp biopsy instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B17/3209—Incision instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/061—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
    • A61B5/062—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 using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments 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
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments, e.g. catheter-type instruments
    • A61B2010/045—Needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00331—Steering mechanisms with preformed bends
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00982—General structural features
    • A61B2017/00991—Telescopic means
    • 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
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B2034/2051—Electromagnetic 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
    • A61B2034/2059—Mechanical position encoders
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
JP2014555605A 2012-02-03 2013-01-28 埋め込み型形状感知機能を有する操縦可能な可撓性針 Active JP6290099B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201261594959P 2012-02-03 2012-02-03
US61/594,959 2012-02-03
US201261599015P 2012-02-15 2012-02-15
US61/599,015 2012-02-15
PCT/US2013/023398 WO2013116140A1 (en) 2012-02-03 2013-01-28 Steerable flexible needle with embedded shape sensing

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2017193994A Division JP6847803B2 (ja) 2012-02-03 2017-10-04 埋め込み型形状感知機能を有する操縦可能な可撓性針

Publications (3)

Publication Number Publication Date
JP2015505507A JP2015505507A (ja) 2015-02-23
JP2015505507A5 JP2015505507A5 (enExample) 2016-03-10
JP6290099B2 true JP6290099B2 (ja) 2018-03-07

Family

ID=48903497

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2014555605A Active JP6290099B2 (ja) 2012-02-03 2013-01-28 埋め込み型形状感知機能を有する操縦可能な可撓性針
JP2017193994A Active JP6847803B2 (ja) 2012-02-03 2017-10-04 埋め込み型形状感知機能を有する操縦可能な可撓性針

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2017193994A Active JP6847803B2 (ja) 2012-02-03 2017-10-04 埋め込み型形状感知機能を有する操縦可能な可撓性針

Country Status (4)

Country Link
US (5) US9636040B2 (enExample)
EP (2) EP3488803B1 (enExample)
JP (2) JP6290099B2 (enExample)
WO (1) WO2013116140A1 (enExample)

Families Citing this family (244)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8218847B2 (en) 2008-06-06 2012-07-10 Superdimension, Ltd. Hybrid registration method
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US8672837B2 (en) 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
US9314306B2 (en) 2010-09-17 2016-04-19 Hansen Medical, Inc. Systems and methods for manipulating an elongate member
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
JP6290099B2 (ja) 2012-02-03 2018-03-07 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 埋め込み型形状感知機能を有する操縦可能な可撓性針
US20130245640A1 (en) * 2012-03-15 2013-09-19 Civco Medical Instruments Co., Inc. Device and system for narrow gauge medical instrument navigation
EP2863827B1 (en) * 2012-06-21 2022-11-16 Globus Medical, Inc. Surgical robot platform
CN107198567B (zh) 2012-08-03 2021-02-09 史赛克公司 用于机器人外科手术的系统和方法
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
US9820818B2 (en) * 2012-08-03 2017-11-21 Stryker Corporation System and method for controlling a surgical manipulator based on implant parameters
US10052458B2 (en) 2012-10-17 2018-08-21 Worcester Polytechnic Institute System and method for underactuated control of insertion path for asymmetric tip needles
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
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US9629595B2 (en) 2013-03-15 2017-04-25 Hansen Medical, Inc. Systems and methods for localizing, tracking and/or controlling medical instruments
US9271663B2 (en) 2013-03-15 2016-03-01 Hansen Medical, Inc. Flexible instrument localization from both remote and elongation sensors
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
US11800991B2 (en) 2013-08-15 2023-10-31 Intuitive Surgical Operations, Inc. Graphical user interface for catheter positioning and insertion
WO2015044832A1 (en) 2013-09-30 2015-04-02 Koninklijke Philips N.V. Multipurpose lumen design for optical shape sensing
EP3060157B1 (en) 2013-10-24 2019-12-11 Auris Health, Inc. System for robotic-assisted endolumenal surgery
JP6203951B2 (ja) 2013-10-31 2017-09-27 ボストン サイエンティフィック サイムド，インコーポレイテッドＢｏｓｔｏｎ Ｓｃｉｅｎｔｉｆｉｃ Ｓｃｉｍｅｄ，Ｉｎｃ． 局所一致を使用する高解像度マッピング用の医療用デバイス
WO2015066322A1 (en) 2013-11-01 2015-05-07 Boston Scientific Scimed, Inc. Cardiac mapping using latency interpolation
WO2015071343A1 (en) * 2013-11-13 2015-05-21 Koninklijke Philips N.V. Detection of rotational angle of an interventional device
WO2015088961A1 (en) * 2013-12-13 2015-06-18 Intuitive Surgical Operations, Inc. Sensor stylet
WO2015089372A1 (en) * 2013-12-13 2015-06-18 Intuitive Surgical Operations, Inc. Telescoping biopsy needle
WO2015121866A1 (en) * 2014-02-17 2015-08-20 Asymmetric Medical Ltd. Treatment devices and realtime indications
US11067387B2 (en) 2014-02-28 2021-07-20 Koninklijke Philips N.V. Adaptive instrument kinematic model optimization for optical shape sensed instruments
EP3114648B1 (en) * 2014-03-04 2019-06-05 Xact Robotics Ltd. Dynamic planning method for needle insertion
CN106061372A (zh) 2014-03-07 2016-10-26 波士顿科学医学有限公司 用于标测心脏组织的医疗装置
JP2017509399A (ja) 2014-03-11 2017-04-06 ボストン サイエンティフィック サイムド，インコーポレイテッドＢｏｓｔｏｎ Ｓｃｉｅｎｔｉｆｉｃ Ｓｃｉｍｅｄ，Ｉｎｃ． 心臓組織をマッピングするための医療用デバイス
EP3243476B1 (en) 2014-03-24 2019-11-06 Auris Health, Inc. Systems and devices for catheter driving instinctiveness
CN110833382B (zh) * 2014-04-02 2023-05-30 直观外科手术操作公司 使用可操控管心针和柔性针的设备、系统以及方法
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
US9603668B2 (en) 2014-07-02 2017-03-28 Covidien Lp Dynamic 3D lung map view for tool navigation inside the lung
US9633431B2 (en) 2014-07-02 2017-04-25 Covidien Lp Fluoroscopic pose estimation
US12102412B2 (en) 2014-09-02 2024-10-01 Koninklijke Philips N.V. Guidewire for optical shape sensing
KR102531361B1 (ko) 2014-09-09 2023-05-12 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 상이한 가요성의 안내부 및 도구를 구비한 시스템
WO2016038496A1 (en) * 2014-09-11 2016-03-17 Koninklijke Philips N.V. Sensor interface device providing digital processing of intravascular flow and pressure data
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
EP3212088B1 (en) 2014-10-30 2020-06-10 Koninklijke Philips N.V. Ultrasound visualization of curved structures
US9986983B2 (en) 2014-10-31 2018-06-05 Covidien Lp Computed tomography enhanced fluoroscopic system, device, and method of utilizing the same
AU2015349961A1 (en) 2014-11-19 2017-06-29 Epix Therapeutics, Inc. Ablation devices, systems and methods of using a high-resolution electrode assembly
EP3808298B1 (en) 2014-11-19 2023-07-05 EPiX Therapeutics, Inc. Systems for high-resolution mapping of tissue
JP6673598B2 (ja) 2014-11-19 2020-03-25 エピックス セラピューティクス，インコーポレイテッド ペーシングを伴う組織の高分解能マッピング
EP3247311B1 (en) * 2015-01-22 2020-03-18 Koninklijke Philips N.V. Endograft visualization with pre-integrated optical shape sensing attachments
ES2780876T3 (es) * 2015-03-06 2020-08-27 Mt Derm Gmbh Herramienta para la perforación de piel para la perforación local de una piel humana o animal y aparato de mano
US9636164B2 (en) 2015-03-25 2017-05-02 Advanced Cardiac Therapeutics, Inc. Contact sensing systems and methods
US11819636B2 (en) 2015-03-30 2023-11-21 Auris Health, Inc. Endoscope pull wire electrical circuit
EP3311109A2 (en) * 2015-06-17 2018-04-25 The Charles Stark Draper Laboratory, Inc. Systems and methods for determining shape and/or position
EP3313498B1 (en) * 2015-06-24 2020-05-20 Koninklijke Philips N.V. System for tracking and determining characteristics of inflatable medical instruments using fiber-optical realshape data
JP6446550B2 (ja) * 2015-07-10 2018-12-26 オリンパス株式会社 可撓管挿入装置、及び可撓管挿入装置の作動方法
US10716525B2 (en) 2015-08-06 2020-07-21 Covidien Lp System and method for navigating to target and performing procedure on target utilizing fluoroscopic-based local three dimensional volume reconstruction
US10674982B2 (en) 2015-08-06 2020-06-09 Covidien Lp System and method for local three dimensional volume reconstruction using a standard fluoroscope
US10702226B2 (en) 2015-08-06 2020-07-07 Covidien Lp System and method for local three dimensional volume reconstruction using a standard fluoroscope
US20170042565A1 (en) * 2015-08-11 2017-02-16 Summit Medical Products, Inc. Cannula guided surgical tool
CN108348133B (zh) 2015-09-09 2020-11-13 奥瑞斯健康公司 用于手术机器人系统的器械装置操纵器
EP4070723B1 (en) 2015-09-18 2025-08-06 Auris Health, Inc. Navigation of tubular networks
US10575754B2 (en) 2015-09-23 2020-03-03 Covidien Lp Catheter having a sensor and an extended working channel
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
US10799280B2 (en) * 2015-10-22 2020-10-13 Medtronic Cryocath Lp Post ablation tissue analysis technique
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
JP6751145B2 (ja) * 2015-12-15 2020-09-02 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． ナビゲーション支援システム
WO2017115235A1 (en) * 2015-12-29 2017-07-06 Koninklijke Philips N.V. Image-based adaptive path planning for a robot
US20190000575A1 (en) * 2015-12-29 2019-01-03 Koninklijke Philips N.V. Image guided robotic convergent ablation
JP6701232B2 (ja) * 2016-01-08 2020-05-27 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
JP6923549B2 (ja) 2016-03-15 2021-08-18 エピックス セラピューティクス，インコーポレイテッド 灌注式焼灼のための改良されたシステム
CN115429337A (zh) * 2016-05-31 2022-12-06 直观外科手术操作公司 顺从性活检针系统
EP4238490B1 (en) * 2016-06-30 2025-09-17 Intuitive Surgical Operations, Inc. Graphical user interface for displaying guidance information during an image-guided procedure
US11612384B2 (en) 2016-06-30 2023-03-28 Intuitive Surgical Operations, Inc. Graphical user interface for displaying guidance information in a plurality of modes during an image-guided procedure
CN113425344A (zh) * 2016-06-30 2021-09-24 直观外科手术操作公司 用于医疗机器人系统的故障反应机制的系统和方法
EP3295339B1 (en) * 2016-08-02 2018-10-17 Brainlab AG Solid-joint deformation-model verification
US11324393B2 (en) 2016-08-16 2022-05-10 Intuitive Surgical Operations, Inc. Augmented accuracy using large diameter shape fiber
EP3503834B1 (en) * 2016-08-23 2024-06-12 Intuitive Surgical Operations, Inc. Systems for monitoring patient motion during a medical procedure
US10463439B2 (en) 2016-08-26 2019-11-05 Auris Health, Inc. Steerable catheter with shaft load distributions
KR20230096148A (ko) 2016-08-31 2023-06-29 아우리스 헬스, 인코포레이티드 길이 보존 수술용 기구
US11980344B2 (en) * 2016-09-21 2024-05-14 Intuitive Surgical Operations, Inc. Systems and methods for instrument buckling detection
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
US11547489B2 (en) 2016-11-28 2023-01-10 Koninklijke Philips N.V. Shape sensing of multiple over-the-wire devices
CN116211467A (zh) 2016-12-05 2023-06-06 皇家飞利浦有限公司 用于利用形状感测导丝确定非形状感测介入设备的长度以及确定导丝相对于介入设备的状态的系统和方法
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
EP3562423A1 (en) * 2016-12-28 2019-11-06 Auris Health, Inc. Apparatus for flexible instrument insertion
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US11547318B2 (en) * 2017-01-03 2023-01-10 Koninklijke Philips N.V. Medical navigation system using shape-sensing device and method of operation thereof
KR102015520B1 (ko) * 2017-01-13 2019-08-28 주식회사 루트로닉 치료장치 및 이의 제어방법
US11529190B2 (en) 2017-01-30 2022-12-20 Covidien Lp Enhanced ablation and visualization techniques for percutaneous surgical procedures
KR102116164B1 (ko) 2017-02-03 2020-05-27 재단법인 아산사회복지재단 카테터의 센싱 정보를 이용한 심장의 3차원 매핑 시스템 및 방법
US11793579B2 (en) 2017-02-22 2023-10-24 Covidien Lp Integration of multiple data sources for localization and navigation
AU2018234510B2 (en) * 2017-03-16 2020-07-30 Boston Scientific Scimed, Inc. Biopsy needle for accessing peripheral lung nodules
WO2018172237A1 (en) * 2017-03-21 2018-09-27 Koninklijke Philips N.V. Oss guiding and monitoring systems, controllers and methods
CN108990412B (zh) 2017-03-31 2022-03-22 奥瑞斯健康公司 补偿生理噪声的用于腔网络导航的机器人系统
EP3606592B1 (en) 2017-04-07 2025-01-08 Bard Access Systems, Inc. Optical fiber-based medical device tracking and monitoring system
EP3612121B1 (en) 2017-04-18 2024-11-06 Intuitive Surgical Operations, Inc. Graphical user interface for monitoring an image-guided procedure
EP3613057B1 (en) * 2017-04-18 2025-06-04 Intuitive Surgical Operations, Inc. Graphical user interface for planning a procedure
EP3614946B1 (en) 2017-04-27 2024-03-20 EPiX Therapeutics, Inc. Determining nature of contact between catheter tip and tissue
JP7677608B2 (ja) 2017-05-12 2025-05-15 オーリス ヘルス インコーポレイテッド 生検装置およびシステム
US10716461B2 (en) 2017-05-17 2020-07-21 Auris Health, Inc. Exchangeable working channel
US10575907B2 (en) 2017-06-21 2020-03-03 Biosense Webster (Israel) Ltd. Registration with trajectory information with shape sensing
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
US10699448B2 (en) 2017-06-29 2020-06-30 Covidien Lp System and method for identifying, marking and navigating to a target using real time two dimensional fluoroscopic data
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
JP7213867B2 (ja) * 2017-08-16 2023-01-27 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 医療処置中に患者の動きをモニタするためのシステムおよび方法
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
EP3694412B1 (en) 2017-10-10 2025-12-31 Covidien LP SYSTEM AND METHOD FOR IDENTIFYING AND MARKING A TARGET IN A THREE-DIMENSIONAL FLUOROSCOPIC RECONSTRUCTION
US10555778B2 (en) 2017-10-13 2020-02-11 Auris Health, Inc. Image-based branch detection and mapping for navigation
WO2019074786A1 (en) 2017-10-13 2019-04-18 Intuitive Surgical Operations, Inc. SYSTEMS AND METHODS FOR DETECTING ENVIRONMENTAL FORCES ON AN EXTENDED DEVICE
US11058493B2 (en) 2017-10-13 2021-07-13 Auris Health, Inc. Robotic system configured for navigation path tracing
EP3720354B1 (en) * 2017-12-04 2025-01-29 Covidien LP Automatic ablation antenna segmentation from ct image
US10987179B2 (en) 2017-12-06 2021-04-27 Auris Health, Inc. Systems and methods to correct for uncommanded instrument roll
EP3684562B1 (en) 2017-12-14 2025-03-12 Auris Health, Inc. System and program for estimating instrument location
US12144601B2 (en) 2017-12-15 2024-11-19 C. R. Bard, Inc. Impedance measuring probe and biopsy apparatus
JP7059377B2 (ja) 2017-12-18 2022-04-25 オーリス ヘルス インコーポレイテッド 管腔ネットワーク内の器具の追跡およびナビゲーションの方法およびシステム
US10992078B2 (en) 2018-01-29 2021-04-27 Bard Access Systems, Inc. Connection system for establishing an electrical connection through a drape and methods thereof
US10905498B2 (en) 2018-02-08 2021-02-02 Covidien Lp System and method for catheter detection in fluoroscopic images and updating displayed position of catheter
US10930064B2 (en) 2018-02-08 2021-02-23 Covidien Lp Imaging reconstruction system and method
US11364004B2 (en) 2018-02-08 2022-06-21 Covidien Lp System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target
KR102893714B1 (ko) 2018-02-13 2025-12-01 아우리스 헬스, 인코포레이티드 의료 기구를 구동시키기 위한 시스템 및 방법
WO2019190657A1 (en) 2018-03-28 2019-10-03 Auris Health, Inc. Medical instruments with variable bending stiffness profiles
EP3773131B1 (en) 2018-03-28 2024-07-10 Auris Health, Inc. Systems for registration of location sensors
JP7225259B2 (ja) 2018-03-28 2023-02-20 オーリス ヘルス インコーポレイテッド 器具の推定位置を示すためのシステム及び方法
US10872449B2 (en) 2018-05-02 2020-12-22 Covidien Lp System and method for constructing virtual radial ultrasound images from CT data and performing a surgical navigation procedure using virtual ultrasound images
US10772696B2 (en) 2018-05-18 2020-09-15 Bard Access Systems, Inc. Connection systems and methods thereof for establishing an electrical connection through a drape
KR102499906B1 (ko) 2018-05-30 2023-02-16 아우리스 헬스, 인코포레이티드 위치 센서-기반 분지부 예측을 위한 시스템 및 방법
EP4454591A3 (en) 2018-05-31 2025-01-15 Auris Health, Inc. Path-based navigation of tubular networks
CN112236083B (zh) 2018-05-31 2024-08-13 奥瑞斯健康公司 用于导航检测生理噪声的管腔网络的机器人系统和方法
MX2020012904A (es) 2018-05-31 2021-02-26 Auris Health Inc Analisis y mapeo de vias respiratorias basados en imagen.
CN108775981B (zh) * 2018-06-12 2024-08-02 南昌大学 一种高精度的差动式膜片光纤压力传感系统
CN118902621A (zh) 2018-06-27 2024-11-08 奥瑞斯健康公司 用于医疗器械的对准系统和附接系统
EP3821444A1 (en) * 2018-07-10 2021-05-19 Intuitive Surgical Operations, Inc. Systems and methods for tool detection and associated control modes
US12181579B2 (en) * 2018-07-16 2024-12-31 Cilag GmbH Intemational Controlling an emitter assembly pulse sequence
US11071591B2 (en) 2018-07-26 2021-07-27 Covidien Lp Modeling a collapsed lung using CT data
US11705238B2 (en) 2018-07-26 2023-07-18 Covidien Lp Systems and methods for providing assistance during surgery
US10898276B2 (en) 2018-08-07 2021-01-26 Auris Health, Inc. Combining strain-based shape sensing with catheter control
US11179212B2 (en) 2018-09-26 2021-11-23 Auris Health, Inc. Articulating medical instruments
US11944388B2 (en) 2018-09-28 2024-04-02 Covidien Lp Systems and methods for magnetic interference correction
KR102870092B1 (ko) 2018-09-28 2025-10-17 아우리스 헬스, 인코포레이티드 동시 내시경술 및 경피 의료 절차를 위한 로봇 시스템 및 방법
JP7661665B2 (ja) 2018-09-28 2025-04-15 オーリス ヘルス インコーポレイテッド 医療器具をドッキングするためのシステム及び方法
EP3856001A4 (en) 2018-09-28 2022-06-22 Auris Health, Inc. DEVICES, SYSTEMS AND METHODS FOR MANUAL AND ROBOTIC DRIVES OF MEDICAL INSTRUMENTS
CN113164117B (zh) * 2018-10-09 2024-12-20 新泽西州立罗格斯大学 经皮插管器械的超声引导对准与插入
US11877806B2 (en) 2018-12-06 2024-01-23 Covidien Lp Deformable registration of computer-generated airway models to airway trees
US11998284B2 (en) * 2018-12-07 2024-06-04 Acclarent, Inc. Articulating guide with integral position sensor
US11045075B2 (en) 2018-12-10 2021-06-29 Covidien Lp System and method for generating a three-dimensional model of a surgical site
US11617493B2 (en) 2018-12-13 2023-04-04 Covidien Lp Thoracic imaging, distance measuring, surgical awareness, and notification system and method
US11801113B2 (en) 2018-12-13 2023-10-31 Covidien Lp Thoracic imaging, distance measuring, and notification system and method
US11986257B2 (en) 2018-12-28 2024-05-21 Auris Health, Inc. Medical instrument with articulable segment
US11357593B2 (en) 2019-01-10 2022-06-14 Covidien Lp Endoscopic imaging with augmented parallax
US11625825B2 (en) 2019-01-30 2023-04-11 Covidien Lp Method for displaying tumor location within endoscopic images
US11925333B2 (en) 2019-02-01 2024-03-12 Covidien Lp System for fluoroscopic tracking of a catheter to update the relative position of a target and the catheter in a 3D model of a luminal network
US11564751B2 (en) 2019-02-01 2023-01-31 Covidien Lp Systems and methods for visualizing navigation of medical devices relative to targets
US11744643B2 (en) 2019-02-04 2023-09-05 Covidien Lp Systems and methods facilitating pre-operative prediction of post-operative tissue function
EP3705020A1 (en) * 2019-03-05 2020-09-09 FBGS Technologies GmbH Methods and systems for shape sensing
US12472328B2 (en) 2019-03-15 2025-11-18 Intuitive Surgical Operations, Inc. Systems and methods for determining buckling and patient movement during a medical procedure
US12478444B2 (en) 2019-03-21 2025-11-25 The Board Of Trustees Of The Leland Stanford Junior University Systems and methods for localization based on machine learning
US11617627B2 (en) 2019-03-29 2023-04-04 Auris Health, Inc. Systems and methods for optical strain sensing in medical instruments
US11819285B2 (en) 2019-04-05 2023-11-21 Covidien Lp Magnetic interference detection systems and methods
US11975157B2 (en) 2019-04-12 2024-05-07 Covidien Lp Method of manufacturing an elongated catheter having multiple sensors for three-dimensional location of the catheter
EP3962357B1 (en) * 2019-05-02 2024-01-17 Fiagon GmbH Surgical kit for minimally invasive spine surgery
EP3997497B1 (en) 2019-07-29 2025-08-27 Bard Access Systems, Inc. Connection systems and methods for establishing optical and electrical connections through a drape
US12089902B2 (en) 2019-07-30 2024-09-17 Coviden Lp Cone beam and 3D fluoroscope lung navigation
CA3150924A1 (en) * 2019-08-08 2021-02-11 Bard Access Systems, Inc. Optical-fiber connector modules including shape-sensing systems and methods thereof
CN112386793A (zh) * 2019-08-12 2021-02-23 科利耳有限公司 在耳蜗内插入期间电极阵列姿态的实时估计
JP7524305B2 (ja) 2019-08-12 2024-07-29 バード・アクセス・システムズ，インコーポレーテッド 医療機器用の形状センシングシステム
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
US11717147B2 (en) 2019-08-15 2023-08-08 Auris Health, Inc. Medical device having multiple bending sections
US12059281B2 (en) 2019-08-19 2024-08-13 Covidien Lp Systems and methods of fluoro-CT imaging for initial registration
US11269173B2 (en) 2019-08-19 2022-03-08 Covidien Lp Systems and methods for displaying medical video images and/or medical 3D models
EP4021331A4 (en) 2019-08-30 2023-08-30 Auris Health, Inc. SYSTEMS AND METHODS FOR REGISTERING POSITION SENSORS BASED ON WEIGHT
EP4021329B1 (en) 2019-08-30 2025-12-10 Auris Health, Inc. Instrument image reliability systems and methods
US11931111B2 (en) 2019-09-09 2024-03-19 Covidien Lp Systems and methods for providing surgical guidance
US11864935B2 (en) 2019-09-09 2024-01-09 Covidien Lp Systems and methods for pose estimation of a fluoroscopic imaging device and for three-dimensional imaging of body structures
US11627924B2 (en) 2019-09-24 2023-04-18 Covidien Lp Systems and methods for image-guided navigation of percutaneously-inserted devices
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
JP2022553541A (ja) * 2019-10-24 2022-12-23 ヤンセン バイオテツク，インコーポレーテツド 操縦可能な針
EP4061272B1 (en) * 2019-11-25 2026-01-07 Bard Access Systems, Inc. Shape-sensing systems with filters and methods thereof
EP4061466A4 (en) 2019-11-25 2023-11-22 Bard Access Systems, Inc. Optical tip-tracking systems and methods thereof
US12102298B2 (en) 2019-12-10 2024-10-01 Covidien Lp Lymphatic system tracking
US12089903B2 (en) * 2019-12-13 2024-09-17 Intuitive Surgical Operations, Inc. Systems and methods for inserting an elongate flexible instrument into an environment
CN114929148B (zh) 2019-12-31 2024-05-10 奥瑞斯健康公司 用于经皮进入的对准界面
KR20220123273A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 해부학적 특징부 식별 및 표적설정
CN114901200A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 高级篮式驱动模式
WO2021137104A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Dynamic pulley system
CN114901192A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 用于经皮进入的对准技术
US11380060B2 (en) 2020-01-24 2022-07-05 Covidien Lp System and method for linking a segmentation graph to volumetric data
US11847730B2 (en) 2020-01-24 2023-12-19 Covidien Lp Orientation detection in fluoroscopic images
US20210260339A1 (en) * 2020-02-24 2021-08-26 Canon U.S.A., Inc. Methods and systems for catheter target locking
EP4110176B1 (en) 2020-02-28 2024-11-20 Bard Access Systems, Inc. Catheter with optic shape sensing capabilities
WO2021173861A1 (en) 2020-02-28 2021-09-02 Bard Access Systems, Inc. Optical connection systems and methods thereof
US12232818B2 (en) 2020-03-03 2025-02-25 Bard Access Systems, Inc. System and method for optic shape sensing and electrical signal conduction
WO2021202589A1 (en) 2020-03-30 2021-10-07 Bard Access Systems, Inc. Optical and electrical diagnostic systems and methods thereof
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
US11974818B2 (en) * 2020-04-28 2024-05-07 Smith & Nephew, Inc. Surgical tracking methods and fiber optic shape sensing devices thereof
US12064191B2 (en) 2020-06-03 2024-08-20 Covidien Lp Surgical tool navigation using sensor fusion
US11701492B2 (en) 2020-06-04 2023-07-18 Covidien Lp Active distal tip drive
EP4161412A1 (en) * 2020-06-05 2023-04-12 Koninklijke Philips N.V. System for guiding interventional instrument to internal target
US11622816B2 (en) 2020-06-26 2023-04-11 Bard Access Systems, Inc. Malposition detection system
US11883609B2 (en) 2020-06-29 2024-01-30 Bard Access Systems, Inc. Automatic dimensional frame reference for fiber optic
US12402955B2 (en) 2020-06-29 2025-09-02 Regents Of The University Of Minnesota Extended-reality visualization of endovascular navigation
EP4178431A1 (en) 2020-07-10 2023-05-17 Bard Access Systems, Inc. Continuous fiber optic functionality monitoring and self-diagnostic reporting system
US11950950B2 (en) 2020-07-24 2024-04-09 Covidien Lp Zoom detection and fluoroscope movement detection for target overlay
EP4188212A1 (en) 2020-08-03 2023-06-07 Bard Access Systems, Inc. Bragg grated fiber optic fluctuation sensing and monitoring system
US12383352B2 (en) 2020-08-13 2025-08-12 Covidien Lp Endoluminal robotic (ELR) systems and methods
US12349980B2 (en) * 2020-08-13 2025-07-08 Intuitive Surgical Operations, Inc. Alerting and mitigating divergence of anatomical feature locations from prior images to real-time interrogation
US12256923B2 (en) 2020-08-13 2025-03-25 Covidien Lp Endoluminal robotic systems and methods for suturing
US12161309B2 (en) 2020-09-24 2024-12-10 Covidien Lp Articulating mechanism for the laparoscopic ablation device for blunt dissection
CN114246583A (zh) 2020-09-25 2022-03-29 巴德阿克塞斯系统股份有限公司 用于检测和确认的光纤血氧测定系统
EP4229456A1 (en) 2020-10-13 2023-08-23 Bard Access Systems, Inc. Disinfecting covers for functional connectors of medical devices and methods thereof
EP4247469A1 (en) 2020-11-18 2023-09-27 Bard Access Systems, Inc. Optical-fiber stylet holders and methods thereof
US12220219B2 (en) * 2020-11-24 2025-02-11 Bard Access Systems, Inc. Steerable fiber optic shape sensing enabled elongated medical instrument
WO2022112859A1 (en) * 2020-11-27 2022-06-02 R.A.W. S.R.L. Control of a surgical instrument
WO2022150411A1 (en) 2021-01-06 2022-07-14 Bard Access Systems, Inc. Needle guidance using fiber optic shape sensing
EP4280995A1 (en) 2021-01-26 2023-11-29 Bard Access Systems, Inc. Fiber optic shape sensing system associated with port placement
US12520997B2 (en) 2021-02-18 2026-01-13 Acclarent, Inc. Flexible sensor assembly for ENT instrument
DE102021201727A1 (de) * 2021-02-24 2022-08-25 Siemens Healthcare Gmbh Vorrichtung zum Bewegen eines medizinischen Objekts und Verfahren zum Bereitstellen einer Korrekturvorgabe
US12023516B2 (en) 2021-03-11 2024-07-02 Alpha Tau Medical Ltd. Radiotherapy applicator
EP4329656A4 (en) * 2021-04-30 2025-03-19 Health Research, Inc. Light delivery device and method for ultrasound-guided interstitial photodynamic therapy
CN117615724A (zh) 2021-05-11 2024-02-27 直观外科手术操作公司 医疗器械指导系统和相关联方法
US12490937B2 (en) 2021-05-18 2025-12-09 Bard Access Systems, Inc. Anatomical oscillation and fluctuation sensing and confirmation system
KR20240026919A (ko) 2021-06-30 2024-02-29 알파 타우 메디컬 리미티드 수직 또는 각을 이룬 방사상 분배 기능을 가진 방사선 치료 어플리케이터
US12446988B2 (en) 2021-09-16 2025-10-21 Bard Access Systems, Inc. Swappable high mating cycle fiber connection interface
CN118302127A (zh) 2021-10-08 2024-07-05 直观外科手术操作公司 包括用于经皮肾镜取石术程序的引导系统的医疗器械引导系统以及相关联的装置和方法
CN113893015B (zh) * 2021-10-21 2023-06-02 扬州大学 基于电子凸轮的柔性针往复夹紧穿刺机构及应用方法
US12419694B2 (en) 2021-10-25 2025-09-23 Bard Access Systems, Inc. Reference plane for medical device placement
KR102681315B1 (ko) * 2021-12-24 2024-07-05 한국과학기술연구원 스트레인 변화 또는 형상 변화를 이용하여 삽입 길이를 측정하는 방법 및 이를 위한 삽입 장치
US12303220B2 (en) 2022-01-26 2025-05-20 Covidien Lp Autonomous endobronchial access with an EM guided catheter
US12318149B2 (en) 2022-03-08 2025-06-03 Bard Access Systems, Inc. Medical shape sensing devices and systems
US12426956B2 (en) 2022-03-16 2025-09-30 Bard Access Systems, Inc. Medical system and method for monitoring medical device insertion and illumination patterns
US12089815B2 (en) 2022-03-17 2024-09-17 Bard Access Systems, Inc. Fiber optic medical systems and devices with atraumatic tip
JP2025513292A (ja) * 2022-04-19 2025-04-24 ボストン サイエンティフィック メディカル デバイス リミテッド 医療装置のための制御アセンブリ及び関連する使用方法
US12472571B2 (en) * 2022-04-29 2025-11-18 Rolls-Royce Corporation Automated iterative electrode fabrication for pulsed electrochemical machining
US20230417998A1 (en) * 2022-06-24 2023-12-28 Bard Access Systems, Inc. Shape Sensing Fiber Optic Tip Protection Systems and Devices
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
US12257082B2 (en) 2022-06-30 2025-03-25 Covidien Lp Cone beam computed tomography integration for creating a navigation pathway to a target in the lung and method of navigating to the target
WO2025205916A1 (ja) * 2024-03-26 2025-10-02 古河電気工業株式会社 カテーテル先端位置確認装置、及び医療用カテーテルセット
US12458783B2 (en) * 2024-04-12 2025-11-04 Azygos Vascular, Inc. Cerebrospinal fluid shunt
CN119184768B (zh) * 2024-09-25 2025-04-11 江苏省肿瘤医院 微创手术模块式变形缝合针及其形态控制方法

Family Cites Families (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4130226B2 (ja) * 1996-02-15 2008-08-06 バイオセンス・ウェブスター・インコーポレイテッド 内視鏡の正確な位置決定
GB9713018D0 (en) 1997-06-20 1997-08-27 Secr Defence Optical fibre bend sensor
US7747312B2 (en) 2000-01-04 2010-06-29 George Mason Intellectual Properties, Inc. System and method for automatic shape registration and instrument tracking
DE10011790B4 (de) * 2000-03-13 2005-07-14 Siemens Ag Medizinisches Instrument zum Einführen in ein Untersuchungsobjekt, sowie medizinisches Untersuchungs- oder Behandlungsgerät
US6508802B1 (en) * 2000-05-23 2003-01-21 Cornell Research Foundation, Inc. Remote sensing gene therapy delivery device and method of administering a therapeutic solution to a heart
US7998062B2 (en) * 2004-03-29 2011-08-16 Superdimension, Ltd. Endoscope structures and techniques for navigating to a target in branched structure
AU2003257087B2 (en) * 2002-08-01 2009-01-08 James E. Selis Biopsy devices
US7662128B2 (en) * 2002-12-23 2010-02-16 Salcudean Septimiu E Steerable needle
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
US20050149097A1 (en) * 2003-12-30 2005-07-07 Regnell Sandra J. Transseptal needle
US7811294B2 (en) * 2004-03-08 2010-10-12 Mediguide Ltd. Automatic guidewire maneuvering system and method
DE102004017834B4 (de) 2004-04-13 2011-01-27 Siemens Ag Kathetereinrichtung
US7781724B2 (en) 2004-07-16 2010-08-24 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
US7772541B2 (en) 2004-07-16 2010-08-10 Luna Innnovations Incorporated Fiber optic position and/or shape sensing based on rayleigh scatter
US20060013523A1 (en) 2004-07-16 2006-01-19 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
CA2588002A1 (en) 2005-01-18 2006-07-27 Traxtal Inc. Method and apparatus for guiding an instrument to a target in the lung
US20060229597A1 (en) * 2005-04-07 2006-10-12 Mcintyre Jon T Ultrasound medical device and related methods of use
JP2007044412A (ja) 2005-08-12 2007-02-22 Pentax Corp 内視鏡挿入形状検出プローブ
EP1948056A2 (en) * 2005-10-24 2008-07-30 Spectrascience, Inc. System and method for non-endoscopic optical biopsy detection of diseased tissue
JP2007130132A (ja) 2005-11-09 2007-05-31 Pentax Corp 内視鏡挿入部形状把握システム
CN101351236B (zh) * 2005-11-15 2013-05-29 约翰霍普金斯大学 一种用于生物感应和外科手术的活性套管
EP1956962B1 (en) * 2005-11-22 2020-09-16 Intuitive Surgical Operations, Inc. System for determining the shape of a bendable instrument
JP5103658B2 (ja) 2006-06-05 2012-12-19 テクニオン リサーチ アンド ディベロップメント ファンデーション リミテッド 柔軟な針の制御された操作
US7824328B2 (en) 2006-09-18 2010-11-02 Stryker Corporation Method and apparatus for tracking a surgical instrument during surgery
WO2008097540A2 (en) * 2007-02-02 2008-08-14 Hansen Medical, Inc. Robotic surgical instrument and methods using bragg fiber sensors
US8050523B2 (en) * 2007-04-20 2011-11-01 Koninklijke Philips Electronics N.V. Optical fiber shape sensing systems
US20130165945A9 (en) * 2007-08-14 2013-06-27 Hansen Medical, Inc. Methods and devices for controlling a shapeable instrument
EP2626006B1 (en) * 2007-08-14 2019-10-09 Koninklijke Philips N.V. Robotic instrument systems utilizing optical fiber sensors
US9521961B2 (en) 2007-11-26 2016-12-20 C. R. Bard, Inc. Systems and methods for guiding a medical instrument
US7720322B2 (en) 2008-06-30 2010-05-18 Intuitive Surgical, Inc. Fiber optic shape sensor
US8632468B2 (en) * 2009-02-25 2014-01-21 Koninklijke Philips N.V. Method, system and devices for transjugular intrahepatic portosystemic shunt (TIPS) procedures
US8337397B2 (en) 2009-03-26 2012-12-25 Intuitive Surgical Operations, Inc. Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device toward one or more landmarks in a patient
US8649847B1 (en) * 2009-05-04 2014-02-11 Intelligent Fiber Optic Systems, Inc. Steerable shape sensing biopsy needle and catheter
US20100319910A1 (en) * 2009-06-18 2010-12-23 Sebastien Ives Drum Load Monitoring
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
EP2501319A1 (en) * 2009-11-16 2012-09-26 Koninklijke Philips Electronics N.V. Human-robot shared control for endoscopic assistant robot
WO2011098926A1 (en) * 2010-02-09 2011-08-18 Koninklijke Philips Electronics N.V. Apparatus, system and method for imaging and treatment using optical position sensing
WO2011141829A1 (en) * 2010-05-11 2011-11-17 Koninklijke Philips Electronics N.V. Method and apparatus for dynamic tracking of medical devices using fiber bragg gratings
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
JP6290099B2 (ja) 2012-02-03 2018-03-07 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 埋め込み型形状感知機能を有する操縦可能な可撓性針

Also Published As

Publication number Publication date
JP2017225866A (ja) 2017-12-28
US20230148897A1 (en) 2023-05-18
US20170014194A1 (en) 2017-01-19
JP2015505507A (ja) 2015-02-23
US20200289023A1 (en) 2020-09-17
EP3488803B1 (en) 2023-09-27
JP6847803B2 (ja) 2021-03-24
EP2809249A1 (en) 2014-12-10
EP3488803A1 (en) 2019-05-29
US11583204B2 (en) 2023-02-21
US20250255511A1 (en) 2025-08-14
US10638953B2 (en) 2020-05-05
WO2013116140A1 (en) 2013-08-08
EP2809249A4 (en) 2015-07-22
EP2809249B1 (en) 2018-12-26
US20130204124A1 (en) 2013-08-08
US9636040B2 (en) 2017-05-02
US12295718B2 (en) 2025-05-13

Similar Documents

Publication Publication Date Title
US12295718B2 (en) Steerable flexible needle with embedded shape sensing
US20240374246A1 (en) Telescoping biopsy needle
JP6816243B2 (ja) スタイレット及び最小侵襲システム
US11666243B2 (en) Systems and methods for reducing measurement error using optical fiber shape sensors
EP2938283B1 (en) Systems for interventional procedure planning
WO2015088961A1 (en) Sensor stylet

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160106

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20160106

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160118

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20161116

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20161122

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170215

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20170613

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20171004

C60 Trial request (containing other claim documents, opposition documents)

Free format text: JAPANESE INTERMEDIATE CODE: C60

Effective date: 20171004

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

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20171013

C21 Notice of transfer of a case for reconsideration by examiners before appeal proceedings

Free format text: JAPANESE INTERMEDIATE CODE: C21

Effective date: 20171017

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20171219

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20171222

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: 20180116

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20180207

R150 Certificate of patent or registration of utility model

Ref document number: 6290099

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

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250