JP6334714B2 - ロボット手術のための連続画像統合を行う制御ユニット又はロボットガイドシステム - Google Patents

ロボット手術のための連続画像統合を行う制御ユニット又はロボットガイドシステム Download PDF

Info

Publication number
JP6334714B2
JP6334714B2 JP2016547077A JP2016547077A JP6334714B2 JP 6334714 B2 JP6334714 B2 JP 6334714B2 JP 2016547077 A JP2016547077 A JP 2016547077A JP 2016547077 A JP2016547077 A JP 2016547077A JP 6334714 B2 JP6334714 B2 JP 6334714B2
Authority
JP
Japan
Prior art keywords
robot
endoscope
image
anatomical region
integration module
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
JP2016547077A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017508499A (ja
JP2017508499A5 (enExample
Inventor
アレクサンドラ ポポヴィック
アレクサンドラ ポポヴィック
アリイ レイブ レインステイン
アリイ レイブ レインステイン
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips NV filed Critical Koninklijke Philips NV
Publication of JP2017508499A publication Critical patent/JP2017508499A/ja
Publication of JP2017508499A5 publication Critical patent/JP2017508499A5/ja
Application granted granted Critical
Publication of JP6334714B2 publication Critical patent/JP6334714B2/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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • 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
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • 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
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Endoscopes (AREA)
JP2016547077A 2014-01-24 2015-01-14 ロボット手術のための連続画像統合を行う制御ユニット又はロボットガイドシステム Active JP6334714B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461931168P 2014-01-24 2014-01-24
US61/931,168 2014-01-24
PCT/IB2015/050271 WO2015110934A1 (en) 2014-01-24 2015-01-14 Continuous image integration for robotic surgery

Publications (3)

Publication Number Publication Date
JP2017508499A JP2017508499A (ja) 2017-03-30
JP2017508499A5 JP2017508499A5 (enExample) 2018-01-18
JP6334714B2 true JP6334714B2 (ja) 2018-05-30

Family

ID=52574194

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016547077A Active JP6334714B2 (ja) 2014-01-24 2015-01-14 ロボット手術のための連続画像統合を行う制御ユニット又はロボットガイドシステム

Country Status (5)

Country Link
US (1) US11083529B2 (enExample)
EP (1) EP3096703B1 (enExample)
JP (1) JP6334714B2 (enExample)
CN (1) CN105934216B (enExample)
WO (1) WO2015110934A1 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170084036A1 (en) * 2015-09-21 2017-03-23 Siemens Aktiengesellschaft Registration of video camera with medical imaging
US11259876B2 (en) * 2015-09-28 2022-03-01 Koninklijke Philips N.V. Single-port surgical procedure using image guided articulated robot
WO2018046094A1 (de) * 2016-09-09 2018-03-15 Siemens Aktiengesellschaft Verfahren zum betreiben eines endoskops, endoskop sowie vitalparametermonitor
IT201800000673U1 (it) * 2018-01-11 2019-07-11 Apparato robotizzato per operazioni chirurgiche
JP6990292B2 (ja) 2018-02-21 2022-01-12 オリンパス株式会社 医療システムおよび医療システムの作動方法
USD1022197S1 (en) 2020-11-19 2024-04-09 Auris Health, Inc. Endoscope
US11508089B2 (en) * 2021-03-05 2022-11-22 Black Sesame Technologies Inc. LiDAR assisted wheel encoder to camera calibration
US20230053189A1 (en) * 2021-08-11 2023-02-16 Terumo Cardiovascular Systems Corporation Augmented-reality endoscopic vessel harvesting
US12433691B1 (en) * 2024-04-05 2025-10-07 Mariner Endosurgery Minimally invasive surgical apparatus, system, and related methods

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3236070B2 (ja) * 1992-06-04 2001-12-04 オリンパス光学工業株式会社 スコープ保持装置およびスコープ装置
JP2006198032A (ja) * 2005-01-18 2006-08-03 Olympus Corp 手術支援システム
US8803955B2 (en) * 2008-04-26 2014-08-12 Intuitive Surgical Operations, Inc. Augmented stereoscopic visualization for a surgical robot using a camera unit with a modified prism
EP2521507B1 (en) * 2010-01-08 2015-01-14 Koninklijke Philips N.V. Uncalibrated visual servoing using real-time velocity optimization
RU2556593C2 (ru) * 2010-01-13 2015-07-10 Конинклейке Филипс Электроникс Н.В. Совмещение и навигация для эндоскопической хирургии на основе интеграции изображений
CN103108602B (zh) * 2010-09-15 2015-09-30 皇家飞利浦电子股份有限公司 从血管树图像对内窥镜的机器人控制
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
CN103957832B (zh) * 2011-10-26 2016-09-28 皇家飞利浦有限公司 血管树图像的内窥镜配准
US10414792B2 (en) 2011-12-03 2019-09-17 Koninklijke Philips N.V. Robotic guidance of ultrasound probe in endoscopic surgery
WO2013093761A2 (en) 2011-12-21 2013-06-27 Koninklijke Philips Electronics N.V. Overlay and motion compensation of structures from volumetric modalities onto video of an uncalibrated endoscope

Also Published As

Publication number Publication date
CN105934216A (zh) 2016-09-07
EP3096703A1 (en) 2016-11-30
US20160331475A1 (en) 2016-11-17
US11083529B2 (en) 2021-08-10
JP2017508499A (ja) 2017-03-30
WO2015110934A1 (en) 2015-07-30
EP3096703B1 (en) 2018-03-14
CN105934216B (zh) 2019-09-17

Similar Documents

Publication Publication Date Title
JP6334714B2 (ja) ロボット手術のための連続画像統合を行う制御ユニット又はロボットガイドシステム
US12295672B2 (en) Robotic systems for determining a roll of a medical device in luminal networks
JP6982605B2 (ja) 外科用器具可視性のロボット制御
JP6629186B2 (ja) 解剖学的特徴からの内視鏡のロボット制御
KR102558061B1 (ko) 생리적 노이즈를 보상하는 관강내 조직망 항행을 위한 로봇 시스템
CN103108602B (zh) 从血管树图像对内窥镜的机器人控制
US8827934B2 (en) Method and system for determining information of extrema during expansion and contraction cycles of an object
US10453174B2 (en) Endoscopic registration of vessel tree images
JP7648035B2 (ja) 位置センサの重みベースの位置合わせのためのシステム及び方法
US20240404101A1 (en) Vision-based 6dof camera pose estimation in bronchoscopy

Legal Events

Date Code Title Description
RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20170214

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20171128

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20171128

A871 Explanation of circumstances concerning accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A871

Effective date: 20171128

A975 Report on accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A971005

Effective date: 20171211

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: 20180314

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: 20180403

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20180426

R150 Certificate of patent or registration of utility model

Ref document number: 6334714

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