JP6363165B2 - 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法 - Google Patents

介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法 Download PDF

Info

Publication number
JP6363165B2
JP6363165B2 JP2016501237A JP2016501237A JP6363165B2 JP 6363165 B2 JP6363165 B2 JP 6363165B2 JP 2016501237 A JP2016501237 A JP 2016501237A JP 2016501237 A JP2016501237 A JP 2016501237A JP 6363165 B2 JP6363165 B2 JP 6363165B2
Authority
JP
Japan
Prior art keywords
sensor
tracking system
shape
shape sensor
fiber
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
JP2016501237A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016515862A5 (https=
JP2016515862A (ja
Inventor
チョプラ，プラシャント
デュインダム，ヴィンセント
コール，ジョン
ザオ，タオ
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 JP2016515862A publication Critical patent/JP2016515862A/ja
Publication of JP2016515862A5 publication Critical patent/JP2016515862A5/ja
Application granted granted Critical
Publication of JP6363165B2 publication Critical patent/JP6363165B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • A61B5/061—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
    • A61B5/064—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 markers
    • 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
    • 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
    • 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
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • 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
    • A61B2090/363—Use of fiducial points
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3966—Radiopaque markers visible in an X-ray image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/04—Constructional details of apparatus
    • A61B2560/0456—Apparatus provided with a docking unit
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6879—Means for maintaining contact with the body

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Endoscopes (AREA)
JP2016501237A 2013-03-15 2014-03-11 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法 Active JP6363165B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361799524P 2013-03-15 2013-03-15
US61/799,524 2013-03-15
PCT/US2014/023450 WO2014150509A1 (en) 2013-03-15 2014-03-11 Shape sensor systems for tracking interventional instruments and methods of use

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2018121615A Division JP6620191B2 (ja) 2013-03-15 2018-06-27 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法

Publications (3)

Publication Number Publication Date
JP2016515862A JP2016515862A (ja) 2016-06-02
JP2016515862A5 JP2016515862A5 (https=) 2017-04-06
JP6363165B2 true JP6363165B2 (ja) 2018-07-25

Family

ID=51530425

Family Applications (3)

Application Number Title Priority Date Filing Date
JP2016501237A Active JP6363165B2 (ja) 2013-03-15 2014-03-11 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法
JP2018121615A Active JP6620191B2 (ja) 2013-03-15 2018-06-27 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法
JP2019207614A Active JP6976303B2 (ja) 2013-03-15 2019-11-18 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2018121615A Active JP6620191B2 (ja) 2013-03-15 2018-06-27 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法
JP2019207614A Active JP6976303B2 (ja) 2013-03-15 2019-11-18 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法

Country Status (6)

Country Link
US (1) US9918659B2 (https=)
EP (2) EP2968857B1 (https=)
JP (3) JP6363165B2 (https=)
KR (1) KR102234145B1 (https=)
CN (2) CN105050525B (https=)
WO (1) WO2014150509A1 (https=)

Families Citing this family (188)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008017051A2 (en) 2006-08-02 2008-02-07 Inneroptic Technology Inc. System and method of providing real-time dynamic imagery of a medical procedure site using multiple modalities
US8218847B2 (en) 2008-06-06 2012-07-10 Superdimension, Ltd. Hybrid registration method
US8690776B2 (en) 2009-02-17 2014-04-08 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image guided surgery
US11464578B2 (en) 2009-02-17 2022-10-11 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures
US8641621B2 (en) 2009-02-17 2014-02-04 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US9314306B2 (en) 2010-09-17 2016-04-19 Hansen Medical, Inc. Systems and methods for manipulating an elongate member
US20130030363A1 (en) 2011-07-29 2013-01-31 Hansen Medical, Inc. Systems and methods utilizing shape sensing fibers
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
US10314559B2 (en) 2013-03-14 2019-06-11 Inneroptic Technology, Inc. Medical device guidance
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
US20140275810A1 (en) * 2013-03-15 2014-09-18 Inneroptic Technology, Inc. Sensor mount
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
EP4501267A3 (en) 2013-07-29 2025-04-16 Intuitive Surgical Operations, Inc. Shape sensor systems with redundant sensing
JP6656148B2 (ja) 2013-10-24 2020-03-04 オーリス ヘルス インコーポレイテッド ロボット支援管腔内手術のためのシステムおよび関連する方法
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
US10569052B2 (en) 2014-05-15 2020-02-25 Auris Health, Inc. Anti-buckling mechanisms for catheters
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US9633431B2 (en) 2014-07-02 2017-04-25 Covidien Lp Fluoroscopic pose estimation
US9603668B2 (en) 2014-07-02 2017-03-28 Covidien Lp Dynamic 3D lung map view for tool navigation inside the lung
US10791908B2 (en) * 2014-08-25 2020-10-06 Intuitive Surgical Operations, Inc. Systems and methods for medical instrument force sensing
CN107072719A (zh) * 2014-09-08 2017-08-18 皇家飞利浦有限公司 用于矫形术中的器械跟踪的光学形状感测
US9901406B2 (en) 2014-10-02 2018-02-27 Inneroptic Technology, Inc. Affected region display associated with a medical device
WO2016061431A1 (en) 2014-10-17 2016-04-21 Intuitive Surgical Operations, Inc. Systems and methods for reducing measurement error using optical fiber shape sensing
US9986983B2 (en) 2014-10-31 2018-06-05 Covidien Lp Computed tomography enhanced fluoroscopic system, device, and method of utilizing the same
CN106999153B (zh) 2014-12-02 2020-08-28 皇家飞利浦有限公司 在末端不固定的情况下使用光学形状感测对超声探头的自动跟踪和配准
US10188467B2 (en) 2014-12-12 2019-01-29 Inneroptic Technology, Inc. Surgical guidance intersection display
US11344440B2 (en) 2015-01-22 2022-05-31 Koninklijke Philips N.V. Endograft visualization with pre-integrated or removable optical shape sensing attachments
JP2018505728A (ja) * 2015-01-22 2018-03-01 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 光学形状検出フィードバックを伴う血管内配置装置のロボット制御
US11819636B2 (en) 2015-03-30 2023-11-21 Auris Health, Inc. Endoscope pull wire electrical circuit
CN107690302B (zh) 2015-04-06 2019-12-24 直观外科手术操作公司 在图像引导的外科手术中的配准补偿的系统和方法
WO2016179039A1 (en) * 2015-05-01 2016-11-10 Intuitive Surgical Operations, Inc. Fiber management in medical instrument backend
KR102557820B1 (ko) 2015-05-22 2023-07-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영상 안내 수술에서의 상관 보상의 시스템 및 방법
US9949700B2 (en) 2015-07-22 2018-04-24 Inneroptic Technology, Inc. Medical device approaches
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
US10702226B2 (en) 2015-08-06 2020-07-07 Covidien Lp System and method for local three dimensional volume reconstruction using a standard fluoroscope
US10674982B2 (en) 2015-08-06 2020-06-09 Covidien Lp System and method for local three dimensional volume reconstruction using a standard fluoroscope
CN113229942B (zh) 2015-09-09 2024-11-12 奥瑞斯健康公司 手术器械装置操纵器
US11278354B2 (en) 2015-09-10 2022-03-22 Intuitive Surgical Operations, Inc. Systems and methods for using tracking in image-guided medical procedure
EP3355780B1 (en) * 2015-10-02 2025-07-30 Koninklijke Philips N.V. Hub for device navigation with optical shape sensed guidewire
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9947091B2 (en) * 2015-11-16 2018-04-17 Biosense Webster (Israel) Ltd. Locally applied transparency for a CT image
US10786319B2 (en) * 2015-12-29 2020-09-29 Koninklijke Philips N.V. System, control unit and method for control of a surgical robot
US11826107B2 (en) * 2015-12-29 2023-11-28 Koninklijke Philips N.V. Registration system for medical navigation and method of operation thereof
WO2017139591A1 (en) 2016-02-12 2017-08-17 Intuitive Surgical Operations, Inc. Systems and methods of pose estimation and calibration of perspective imaging system in image guided surgery
US9675319B1 (en) 2016-02-17 2017-06-13 Inneroptic Technology, Inc. Loupe display
US20170239013A1 (en) * 2016-02-24 2017-08-24 General Electric Company Patient reference assembly for an electromagnetic navigation system
WO2017157592A1 (en) * 2016-03-15 2017-09-21 Koninklijke Philips N.V. Fiber-optic realshape sensing feeding tube
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
WO2017223350A1 (en) * 2016-06-23 2017-12-28 Intuitive Surgical Operations, Inc. Removing light energy from a fiber cladding
EP3478207B1 (en) * 2016-06-30 2023-08-09 Koninklijke Philips N.V. Medical navigation system employing optical position sensing
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
US10278778B2 (en) 2016-10-27 2019-05-07 Inneroptic Technology, Inc. Medical device navigation using a virtual 3D space
KR102536940B1 (ko) * 2016-12-28 2023-05-30 아우리스 헬스, 인코포레이티드 가요성 기구 삽입을 위한 장치
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US11793579B2 (en) * 2017-02-22 2023-10-24 Covidien Lp Integration of multiple data sources for localization and navigation
US10839956B2 (en) * 2017-03-03 2020-11-17 University of Maryland Medical Center Universal device and method to integrate diagnostic testing into treatment in real-time
JP6787211B2 (ja) * 2017-03-24 2020-11-18 トヨタ自動車株式会社 フィラメントワインディング装置
US12140487B2 (en) 2017-04-07 2024-11-12 Bard Access Systems, Inc. Optical fiber-based medical device tracking and monitoring system
WO2018213078A1 (en) 2017-05-17 2018-11-22 Auris Health, Inc. Exchangeable working channel
WO2018222834A1 (en) * 2017-05-31 2018-12-06 Abb Schweiz Ag Robot system for real-time inspection of switchgear
EP3642646B1 (en) * 2017-06-19 2025-02-19 Koninklijke Philips N.V. Interleaved imaging and tracking sequences for ultrasound-based instrument tracking
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
CN117838302A (zh) 2017-07-31 2024-04-09 直观外科手术操作公司 用于装置的安全操作的系统和方法
US11259879B2 (en) 2017-08-01 2022-03-01 Inneroptic Technology, Inc. Selective transparency to assist medical device navigation
WO2019075074A1 (en) 2017-10-10 2019-04-18 Covidien Lp SYSTEM AND METHOD FOR IDENTIFICATION AND MARKING OF A TARGET IN A THREE-DIMENSIONAL FLUOROSCOPIC RECONSTRUCTION
US11179203B2 (en) 2017-10-26 2021-11-23 Biosense Webster (Israel) Ltd. Position-tracking-enabling connector for an ear-nose-throat (ENT) tool
EP4512355A3 (en) 2017-11-21 2025-06-11 Intuitive Surgical Operations, Inc. Systems and methods for master/tool registration and control for intuitive motion
US10470830B2 (en) 2017-12-11 2019-11-12 Auris Health, Inc. Systems and methods for instrument based insertion architectures
US11510736B2 (en) 2017-12-14 2022-11-29 Auris Health, Inc. System and method for estimating instrument location
US11484365B2 (en) 2018-01-23 2022-11-01 Inneroptic Technology, Inc. Medical image guidance
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
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
EP3773135B1 (en) 2018-03-28 2024-02-14 Auris Health, Inc. Medical instruments with variable bending stiffness profiles
EP3813632B1 (en) 2018-06-27 2026-04-22 Auris Health, Inc. Alignment and attachment systems for medical instruments
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
CN112804946B (zh) * 2018-08-07 2025-03-25 奥瑞斯健康公司 将基于应变的形状感测与导管控制相结合
WO2020068853A2 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Articulating medical instruments
EP3856001A4 (en) 2018-09-28 2022-06-22 Auris Health, Inc. DEVICES, SYSTEMS AND METHODS FOR MANUAL AND ROBOTIC DRIVES OF MEDICAL INSTRUMENTS
US11944388B2 (en) 2018-09-28 2024-04-02 Covidien Lp Systems and methods for magnetic interference correction
CN118438439A (zh) 2018-10-22 2024-08-06 直观外科手术操作公司 用于主机/工具配准和控制以进行直观运动的系统和方法
US11877806B2 (en) 2018-12-06 2024-01-23 Covidien Lp Deformable registration of computer-generated airway models to airway trees
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
EP3682836A1 (en) * 2019-01-21 2020-07-22 Koninklijke Philips N.V. Assisting in moving an insertion element within an object
US11625825B2 (en) 2019-01-30 2023-04-11 Covidien Lp Method for displaying tumor location within endoscopic images
US11564751B2 (en) 2019-02-01 2023-01-31 Covidien Lp Systems and methods for visualizing navigation of medical devices relative to targets
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
US11744643B2 (en) 2019-02-04 2023-09-05 Covidien Lp Systems and methods facilitating pre-operative prediction of post-operative tissue function
US12376909B2 (en) * 2019-02-28 2025-08-05 Koninklijke Philips N.V. Training data collection for machine learning models
CN109793489A (zh) * 2019-03-26 2019-05-24 上海优益基医用材料有限公司 可视化定位导管
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
CA3146657A1 (en) * 2019-07-12 2021-01-21 Bard Access Systems, Inc. Catheter tracking and placement system including light emitting diode array
US12089902B2 (en) 2019-07-30 2024-09-17 Coviden Lp Cone beam and 3D fluoroscope lung navigation
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
CN114554930A (zh) 2019-08-15 2022-05-27 奥瑞斯健康公司 具有多个弯曲节段的医疗装置
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
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
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
CN110638659A (zh) * 2019-11-01 2020-01-03 广州驭林医药科技有限公司 一种胃肠管营养系统
EP4061272B1 (en) 2019-11-25 2026-01-07 Bard Access Systems, Inc. Shape-sensing systems with filters and methods thereof
WO2021108697A1 (en) 2019-11-25 2021-06-03 Bard Access Systems, Inc. Optical tip-tracking systems and methods thereof
US20230010631A1 (en) * 2019-12-09 2023-01-12 Deutsches Krebsforschungszentrum Kit for a fiducial marker-based registration of preinterventional image data to an intra-interventional scene
US12102298B2 (en) 2019-12-10 2024-10-01 Covidien Lp Lymphatic system tracking
KR20220123269A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 고급 바스켓 구동 모드
WO2021137104A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Dynamic pulley system
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
CN111265299B (zh) * 2020-02-19 2023-08-18 上海理工大学 基于光纤形状传感的手术导航系统
WO2021174117A1 (en) 2020-02-28 2021-09-02 Bard Access Systems, Inc. Catheter with optic shape sensing capabilities
CN215340440U (zh) 2020-02-28 2021-12-28 巴德阿克塞斯系统股份有限公司 电学和光学连接系统及光学连接系统
CN111580230A (zh) * 2020-03-02 2020-08-25 华中科技大学 柔性光纤、制备方法及基于该光纤的可驱动激光手术刀
US12232818B2 (en) 2020-03-03 2025-02-25 Bard Access Systems, Inc. System and method for optic shape sensing and electrical signal conduction
CN113456054B (zh) 2020-03-30 2025-08-12 巴德阿克塞斯系统股份有限公司 光学和电气诊断系统及其方法
US12064191B2 (en) 2020-06-03 2024-08-20 Covidien Lp Surgical tool navigation using sensor fusion
WO2021263023A1 (en) 2020-06-26 2021-12-30 Bard Access Systems, Inc. Malposition detection system
WO2022005870A1 (en) 2020-06-29 2022-01-06 Bard Access Systems, Inc. Automatic dimensional frame reference for fiber optic
US11624677B2 (en) 2020-07-10 2023-04-11 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
CN114052658B (zh) 2020-08-03 2025-12-16 巴德阿克塞斯系统股份有限公司 布拉格光栅光纤波动感测与监测系统
US12256923B2 (en) 2020-08-13 2025-03-25 Covidien Lp Endoluminal robotic systems and methods for suturing
US12383352B2 (en) 2020-08-13 2025-08-12 Covidien Lp Endoluminal robotic (ELR) systems and methods
US12161309B2 (en) 2020-09-24 2024-12-10 Covidien Lp Articulating mechanism for the laparoscopic ablation device for blunt dissection
US11925505B2 (en) 2020-09-25 2024-03-12 Bard Access Systems, Inc. Minimum catheter length tool
EP4216819A1 (en) 2020-09-25 2023-08-02 Bard Access Systems, Inc. Fiber optics oximetry system for detection and confirmation
EP4229456A1 (en) 2020-10-13 2023-08-23 Bard Access Systems, Inc. Disinfecting covers for functional connectors of medical devices and methods thereof
WO2022081723A1 (en) 2020-10-13 2022-04-21 Bard Access Systems, Inc. Fiber optic enabled deployable medical devices for monitoring, assessment and capture of deployment information
CN216558785U (zh) 2020-11-18 2022-05-17 巴德阿克塞斯系统股份有限公司 光纤管心针保持器
EP4247247B1 (en) 2020-11-24 2025-12-24 Bard Access Systems, Inc. Steerable fiber optic shape sensing enabled elongated medical instrument
EP4271279A1 (en) * 2021-01-06 2023-11-08 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
EP4301237A1 (en) 2021-03-05 2024-01-10 Bard Access Systems, Inc. Systems and methods for ultrasound-and-bioimpedance-based guidance of medical devices
CN112914731A (zh) * 2021-03-08 2021-06-08 上海交通大学 基于增强现实的介入机器人无接触遥操系统及标定方法
WO2022212414A1 (en) 2021-03-29 2022-10-06 Bard Access Systems, Inc. System and method for a vessel assessment tool
CN115363565A (zh) 2021-05-18 2022-11-22 巴德阿克塞斯系统股份有限公司 用于检测医疗设备在患者身体内的放置的医疗设备系统和方法
US12575892B2 (en) 2021-06-22 2026-03-17 Bard Access Systems, Inc. Ultrasound detection system
EP4401659A1 (en) 2021-09-16 2024-07-24 Bard Access Systems, Inc. Swappable high mating cycle fiber connection interface
WO2023055810A1 (en) * 2021-09-30 2023-04-06 Bard Access Systems, Inc. Shape sensing reference frame
EP4415625B1 (en) * 2021-10-14 2026-04-01 Bard Access Systems, Inc. Fiber optic ultrasound probe
CN116019552A (zh) 2021-10-25 2023-04-28 巴德阿克塞斯系统股份有限公司 用于医疗设备放置的参考平面
EP4426225A1 (en) 2021-11-16 2024-09-11 Bard Access Systems, Inc. Ultrasound probe with integrated data collection methodologies
EP4440480A4 (en) 2021-11-30 2026-01-21 Endoquest Robotics Inc CONTROL DEVICE ARRANGEMENTS FOR ROBOTIC SURGICAL SYSTEMS
WO2023101949A1 (en) 2021-11-30 2023-06-08 Endoquest, Inc. Patient console 5-degree of freedom positioning systems
TWI836752B (zh) 2021-11-30 2024-03-21 美商安督奎斯特機器人公司 用於機器人控制醫療裝置的力傳輸系統
KR20240144087A (ko) 2021-11-30 2024-10-02 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 조종 가능한 오버튜브 조립체
KR20260041932A (ko) 2021-11-30 2026-03-27 엔도퀘스트 로보틱스 인코포레이티드 일회용 엔드 이펙터
KR20240134850A (ko) 2021-11-30 2024-09-10 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 마스터 제어 시스템
JP2024545419A (ja) 2021-11-30 2024-12-06 エンドクエスト ロボティクス インコーポレイテッド ロボット手術システム用のバリアドレープアダプタ
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
US12605116B2 (en) 2022-04-11 2026-04-21 Bard Access Systems, Inc. Fiber optic medical systems and devices with electrical tip
US12207967B2 (en) 2022-04-20 2025-01-28 Bard Access Systems, Inc. Ultrasound imaging system
US12558164B2 (en) 2022-05-27 2026-02-24 Covidien Lp Creating a navigation pathway to a target in the lung and method of navigating to the target
US12575893B2 (en) 2022-06-24 2026-03-17 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
US12564340B2 (en) 2022-07-12 2026-03-03 Bard Access Systems, Inc. Eccentric single-core fiber-optic enabled medical device
CN119584912A (zh) * 2022-07-21 2025-03-07 直观外科手术操作公司 形状定位柔性器械
CN115300750A (zh) * 2022-07-28 2022-11-08 同济大学 智能pci手术导管、其控制系统及控制方法
CA3238285A1 (en) 2023-05-15 2025-07-07 Northern Digital Inc. Fiber optic shape sensing mangement
CN121568655A (zh) * 2023-07-18 2026-02-24 直观外科手术操作公司 机器人辅助导航的术中成像

Family Cites Families (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ATE160273T1 (de) * 1992-09-23 1997-12-15 Endocardial Solutions Inc Endokard-mapping system
JP3135068B2 (ja) * 1994-09-15 2001-02-13 ビジュアリゼイション テクノロジー インコーポレイテッド 患者の頭部に固定された基準ユニットを用いた医学的応用に使用される位置追跡及び画像生成システム
WO1998036236A1 (en) 1997-02-13 1998-08-20 Super Dimension Ltd. Six-degree tracking system
GB9713018D0 (en) 1997-06-20 1997-08-27 Secr Defence Optical fibre bend sensor
US6381485B1 (en) * 1999-10-28 2002-04-30 Surgical Navigation Technologies, Inc. Registration of human anatomy integrated for electromagnetic localization
GB2371361A (en) * 1999-10-29 2002-07-24 Advanced Sensor Technology Llc Optical fiber navigation system
US7747312B2 (en) * 2000-01-04 2010-06-29 George Mason Intellectual Properties, Inc. System and method for automatic shape registration and instrument tracking
US8241274B2 (en) 2000-01-19 2012-08-14 Medtronic, Inc. Method for guiding a medical device
AU2002230429A1 (en) * 2000-11-13 2002-05-21 Argose, Inc. Reduction of spectral site to site variation
US6846286B2 (en) * 2001-05-22 2005-01-25 Pentax Corporation Endoscope system
US7787934B2 (en) * 2002-07-29 2010-08-31 Medtronic, Inc. Fiducial marker devices, tools, and methods
US20060013523A1 (en) 2004-07-16 2006-01-19 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
US7781724B2 (en) 2004-07-16 2010-08-24 Luna Innovations Incorporated Fiber optic position and shape sensing device and method relating thereto
US7751868B2 (en) * 2004-11-12 2010-07-06 Philips Electronics Ltd Integrated skin-mounted multifunction device for use in image-guided surgery
EP1838378B1 (en) * 2005-01-18 2017-03-22 Philips Electronics LTD Apparatus for guiding an instrument to a target in the lung
EP3095379A1 (en) * 2005-04-15 2016-11-23 Surgisense Corporation Surgical instruments with sensors for detecting tissue properties, and systems using such instruments
JP4914574B2 (ja) * 2005-04-18 2012-04-11 オリンパスメディカルシステムズ株式会社 内視鏡形状検出装置
US9526587B2 (en) 2008-12-31 2016-12-27 Intuitive Surgical Operations, Inc. Fiducial marker design and detection for locating surgical instrument in images
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
GB2437250C (en) * 2006-04-18 2012-08-15 Iti Scotland Ltd Method and system for monitoring the condition of livestock
WO2008076910A1 (en) * 2006-12-15 2008-06-26 The Board Of Trustees Of The Leland Stanford Junior University Image mosaicing systems and methods
US8175677B2 (en) * 2007-06-07 2012-05-08 MRI Interventions, Inc. MRI-guided medical interventional systems and methods
EP2628460B1 (en) * 2007-08-14 2021-08-11 Koninklijke Philips N.V. Robotic instrument systems utilizing optical fiber sensors
US9050131B2 (en) * 2008-06-18 2015-06-09 Mako Surgical Corp. Fiber optic tracking system and method for tracking a substantially rigid object
US7720322B2 (en) * 2008-06-30 2010-05-18 Intuitive Surgical, Inc. Fiber optic shape sensor
US8183520B2 (en) * 2009-11-13 2012-05-22 Intuitive Surgical Operations, Inc. Optical fiber shape sensor calibration
US8657809B2 (en) 2010-09-29 2014-02-25 Stryker Leibinger Gmbh & Co., Kg Surgical navigation system
JP6226751B2 (ja) * 2011-01-27 2017-11-08 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． インターベンショナル環境内への光ファイバ形状検知の統合
JP6195795B2 (ja) * 2011-01-27 2017-09-13 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 形状検出装置固有の情報の保存及び検索
CN103328922B (zh) * 2011-01-28 2017-10-17 皇家飞利浦电子股份有限公司 用于光学形状感测系统中的发起点识别的参考标记
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
EP2723240B1 (en) * 2011-06-27 2018-08-08 Koninklijke Philips N.V. Live 3d angiogram using registration of a surgical tool curve to an x-ray image
US20130030363A1 (en) * 2011-07-29 2013-01-31 Hansen Medical, Inc. Systems and methods utilizing shape sensing fibers

Also Published As

Publication number Publication date
KR20150132145A (ko) 2015-11-25
EP2968857A4 (en) 2016-11-02
CN105050525A (zh) 2015-11-11
JP2020022865A (ja) 2020-02-13
KR102234145B1 (ko) 2021-03-31
JP2018143817A (ja) 2018-09-20
WO2014150509A1 (en) 2014-09-25
US20140275997A1 (en) 2014-09-18
CN105050525B (zh) 2018-07-31
JP6620191B2 (ja) 2019-12-11
US9918659B2 (en) 2018-03-20
EP4049706A1 (en) 2022-08-31
JP2016515862A (ja) 2016-06-02
EP2968857A1 (en) 2016-01-20
CN108784702A (zh) 2018-11-13
EP2968857B1 (en) 2022-05-04
CN108784702B (zh) 2021-11-12
JP6976303B2 (ja) 2021-12-08

Similar Documents

Publication Publication Date Title
JP6620191B2 (ja) 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法
US11871898B2 (en) Systems and methods for interventional procedure planning
JP6799658B2 (ja) 適応入力マッピングのためのシステム及び方法
US11266327B2 (en) Systems and methods for registration of a medical device using a reduced search space
JP2019162512A (ja) カテーテルの位置付け及び挿入のためのグラフィカル・ユーザインターフェイス
JP2017523836A (ja) 手術中のセグメンテーションについてのシステム及び方法

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170303

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20170303

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180118

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180206

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180423

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: 20180612

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20180627

R150 Certificate of patent or registration of utility model

Ref document number: 6363165

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