JP6517817B2 - 超音波イメージングプレーンと器具のアライメント及び追跡 - Google Patents

超音波イメージングプレーンと器具のアライメント及び追跡 Download PDF

Info

Publication number
JP6517817B2
JP6517817B2 JP2016543075A JP2016543075A JP6517817B2 JP 6517817 B2 JP6517817 B2 JP 6517817B2 JP 2016543075 A JP2016543075 A JP 2016543075A JP 2016543075 A JP2016543075 A JP 2016543075A JP 6517817 B2 JP6517817 B2 JP 6517817B2
Authority
JP
Japan
Prior art keywords
tool
ultrasound
anatomical region
image plane
transducer
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
JP2016543075A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017500955A5 (https=
JP2017500955A (ja
Inventor
フランソワ ギ ジェラルド マリー ヴィニョン
フランソワ ギ ジェラルド マリー ヴィニョン
アミート クマール ジェイン
アミート クマール ジェイン
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 JP2017500955A publication Critical patent/JP2017500955A/ja
Publication of JP2017500955A5 publication Critical patent/JP2017500955A5/ja
Application granted granted Critical
Publication of JP6517817B2 publication Critical patent/JP6517817B2/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
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Clinical applications involving detecting or locating foreign bodies or organic structures for locating instruments
    • 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
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4477—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device using several separate ultrasound transducers or probes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • 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
    • A61B2017/3413—Needle locating or guiding means guided by ultrasound
    • 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
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
JP2016543075A 2014-01-02 2015-01-02 超音波イメージングプレーンと器具のアライメント及び追跡 Active JP6517817B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461922882P 2014-01-02 2014-01-02
US61/922,882 2014-01-02
PCT/IB2015/050023 WO2015101949A1 (en) 2014-01-02 2015-01-02 Instrument alignment and tracking with ultrasound imaging plane

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2019079176A Division JP7098565B2 (ja) 2014-01-02 2019-04-18 超音波イメージングプレーンと器具のアライメント及び追跡

Publications (3)

Publication Number Publication Date
JP2017500955A JP2017500955A (ja) 2017-01-12
JP2017500955A5 JP2017500955A5 (https=) 2018-01-25
JP6517817B2 true JP6517817B2 (ja) 2019-05-22

Family

ID=52472359

Family Applications (3)

Application Number Title Priority Date Filing Date
JP2016543075A Active JP6517817B2 (ja) 2014-01-02 2015-01-02 超音波イメージングプレーンと器具のアライメント及び追跡
JP2019079176A Active JP7098565B2 (ja) 2014-01-02 2019-04-18 超音波イメージングプレーンと器具のアライメント及び追跡
JP2020210984A Active JP7165181B2 (ja) 2014-01-02 2020-12-21 超音波イメージングプレーンと器具のアライメント及び追跡

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2019079176A Active JP7098565B2 (ja) 2014-01-02 2019-04-18 超音波イメージングプレーンと器具のアライメント及び追跡
JP2020210984A Active JP7165181B2 (ja) 2014-01-02 2020-12-21 超音波イメージングプレーンと器具のアライメント及び追跡

Country Status (6)

Country Link
US (2) US11096656B2 (https=)
EP (3) EP3508134B1 (https=)
JP (3) JP6517817B2 (https=)
CN (2) CN105873521B (https=)
RU (1) RU2689176C2 (https=)
WO (1) WO2015101949A1 (https=)

Families Citing this family (50)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3017042B1 (fr) * 2014-02-03 2017-10-13 Spineguard Systeme medical, et procede pour visualiser un point d'entree d'un instrument chirurgical, dans une structure anatomique, et ensemble comprenant un tel systeme medical et un instrument chirurgical
US10674997B2 (en) * 2015-08-10 2020-06-09 Shaohua Hu Ultrasonic tracking probe and the method
EP3391083B1 (en) * 2015-12-16 2021-08-11 Koninklijke Philips N.V. Interventional device recognition
JP6636639B2 (ja) 2015-12-22 2020-01-29 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 超音波に基づく追跡
US20190053856A1 (en) * 2016-01-07 2019-02-21 Universitat Bern Method and system for pose controlled ablation
CN109715072B (zh) * 2016-09-20 2023-05-09 皇家飞利浦有限公司 超声换能器片块配准
JP7084383B2 (ja) 2016-09-30 2022-06-14 コーニンクレッカ フィリップス エヌ ヴェ 介入装置の機能の追跡
US10911693B2 (en) * 2016-11-11 2021-02-02 Boston Scientific Scimed, Inc. Guidance systems and associated methods
WO2018134138A1 (en) * 2017-01-19 2018-07-26 Koninklijke Philips N.V. System and method for imaging and tracking interventional devices
WO2018149887A1 (en) * 2017-02-14 2018-08-23 Koninklijke Philips N.V. Focus tracking in ultrasound system for device tracking
EP3634241A1 (en) * 2017-06-06 2020-04-15 Avent, Inc. System and method for identifying and navigating anatomical objects using deep learning networks
US11406459B2 (en) * 2017-07-07 2022-08-09 Koninklijke Philips N.V. Robotic instrument guide integration with an acoustic probe
JP7319248B2 (ja) * 2017-08-28 2023-08-01 コーニンクレッカ フィリップス エヌ ヴェ 位置追跡型インターベンショナルデバイスの自動視野更新
DE102018200688B4 (de) * 2018-01-17 2023-05-17 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines akustischen Sensors
JP7299228B2 (ja) * 2018-02-22 2023-06-27 コーニンクレッカ フィリップス エヌ ヴェ インターベンション医療デバイスの追跡
US20190262082A1 (en) * 2018-02-26 2019-08-29 Covidien Lp System and method for performing a percutaneous navigation procedure
CA3091593A1 (en) 2018-05-04 2019-11-07 Hologic, Inc. Biopsy needle visualization
US12121304B2 (en) * 2018-05-04 2024-10-22 Hologic, Inc. Introducer and localization wire visualization
EP3632333A1 (en) * 2018-10-05 2020-04-08 Koninklijke Philips N.V. Interventional device positioning respective an ultrasound image plane
WO2020030746A1 (en) 2018-08-08 2020-02-13 Koninklijke Philips N.V. Interventional device positioning using ultrasound signals
EP3632332A1 (en) * 2018-10-05 2020-04-08 Koninklijke Philips N.V. Tracking an interventional device respective an ultrasound image plane
EP3632331A1 (en) 2018-10-05 2020-04-08 Koninklijke Philips N.V. Interventional device positioning using ultrasound signals
WO2020030557A1 (en) 2018-08-08 2020-02-13 Koninklijke Philips N.V. Tracking an interventional device respective an ultrasound image plane
EP3833265B1 (en) 2018-08-08 2022-03-09 Koninklijke Philips N.V. Interventional device positioning respective an ultrasound image plane
CN109044531B (zh) * 2018-08-20 2024-02-06 真健康（北京）医疗科技有限公司 一种接触感应式的末端位置导航跟踪装置
WO2020038758A1 (en) 2018-08-22 2020-02-27 Koninklijke Philips N.V. 3d tracking of interventional medical devices
CN112601495B (zh) * 2018-08-22 2024-09-24 皇家飞利浦有限公司 用于约束介入声学成像中的传感器跟踪估计的系统、设备和方法
US20200069285A1 (en) * 2018-08-31 2020-03-05 General Electric Company System and method for ultrasound navigation
CN109171817B (zh) * 2018-09-05 2021-12-07 浙江深博医疗技术有限公司 三维乳腺超声扫描方法及超声扫描系统
US11642100B2 (en) * 2018-09-20 2023-05-09 Mayo Foundation For Medical Education And Research Systems and methods for localizing a medical device using symmetric Doppler frequency shifts measured with ultrasound imaging
JP6469295B1 (ja) * 2018-09-21 2019-02-13 株式会社A−Traction 手術支援装置、その制御方法、並びに手術支援システム
US11730443B2 (en) * 2019-06-13 2023-08-22 Fujifilm Sonosite, Inc. On-screen markers for out-of-plane needle guidance
CN114007516A (zh) * 2019-06-13 2022-02-01 皇家飞利浦有限公司 区分用于介入医学流程的无源超声传感器
EP3999014A4 (en) * 2019-07-15 2023-07-26 Nasotrak Medical Pte. Ltd. NASOGASTRIC TUBE POSITIONING SYSTEM AND DETECTION METHOD
WO2021013971A1 (en) * 2019-07-24 2021-01-28 Koninklijke Philips N.V. Ultrasound object point tracking
EP3804629A1 (en) * 2019-10-10 2021-04-14 Koninklijke Philips N.V. Ultrasound object point tracking
WO2021028467A1 (en) 2019-08-15 2021-02-18 Koninklijke Philips N.V. Ultrasound-based device localization
EP3808280A1 (en) 2019-10-14 2021-04-21 Koninklijke Philips N.V. Ultrasound-based device localization
CN110477842B (zh) * 2019-08-26 2020-07-24 清华大学 体内检测系统和方法
WO2021058288A1 (en) 2019-09-26 2021-04-01 Koninklijke Philips N.V. Automatic closed-loop ultrasound plane steering for target localization in ultrasound imaging and associated devices, systems, and methods
CN111436937B (zh) * 2020-03-16 2024-06-11 北京东软医疗设备有限公司 导管/导丝跟踪方法、装置及扫描设备
JP7502899B2 (ja) * 2020-05-28 2024-06-19 富士フイルムヘルスケア株式会社 超音波撮像装置、及び、それを用いた手術支援システム
CN115916062A (zh) * 2020-07-02 2023-04-04 皇家飞利浦有限公司 具有超声收发器的介入设备
US11740207B2 (en) * 2020-12-09 2023-08-29 Baker Hughes Holdings Llc Ultrasonic probe alignment using ultrasound signals
EP4011299B1 (en) * 2020-12-11 2026-04-08 Sorbonne Université Ultrasound device tracking system
EP4026499A1 (en) * 2021-01-12 2022-07-13 Koninklijke Philips N.V. System and method for determining position information
EP4262567B1 (en) * 2020-12-17 2024-03-20 Koninklijke Philips N.V. System and method for determining position information
DE102021201515A1 (de) 2021-02-17 2022-08-18 B. Braun Melsungen Aktiengesellschaft Medizinisches Instrument und medizinisches Ultraschallsystem mit einem solchen Instrument
CN113693689A (zh) * 2021-08-27 2021-11-26 电子科技大学 一种超声引导穿刺的方法和装置
CN116725686A (zh) * 2023-04-12 2023-09-12 珠海横乐医学科技有限公司 穿刺手术机器人及其控制方法、控制器、存储介质

Family Cites Families (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4249539A (en) 1979-02-09 1981-02-10 Technicare Corporation Ultrasound needle tip localization system
US5158088A (en) 1990-11-14 1992-10-27 Advanced Technology Laboratories, Inc. Ultrasonic diagnostic systems for imaging medical instruments within the body
BR9609484A (pt) * 1995-07-16 1999-12-14 Yoav Paltieli Processo e aparelho para direcionamento à mão livre de uma agulha so sentido de um alvo localizado em um volume corpóreo e aparelho de agulha
JPH09271472A (ja) * 1996-04-04 1997-10-21 Ge Yokogawa Medical Syst Ltd 穿刺針の位置検出装置および超音波診断装置
JP4443672B2 (ja) 1998-10-14 2010-03-31 株式会社東芝 超音波診断装置
CN101669831B (zh) * 2003-05-08 2013-09-25 株式会社日立医药 基准图像显示方法
EP1697759B1 (en) * 2003-12-16 2010-11-03 Koninklijke Philips Electronics N.V. Ultrasonic diagnostic imaging method and system with an automatic control of resolution and frame rate
RU2256169C1 (ru) * 2004-02-13 2005-07-10 Общестов с ограниченной ответственностью "Институт рентгеновской оптики" Способ и устройство для исследования объекта в рассеянном и/или прошедшем излучении
US20090118612A1 (en) * 2005-05-06 2009-05-07 Sorin Grunwald Apparatus and Method for Vascular Access
EP3679882A1 (en) * 2005-06-06 2020-07-15 Intuitive Surgical Operations, Inc. Laparoscopic ultrasound robotic surgical system
BRPI0807295A2 (pt) * 2007-03-03 2014-05-06 Activiews Ltd Método para planejar um procedimento com agulha, sistema para planejar um procedimento com agulha e meio legível em computador.
JP2009066074A (ja) * 2007-09-11 2009-04-02 Olympus Medical Systems Corp 超音波診断装置
JP5121384B2 (ja) * 2007-10-12 2013-01-16 株式会社東芝 超音波診断装置
JP5199690B2 (ja) * 2008-02-07 2013-05-15 株式会社日立メディコ 超音波診断装置
US9895135B2 (en) 2009-05-20 2018-02-20 Analogic Canada Corporation Freehand ultrasound imaging systems and methods providing position quality feedback
CN102448398A (zh) * 2009-06-01 2012-05-09 皇家飞利浦电子股份有限公司 基于距离的位置跟踪方法和系统
US20110245659A1 (en) * 2010-04-01 2011-10-06 Sonosite, Inc. Systems and methods to assist with internal positioning of instruments
CN102869308B (zh) * 2010-05-03 2015-04-29 皇家飞利浦电子股份有限公司 用于对介入工具上的(一个或多个)超声换能器进行超声跟踪的设备和方法
US20120179038A1 (en) * 2011-01-07 2012-07-12 General Electric Company Ultrasound based freehand invasive device positioning system and method
JP2012217632A (ja) * 2011-04-08 2012-11-12 Hitachi Medical Corp 画像診断装置及び画像処理装置
EP2717772B1 (en) 2011-06-13 2021-05-26 Koninklijke Philips N.V. Three-dimensional needle localization with a two-dimensional imaging probe
JP2014521114A (ja) * 2011-06-30 2014-08-25 ジーイー・ヘルスケア・バイオサイエンス・コーポレイション 生体イメージングの画像品質最適化
LT2939601T (lt) * 2011-09-06 2019-02-25 Ezono Ag Magnetinis medicininis įrenginys
US9295449B2 (en) * 2012-01-23 2016-03-29 Ultrasonix Medical Corporation Landmarks for ultrasound imaging
JP6039903B2 (ja) * 2012-01-27 2016-12-07 キヤノン株式会社 画像処理装置、及びその作動方法
US9474505B2 (en) * 2012-03-16 2016-10-25 Toshiba Medical Systems Corporation Patient-probe-operator tracking method and apparatus for ultrasound imaging systems
WO2014143258A1 (en) * 2013-03-11 2014-09-18 Untited Technologies Corporation Phased array billet data evaluation software
CA2902668A1 (en) * 2013-03-15 2014-09-18 Colibri Technologies Inc. Active localization and visualization of minimally invasive devices using ultrasound
GB201307551D0 (en) * 2013-04-26 2013-06-12 Ucl Business Plc A method and apparatus for determining the location of a medical instrument with respect to ultrasound imaging and a medical instrument
KR101533591B1 (ko) * 2013-07-08 2015-07-06 삼성메디슨 주식회사 의료 영상 장치 및 의료 영상 제공 방법

Also Published As

Publication number Publication date
EP3760129B1 (en) 2024-07-24
US20210353250A1 (en) 2021-11-18
JP7098565B2 (ja) 2022-07-11
EP3760129A1 (en) 2021-01-06
CN111973225A (zh) 2020-11-24
JP2017500955A (ja) 2017-01-12
US11872076B2 (en) 2024-01-16
EP3089671B1 (en) 2019-05-22
US20160324501A1 (en) 2016-11-10
CN105873521A (zh) 2016-08-17
CN105873521B (zh) 2020-09-15
RU2016131480A (ru) 2018-02-07
EP3508134A1 (en) 2019-07-10
JP7165181B2 (ja) 2022-11-02
CN111973225B (zh) 2024-09-17
JP2019134958A (ja) 2019-08-15
EP3508134B1 (en) 2020-11-04
RU2016131480A3 (https=) 2018-08-03
US11096656B2 (en) 2021-08-24
JP2021062222A (ja) 2021-04-22
WO2015101949A1 (en) 2015-07-09
RU2689176C2 (ru) 2019-05-24
EP3089671A1 (en) 2016-11-09

Similar Documents

Publication Publication Date Title
JP7165181B2 (ja) 超音波イメージングプレーンと器具のアライメント及び追跡
US11331076B2 (en) Method and system for displaying ultrasonic elastic measurement
JP7218293B2 (ja) 装置追跡に対する超音波システムにおける経路追跡
RU2702090C2 (ru) Калибровка ультразвукового, основанного на эластичности, отображения границы очага поражения
CN105518482B (zh) 超声成像仪器可视化
CN110072465B (zh) 用于肺部超声的目标探头放置
JP7354145B2 (ja) 組織弾性モニタリング及び表示のためのせん断波振幅再構成
JP2014525328A (ja) 針を検出して追跡する方法
US20220104789A1 (en) Ultrasound diagnostic apparatus and control method of ultrasound diagnostic apparatus
US20090082668A1 (en) Ultrasonic imaging apparatus and method for generating ultrasonic image
CN112533540A (zh) 超声成像的方法、超声成像设备以及穿刺导航系统
JP2020506004A (ja) 装置追跡に対する超音波システムにおける焦点追跡
US20140024940A1 (en) Ultrasonic diagnostic apparatus and sensor selection apparatus
US20260007386A1 (en) Ultrasound diagnostic apparatus and control method of ultrasound diagnostic apparatus
US11141136B2 (en) Ultrasound observation device, processing device, method of operating ultrasound observation device, and computer readable recording medium
EP3632333A1 (en) Interventional device positioning respective an ultrasound image plane
EP3833265B1 (en) Interventional device positioning respective an ultrasound image plane
US20230240653A1 (en) An interventional device with an ultrasound transceiver
EP3944820A1 (en) Interventional device with an ultrasound transceiver
JP2023108765A (ja) 超音波診断装置及び判定方法

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: 20171205

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20171205

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180831

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180920

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20181219

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190320

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: 20190402

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20190418

R150 Certificate of patent or registration of utility model

Ref document number: 6517817

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