JP6568084B2 - 光学式形状検知を用いてデバイスを撮像するロボット制御 - Google Patents
光学式形状検知を用いてデバイスを撮像するロボット制御 Download PDFInfo
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- JP6568084B2 JP6568084B2 JP2016547937A JP2016547937A JP6568084B2 JP 6568084 B2 JP6568084 B2 JP 6568084B2 JP 2016547937 A JP2016547937 A JP 2016547937A JP 2016547937 A JP2016547937 A JP 2016547937A JP 6568084 B2 JP6568084 B2 JP 6568084B2
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- probe
- shape detection
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- robot
- shape
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 238000003384 imaging method Methods 0.000 claims description 55
- 238000002604 ultrasonography Methods 0.000 claims description 41
- 238000000034 method Methods 0.000 claims description 38
- 230000033001 locomotion Effects 0.000 claims description 31
- 238000012285 ultrasound imaging Methods 0.000 claims description 13
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Classifications
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- 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
- A61B34/32—Surgical robots operating autonomously
-
- 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
- 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
- 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
-
- 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
- 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
- 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
- A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
- A61B2090/3784—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument both receiver and transmitter being in the instrument or receiver being also transmitter
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Gynecology & Obstetrics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201461930977P | 2014-01-24 | 2014-01-24 | |
| US61/930,977 | 2014-01-24 | ||
| PCT/IB2014/066812 WO2015110882A1 (en) | 2014-01-24 | 2014-12-11 | Robotic control of imaging devices with optical shape sensing |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2017508502A JP2017508502A (ja) | 2017-03-30 |
| JP2017508502A5 JP2017508502A5 (OSRAM) | 2018-01-25 |
| JP6568084B2 true JP6568084B2 (ja) | 2019-08-28 |
Family
ID=52462346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2016547937A Expired - Fee Related JP6568084B2 (ja) | 2014-01-24 | 2014-12-11 | 光学式形状検知を用いてデバイスを撮像するロボット制御 |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US10687909B2 (OSRAM) |
| EP (1) | EP3096705A1 (OSRAM) |
| JP (1) | JP6568084B2 (OSRAM) |
| CN (1) | CN105934215B (OSRAM) |
| WO (1) | WO2015110882A1 (OSRAM) |
Families Citing this family (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018519047A (ja) | 2015-06-19 | 2018-07-19 | ニューラル アナリティクス、インコーポレイテッド | 頭蓋内ドップラープローブ |
| WO2017025456A1 (en) * | 2015-08-13 | 2017-02-16 | Siemens Healthcare Gmbh | Device and method for controlling a system comprising an imaging modality |
| US11389134B2 (en) * | 2015-09-24 | 2022-07-19 | Koninklijke Philips N.V. | System and method to find improved views in transcatheter valve replacement with combined optical shape sensing and ultrasound image guidance |
| JP2019504670A (ja) | 2016-01-05 | 2019-02-21 | ニューラル アナリティクス、インコーポレイテッド | 臨床指標を決定するためのシステム及び方法 |
| CN108778141A (zh) * | 2016-01-05 | 2018-11-09 | 神经系统分析公司 | 集成化探针结构 |
| US11589836B2 (en) | 2016-01-05 | 2023-02-28 | Novasignal Corp. | Systems and methods for detecting neurological conditions |
| JP6902547B2 (ja) * | 2016-01-15 | 2021-07-14 | コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． | 融合画像ガイダンスシステムの注釈を使用した臨床ビューに対する自動化されたプローブステアリング |
| JP6907247B2 (ja) * | 2016-06-30 | 2021-07-21 | コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． | 光学的位置感知を使用する医療用ナビゲーション・システム及びその操作方法 |
| WO2018107062A1 (en) | 2016-12-09 | 2018-06-14 | Verb Surgical Inc. | User interface devices for use in robotic surgery |
| US11779192B2 (en) * | 2017-05-03 | 2023-10-10 | Covidien Lp | Medical image viewer control from surgeon's camera |
| JP7304873B2 (ja) * | 2018-03-12 | 2023-07-07 | コーニンクレッカ フィリップス エヌ ヴェ | ニューラルネットワークの訓練のための超音波撮像データセットの取得及び関連するデバイス、システム、及び方法 |
| US11712220B2 (en) * | 2018-03-12 | 2023-08-01 | Koninklijke Philips N.V. | Ultrasound imaging plane alignment using neural networks and associated devices, systems, and methods |
| JP6859557B2 (ja) * | 2018-03-22 | 2021-04-14 | ソニア・セラピューティクス株式会社 | 治療装置 |
| EP3613351A1 (en) * | 2018-08-22 | 2020-02-26 | Koninklijke Philips N.V. | Coronary circulation using intra-cardiac echo |
| CA3140626A1 (en) * | 2019-05-31 | 2020-12-03 | Tva Medical, Inc. | Systems, methods, and catheters for endovascular treatment of a blood vessel |
| JP7401645B2 (ja) * | 2020-02-14 | 2023-12-19 | 朝日インテック株式会社 | 超音波プローブ操作システムおよび超音波プローブを操作するロボットの制御方法 |
| WO2021161515A1 (ja) * | 2020-02-14 | 2021-08-19 | 朝日インテック株式会社 | 長尺状医療用デバイスの位置検出システムおよび方法 |
| US12193768B2 (en) | 2020-04-21 | 2025-01-14 | Mazor Robotics Ltd. | System and method for aligning an imaging device |
| WO2022048984A1 (en) * | 2020-09-02 | 2022-03-10 | Koninklijke Philips N.V. | Medical intervention control based on device type identification |
| WO2022048979A1 (en) * | 2020-09-03 | 2022-03-10 | Koninklijke Philips N.V. | A flexible robotic interface for performing robotics assisted ultrasound guided interventions |
| JP2024524427A (ja) * | 2021-07-08 | 2024-07-05 | コーニンクレッカ フィリップス エヌ ヴェ | 形状クラスタリングを使用したシステム及びデバイス制御 |
| CN113876356A (zh) * | 2021-10-15 | 2022-01-04 | 无锡触典科技有限公司 | 一种用于医疗成像的投影方法、超声设备系统及存储介质 |
| GB2616029A (en) * | 2022-02-24 | 2023-08-30 | Robe Gmbh | Improvements in or relating to the navigation of an ultrasound probe device |
| CN115474885B (zh) * | 2022-09-06 | 2025-10-28 | 上海微创微航机器人有限公司 | 内镜控制方法、内镜以及手术机器人 |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6425865B1 (en) * | 1998-06-12 | 2002-07-30 | The University Of British Columbia | Robotically assisted medical ultrasound |
| US6459926B1 (en) * | 1998-11-20 | 2002-10-01 | Intuitive Surgical, Inc. | Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery |
| JP4152402B2 (ja) | 2005-06-29 | 2008-09-17 | 株式会社日立メディコ | 手術支援装置 |
| US20070106147A1 (en) | 2005-11-01 | 2007-05-10 | Altmann Andres C | Controlling direction of ultrasound imaging catheter |
| US7930065B2 (en) * | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
| US8620473B2 (en) * | 2007-06-13 | 2013-12-31 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
| JP5028219B2 (ja) * | 2007-10-30 | 2012-09-19 | オリンパスメディカルシステムズ株式会社 | マニピュレータ装置および医療機器システム |
| JP2013532388A (ja) | 2010-06-28 | 2013-08-15 | エスエムエー ソーラー テクノロジー アーゲー | 光起電力システムを監視するための装置及び方法 |
| RU2013124010A (ru) | 2010-10-27 | 2014-12-10 | Конинклейке Филипс Электроникс Н.В. | Адаптивное формирование изображений и оптимизация частоты кадров на основе распознавания формы медицинских инструментов в режиме реального времени |
| EP2668466B1 (en) * | 2011-01-28 | 2021-08-11 | Koninklijke Philips N.V. | Optical shape sensing system with reference markers for launch point identification |
| RU2013143160A (ru) | 2011-02-24 | 2015-03-27 | Конинклейке Филипс Электроникс Н.В. | Нежесткая трансформация изображения сосуда с использованием формы внутрисосудистого устройства |
| JP6246213B2 (ja) | 2012-10-01 | 2017-12-13 | コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． | 位置合わせシステム、方法及びコンピュータプログラム |
| KR20140110685A (ko) * | 2013-03-08 | 2014-09-17 | 삼성전자주식회사 | 싱글 포트 수술 로봇의 제어 방법 |
-
2014
- 2014-12-11 US US15/109,672 patent/US10687909B2/en active Active
- 2014-12-11 EP EP14835498.8A patent/EP3096705A1/en not_active Withdrawn
- 2014-12-11 WO PCT/IB2014/066812 patent/WO2015110882A1/en not_active Ceased
- 2014-12-11 JP JP2016547937A patent/JP6568084B2/ja not_active Expired - Fee Related
- 2014-12-11 CN CN201480073795.7A patent/CN105934215B/zh not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JP2017508502A (ja) | 2017-03-30 |
| CN105934215A (zh) | 2016-09-07 |
| EP3096705A1 (en) | 2016-11-30 |
| US20160324585A1 (en) | 2016-11-10 |
| US10687909B2 (en) | 2020-06-23 |
| CN105934215B (zh) | 2019-11-26 |
| WO2015110882A1 (en) | 2015-07-30 |
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