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 PDF

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Publication number
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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Prior art keywords
probe
shape detection
instrument
robot
shape
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Japanese (ja)
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JP2017508502A5 (enExample
JP2017508502A (ja
Inventor
デイビッド ポール ヌーナン
デイビッド ポール ヌーナン
モリー ララ フレックスマン
モリー ララ フレックスマン
アレクサンドラ ポポヴィッチ
アレクサンドラ ポポヴィッチ
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Koninklijke Philips NV
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Koninklijke Philips NV
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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)
JP2016547937A 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 Expired - Fee Related JP6568084B2 (ja)

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 (enExample) 2018-01-25
JP6568084B2 true JP6568084B2 (ja) 2019-08-28

Family

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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 (enExample)
EP (1) EP3096705A1 (enExample)
JP (1) JP6568084B2 (enExample)
CN (1) CN105934215B (enExample)
WO (1) WO2015110882A1 (enExample)

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EP3310261A4 (en) 2015-06-19 2019-01-23 Neural Analytics, Inc. TRANSCRANIAL DOPPLER PROBE
EP3310286B1 (en) * 2015-08-13 2025-04-16 Siemens Healthineers AG Device for controlling a system comprising an imaging modality
WO2017051279A1 (en) * 2015-09-24 2017-03-30 Koninklijke Philips N.V. System and method to find improved views in transcatheter valve replacement with combined optical shape sensing and ultrasound image guidance
CN108778141A (zh) * 2016-01-05 2018-11-09 神经系统分析公司 集成化探针结构
US11090026B2 (en) 2016-01-05 2021-08-17 Novasignal Corp. Systems and methods for determining clinical indications
US11589836B2 (en) 2016-01-05 2023-02-28 Novasignal Corp. Systems and methods for detecting neurological conditions
WO2017122109A1 (en) * 2016-01-15 2017-07-20 Koninklijke Philips N.V. Automated probe steering to clinical views using annotations in a fused image guidance system
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
JP6974463B2 (ja) 2016-12-09 2021-12-01 バーブ サージカル インコーポレイテッドVerb Surgical Inc. ロボット手術で使用するためのユーザインターフェースデバイス
US11779192B2 (en) * 2017-05-03 2023-10-10 Covidien Lp Medical image viewer control from surgeon's camera
JP7401447B2 (ja) * 2018-03-12 2023-12-19 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を使用した超音波撮像平面整列並びに関連するデバイス、システム、及び方法
WO2019174953A1 (en) * 2018-03-12 2019-09-19 Koninklijke Philips N.V. Ultrasound imaging dataset acquisition for neural network training 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
CN113891684A (zh) * 2019-05-31 2022-01-04 Tva医疗公司 用于血管的血管腔内治疗的系统、方法和导管
JP7374289B2 (ja) * 2020-02-14 2023-11-06 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
WO2021161516A1 (ja) * 2020-02-14 2021-08-19 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
EP4366613A1 (en) * 2021-07-08 2024-05-15 Koninklijke Philips N.V. System and device control using shape clustering
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

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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
CN103026248B (zh) 2010-06-28 2015-09-02 Sma太阳能技术股份公司 用于监测光伏设备的装置和方法
US10925567B2 (en) 2010-10-27 2021-02-23 Koninklijke Philips N.V. Adaptive imaging and frame rate optimizing based on real-time shape sensing of medical instruments
RU2013139873A (ru) 2011-01-28 2015-03-10 Конинклейке Филипс Электроникс Н.В. Опорные отметки для идентификации точки начала в системах определения оптической формы
US20130324833A1 (en) 2011-02-24 2013-12-05 Koninklijke Philips N.V. Non-rigid-body morphing of vessel image using intravascular device shape
CN104703558B (zh) 2012-10-01 2017-10-24 皇家飞利浦有限公司 用于将针对形状感测系统的坐标系配准到针对过程前成像数据或过程中成像数据的坐标系的系统、方法进而装置
KR20140110685A (ko) * 2013-03-08 2014-09-17 삼성전자주식회사 싱글 포트 수술 로봇의 제어 방법

Also Published As

Publication number Publication date
CN105934215B (zh) 2019-11-26
WO2015110882A1 (en) 2015-07-30
US20160324585A1 (en) 2016-11-10
CN105934215A (zh) 2016-09-07
EP3096705A1 (en) 2016-11-30
US10687909B2 (en) 2020-06-23
JP2017508502A (ja) 2017-03-30

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