JP6649260B2 - 血管の深さ及び位置の可視化並びに血管断面のロボットガイド可視化 - Google Patents

血管の深さ及び位置の可視化並びに血管断面のロボットガイド可視化 Download PDF

Info

Publication number
JP6649260B2
JP6649260B2 JP2016549122A JP2016549122A JP6649260B2 JP 6649260 B2 JP6649260 B2 JP 6649260B2 JP 2016549122 A JP2016549122 A JP 2016549122A JP 2016549122 A JP2016549122 A JP 2016549122A JP 6649260 B2 JP6649260 B2 JP 6649260B2
Authority
JP
Japan
Prior art keywords
image
real
overlay
depth
time image
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
JP2016549122A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017508506A (ja
JP2017508506A5 (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
ヘイサム エルハワリー
ヘイサム エルハワリー
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=52633326&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=JP6649260(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Koninklijke Philips NV filed Critical Koninklijke Philips NV
Publication of JP2017508506A publication Critical patent/JP2017508506A/ja
Publication of JP2017508506A5 publication Critical patent/JP2017508506A5/ja
Application granted granted Critical
Publication of JP6649260B2 publication Critical patent/JP6649260B2/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
    • 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
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A61B1/000094—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope extracting biological structures
    • 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
    • A61B1/00163—Optical arrangements
    • A61B1/00165—Optical arrangements with light-conductive means, e.g. fibre optics
    • 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
    • A61B1/00163—Optical arrangements
    • A61B1/00194—Optical arrangements adapted for three-dimensional imaging
    • 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
    • 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
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00243—Type of minimally invasive operation cardiac
    • 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
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A61B2090/3614—Image-producing devices, e.g. surgical cameras using optical fibre
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2576/00—Medical imaging apparatus involving image processing or analysis
    • A61B2576/02—Medical imaging apparatus involving image processing or analysis specially adapted for a particular organ or body part
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Signal Processing (AREA)
  • Gynecology & Obstetrics (AREA)
  • Robotics (AREA)
  • Endoscopes (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
JP2016549122A 2014-02-04 2015-01-26 血管の深さ及び位置の可視化並びに血管断面のロボットガイド可視化 Active JP6649260B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461935643P 2014-02-04 2014-02-04
US61/935,643 2014-02-04
PCT/IB2015/050551 WO2015118423A1 (en) 2014-02-04 2015-01-26 Visualization of depth and position of blood vessels and robot guided visualization of blood vessel cross section

Publications (3)

Publication Number Publication Date
JP2017508506A JP2017508506A (ja) 2017-03-30
JP2017508506A5 JP2017508506A5 (enExample) 2018-01-25
JP6649260B2 true JP6649260B2 (ja) 2020-02-19

Family

ID=52633326

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016549122A Active JP6649260B2 (ja) 2014-02-04 2015-01-26 血管の深さ及び位置の可視化並びに血管断面のロボットガイド可視化

Country Status (5)

Country Link
US (3) US11523874B2 (enExample)
EP (1) EP3102141B1 (enExample)
JP (1) JP6649260B2 (enExample)
CN (1) CN105979900B (enExample)
WO (1) WO2015118423A1 (enExample)

Families Citing this family (62)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011078212B4 (de) 2011-06-28 2017-06-29 Scopis Gmbh Verfahren und Vorrichtung zum Darstellen eines Objektes
DE102013211055B3 (de) 2013-06-13 2014-09-18 Scopis Gmbh Adapter zur Aufnahme eines medizintechnischen Geräts sowie eines Lageerfassungssystems
CN106030656B (zh) * 2014-02-11 2020-06-30 皇家飞利浦有限公司 一种用于对解剖目标进行可视化的系统和方法
GB2524955A (en) 2014-04-01 2015-10-14 Scopis Gmbh Method for cell envelope segmentation and visualisation
GB201501157D0 (en) * 2015-01-23 2015-03-11 Scopis Gmbh Instrument guidance system for sinus surgery
JP6243364B2 (ja) * 2015-01-26 2017-12-06 富士フイルム株式会社 内視鏡用のプロセッサ装置、及び作動方法、並びに制御プログラム
JP6392190B2 (ja) * 2015-08-31 2018-09-19 富士フイルム株式会社 画像位置合せ装置、画像位置合せ装置の作動方法およびプログラム
US11259876B2 (en) 2015-09-28 2022-03-01 Koninklijke Philips N.V. Single-port surgical procedure using image guided articulated robot
CN106446578B (zh) * 2016-10-13 2019-05-17 北京东方惠尔图像技术有限公司 用于植入手术的图像显示方法、装置和系统
US10122994B2 (en) * 2016-11-11 2018-11-06 Disney Enterprises, Inc. Object reconstruction from dense light fields via depth from gradients
JP7076447B2 (ja) 2016-11-24 2022-05-27 ユニヴァーシティ オブ ワシントン ヘッドマウントディスプレイのための光照射野キャプチャおよびレンダリング
JPWO2018220930A1 (ja) * 2017-05-30 2019-06-27 オリンパス株式会社 画像処理装置、画像処理システム及び画像処理装置の作動方法
CN107194928B (zh) * 2017-06-15 2019-12-24 华中科技大学同济医学院附属协和医院 一种基于视觉的静脉采血扎针点自动提取方法
US10413363B2 (en) * 2017-12-15 2019-09-17 Medtronic, Inc. Augmented reality solution to optimize the directional approach and therapy delivery of interventional cardiology tools
WO2019121889A1 (en) * 2017-12-20 2019-06-27 Koninklijke Philips N.V. Torsional deployment detection of a vascular therapy device
IT201800000673U1 (it) * 2018-01-11 2019-07-11 Apparato robotizzato per operazioni chirurgiche
US20210030510A1 (en) * 2018-02-09 2021-02-04 Sony Corporation Surgery system, image processor, and image processing method
US11911210B2 (en) * 2018-06-15 2024-02-27 Bk Medical Aps Combination ultrasound / optical image for an image-guided procedure
US11564678B2 (en) 2018-07-16 2023-01-31 Cilag Gmbh International Force sensor through structured light deflection
US10643398B2 (en) * 2018-07-23 2020-05-05 Microsoft Technology Licensing, Llc Depth ray layer for reduced visual noise
EP3636158A1 (en) 2018-10-10 2020-04-15 Koninklijke Philips N.V. Image guidance for implanted lead extraction
US10623660B1 (en) 2018-09-27 2020-04-14 Eloupes, Inc. Camera array for a mediated-reality system
WO2020092262A1 (en) * 2018-10-30 2020-05-07 Intuitive Surgical Operations, Inc. Anatomical structure visualization systems and methods
KR102775216B1 (ko) * 2018-11-12 2025-03-04 한국전기연구원 중재시술 혈관위치 가이드를 위한 시술 보조 시스템
CN120997197A (zh) * 2018-12-05 2025-11-21 史赛克公司 用于显示医学成像数据的系统和方法
US11172184B2 (en) * 2018-12-13 2021-11-09 Covidien Lp Systems and methods for imaging a patient
IT201800011117A1 (it) * 2018-12-14 2020-06-14 Marco Farronato Sistema e metodo per la visualizzazione di un sito anatomico in realta' aumentata
US11625825B2 (en) * 2019-01-30 2023-04-11 Covidien Lp Method for displaying tumor location within endoscopic images
US12257013B2 (en) 2019-03-15 2025-03-25 Cilag Gmbh International Robotic surgical systems with mechanisms for scaling camera magnification according to proximity of surgical tool to tissue
CN110051435A (zh) * 2019-04-25 2019-07-26 李汉忠 经尿道前列腺手术机器人切除系统
CN114126527B (zh) * 2019-05-31 2025-01-21 直观外科手术操作公司 复合医学成像系统和方法
WO2020243432A1 (en) * 2019-05-31 2020-12-03 Intuitive Surgical Operations, Inc. Systems and methods for integrating imagery captured by different imaging modalities into composite imagery of a surgical space
CN114364298A (zh) * 2019-09-05 2022-04-15 奥林巴斯株式会社 内窥镜系统、处理系统、内窥镜系统的工作方法以及图像处理程序
US11931111B2 (en) * 2019-09-09 2024-03-19 Covidien Lp Systems and methods for providing surgical guidance
EP4042382A1 (en) * 2019-10-07 2022-08-17 Intuitive Surgical Operations, Inc. Physical medical element sizing systems and methods
US11284963B2 (en) 2019-12-30 2022-03-29 Cilag Gmbh International Method of using imaging devices in surgery
US11219501B2 (en) 2019-12-30 2022-01-11 Cilag Gmbh International Visualization systems using structured light
US11832996B2 (en) 2019-12-30 2023-12-05 Cilag Gmbh International Analyzing surgical trends by a surgical system
US12002571B2 (en) 2019-12-30 2024-06-04 Cilag Gmbh International Dynamic surgical visualization systems
US11896442B2 (en) 2019-12-30 2024-02-13 Cilag Gmbh International Surgical systems for proposing and corroborating organ portion removals
US11744667B2 (en) 2019-12-30 2023-09-05 Cilag Gmbh International Adaptive visualization by a surgical system
US11759283B2 (en) 2019-12-30 2023-09-19 Cilag Gmbh International Surgical systems for generating three dimensional constructs of anatomical organs and coupling identified anatomical structures thereto
US11648060B2 (en) 2019-12-30 2023-05-16 Cilag Gmbh International Surgical system for overlaying surgical instrument data onto a virtual three dimensional construct of an organ
US11776144B2 (en) 2019-12-30 2023-10-03 Cilag Gmbh International System and method for determining, adjusting, and managing resection margin about a subject tissue
US12207881B2 (en) 2019-12-30 2025-01-28 Cilag Gmbh International Surgical systems correlating visualization data and powered surgical instrument data
US12453592B2 (en) 2019-12-30 2025-10-28 Cilag Gmbh International Adaptive surgical system control according to surgical smoke cloud characteristics
US12053223B2 (en) 2019-12-30 2024-08-06 Cilag Gmbh International Adaptive surgical system control according to surgical smoke particulate characteristics
US10949986B1 (en) 2020-05-12 2021-03-16 Proprio, Inc. Methods and systems for imaging a scene, such as a medical scene, and tracking objects within the scene
US20220079462A1 (en) * 2020-09-16 2022-03-17 Biosense Webster (Israel) Ltd. Systems and methods for cardiac chamber visualization
WO2022066781A1 (en) 2020-09-23 2022-03-31 Proprio, Inc. Endoscopic imaging systems for generating three‑dimensional images, and associated systems and methods
US11963683B2 (en) * 2020-10-02 2024-04-23 Cilag Gmbh International Method for operating tiered operation modes in a surgical system
CN112509410A (zh) * 2020-12-08 2021-03-16 中日友好医院(中日友好临床医学研究所) 一种基于虚拟现实的髋关节镜手术辅助教学系统
US11295460B1 (en) 2021-01-04 2022-04-05 Proprio, Inc. Methods and systems for registering preoperative image data to intraoperative image data of a scene, such as a surgical scene
WO2022169990A1 (en) * 2021-02-03 2022-08-11 The Regents Of The University Of California Surgical perception framework for robotic tissue manipulation
US20230053189A1 (en) * 2021-08-11 2023-02-16 Terumo Cardiovascular Systems Corporation Augmented-reality endoscopic vessel harvesting
US12127890B1 (en) * 2021-08-11 2024-10-29 Navakanth Gorrepati Mixed reality endoscopic retrograde cholangiopancreatopgraphy (ERCP) procedure
US12016642B2 (en) 2021-09-08 2024-06-25 Proprio, Inc. Constellations for tracking instruments, such as surgical instruments, and associated systems and methods
US12261988B2 (en) 2021-11-08 2025-03-25 Proprio, Inc. Methods for generating stereoscopic views in multicamera systems, and associated devices and systems
EP4231246A1 (en) * 2022-02-16 2023-08-23 Siemens Healthcare GmbH Technique for optical guidance during a surgical procedure
WO2023220605A2 (en) 2022-05-09 2023-11-16 Proprio, Inc. Methods and systems for calibrating instruments within an imaging system, such as a surgical imaging system
CN119014979B (zh) * 2023-05-26 2025-11-28 青岛海信医疗设备股份有限公司 一种腹腔镜增强现实手术导航方法、设备及装置
WO2025212319A1 (en) * 2024-04-01 2025-10-09 Intuitive Surgical Operations, Inc. Computer-assisted annotation of subsurface structures onto a surface

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003527880A (ja) * 1999-03-31 2003-09-24 ウルトラガイド・リミテッド 医療診断ならびに医療誘導インターベンションおよび治療のための装置および方法
US7493154B2 (en) 2002-10-23 2009-02-17 Medtronic, Inc. Methods and apparatus for locating body vessels and occlusions in body vessels
US8377082B2 (en) 2003-01-14 2013-02-19 Medtronic, Inc. Methods and apparatus for making precise incisions in body vessels
US20080009895A1 (en) 2006-07-05 2008-01-10 Pokomey James L Vessel cutting tool
US20090156895A1 (en) * 2007-01-31 2009-06-18 The Penn State Research Foundation Precise endoscopic planning and visualization
US8672836B2 (en) 2007-01-31 2014-03-18 The Penn State Research Foundation Method and apparatus for continuous guidance of endoscopy
US20110282151A1 (en) 2008-10-20 2011-11-17 Koninklijke Philips Electronics N.V. Image-based localization method and system
US11627904B2 (en) * 2008-10-23 2023-04-18 Koninklijke Philips N.V. Cardiac and or respiratory gated image acquisition system and method for virtual anatomy enriched real time 2D imaging in interventional radiofrequency ablation or pace maker replacement procecure
WO2010081094A2 (en) * 2009-01-09 2010-07-15 The Johns Hopkins University A system for registration and information overlay on deformable surfaces from video data
CN102740755B (zh) 2010-02-22 2015-04-22 奥林巴斯医疗株式会社 医疗设备
JP5457247B2 (ja) * 2010-03-26 2014-04-02 富士フイルム株式会社 電子内視鏡システム、電子内視鏡用のプロセッサ装置、及び電子内視鏡システムの作動方法
JP5486432B2 (ja) * 2010-07-28 2014-05-07 富士フイルム株式会社 画像処理装置、その作動方法およびプログラム
JP5616303B2 (ja) 2010-08-24 2014-10-29 富士フイルム株式会社 電子内視鏡システム及び電子内視鏡システムの作動方法
RU2594813C2 (ru) 2010-09-15 2016-08-20 Конинклейке Филипс Электроникс Н.В. Роботизированное управление эндоскопом по изображениям сети кровеносных сосудов
JP5657467B2 (ja) 2011-05-13 2015-01-21 オリンパスメディカルシステムズ株式会社 医療用画像表示システム
WO2012156873A1 (en) 2011-05-18 2012-11-22 Koninklijke Philips Electronics N.V. Endoscope segmentation correction for 3d-2d image overlay
JP6404713B2 (ja) * 2011-06-17 2018-10-17 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 内視鏡手術におけるガイド下注入のためのシステム及び方法
EP2747695B1 (en) 2011-10-26 2017-09-13 Koninklijke Philips N.V. Endoscopic registration of vessel tree images
US20140347353A1 (en) 2011-12-21 2014-11-27 Koninklijke Philips N.V. Overlay and motion compensation of structures from volumetric modalities onto video of an uncalibrated endoscope
EP2867864A1 (en) 2012-06-28 2015-05-06 Koninklijke Philips N.V. Overlay and registration of preoperative data on live video using a portable device
JP6265627B2 (ja) * 2013-05-23 2018-01-24 オリンパス株式会社 内視鏡装置及び内視鏡装置の作動方法
KR101578770B1 (ko) * 2013-11-21 2015-12-18 삼성전자주식회사 의료 영상 처리 장치 및 그에 따른 의료 영상 처리 방법

Also Published As

Publication number Publication date
WO2015118423A1 (en) 2015-08-13
US11980505B2 (en) 2024-05-14
EP3102141A1 (en) 2016-12-14
JP2017508506A (ja) 2017-03-30
CN105979900A (zh) 2016-09-28
US20240268920A1 (en) 2024-08-15
US11523874B2 (en) 2022-12-13
CN105979900B (zh) 2020-06-26
EP3102141B1 (en) 2019-08-14
US20230065264A1 (en) 2023-03-02
US20170007350A1 (en) 2017-01-12

Similar Documents

Publication Publication Date Title
US11980505B2 (en) Visualization of depth and position of blood vessels and robot guided visualization of blood vessel cross section
CN106030656B (zh) 一种用于对解剖目标进行可视化的系统和方法
JP6382802B2 (ja) ロボット操作される内視鏡を使用した血管可視化の向上
US12059281B2 (en) Systems and methods of fluoro-CT imaging for initial registration
JP6404713B2 (ja) 内視鏡手術におけるガイド下注入のためのシステム及び方法
CN110741414B (zh) 用于使用实时二维荧光镜检查数据识别、标记和导航到靶标的系统和方法
JP6290372B2 (ja) カスタム套管針を使用したロボット遠隔運動中心点の位置特定
CN108451639B (zh) 用于定位与导航的多数据源集成

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

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180927

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180928

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: 20190326

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20190716

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20191115

A911 Transfer to examiner for re-examination before appeal (zenchi)

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20191125

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: 20200114

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200116

R150 Certificate of patent or registration of utility model

Ref document number: 6649260

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