JP6693869B2 - 長手方向エンコーディングを使う装置トラッキング - Google Patents

長手方向エンコーディングを使う装置トラッキング Download PDF

Info

Publication number
JP6693869B2
JP6693869B2 JP2016517366A JP2016517366A JP6693869B2 JP 6693869 B2 JP6693869 B2 JP 6693869B2 JP 2016517366 A JP2016517366 A JP 2016517366A JP 2016517366 A JP2016517366 A JP 2016517366A JP 6693869 B2 JP6693869 B2 JP 6693869B2
Authority
JP
Japan
Prior art keywords
optical fiber
optical
associated longitudinal
shape
longitudinal device
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
JP2016517366A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016533201A (ja
JP2016533201A5 (enExample
Inventor
サンダー ハンス デニッセン
サンダー ハンス デニッセン
マルコ フェルステーゲ
マルコ フェルステーゲ
ダーク ダイカンプ
ダーク ダイカンプ
マルセリナス ペトルス マリア クノープス
マルセリナス ペトルス マリア クノープス
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 JP2016533201A publication Critical patent/JP2016533201A/ja
Publication of JP2016533201A5 publication Critical patent/JP2016533201A5/ja
Application granted granted Critical
Publication of JP6693869B2 publication Critical patent/JP6693869B2/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
    • 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
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • 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
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G01B11/18—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge using photoelastic elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • 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
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0261—Strain gauges
    • A61B2562/0266—Optical strain gauges

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Endoscopes (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Surgical Instruments (AREA)
JP2016517366A 2013-10-02 2014-09-24 長手方向エンコーディングを使う装置トラッキング Active JP6693869B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP13187014.9 2013-10-02
EP13187014 2013-10-02
PCT/EP2014/070384 WO2015049142A1 (en) 2013-10-02 2014-09-24 Device tracking using longitudinal encoding

Publications (3)

Publication Number Publication Date
JP2016533201A JP2016533201A (ja) 2016-10-27
JP2016533201A5 JP2016533201A5 (enExample) 2017-11-02
JP6693869B2 true JP6693869B2 (ja) 2020-05-13

Family

ID=49303790

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016517366A Active JP6693869B2 (ja) 2013-10-02 2014-09-24 長手方向エンコーディングを使う装置トラッキング

Country Status (5)

Country Link
US (2) US20160228200A1 (enExample)
EP (1) EP3055646B1 (enExample)
JP (1) JP6693869B2 (enExample)
CN (1) CN105792768B (enExample)
WO (1) WO2015049142A1 (enExample)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3193765B1 (en) * 2014-09-16 2018-12-12 Koninklijke Philips N.V. Processing system arranged to cooperate with an optical-shape-sensing-enabled interventional device
CN115813552A (zh) 2014-09-30 2023-03-21 皇家飞利浦有限公司 利用光学形状感测光纤触发
BR112017012039A2 (en) * 2014-12-11 2018-01-16 Koninklijke Philips N.V. magnetic resonance imaging system (sister), and method
US10994095B2 (en) 2015-10-02 2021-05-04 Koninklijke Philips N.V. Hub for device placement with optical shape sensed guidewire
CN108135530B (zh) * 2015-10-02 2023-01-17 皇家飞利浦有限公司 利用光学形状感测导丝的设备导航的集线器
CN105371781B (zh) * 2015-11-13 2018-09-07 华中科技大学 一种三维形状测量方法
US11324393B2 (en) * 2016-08-16 2022-05-10 Intuitive Surgical Operations, Inc. Augmented accuracy using large diameter shape fiber
CN116211467A (zh) * 2016-12-05 2023-06-06 皇家飞利浦有限公司 用于利用形状感测导丝确定非形状感测介入设备的长度以及确定导丝相对于介入设备的状态的系统和方法
WO2018108993A1 (en) * 2016-12-13 2018-06-21 Koninklijke Philips N.V. Systems and methods for determining the position of a non-shape-sensed guidewire with a shape-sensed catheter and for visualizing the guidewire
US11547318B2 (en) 2017-01-03 2023-01-10 Koninklijke Philips N.V. Medical navigation system using shape-sensing device and method of operation thereof
WO2018172237A1 (en) 2017-03-21 2018-09-27 Koninklijke Philips N.V. Oss guiding and monitoring systems, controllers and methods
JP7213867B2 (ja) * 2017-08-16 2023-01-27 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 医療処置中に患者の動きをモニタするためのシステムおよび方法
WO2019134898A1 (en) 2018-01-02 2019-07-11 Koninklijke Philips N.V. Animated position display of an oss interventional device
JP7488186B2 (ja) * 2018-02-22 2024-05-21 コーニンクレッカ フィリップス エヌ ヴェ センサベースの形状特定
JP2022521556A (ja) * 2019-02-28 2022-04-08 コーニンクレッカ フィリップス エヌ ヴェ エンドエフェクタのフィードフォワード連続配置制御
EP3705020A1 (en) 2019-03-05 2020-09-09 FBGS Technologies GmbH Methods and systems for shape sensing
CN112075923B (zh) * 2019-06-12 2025-11-14 巴德阿克塞斯系统股份有限公司 微型导引器系统
JP7752610B2 (ja) * 2019-10-17 2025-10-10 コーニンクレッカ フィリップス エヌ ヴェ Ｏｓｓベースの自動特徴検出及び機器特性評価
EP3838209A1 (en) * 2019-12-20 2021-06-23 Koninklijke Philips N.V. Generating interactive zones for interventional medical devices
CN111207691A (zh) * 2020-02-19 2020-05-29 上海理工大学 光纤形状进行测量的实现方法
EP3967236A1 (en) * 2020-09-10 2022-03-16 Koninklijke Philips N.V. Method of registering ultrasound images to an anatomical map

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6471710B1 (en) * 1999-08-13 2002-10-29 Advanced Sensor Technology, Llc Probe position sensing system and method of employment of same
US20030135102A1 (en) * 2000-05-18 2003-07-17 Burdette Everette C. Method and system for registration and guidance of intravascular treatment
ATE523141T1 (de) * 2004-02-17 2011-09-15 Philips Electronics Ltd Verfahren und vorrichtung zur registrierung, verifizierung von und bezugnahme auf körperorgane(n)
US8048063B2 (en) * 2006-06-09 2011-11-01 Endosense Sa Catheter having tri-axial force sensor
JP5372406B2 (ja) * 2008-05-23 2013-12-18 オリンパスメディカルシステムズ株式会社 医療機器
US8957367B2 (en) * 2009-11-13 2015-02-17 Intuitive Surgical Operations, Inc. Shape sensor contained in a link of a kinematic chain with at least one pre-set perturbation and method to sense relative partial-pose information using the shape sensor
JP2013534433A (ja) * 2010-05-13 2013-09-05 コーニンクレッカ フィリップス エヌ ヴェ 光ファイバの形状再構成
JP5997157B2 (ja) * 2010-09-01 2016-09-28 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． バックロード可能な光学形状検知ガイドワイヤ
EP2624780B1 (en) * 2010-10-08 2024-02-14 Koninklijke Philips N.V. Flexible tether with integrated sensors for dynamic instrument tracking
CN103347461B (zh) * 2011-01-28 2016-03-09 皇家飞利浦有限公司 用于医学仪器的尖端和形状特征化的光学形状感测光纤
US8827934B2 (en) * 2011-05-13 2014-09-09 Intuitive Surgical Operations, Inc. Method and system for determining information of extrema during expansion and contraction cycles of an object
US9138166B2 (en) * 2011-07-29 2015-09-22 Hansen Medical, Inc. Apparatus and methods for fiber integration and registration

Also Published As

Publication number Publication date
EP3055646A1 (en) 2016-08-17
WO2015049142A1 (en) 2015-04-09
CN105792768B (zh) 2019-06-25
EP3055646B1 (en) 2020-12-16
CN105792768A (zh) 2016-07-20
JP2016533201A (ja) 2016-10-27
US20160228200A1 (en) 2016-08-11
US20250152254A1 (en) 2025-05-15

Similar Documents

Publication Publication Date Title
US20250152254A1 (en) Device tracking using longitudinal encoding
JP6246213B2 (ja) 位置合わせシステム、方法及びコンピュータプログラム
US11547489B2 (en) Shape sensing of multiple over-the-wire devices
CN108135531B (zh) 用于利用光学形状感测的导丝来放置设备的衬套
JP6822955B2 (ja) 先端固定なしで光学形状検出を使う超音波プローブの自動トラッキング及び位置合わせ
EP2723240B1 (en) Live 3d angiogram using registration of a surgical tool curve to an x-ray image
EP3193765B1 (en) Processing system arranged to cooperate with an optical-shape-sensing-enabled interventional device
US8521252B2 (en) Method for displaying a hollow space in an object under investigation
EP3014214B1 (en) Optical shape sensing with a plurality of optical fibers
US20170065206A1 (en) Device for determining a specific position of a catheter
JP2017537698A5 (enExample)
US11406278B2 (en) Non-rigid-body morphing of vessel image using intravascular device shape
EP3037056B1 (en) System for reconstructing a trajectory of an optical fiber
WO2015092581A1 (en) Shape sensed robotic ultrasound for minimally invasive interventions
WO2014024069A1 (en) Quantifying probe deflection for improved catheter identification
JP6835959B2 (ja) 管状構造内の器具の位置を決定するための位置決定装置
US11602396B2 (en) OSS foreshortening detection systems, controllers and methods
CN113597289B (zh) 辅助在对象内移动插入元件

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: 20170920

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20170920

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180711

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180904

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20181129

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190304

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20190829

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20191119

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200227

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: 20200317

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200416

R150 Certificate of patent or registration of utility model

Ref document number: 6693869

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