JP6822955B2 - 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 - Google Patents

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 Download PDF

Info

Publication number
JP6822955B2
JP6822955B2 JP2017529353A JP2017529353A JP6822955B2 JP 6822955 B2 JP6822955 B2 JP 6822955B2 JP 2017529353 A JP2017529353 A JP 2017529353A JP 2017529353 A JP2017529353 A JP 2017529353A JP 6822955 B2 JP6822955 B2 JP 6822955B2
Authority
JP
Japan
Prior art keywords
path
probe
optical shape
imaging
fiber
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
JP2017529353A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017537698A (ja
JP2017537698A5 (https=
Inventor
グレゴリー コール
グレゴリー コール
マリッサ パトリシア ドレイヤー
マリッサ パトリシア ドレイヤー
バーラット ラマチャンドラン
バーラット ラマチャンドラン
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 JP2017537698A publication Critical patent/JP2017537698A/ja
Publication of JP2017537698A5 publication Critical patent/JP2017537698A5/ja
Application granted granted Critical
Publication of JP6822955B2 publication Critical patent/JP6822955B2/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
    • A61B8/42—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
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
    • G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
    • 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
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A61B5/6848—Needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A61B5/6852—Catheters
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Endoscopes (AREA)
JP2017529353A 2014-12-02 2015-12-01 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 Active JP6822955B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462086248P 2014-12-02 2014-12-02
US62/086,248 2014-12-02
PCT/IB2015/059248 WO2016088037A1 (en) 2014-12-02 2015-12-01 Automatic tracking and registration of ultrasound probe using optical shape sensing without tip fixation

Publications (3)

Publication Number Publication Date
JP2017537698A JP2017537698A (ja) 2017-12-21
JP2017537698A5 JP2017537698A5 (https=) 2020-11-26
JP6822955B2 true JP6822955B2 (ja) 2021-01-27

Family

ID=54937324

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017529353A Active JP6822955B2 (ja) 2014-12-02 2015-12-01 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

Country Status (5)

Country Link
US (1) US10639007B2 (https=)
EP (1) EP3226772B1 (https=)
JP (1) JP6822955B2 (https=)
CN (1) CN106999153B (https=)
WO (1) WO2016088037A1 (https=)

Families Citing this family (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3355780B1 (en) * 2015-10-02 2025-07-30 Koninklijke Philips N.V. Hub for device navigation with optical shape sensed guidewire
US20170119051A1 (en) 2015-10-30 2017-05-04 British American Tobacco (Investments) Limited Article for Use with Apparatus for Heating Smokable Material
US20180317554A1 (en) 2015-10-30 2018-11-08 British American Tobacco (Investments) Limited Article for use with apparatus for heating smokable material
US20170119049A1 (en) 2015-10-30 2017-05-04 British American Tobacco (Investments) Limited Article for Use with Apparatus for Heating Smokable Material
US20170245841A1 (en) * 2016-02-25 2017-08-31 Boston Scientific Scimed, Inc. Systems and methods for improved tissue sampling
US12478096B2 (en) 2016-06-29 2025-11-25 Nicoventures Trading Limited Apparatus for heating smokable material
WO2018002085A1 (en) 2016-06-29 2018-01-04 British American Tobacco (Investments) Limited Apparatus for heating smokable material
WO2018172237A1 (en) 2017-03-21 2018-09-27 Koninklijke Philips N.V. Oss guiding and monitoring systems, controllers and methods
US12140487B2 (en) 2017-04-07 2024-11-12 Bard Access Systems, Inc. Optical fiber-based medical device tracking and monitoring system
EP3420914A1 (en) 2017-06-30 2019-01-02 Koninklijke Philips N.V. Ultrasound system and method
AU2018334042B2 (en) 2017-09-15 2022-01-06 Nicoventures Trading Limited Apparatus for heating smokable material
JP2021508586A (ja) 2018-01-02 2021-03-11 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． Ｏｓｓインターベンショナルデバイスのアニメーション位置表示
CN111789630B (zh) * 2019-04-08 2023-06-20 中慧医学成像有限公司 超声探头三维空间信息测量装置
EP3979930B1 (en) * 2019-06-12 2024-08-21 Bard Access Systems, Inc. Microintroducer system
JP7524305B2 (ja) 2019-08-12 2024-07-29 バード・アクセス・システムズ，インコーポレーテッド 医療機器用の形状センシングシステム
EP4061272B1 (en) 2019-11-25 2026-01-07 Bard Access Systems, Inc. Shape-sensing systems with filters and methods thereof
WO2021108697A1 (en) 2019-11-25 2021-06-03 Bard Access Systems, Inc. Optical tip-tracking systems and methods thereof
US12089992B2 (en) 2019-12-17 2024-09-17 Koninklijke Philips N.V. Ultrasound probe housing with sinusoidal interface and associated devices, systems, and methods
WO2021185604A1 (en) * 2020-03-17 2021-09-23 Koninklijke Philips N.V. Self expanding stent system with imaging
EP4161412A1 (en) * 2020-06-05 2023-04-12 Koninklijke Philips N.V. System for guiding interventional instrument to internal target
WO2021263023A1 (en) 2020-06-26 2021-12-30 Bard Access Systems, Inc. Malposition detection system
WO2022005870A1 (en) 2020-06-29 2022-01-06 Bard Access Systems, Inc. Automatic dimensional frame reference for fiber optic
US11624677B2 (en) 2020-07-10 2023-04-11 Bard Access Systems, Inc. Continuous fiber optic functionality monitoring and self-diagnostic reporting system
CN114052658B (zh) 2020-08-03 2025-12-16 巴德阿克塞斯系统股份有限公司 布拉格光栅光纤波动感测与监测系统
EP4216819A1 (en) 2020-09-25 2023-08-02 Bard Access Systems, Inc. Fiber optics oximetry system for detection and confirmation
US11925505B2 (en) 2020-09-25 2024-03-12 Bard Access Systems, Inc. Minimum catheter length tool
EP4221615B1 (en) 2020-09-30 2025-01-22 Koninklijke Philips N.V. Interventional medical device tracking
CN116648208A (zh) * 2020-09-30 2023-08-25 皇家飞利浦有限公司 介入医学设备跟踪
WO2022081723A1 (en) 2020-10-13 2022-04-21 Bard Access Systems, Inc. Fiber optic enabled deployable medical devices for monitoring, assessment and capture of deployment information
EP3995076A1 (en) 2020-11-06 2022-05-11 Koninklijke Philips N.V. Method of re-connecting optical fibers and system
EP4271279A1 (en) * 2021-01-06 2023-11-08 Bard Access Systems, Inc. Needle guidance using fiber optic shape sensing
EP4280995A1 (en) 2021-01-26 2023-11-29 Bard Access Systems, Inc. Fiber optic shape sensing system associated with port placement
EP4301237A1 (en) 2021-03-05 2024-01-10 Bard Access Systems, Inc. Systems and methods for ultrasound-and-bioimpedance-based guidance of medical devices
WO2022212414A1 (en) 2021-03-29 2022-10-06 Bard Access Systems, Inc. System and method for a vessel assessment tool
CN115363565A (zh) 2021-05-18 2022-11-22 巴德阿克塞斯系统股份有限公司 用于检测医疗设备在患者身体内的放置的医疗设备系统和方法
US12575892B2 (en) 2021-06-22 2026-03-17 Bard Access Systems, Inc. Ultrasound detection system
EP4415625B1 (en) * 2021-10-14 2026-04-01 Bard Access Systems, Inc. Fiber optic ultrasound probe
CN116019552A (zh) 2021-10-25 2023-04-28 巴德阿克塞斯系统股份有限公司 用于医疗设备放置的参考平面
EP4426225A1 (en) 2021-11-16 2024-09-11 Bard Access Systems, Inc. Ultrasound probe with integrated data collection methodologies
US12207967B2 (en) 2022-04-20 2025-01-28 Bard Access Systems, Inc. Ultrasound imaging system
US12343117B2 (en) 2022-06-28 2025-07-01 Bard Access Systems, Inc. Fiber optic medical systems and methods for identifying blood vessels
US12349984B2 (en) 2022-06-29 2025-07-08 Bard Access Systems, Inc. System, method, and apparatus for improved confirm of an anatomical position of a medical instrument

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6612992B1 (en) 2000-03-02 2003-09-02 Acuson Corp Medical diagnostic ultrasound catheter and method for position determination
US20110125022A1 (en) * 2009-11-25 2011-05-26 Siemens Medical Solutions Usa, Inc. Synchronization for multi-directional ultrasound scanning
US9285246B2 (en) * 2010-02-12 2016-03-15 Intuitive Surgical Operations, Inc. Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor
JP6195795B2 (ja) * 2011-01-27 2017-09-13 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 形状検出装置固有の情報の保存及び検索
US9693707B2 (en) 2011-01-28 2017-07-04 Koninklijke Philips N.V. Optical shape sensing fiber for tip and shape characterization of medical instruments
CN103429148B (zh) 2011-02-17 2016-01-20 皇家飞利浦电子股份有限公司 用于使用光学形状感测提供电活动图的系统
US20140100452A1 (en) 2011-06-27 2014-04-10 Koninklijke Philips Electronics N.V. Ultrasound-image-guide system and volume-motion-base calibration method
US20130030363A1 (en) 2011-07-29 2013-01-31 Hansen Medical, Inc. Systems and methods utilizing shape sensing fibers
RU2014110007A (ru) * 2011-08-16 2015-09-27 Конинклейке Филипс Н.В. Криволинейная мультипланарная реконструкция с использованием оптоволоконных данных формы
JP6363165B2 (ja) 2013-03-15 2018-07-25 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 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法
WO2014155303A2 (en) * 2013-03-26 2014-10-02 Koninklijke Philips N.V. System and method for minimizing twist for optical shape sensing enabled instruments
JP6134051B2 (ja) 2013-03-29 2017-05-31 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 歪測定の間の撮像中に超音波プローブにおける力及びトルクを測定するシステム
WO2015044832A1 (en) * 2013-09-30 2015-04-02 Koninklijke Philips N.V. Multipurpose lumen design for optical shape sensing
EP3052021A2 (en) 2013-10-02 2016-08-10 Koninklijke Philips N.V. Hub design and methods for optical shape sensing registration
CN107072719A (zh) * 2014-09-08 2017-08-18 皇家飞利浦有限公司 用于矫形术中的器械跟踪的光学形状感测

Also Published As

Publication number Publication date
US20170290563A1 (en) 2017-10-12
JP2017537698A (ja) 2017-12-21
US10639007B2 (en) 2020-05-05
CN106999153B (zh) 2020-08-28
CN106999153A (zh) 2017-08-01
EP3226772A1 (en) 2017-10-11
EP3226772B1 (en) 2022-10-19
WO2016088037A1 (en) 2016-06-09

Similar Documents

Publication Publication Date Title
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
JP2017537698A5 (https=)
JP7050733B6 (ja) 光学形状検出装置の視点を伴う仮想画像
US11547489B2 (en) Shape sensing of multiple over-the-wire devices
JP6568084B2 (ja) 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
CN108135530B (zh) 利用光学形状感测导丝的设备导航的集线器
JP6902533B2 (ja) 形状検出システムによる装置の配置のためのハブ
EP2677937B1 (en) Non-rigid-body morphing of vessel image using intravascular device shape
US10575757B2 (en) Curved multi-planar reconstruction using fiber optic shape data
JP6706576B2 (ja) 最小侵襲性のインターベンションのための形状センスされるロボット超音波
US20160213432A1 (en) Hub design and methods for optical shape sensing registration
US11406278B2 (en) Non-rigid-body morphing of vessel image using intravascular device shape
EP2879586B1 (en) Quantifying probe deflection for improved catheter identification

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20181129

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20181129

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20190809

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20190820

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20191105

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200107

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20200407

A524 Written submission of copy of amendment under article 19 pct

Free format text: JAPANESE INTERMEDIATE CODE: A524

Effective date: 20200706

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200907

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200907

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: 20201215

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210107

R150 Certificate of patent or registration of utility model

Ref document number: 6822955

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