JP6872802B2 - 医療器具の挿入を誘導するためのシステム及び方法 - Google Patents

医療器具の挿入を誘導するためのシステム及び方法 Download PDF

Info

Publication number
JP6872802B2
JP6872802B2 JP2018512907A JP2018512907A JP6872802B2 JP 6872802 B2 JP6872802 B2 JP 6872802B2 JP 2018512907 A JP2018512907 A JP 2018512907A JP 2018512907 A JP2018512907 A JP 2018512907A JP 6872802 B2 JP6872802 B2 JP 6872802B2
Authority
JP
Japan
Prior art keywords
force
correlation
needle
patient
imaging
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.)
Expired - Fee Related
Application number
JP2018512907A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018530377A5 (enExample
JP2018530377A (ja
Inventor
モラン ショハット、
モラン ショハット、
オファー アーノルド、
オファー アーノルド、
シュラガ ナフム ゴールドバーグ、
シュラガ ナフム ゴールドバーグ、
Original Assignee
ザクト ロボティクス リミテッド
ザクト ロボティクス リミテッド
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 ザクト ロボティクス リミテッド, ザクト ロボティクス リミテッド filed Critical ザクト ロボティクス リミテッド
Publication of JP2018530377A publication Critical patent/JP2018530377A/ja
Publication of JP2018530377A5 publication Critical patent/JP2018530377A5/ja
Application granted granted Critical
Publication of JP6872802B2 publication Critical patent/JP6872802B2/ja
Expired - Fee Related 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
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • 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
    • 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
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/15—Devices for taking samples of blood
    • A61B5/150007—Details
    • A61B5/150015—Source of blood
    • A61B5/15003—Source of blood for venous or arterial blood
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/15—Devices for taking samples of blood
    • A61B5/150007—Details
    • A61B5/150748—Having means for aiding positioning of the piercing device at a location where the body is to be pierced
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • A61B5/7271—Specific aspects of physiological measurement analysis
    • A61B5/7285—Specific aspects of physiological measurement analysis for synchronizing or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal
    • A61B5/7292—Prospective gating, i.e. predicting the occurrence of a physiological event for use as a synchronisation signal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • 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
    • 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
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1477—Needle-like probes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3407—Needle locating or guiding means using mechanical guide means including a base for support on the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • A61B2018/0293—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques using an instrument interstitially inserted into the body, e.g. needle
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • 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
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B2562/0252—Load cells
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Clinical applications involving detecting or locating foreign bodies or organic structures for locating instruments

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Hematology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Vascular Medicine (AREA)
  • Human Computer Interaction (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Robotics (AREA)
  • Anesthesiology (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physiology (AREA)
  • Psychiatry (AREA)
  • Signal Processing (AREA)
  • Otolaryngology (AREA)
  • Pulmonology (AREA)
  • Optics & Photonics (AREA)
  • Endoscopes (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
JP2018512907A 2015-09-10 2016-09-11 医療器具の挿入を誘導するためのシステム及び方法 Expired - Fee Related JP6872802B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562283734P 2015-09-10 2015-09-10
US62/283,734 2015-09-10
PCT/IL2016/051013 WO2017042823A1 (en) 2015-09-10 2016-09-11 Systems and methods for guiding the insertion of a medical tool

Publications (3)

Publication Number Publication Date
JP2018530377A JP2018530377A (ja) 2018-10-18
JP2018530377A5 JP2018530377A5 (enExample) 2019-11-21
JP6872802B2 true JP6872802B2 (ja) 2021-05-19

Family

ID=58239370

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018512907A Expired - Fee Related JP6872802B2 (ja) 2015-09-10 2016-09-11 医療器具の挿入を誘導するためのシステム及び方法

Country Status (7)

Country Link
US (2) US11039891B2 (enExample)
EP (1) EP3346920B1 (enExample)
JP (1) JP6872802B2 (enExample)
CN (1) CN108135529B (enExample)
CA (1) CA2998298A1 (enExample)
IL (1) IL257994B (enExample)
WO (1) WO2017042823A1 (enExample)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017037705A1 (en) * 2015-08-30 2017-03-09 M.S.T. Medical Surgery Technologies Ltd An intelligent surgical tool control system for laparoscopic surgeries
JP6872802B2 (ja) * 2015-09-10 2021-05-19 ザクト ロボティクス リミテッド 医療器具の挿入を誘導するためのシステム及び方法
JP6906239B2 (ja) 2015-12-28 2021-07-21 ザクト ロボティクス リミテッド 調節可能レジストレーションフレーム
US11013567B2 (en) * 2016-03-17 2021-05-25 Intuitive Surgical Operations, Inc. Systems and methods for instrument insertion control
US11202684B2 (en) 2016-05-25 2021-12-21 Xact Robotics Ltd. Automated insertion device
CN110338907A (zh) * 2018-04-05 2019-10-18 云南师范大学 一种用于医学影像引导手术的触觉导航系统
JP7104189B2 (ja) * 2018-06-26 2022-07-20 コーニンクレッカ フィリップス エヌ ヴェ 介入器具荷重に基づく最適撮像視点
US11992362B2 (en) * 2018-10-09 2024-05-28 Rutgers, The State University Of New Jersey Ultrasound-guided alignment and insertion of percutaneous cannulating instruments
EP3983044A4 (en) 2019-07-19 2023-02-15 Corindus, Inc. LOAD MEASUREMENT OF AN LONG-LINE MEDICAL DEVICE DURING ROBOT ACTIVATION
IL269480B2 (en) * 2019-09-19 2023-02-01 Simbionix Ltd A method and system for multi-tool medical simulation
BR112022010414A2 (pt) * 2019-11-27 2022-08-23 Xact Robotics Ltd Planejamento e atualização em tempo real de uma trajetória 3d de um instrumento médico.
EP4437975A3 (en) * 2019-12-03 2024-11-27 Mediview XR, Inc. Holographic augmented reality ultrasound needle guide for insertion for percutaneous surgical procedures
EP4069128A4 (en) * 2019-12-05 2023-05-03 Xact Robotics Ltd. METHODS AND SYSTEMS FOR ASSISTING A USER IN POSITIONING AN AUTOMATED MEDICAL DEVICE RELATIVE TO A PATIENT'S BODY
CN113116384A (zh) * 2019-12-31 2021-07-16 无锡祥生医疗科技股份有限公司 超声扫查引导方法、超声设备及存储介质
WO2021214754A1 (en) * 2020-04-19 2021-10-28 Xact Robotics Ltd. Optimizing checkpoint locations along an insertion trajectory of a medical instrument using data analysis
CN115715173A (zh) * 2020-06-12 2023-02-24 皇家飞利浦有限公司 基于工具和用户相互作用力对协作机器人控制参数的自动选择
EP4181791A1 (en) 2020-07-21 2023-05-24 Bard Access Systems, Inc. System, method and apparatus for magnetic tracking of ultrasound probe and generation of 3d visualization thereof
US12186070B2 (en) * 2020-08-04 2025-01-07 Bard Access Systems, Inc. Systemized and method for optimized medical component insertion monitoring and imaging enhancement
CN217907826U (zh) 2020-08-10 2022-11-29 巴德阿克塞斯系统股份有限公司 医学分析系统
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
US12492953B2 (en) 2020-09-18 2025-12-09 Bard Access Systems, Inc. Ultrasound probe with pointer remote control capability
US12137987B2 (en) 2020-10-02 2024-11-12 Bard Access Systems, Inc. Ultrasound systems and methods for sustained spatial attention
EP4228516A1 (en) 2020-10-15 2023-08-23 Bard Access Systems, Inc. Ultrasound imaging system for generation of a three-dimensional ultrasound image
EP4236852A1 (en) * 2020-10-30 2023-09-06 MAKO Surgical Corp. Robotic surgical system with cut selection logic
EP4264546B1 (en) * 2020-12-16 2025-02-12 Koninklijke Philips N.V. Predictive motion mapping for flexible devices
CN116648206A (zh) * 2020-12-30 2023-08-25 奥瑞斯健康公司 机器人臂的接触感测和接触反应的系统和方法
CN113171177B (zh) * 2021-04-07 2023-02-17 上海交通大学 可捕捉腰椎穿刺组织层突破感的人机交互控制方法及系统
EP4203829A1 (en) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
CN114041828B (zh) * 2022-01-13 2022-04-29 深圳瀚维智能医疗科技有限公司 超声扫查控制方法、机器人及存储介质
US12102481B2 (en) 2022-06-03 2024-10-01 Bard Access Systems, Inc. Ultrasound probe with smart accessory
US12137989B2 (en) 2022-07-08 2024-11-12 Bard Access Systems, Inc. Systems and methods for intelligent ultrasound probe guidance
US20250009984A1 (en) * 2023-07-04 2025-01-09 Agyless Medical Ltd Method and System for controlling material injections

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1057161B1 (en) 1998-02-23 2002-05-02 Algotec Systems Ltd. Automatic path planning system and method
US6810281B2 (en) * 2000-12-21 2004-10-26 Endovia Medical, Inc. Medical mapping system
US6245028B1 (en) 1999-11-24 2001-06-12 Marconi Medical Systems, Inc. Needle biopsy system
US7822458B2 (en) * 2005-05-19 2010-10-26 The Johns Hopkins University Distal bevel-tip needle control device and algorithm
CN101522134B (zh) * 2006-06-05 2012-06-27 泰克尼恩研究和发展基金有限公司 挠性针的受控导向
CN102105190B (zh) * 2008-05-28 2014-12-10 泰克尼恩研究和发展基金有限公司 用于柔性针操纵的超声引导机器人
US8594799B2 (en) * 2008-10-31 2013-11-26 Advanced Bionics Cochlear electrode insertion
US20120265051A1 (en) * 2009-11-09 2012-10-18 Worcester Polytechnic Institute Apparatus and methods for mri-compatible haptic interface
JP6064263B2 (ja) * 2012-07-10 2017-01-25 パナソニックＩｐマネジメント株式会社 力計測装置及び力計測方法、マスタースレーブ装置、力計測プログラム、並びに、集積電子回路
CN105813585B (zh) 2013-10-07 2020-01-10 泰克尼恩研究和发展基金有限公司 通过杆操纵实现的针转向
EP3054862B1 (en) 2013-10-07 2020-02-12 Technion Research & Development Foundation Ltd. Gripper for robotic image guided needle insertion
US10245110B2 (en) 2014-03-04 2019-04-02 Xact Robotics Ltd. Dynamic planning method for needle insertion
JP6872802B2 (ja) * 2015-09-10 2021-05-19 ザクト ロボティクス リミテッド 医療器具の挿入を誘導するためのシステム及び方法

Also Published As

Publication number Publication date
CN108135529B (zh) 2021-09-14
IL257994A (en) 2018-05-31
EP3346920B1 (en) 2022-11-02
IL257994B (en) 2021-09-30
CA2998298A1 (en) 2017-03-16
US11039891B2 (en) 2021-06-22
US12262955B2 (en) 2025-04-01
JP2018530377A (ja) 2018-10-18
CN108135529A (zh) 2018-06-08
EP3346920A4 (en) 2019-04-03
US20210322108A1 (en) 2021-10-21
WO2017042823A1 (en) 2017-03-16
US20180250078A1 (en) 2018-09-06
EP3346920A1 (en) 2018-07-18

Similar Documents

Publication Publication Date Title
JP6872802B2 (ja) 医療器具の挿入を誘導するためのシステム及び方法
US10702341B2 (en) Dynamic planning method for needle insertion
JP7754505B2 (ja) 可搬型の超音波誘導下カニューレ挿入のためのシステム及び方法
CN111343941B (zh) 机器人工具控制
EP3291736B1 (en) Microwave ablation planning and procedure systems
EP3525696B1 (en) Surgical puncture device insertion systems
JP5103658B2 (ja) 柔軟な針の制御された操作
EP3411108B1 (en) Catheter force control device
JP2009233240A (ja) 手術支援システム、接近状態検出装置及びそのプログラム
JP4390146B2 (ja) 穿刺制御装置、穿刺ロボット及び穿刺制御用プログラム
CN115052545A (zh) 协助用户相对患者身体定位自动化医疗设备的方法和系统
EP3790489B1 (en) System for affecting a subject
US12262962B2 (en) Systems and methods for advanced medical device placement and usage
KR20250071337A (ko) 주사 제어 장치 및 그 동작 방법

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190910

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190910

RD03 Notification of appointment of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7423

Effective date: 20190910

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190913

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20190911

RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20191030

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20200714

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200804

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20201002

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: 20210316

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210413

R150 Certificate of patent or registration of utility model

Ref document number: 6872802

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

LAPS Cancellation because of no payment of annual fees