JP6951326B2 - 画像ガイド多関節ロボットを用いたシングルポート外科手術 - Google Patents
画像ガイド多関節ロボットを用いたシングルポート外科手術 Download PDFInfo
- Publication number
- JP6951326B2 JP6951326B2 JP2018516023A JP2018516023A JP6951326B2 JP 6951326 B2 JP6951326 B2 JP 6951326B2 JP 2018516023 A JP2018516023 A JP 2018516023A JP 2018516023 A JP2018516023 A JP 2018516023A JP 6951326 B2 JP6951326 B2 JP 6951326B2
- Authority
- JP
- Japan
- Prior art keywords
- catheter
- articulated robot
- intraoperative
- image
- anatomical
- 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
Links
- 238000001356 surgical procedure Methods 0.000 title claims description 16
- 210000003484 anatomy Anatomy 0.000 claims description 57
- 238000002679 ablation Methods 0.000 claims description 41
- 230000001225 therapeutic effect Effects 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 11
- 238000002432 robotic surgery Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 description 44
- 238000000034 method Methods 0.000 description 29
- 210000000038 chest Anatomy 0.000 description 11
- 230000037361 pathway Effects 0.000 description 11
- 238000002324 minimally invasive surgery Methods 0.000 description 8
- 238000003860 storage Methods 0.000 description 8
- 210000002837 heart atrium Anatomy 0.000 description 6
- 206010003658 Atrial Fibrillation Diseases 0.000 description 3
- 239000008280 blood Substances 0.000 description 3
- 210000004369 blood Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 210000001992 atrioventricular node Anatomy 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000002372 labelling Methods 0.000 description 2
- 210000005248 left atrial appendage Anatomy 0.000 description 2
- 210000004115 mitral valve Anatomy 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 210000001013 sinoatrial node Anatomy 0.000 description 2
- 210000002620 vena cava superior Anatomy 0.000 description 2
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001746 atrial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000747 cardiac effect Effects 0.000 description 1
- 238000013153 catheter ablation Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000004705 lumbosacral region Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 210000005245 right atrium Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
- 210000005243 upper chamber Anatomy 0.000 description 1
- 210000001631 vena cava inferior Anatomy 0.000 description 1
- 210000002417 xiphoid bone Anatomy 0.000 description 1
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
- 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
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/045—Control thereof
-
- 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
-
- 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
-
- 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
-
- 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
- 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
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00053—Mechanical features of the instrument of device
- A61B2018/00172—Connectors and adapters 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
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00345—Vascular system
- A61B2018/00351—Heart
-
- 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
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00577—Ablation
-
- 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
- A61B2018/00982—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
-
- 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
- A61B2018/0212—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 inserted into a body lumen, e.g. catheter
-
- 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
- A61B2034/2055—Optical tracking systems
- A61B2034/2057—Details of tracking cameras
-
- 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
- A61B2034/2059—Mechanical position encoders
-
- 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
- A61B2034/301—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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
-
- 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
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
- A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Otolaryngology (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Plasma & Fusion (AREA)
- Endoscopes (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Description
[1]PTR=ITR*PTI
ここで、ITRは、多関節ロボット40の術中画像21bへの変換であり、
PTIは、術中画像21bの術前画像21aへの変換であり、
PTRは、多関節ロボット40の術前画像21aへの変換である。
[1]PTR=ITR*PTI
Claims (15)
- 解剖学的領域内の解剖学的構造の手術処置を実施するロボット外科手術システムであって、
治療カテーテルと、
前記解剖学的領域内で前記治療カテーテルをナビゲートし、複数のリンケージと当該複数のリンケージを相互接続する少なくとも1つのジョイントとを備える多関節ロボットと、
前記少なくとも1つのジョイントと通信して、前記治療カテーテルが前記解剖学的領域内の術中治療経路に沿って前記解剖学的構造を横断するように、前記多関節ロボットを制御するロボットコントローラであって、前記術中治療経路が、前記解剖学的構造に関する前記解剖学的領域を示す3次元の術中画像であって、前記多関節ロボットとレジストレーションされて、前記解剖学的構造に対する前記多関節ロボットの位置を示す術中画像と、前記解剖学的構造に関する前記解剖学的領域内の計画された治療経路を示す3次元の術前画像との間のレジストレーションに基づいて、前記解剖学的構造に関する前記解剖学的領域内の前記計画された治療経路から得られるロボットコントローラと、を含む、ロボット外科手術システム。 - 前記治療カテーテルは、熱アブレーションカテーテル及び冷凍アブレーションカテーテルのうちの1つである、請求項1に記載のロボット外科手術システム。
- カメラカテーテルをさらに含み、
前記多関節ロボットは、前記解剖学的構造内で前記治療カテーテルと前記カメラカテーテルとを同時にナビゲートし、
前記ロボットコントローラは、前記少なくとも1つのジョイントと通信して、前記解剖学的構造に関する前記解剖学的領域内の前記術中治療経路に沿った前記多関節ロボットによる前記治療カテーテルと前記カメラカテーテルとの同時のナビゲーションを制御する、請求項1に記載のロボット外科手術システム。 - カメラカテーテルをさらに含み、
前記多関節ロボットは、前記解剖学的領域内で前記治療カテーテルと前記カメラカテーテルとを交互にナビゲートし、
前記ロボットコントローラは、少なくとも1つのジョイントと通信して、前記解剖学的構造に関する前記解剖学的領域内の前記術中治療経路に沿った前記多関節ロボットによる前記治療カテーテルと前記カメラカテーテルとの交互のナビゲーションを制御する、請求項1に記載のロボット外科手術システム。 - 少なくとも1つの前記リンケージは、近位リンケージ及び遠位リンケージを含む、請求項1に記載のロボット外科手術システム。
- 前記少なくとも1つのリンケージは、前記近位リンケージと前記遠位リンケージとの間に少なくとも1つの中間リンケージをさらに含む、請求項5に記載のロボット外科手術システム。
- 前記少なくとも1つのジョイントは、前記近位リンケージに対する前記遠位リンケージのポーズを知らせるポーズデータを生成し、
前記ロボットコントローラは、前記少なくとも1つのジョイントによる前記ポーズデータの生成に応じて、前記解剖学的構造に関する前記解剖学的領域内の前記術中治療経路に沿った前記多関節ロボットによる前記治療カテーテルのナビゲーションを制御する、請求項5に記載のロボット外科手術システム。 - 前記多関節ロボットは、前記近位リンケージに接続されるピボットベースを更に含む、請求項5に記載のロボット外科手術システム。
- 前記少なくとも1つのジョイントは、前記ピボットベースに対する前記多関節ロボットの前記遠位リンケージのポーズを知らせるポーズデータを生成し、
前記ロボットコントローラは、前記少なくとも1つのジョイントによる前記ポーズデータの生成に応じて、前記解剖学的構造に関する前記解剖学的領域内の前記術中治療経路に沿った前記多関節ロボットによる前記治療カテーテルのナビゲーションを制御する、請求項8に記載のロボット外科手術システム。 - 前記少なくとも1つのジョイント及び前記ピボットベースは、前記近位リンケージに対する前記遠位リンケージのポーズを知らせるポーズデータを生成し、
前記ロボットコントローラは、前記少なくとも1つのジョイント及び前記ピボットベースによる前記ポーズデータの生成に応じて、前記解剖学的構造に関する前記解剖学的領域内の前記術中治療経路に沿った前記多関節ロボットによる前記治療カテーテルのナビゲーションを制御する、請求項8に記載のロボット外科手術システム。 - 前記少なくとも1つのジョイント及び前記ピボットベースは、前記ピボットベースに対する前記遠位リンケージのポーズを知らせるポーズデータを生成し、
前記ロボットコントローラは、前記少なくとも1つのジョイント及び前記ピボットベースによる前記ポーズデータの生成に応じて、前記解剖学的構造に関する前記解剖学的領域内の前記術中治療経路に沿った前記多関節ロボットによる前記治療カテーテルのナビゲーションを制御する、請求項8に記載のロボット外科手術システム。 - 前記術前画像の受信に応じて、前記解剖学的構造に関する前記計画された治療経路の前記術前画像内の描写を制御する経路計画制御モジュールをさらに含む、請求項1に記載のロボット外科手術システム。
- 前記多関節ロボットとレジストレーションされた前記術中画像の受信及び前記術前画像の受信に応じて、前記術前画像と前記術中画像との間の画像レジストレーションを、前記術前画像及び前記術中画像内に示される前記解剖学的構造の描写に基づいて制御するレジストレーション制御モジュールをさらに含む、請求項1に記載のロボット外科手術システム。
- 前記術前画像と前記術中画像との間の画像レジストレーションに応じて、前記術前画像内に示される前記解剖学的構造に関する前記計画された治療経路から前記解剖学的構造に関する前記解剖学的領域内の前記術中治療経路への変換を制御する変換制御モジュールをさらに含む、請求項1に記載のロボット外科手術システム。
- 前記ロボットコントローラによる、前記解剖学的構造に関する前記解剖学的領域内の前記術中治療経路に沿った前記多関節ロボットによる前記治療カテーテルのナビゲーションの制御に応じて、前記解剖学的構造に関する前記解剖学的領域内の前記計画された前記治療経路に沿った前記多関節ロボットによる前記治療カテーテルの仮想ナビゲーションの前記術前画像内のディスプレイを制御する画像フィードバック制御モジュールをさらに含む、請求項1に記載のロボット外科手術システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562233636P | 2015-09-28 | 2015-09-28 | |
US62/233,636 | 2015-09-28 | ||
PCT/IB2016/055519 WO2017055957A1 (en) | 2015-09-28 | 2016-09-16 | Single-port surgical procedure using image guided articulated robot |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2018529442A JP2018529442A (ja) | 2018-10-11 |
JP2018529442A5 JP2018529442A5 (ja) | 2019-10-24 |
JP6951326B2 true JP6951326B2 (ja) | 2021-10-20 |
Family
ID=57104074
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018516023A Active JP6951326B2 (ja) | 2015-09-28 | 2016-09-16 | 画像ガイド多関節ロボットを用いたシングルポート外科手術 |
Country Status (4)
Country | Link |
---|---|
US (2) | US11259876B2 (ja) |
EP (1) | EP3355823A1 (ja) |
JP (1) | JP6951326B2 (ja) |
WO (1) | WO2017055957A1 (ja) |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8221402B2 (en) | 2000-01-19 | 2012-07-17 | Medtronic, Inc. | Method for guiding a medical device |
US6889695B2 (en) | 2003-01-08 | 2005-05-10 | Cyberheart, Inc. | Method for non-invasive heart treatment |
US8617152B2 (en) | 2004-11-15 | 2013-12-31 | Medtronic Ablation Frontiers Llc | Ablation system with feedback |
US8657814B2 (en) * | 2005-08-22 | 2014-02-25 | Medtronic Ablation Frontiers Llc | User interface for tissue ablation system |
KR20090051029A (ko) | 2006-06-14 | 2009-05-20 | 맥도널드 디트윌러 앤드 어소시에이츠 인코포레이티드 | 직각풀리 구동기구를 갖는 수술조종장치 |
US8273081B2 (en) | 2006-09-08 | 2012-09-25 | Stereotaxis, Inc. | Impedance-based cardiac therapy planning method with a remote surgical navigation system |
US8641710B2 (en) | 2007-11-12 | 2014-02-04 | Intermountain Invention Management, Llc | Magnetically coupling devices for mapping and/or ablating |
US8538509B2 (en) | 2008-04-02 | 2013-09-17 | Rhythmia Medical, Inc. | Intracardiac tracking system |
US9192789B2 (en) | 2008-10-30 | 2015-11-24 | Vytronus, Inc. | System and method for anatomical mapping of tissue and planning ablation paths therein |
US9033885B2 (en) | 2008-10-30 | 2015-05-19 | Vytronus, Inc. | System and method for energy delivery to tissue while monitoring position, lesion depth, and wall motion |
WO2010082146A1 (en) | 2009-01-14 | 2010-07-22 | Koninklijke Philips Electronics N.V. | Monitoring apparatus for monitoring an ablation procedure |
WO2012047563A1 (en) | 2010-09-27 | 2012-04-12 | Bailin Steven J | Method for determining the location of regions in tissue relevant to electrical propagation |
US20120226145A1 (en) * | 2011-03-03 | 2012-09-06 | National University Of Singapore | Transcutaneous robot-assisted ablation-device insertion navigation system |
WO2012142499A1 (en) | 2011-04-13 | 2012-10-18 | Vytronus, Inc. | Integrated ablation and mapping system |
WO2013026012A1 (en) | 2011-08-18 | 2013-02-21 | President And Fellows Of Harvard College | Hybrid snake robot for minimally invasive intervention |
US20130282005A1 (en) | 2012-04-24 | 2013-10-24 | Siemens Corporation | Catheter navigation system |
US9125556B2 (en) | 2012-05-14 | 2015-09-08 | Mazor Robotics Ltd. | Robotic guided endoscope |
US9277970B2 (en) | 2012-07-19 | 2016-03-08 | Siemens Aktiengesellschaft | System and method for patient specific planning and guidance of ablative procedures for cardiac arrhythmias |
WO2014089373A1 (en) * | 2012-12-05 | 2014-06-12 | University Of Rochester | Catheter with integrated transeptal puncture needle |
US9592095B2 (en) | 2013-05-16 | 2017-03-14 | Intuitive Surgical Operations, Inc. | Systems and methods for robotic medical system integration with external imaging |
US10698433B2 (en) | 2013-07-26 | 2020-06-30 | Kyocera Corporation | Power management apparatus, power management system, and method for power management |
EP3062696A1 (en) | 2013-10-29 | 2016-09-07 | The Cleveland Clinic Foundation | System and method for identifying a mechanism of action of an arrhythmia |
JP6334714B2 (ja) * | 2014-01-24 | 2018-05-30 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | ロボット手術のための連続画像統合を行う制御ユニット又はロボットガイドシステム |
WO2015118423A1 (en) | 2014-02-04 | 2015-08-13 | Koninklijke Philips N.V. | Visualization of depth and position of blood vessels and robot guided visualization of blood vessel cross section |
-
2016
- 2016-09-16 JP JP2018516023A patent/JP6951326B2/ja active Active
- 2016-09-16 WO PCT/IB2016/055519 patent/WO2017055957A1/en active Application Filing
- 2016-09-16 US US15/762,365 patent/US11259876B2/en active Active
- 2016-09-16 EP EP16778110.3A patent/EP3355823A1/en active Pending
-
2022
- 2022-01-20 US US17/579,752 patent/US20220175465A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
US20220175465A1 (en) | 2022-06-09 |
EP3355823A1 (en) | 2018-08-08 |
JP2018529442A (ja) | 2018-10-11 |
WO2017055957A1 (en) | 2017-04-06 |
US20180263711A1 (en) | 2018-09-20 |
US11259876B2 (en) | 2022-03-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Pappone et al. | Robotic magnetic navigation for atrial fibrillation ablation | |
JP7123602B2 (ja) | 二次元画像/写真を心臓の心外膜図のような3d再構成上に投影する方法 | |
JP7094727B2 (ja) | カテーテルアブレーション治療中の視野角の自動追跡及び調節 | |
Ren et al. | Dynamic 3-D virtual fixtures for minimally invasive beating heart procedures | |
US20070156123A1 (en) | Robotic catheter system and methods | |
JP6998320B2 (ja) | 低侵襲的処置のための操縦可能な導入器の画像誘導 | |
AU2012242590A1 (en) | Integrated ablation and mapping system | |
Burkhardt et al. | New technologies in atrial fibrillation ablation | |
Feng et al. | Pose optimization and port placement for robot‐assisted minimally invasive surgery in cholecystectomy | |
Atashzar et al. | Robot-assisted lung motion compensation during needle insertion | |
JP6951326B2 (ja) | 画像ガイド多関節ロボットを用いたシングルポート外科手術 | |
JP6991145B2 (ja) | 画像誘導ロボット収束アブレーション | |
Vrooijink et al. | A beating heart testbed for the evaluation of robotic cardiovascular interventions | |
JP2019522528A (ja) | 低侵襲手術用の操向可能イントロデューサ | |
Markides et al. | New mapping technologies: an overview with a clinical perspective | |
Deeba et al. | Cardiac robotics: a review and St. Mary's experience | |
Azizian et al. | Intraoperative 3D stereo visualization for image-guided cardiac ablation | |
Jeevan et al. | In-vitro validation of image guided surgery system with 3d pre-operative visualization for atrial transseptal puncture | |
JP7383608B2 (ja) | 解剖学的構造介入用の多段ロボット | |
Hastenteufel et al. | Image‐based guidance for minimally invasive surgical atrial fibrillation ablation | |
Gao | Overview of robotic cardiac surgery | |
JP7104189B2 (ja) | 介入器具荷重に基づく最適撮像視点 | |
Singh | Magnetic navigation systems | |
Hastenteufel et al. | A novel method for planning and visualization of ablation lines for atrial fibrillation treatment | |
Chiu et al. | 3-D visualization for minimally invasive robotic coronary artery bypass (MIRCAB) |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190912 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190912 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20200831 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200923 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20201217 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210521 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210816 |
|
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: 20210830 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210924 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6951326 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |