JP7197511B2 - 画像捕捉デバイスの視界内の物体を検出するためのシステムおよび方法 - Google Patents

画像捕捉デバイスの視界内の物体を検出するためのシステムおよび方法 Download PDF

Info

Publication number
JP7197511B2
JP7197511B2 JP2019564889A JP2019564889A JP7197511B2 JP 7197511 B2 JP7197511 B2 JP 7197511B2 JP 2019564889 A JP2019564889 A JP 2019564889A JP 2019564889 A JP2019564889 A JP 2019564889A JP 7197511 B2 JP7197511 B2 JP 7197511B2
Authority
JP
Japan
Prior art keywords
surgical instrument
camera
view
controller
surgical
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
JP2019564889A
Other languages
English (en)
Japanese (ja)
Other versions
JP2020520752A (ja
JP2020520752A5 (enExample
Inventor
ウィリアム ペイン，
Original Assignee
コヴィディエン リミテッド パートナーシップ
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 コヴィディエン リミテッド パートナーシップ filed Critical コヴィディエン リミテッド パートナーシップ
Publication of JP2020520752A publication Critical patent/JP2020520752A/ja
Publication of JP2020520752A5 publication Critical patent/JP2020520752A5/ja
Priority to JP2022075936A priority Critical patent/JP2022101696A/ja
Application granted granted Critical
Publication of JP7197511B2 publication Critical patent/JP7197511B2/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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/70—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
    • 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
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00973—Surgical instruments, devices or methods pedal-operated
    • 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
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/743—Keyboards
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/744—Mouse
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • 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
    • A61B2090/3618—Image-producing devices, e.g. surgical cameras with a mirror
    • 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
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
    • A61B2090/3975—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/502—Headgear, e.g. helmet, spectacles
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Business, Economics & Management (AREA)
  • Pathology (AREA)
  • Urology & Nephrology (AREA)
  • General Business, Economics & Management (AREA)
  • Data Mining & Analysis (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Gynecology & Obstetrics (AREA)
  • Databases & Information Systems (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
JP2019564889A 2017-05-25 2018-05-07 画像捕捉デバイスの視界内の物体を検出するためのシステムおよび方法 Active JP7197511B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022075936A JP2022101696A (ja) 2017-05-25 2022-05-02 画像捕捉デバイスの視界内の物体を検出するためのシステムおよび方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201762511022P 2017-05-25 2017-05-25
US62/511,022 2017-05-25
PCT/US2018/031327 WO2018217433A1 (en) 2017-05-25 2018-05-07 Systems and methods for detection of objects within a field of view of an image capture device

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2022075936A Division JP2022101696A (ja) 2017-05-25 2022-05-02 画像捕捉デバイスの視界内の物体を検出するためのシステムおよび方法

Publications (3)

Publication Number Publication Date
JP2020520752A JP2020520752A (ja) 2020-07-16
JP2020520752A5 JP2020520752A5 (enExample) 2021-04-08
JP7197511B2 true JP7197511B2 (ja) 2022-12-27

Family

ID=64395854

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2019564889A Active JP7197511B2 (ja) 2017-05-25 2018-05-07 画像捕捉デバイスの視界内の物体を検出するためのシステムおよび方法
JP2022075936A Withdrawn JP2022101696A (ja) 2017-05-25 2022-05-02 画像捕捉デバイスの視界内の物体を検出するためのシステムおよび方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2022075936A Withdrawn JP2022101696A (ja) 2017-05-25 2022-05-02 画像捕捉デバイスの視界内の物体を検出するためのシステムおよび方法

Country Status (7)

Country Link
US (1) US11918299B2 (enExample)
EP (1) EP3629978A4 (enExample)
JP (2) JP7197511B2 (enExample)
CN (1) CN110650704B (enExample)
AU (1) AU2018273693A1 (enExample)
CA (1) CA3063693A1 (enExample)
WO (1) WO2018217433A1 (enExample)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
IT201800005471A1 (it) * 2018-05-17 2019-11-17 Sistema robotico per chirurgia, particolarmente microchirurgia
DE102019004233B4 (de) 2018-06-15 2022-09-22 Mako Surgical Corp. Systeme und verfahren zum verfolgen von objekten
US10623660B1 (en) 2018-09-27 2020-04-14 Eloupes, Inc. Camera array for a mediated-reality system
US11059582B2 (en) 2019-02-11 2021-07-13 Cnh Industrial Canada, Ltd. Systems for acquiring field condition data
US11001380B2 (en) * 2019-02-11 2021-05-11 Cnh Industrial Canada, Ltd. Methods for acquiring field condition data
EP3934559B1 (en) * 2019-03-08 2025-08-27 Covidien LP Robotic surgery systems
CN113677283A (zh) * 2019-04-12 2021-11-19 柯惠Lp公司 用于基于颜色指示缝线张力的方法和系统
US10758309B1 (en) 2019-07-15 2020-09-01 Digital Surgery Limited Methods and systems for using computer-vision to enhance surgical tool control during surgeries
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
CN115120353B (zh) * 2020-12-15 2025-08-12 深圳市精锋医疗科技股份有限公司 手术机器人、计算机可读存储介质及控制装置
CN112587244A (zh) * 2020-12-15 2021-04-02 深圳市精锋医疗科技有限公司 手术机器人及其控制方法、控制装置
CN112618029A (zh) * 2021-01-06 2021-04-09 深圳市精锋医疗科技有限公司 手术机器人及其引导手术臂移动的方法、控制装置
CN114848152B (zh) * 2021-02-03 2025-08-26 上海微创医疗机器人（集团）股份有限公司 计算机可读存储介质、电子设备及手术机器人系统
CN113349933A (zh) * 2021-07-08 2021-09-07 杭州柳叶刀机器人有限公司 一种机器人系统
US12016642B2 (en) 2021-09-08 2024-06-25 Proprio, Inc. Constellations for tracking instruments, such as surgical instruments, and associated systems and methods
US12290319B2 (en) * 2021-09-29 2025-05-06 Cilag Gmbh International Methods for controlling cooperative surgical instruments
US12261988B2 (en) 2021-11-08 2025-03-25 Proprio, Inc. Methods for generating stereoscopic views in multicamera systems, and associated devices and systems
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
US20230380913A1 (en) * 2022-05-24 2023-11-30 Medicaroid Corporation Surgical system
JP2024048960A (ja) * 2022-09-28 2024-04-09 株式会社メディカロイド 遠隔手術支援システムおよび指導医側操作装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060149418A1 (en) 2004-07-23 2006-07-06 Mehran Anvari Multi-purpose robotic operating system and method
US20090088634A1 (en) 2007-09-30 2009-04-02 Intuitive Surgical, Inc. Tool tracking systems and methods for image guided surgery
JP2009542362A (ja) 2006-06-29 2009-12-03 インテュイティブ サージカル インコーポレイテッド コンピュータディスプレイ画面の境界領域に表示されるツール位置および識別指標
JP2010200894A (ja) 2009-03-02 2010-09-16 Tadashi Ukimura 手術支援システム及び手術ロボットシステム
JP2011125687A (ja) 2009-11-20 2011-06-30 National Institute Of Advanced Industrial Science & Technology 標識検定装置
US20160256225A1 (en) 2012-06-21 2016-09-08 Globus Medical, Inc. Surgical robotic automation with tracking markers

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4184749A (en) 1978-06-22 1980-01-22 Mcdonnell Douglas Corporation Wide angle narrow bandpass optical filter system
JP3540362B2 (ja) 1994-06-14 2004-07-07 オリンパス株式会社 手術用マニピュレータの制御システム及びその制御方法
US5649021A (en) * 1995-06-07 1997-07-15 David Sarnoff Research Center, Inc. Method and system for object detection for instrument control
JPH11174214A (ja) 1997-12-11 1999-07-02 Casio Comput Co Ltd 指向性反射板およびそれを用いた反射型表示装置
US6324011B1 (en) 1997-12-11 2001-11-27 Casio Computer Co., Ltd. Reflection plate having directivity and a display apparatus using the same
US6927694B1 (en) 2001-08-20 2005-08-09 Research Foundation Of The University Of Central Florida Algorithm for monitoring head/eye motion for driver alertness with one camera
JP2008529707A (ja) 2005-02-18 2008-08-07 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 医療機器の自動制御
US8503759B2 (en) * 2007-04-16 2013-08-06 Alexander Greer Methods, devices, and systems useful in registration
EP2626006B1 (en) 2007-08-14 2019-10-09 Koninklijke Philips N.V. Robotic instrument systems utilizing optical fiber sensors
US8488243B2 (en) 2008-10-27 2013-07-16 Realid Inc. Head-tracking enhanced stereo glasses
IT1401669B1 (it) 2010-04-07 2013-08-02 Sofar Spa Sistema di chirurgia robotizzata con controllo perfezionato.
KR101181569B1 (ko) 2010-05-25 2012-09-10 정창욱 단일 통로 수술 모드와 다통로 수술 모드를 실현할 수 있는 수술용 로봇 시스템 및 그 제어 방법
US8830329B2 (en) 2010-10-07 2014-09-09 Sony Computer Entertainment Inc. 3-D glasses with camera based head tracking
US9072523B2 (en) 2010-11-05 2015-07-07 Ethicon Endo-Surgery, Inc. Medical device with feature for sterile acceptance of non-sterile reusable component
KR101284087B1 (ko) 2011-04-29 2013-07-10 한국과학기술원 시각센서를 이용한 수술용 로봇, 그 수술용 로봇의 위치 및 각도 분석방법, 그 수술용 로봇의 제어방법, 그 수술용 로봇의 위치 및 각도 분석시스템 및 그 수술용 로봇의 제어 시스템
JP5800616B2 (ja) 2011-07-15 2015-10-28 オリンパス株式会社 マニピュレータシステム
US9204939B2 (en) * 2011-08-21 2015-12-08 M.S.T. Medical Surgery Technologies Ltd. Device and method for assisting laparoscopic surgery—rule based approach
US9106903B2 (en) 2011-11-18 2015-08-11 Zspace, Inc. Head tracking eyewear system
WO2013192598A1 (en) * 2012-06-21 2013-12-27 Excelsius Surgical, L.L.C. Surgical robot platform
US20150049952A1 (en) 2013-08-14 2015-02-19 Vsp Labs, Inc. Systems and methods of measuring facial characteristics
WO2016047173A1 (ja) * 2014-09-24 2016-03-31 オリンパス株式会社 医療システム
US10413373B2 (en) * 2016-08-16 2019-09-17 Ethicon, Llc Robotic visualization and collision avoidance

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060149418A1 (en) 2004-07-23 2006-07-06 Mehran Anvari Multi-purpose robotic operating system and method
JP2009542362A (ja) 2006-06-29 2009-12-03 インテュイティブ サージカル インコーポレイテッド コンピュータディスプレイ画面の境界領域に表示されるツール位置および識別指標
US20090088634A1 (en) 2007-09-30 2009-04-02 Intuitive Surgical, Inc. Tool tracking systems and methods for image guided surgery
JP2010200894A (ja) 2009-03-02 2010-09-16 Tadashi Ukimura 手術支援システム及び手術ロボットシステム
JP2011125687A (ja) 2009-11-20 2011-06-30 National Institute Of Advanced Industrial Science & Technology 標識検定装置
US20160256225A1 (en) 2012-06-21 2016-09-08 Globus Medical, Inc. Surgical robotic automation with tracking markers

Also Published As

Publication number Publication date
US20200170718A1 (en) 2020-06-04
EP3629978A1 (en) 2020-04-08
JP2022101696A (ja) 2022-07-06
CN110650704A (zh) 2020-01-03
US11918299B2 (en) 2024-03-05
CN110650704B (zh) 2023-05-26
AU2018273693A1 (en) 2019-11-28
JP2020520752A (ja) 2020-07-16
CA3063693A1 (en) 2018-11-29
EP3629978A4 (en) 2021-03-03
WO2018217433A1 (en) 2018-11-29

Similar Documents

Publication Publication Date Title
JP7197511B2 (ja) 画像捕捉デバイスの視界内の物体を検出するためのシステムおよび方法
JP7130003B2 (ja) 画像捕捉デバイスの視野内の物体の検出のためのシステムおよび方法
US11638999B2 (en) Synthetic representation of a surgical robot
KR102512876B1 (ko) 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법
KR102117273B1 (ko) 수술 로봇 시스템 및 그 제어 방법
KR102867231B1 (ko) 눈 시선 추적을 사용하는 의료 디바이스, 시스템, 및 방법
US9259282B2 (en) Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
CN111317567A (zh) 胸腔成像、距离测量以及通知系统和方法
JP2021126519A (ja) 外科手術におけるコンピュータ支援ナビゲーションのための光学器具追跡ボリュームのエクステンデッドリアリティ視覚化
EP3867921A1 (en) Augmented reality with medical imaging
US11944395B2 (en) 3D visualization enhancement for depth perception and collision avoidance

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210224

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20210224

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20211228

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220131

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220502

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220906

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20221205

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: 20221213

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20221215

R150 Certificate of patent or registration of utility model

Ref document number: 7197511

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150