KR102358967B1 - 이미징 기기의 방향 제어 시스템 및 방법 - Google Patents

이미징 기기의 방향 제어 시스템 및 방법 Download PDF

Info

Publication number
KR102358967B1
KR102358967B1 KR1020167028503A KR20167028503A KR102358967B1 KR 102358967 B1 KR102358967 B1 KR 102358967B1 KR 1020167028503 A KR1020167028503 A KR 1020167028503A KR 20167028503 A KR20167028503 A KR 20167028503A KR 102358967 B1 KR102358967 B1 KR 102358967B1
Authority
KR
South Korea
Prior art keywords
image data
imaging device
image
delete delete
transition
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
KR1020167028503A
Other languages
English (en)
Korean (ko)
Other versions
KR20160135271A (ko
Inventor
브랜든 디. 이트코위츠
이안 이. 맥도웰
토마스 알. 닉슨
브루스 스케나
니엘스 스마비
Original Assignee
인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=54145248&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=KR102358967(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 filed Critical 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
Publication of KR20160135271A publication Critical patent/KR20160135271A/ko
Application granted granted Critical
Publication of KR102358967B1 publication Critical patent/KR102358967B1/ko
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
    • 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
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • 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
    • A61B1/00163—Optical arrangements
    • A61B1/00174—Optical arrangements characterised by the viewing angles
    • A61B1/00179—Optical arrangements characterised by the viewing angles for off-axis viewing
    • 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
    • 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
    • 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
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Signal Processing (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
KR1020167028503A 2014-03-17 2015-03-17 이미징 기기의 방향 제어 시스템 및 방법 Active KR102358967B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461954338P 2014-03-17 2014-03-17
US61/954,338 2014-03-17
PCT/US2015/021110 WO2015142957A1 (en) 2014-03-17 2015-03-17 Systems and methods for control of imaging instrument orientation

Publications (2)

Publication Number Publication Date
KR20160135271A KR20160135271A (ko) 2016-11-25
KR102358967B1 true KR102358967B1 (ko) 2022-02-08

Family

ID=54145248

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020167028503A Active KR102358967B1 (ko) 2014-03-17 2015-03-17 이미징 기기의 방향 제어 시스템 및 방법

Country Status (6)

Country Link
US (1) US10548459B2 (enExample)
EP (1) EP3119325B2 (enExample)
JP (2) JP2017516507A (enExample)
KR (1) KR102358967B1 (enExample)
CN (1) CN106102549B (enExample)
WO (1) WO2015142957A1 (enExample)

Families Citing this family (109)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
EP3689284B1 (en) 2013-10-24 2025-02-26 Auris Health, Inc. System for robotic-assisted endolumenal surgery
US9937626B2 (en) 2013-12-11 2018-04-10 Covidien Lp Wrist and jaw assemblies for robotic surgical systems
EP3243476B1 (en) 2014-03-24 2019-11-06 Auris Health, Inc. Systems and devices for catheter driving instinctiveness
CA2957750C (en) 2014-08-13 2023-04-04 Covidien Lp Robotically controlling mechanical advantage gripping
KR102292155B1 (ko) 2014-09-30 2021-08-25 아우리스 헬스, 인크. 가상 레일 및 가요성 내시경을 구비하는 구성 변경 가능한 로봇 수술 시스템
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
EP3258874B1 (en) 2015-02-19 2024-01-17 Covidien LP Input device for robotic surgical system
WO2016136613A1 (ja) * 2015-02-26 2016-09-01 オリンパス株式会社 マニピュレータシステム
CA2977413A1 (en) 2015-03-10 2016-09-15 Covidien Lp Measuring health of a connector member of a robotic surgical system
US10959788B2 (en) 2015-06-03 2021-03-30 Covidien Lp Offset instrument drive unit
JP6761822B2 (ja) 2015-06-16 2020-09-30 コヴィディエン リミテッド パートナーシップ ロボット外科用システムトルク変換検知
US10779897B2 (en) 2015-06-23 2020-09-22 Covidien Lp Robotic surgical assemblies
AU2016326371B2 (en) 2015-09-25 2020-07-23 Covidien Lp Robotic surgical assemblies and instrument drive connectors thereof
WO2017062393A2 (en) * 2015-10-09 2017-04-13 Covidien Lp Methods of using an angled endoscopic for visualizing a body cavity with robotic surgical systems
US10912449B2 (en) 2015-10-23 2021-02-09 Covidien Lp Surgical system for detecting gradual changes in perfusion
US10660714B2 (en) 2015-11-19 2020-05-26 Covidien Lp Optical force sensor for robotic surgical system
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
TWI535412B (zh) * 2015-12-08 2016-06-01 財團法人金屬工業研究發展中心 感測設備以及具有感測設備之手術器械
WO2017151996A1 (en) 2016-03-04 2017-09-08 Covidien Lp Inverse kinematic control systems for robotic surgical system
US11576562B2 (en) 2016-04-07 2023-02-14 Titan Medical Inc. Camera positioning method and apparatus for capturing images during a medical procedure
AU2017272072B2 (en) 2016-05-26 2021-03-25 Covidien Lp Robotic surgical assemblies
US10736219B2 (en) 2016-05-26 2020-08-04 Covidien Lp Instrument drive units
EP3463149B1 (en) 2016-06-03 2025-02-19 Covidien LP Passive axis system for robotic surgical systems
WO2017210500A1 (en) 2016-06-03 2017-12-07 Covidien Lp Robotic surgical system with an embedded imager
WO2017210497A1 (en) 2016-06-03 2017-12-07 Covidien Lp Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator
CN113180835A (zh) 2016-06-03 2021-07-30 柯惠Lp公司 用于机器人手术系统的控制臂
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
CN110140335B (zh) * 2016-11-10 2022-08-12 瑞典爱立信有限公司 用于改进递送性能的资源分段
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US11690691B2 (en) 2017-02-15 2023-07-04 Covidien Lp System and apparatus for crush prevention for medical robot applications
DE102017103721B4 (de) * 2017-02-23 2022-07-21 Karl Storz Se & Co. Kg Vorrichtung zur Erfassung eines Stereobilds mit einer rotierbaren Blickrichtungseinrichtung
CN109996510B (zh) * 2017-03-07 2024-03-05 直观外科手术操作公司 用于控制具有可铰接远侧部分的工具的系统和方法
US11529129B2 (en) 2017-05-12 2022-12-20 Auris Health, Inc. Biopsy apparatus and system
CN110650705B (zh) 2017-05-24 2023-04-28 柯惠Lp公司 机器人系统中的电外科工具的存在检测
JP2020520694A (ja) 2017-05-25 2020-07-16 コヴィディエン リミテッド パートナーシップ ロボット手術システムおよびロボット手術システムのコンポーネントを覆うためのドレープ
CN110662507A (zh) 2017-05-25 2020-01-07 柯惠Lp公司 具有自动引导的机器人手术系统
EP3629981A4 (en) 2017-05-25 2021-04-07 Covidien LP SYSTEMS AND METHODS FOR DETECTION OF OBJECTS WITHIN A FIELD OF VIEW OF AN IMAGE CAPTURING DEVICE
AU2018290831A1 (en) 2017-06-28 2019-12-19 Auris Health, Inc. Instrument insertion compensation
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
US11406441B2 (en) 2017-08-16 2022-08-09 Covidien Lp End effector including wrist assembly and monopolar tool for robotic surgical systems
JP7349992B2 (ja) 2017-09-05 2023-09-25 コヴィディエン リミテッド パートナーシップ ロボット手術システムのための衝突処理アルゴリズム
EP3678573B1 (en) 2017-09-06 2025-01-15 Covidien LP Velocity scaling of surgical robots
CN111093550B (zh) 2017-09-08 2023-12-12 柯惠Lp公司 用于机器人手术组件的能量断开
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
CN111417356A (zh) 2017-12-01 2020-07-14 柯惠Lp公司 用于机器人手术系统的帷帘管理组件
US10987179B2 (en) 2017-12-06 2021-04-27 Auris Health, Inc. Systems and methods to correct for uncommanded instrument roll
CN110869173B (zh) 2017-12-14 2023-11-17 奥瑞斯健康公司 用于估计器械定位的系统与方法
CN107951565A (zh) * 2017-12-18 2018-04-24 苏州康多机器人有限公司 一种以持镜臂为中心的腹腔镜手术机器人结构
EP3735199A4 (en) 2018-01-04 2021-10-13 Covidien LP SYSTEMS AND ASSEMBLIES FOR MOUNTING SURGICAL ACCESSORY ON ROBOTIC SURGICAL SYSTEMS, AND PROVIDING ACCESS THROUGH THEM
JP2021510327A (ja) 2018-01-10 2021-04-22 コヴィディエン リミテッド パートナーシップ コンピュータビジョンを利用したロボット外科システムのツールの位置および状態の判定
US12102403B2 (en) 2018-02-02 2024-10-01 Coviden Lp Robotic surgical systems with user engagement monitoring
MX2020008464A (es) 2018-02-13 2020-12-07 Auris Health Inc Sistema y metodo para accionar instrumento medico.
US11189379B2 (en) 2018-03-06 2021-11-30 Digital Surgery Limited Methods and systems for using multiple data structures to process surgical data
EP3761900A4 (en) 2018-03-08 2021-12-08 Covidien LP SURGICAL ROBOTIC SYSTEMS
EP3781073A4 (en) 2018-04-20 2022-01-26 Covidien LP COMPENSATION OF OBSERVER MOTION IN ROBOTIC SURGICAL SYSTEMS WITH STEREOSCOPIC DISPLAYS
CN111971150A (zh) 2018-04-20 2020-11-20 柯惠Lp公司 手术机器人手推车放置的系统和方法
US11066067B2 (en) * 2018-06-29 2021-07-20 Baidu Usa Llc Planning parking trajectory for self-driving vehicles
US11576739B2 (en) 2018-07-03 2023-02-14 Covidien Lp Systems, methods, and computer-readable media for detecting image degradation during surgical procedures
JP2022500163A (ja) 2018-09-14 2022-01-04 コヴィディエン リミテッド パートナーシップ 外科用ロボットシステムおよびその外科用器具の使用量を追跡する方法
WO2020060789A1 (en) 2018-09-17 2020-03-26 Covidien Lp Surgical robotic systems
US11998288B2 (en) 2018-09-17 2024-06-04 Covidien Lp Surgical robotic systems
US12076100B2 (en) 2018-09-28 2024-09-03 Auris Health, Inc. Robotic systems and methods for concomitant endoscopic and percutaneous medical procedures
EP3856064B1 (en) 2018-09-28 2025-10-01 Auris Health, Inc. Systems and methods for docking medical instruments
GB2608751B (en) 2018-10-03 2023-06-14 Cmr Surgical Ltd Methods and systems for providing assistance to a user of a surgical robot system
US11109746B2 (en) 2018-10-10 2021-09-07 Titan Medical Inc. Instrument insertion system, method, and apparatus for performing medical procedures
US11586106B2 (en) 2018-12-28 2023-02-21 Titan Medical Inc. Imaging apparatus having configurable stereoscopic perspective
US11357593B2 (en) 2019-01-10 2022-06-14 Covidien Lp Endoscopic imaging with augmented parallax
US11717355B2 (en) 2019-01-29 2023-08-08 Covidien Lp Drive mechanisms for surgical instruments such as for use in robotic surgical systems
US11576733B2 (en) 2019-02-06 2023-02-14 Covidien Lp Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies
US11484372B2 (en) 2019-02-15 2022-11-01 Covidien Lp Articulation mechanisms for surgical instruments such as for use in robotic surgical systems
EP3972518A4 (en) 2019-05-22 2023-10-11 Covidien LP SURGICAL ROBOTIC ARMS STORAGE ASSEMBLIES AND METHODS OF REPLACING SURGICAL ROBOTIC ARMS USING THE STORAGE ASSEMBLIES
DE102019114817B4 (de) 2019-06-03 2021-12-02 Karl Storz Se & Co. Kg Bildgebungssystem und Verfahren zur Beobachtung
US12415284B2 (en) 2019-08-23 2025-09-16 Intuitive Surgical Operations, Inc. Moveable display system
WO2021046752A1 (en) 2019-09-11 2021-03-18 Covidien Lp Systems and methods for neural-network based color restoration
US12223629B2 (en) 2019-09-11 2025-02-11 Covidien Lp Systems and methods for smoke-reduction in images
WO2021126545A1 (en) 2019-12-16 2021-06-24 Covidien Lp Surgical robotic systems including surgical instruments with articulation
WO2021133483A1 (en) 2019-12-23 2021-07-01 Covidien Lp System for guiding surgical procedures
EP4084722A4 (en) 2019-12-31 2024-01-10 Auris Health, Inc. ALIGNMENT INTERFACES FOR PERCUTANE ACCESS
KR20220123273A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 해부학적 특징부 식별 및 표적설정
CN114901192A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 用于经皮进入的对准技术
EP4099915B1 (en) 2020-02-06 2025-09-03 Covidien LP System and methods for suturing guidance
EP4110221A1 (en) 2020-02-26 2023-01-04 Covidien LP Robotic surgical instrument including linear encoders for measuring cable displacement
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
CN115484858A (zh) 2020-05-12 2022-12-16 柯惠Lp公司 用于在外科手术过程期间的图像映射和融合的系统和方法
US12030195B2 (en) 2020-05-27 2024-07-09 Covidien Lp Tensioning mechanisms and methods for articulating surgical instruments such as for use in robotic surgical systems
USD963851S1 (en) 2020-07-10 2022-09-13 Covidien Lp Port apparatus
US20220071711A1 (en) * 2020-09-04 2022-03-10 Karl Storz Se & Co. Kg Devices, systems, and methods for identifying unexamined regions during a medical procedure
US11102381B1 (en) 2021-01-05 2021-08-24 Board Of Regents, The University Of Texas System Clearcam Inc. Methods, systems and controllers for facilitating cleaning of an imaging element of an imaging device
US12409003B2 (en) 2021-05-14 2025-09-09 Covidien Lp Instrument cassette assemblies for robotic surgical instruments
US12369998B2 (en) 2021-05-28 2025-07-29 Covidien Lp Real time monitoring of a robotic drive module
US11948226B2 (en) 2021-05-28 2024-04-02 Covidien Lp Systems and methods for clinical workspace simulation
US12496119B2 (en) 2021-12-06 2025-12-16 Covidien Lp Jaw member, end effector assembly, and method of manufacturing a jaw member of an electrosurgical instrument
US12390294B2 (en) 2021-12-14 2025-08-19 Covidien Lp Robotic surgical assemblies including surgical instruments having articulatable wrist assemblies
US12433699B2 (en) 2022-02-10 2025-10-07 Covidien Lp Surgical robotic systems and robotic arm carts thereof
US12479098B2 (en) 2022-08-03 2025-11-25 Covidien Lp Surgical robotic system with access port storage
US12465447B2 (en) 2022-08-25 2025-11-11 Covidien Lp Surgical robotic system with instrument detection
US12496728B2 (en) 2022-10-25 2025-12-16 Covidien Lp Surgical robotic system and method for restoring operational state
USD1066378S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066379S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066383S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066381S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066380S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066405S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066404S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066382S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1087135S1 (en) 2023-08-02 2025-08-05 Covidien Lp Surgeon display screen with a graphical user interface having spent staple icon
USD1087995S1 (en) 2023-08-02 2025-08-12 Covidien Lp Surgeon display screen with a transitional graphical user interface having staple firing icon
DE102023129189A1 (de) * 2023-10-24 2025-04-24 Karl Storz Se & Co. Kg Verfahren zur medizinischen Bildgebung und medizinisches Bildgebungssystem

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030114962A1 (en) 1998-12-08 2003-06-19 Intuitive Surgical, Inc., A Delaware Corporation Image shifting apparatus and method for a telerobotic system
US20090048611A1 (en) 1992-05-27 2009-02-19 International Business Machines Corporation System and method for augmentation of endoscopic surgery

Family Cites Families (59)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4710002A (en) * 1984-02-24 1987-12-01 Eye Research Institute Of Retina Foundation Magnifying ophthalmoscope
US5099850A (en) * 1989-01-17 1992-03-31 Olympus Optical Co., Ltd. Ultrasonic diagnostic apparatus
US5359712A (en) 1991-05-06 1994-10-25 Apple Computer, Inc. Method and apparatus for transitioning between sequences of digital information
WO1993013916A1 (en) * 1992-01-21 1993-07-22 Sri International Teleoperator system and method with telepresence
US5588948A (en) * 1993-02-17 1996-12-31 Olympus Optical Co. Ltd. Stereoscopic endoscope
JP3504681B2 (ja) * 1993-03-19 2004-03-08 オリンパス株式会社 電子式内視鏡装置
CH689968A5 (de) 1993-07-30 2000-02-29 Zeiss Carl Fa Beobachtungs- und/oder Dokumentationseinrichtung mit vorgeschaltetem Endoskop sowie Verfahren zu deren Betrieb.
US5547455A (en) * 1994-03-30 1996-08-20 Medical Media Systems Electronically steerable endoscope
JP3580869B2 (ja) * 1994-09-13 2004-10-27 オリンパス株式会社 立体視内視鏡
US5545120A (en) 1995-01-18 1996-08-13 Medical Media Systems Endoscopic viewing system for maintaining a surgeon's normal sense of kinesthesia during endoscopic surgery regardless of the orientation of the endoscope vis-a-vis the surgeon
DE19613431B4 (de) 1995-04-15 2008-01-03 Carl Zeiss Operationsmikroskop mit einem stereo-endoskopischen Vorsatzsystem sowie Verfahren zu dessen Betrieb
JP3782532B2 (ja) 1997-01-07 2006-06-07 オリンパス株式会社 立体電子内視鏡
US6191809B1 (en) 1998-01-15 2001-02-20 Vista Medical Technologies, Inc. Method and apparatus for aligning stereo images
US6522906B1 (en) 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
US7037258B2 (en) 1999-09-24 2006-05-02 Karl Storz Imaging, Inc. Image orientation for endoscopic video displays
DE19955041C2 (de) 1999-11-16 2002-11-07 World Of Medicine Lemke Gmbh Bildaufnahmevorrichtung für den Einsatz im Sterilbereich zur visuellen Überwachung und Dokumentation einer chirurgischen Operation
WO2001097531A2 (en) * 2000-06-12 2001-12-20 Vrex, Inc. Electronic stereoscopic media delivery system
US8388540B2 (en) * 2002-12-13 2013-03-05 Boston Scientific Scimed, Inc. Method and apparatus for orienting a medical image
US20040254424A1 (en) * 2003-04-15 2004-12-16 Interscience, Inc. Integrated panoramic and forward view endoscope
US20060025679A1 (en) * 2004-06-04 2006-02-02 Viswanathan Raju R User interface for remote control of medical devices
KR100681233B1 (ko) 2004-10-28 2007-02-09 김재황 복강경수술 모니터장치 및 디스플레이 방법
JP4699013B2 (ja) 2004-11-26 2011-06-08 オリンパス株式会社 カプセル型医療装置本体及びカプセル型医療システム
DE102004059143B9 (de) 2004-12-08 2016-03-24 Carl Zeiss Ag Mikroskop-Endoskop-Untersuchungssystem
US8571635B2 (en) * 2005-04-28 2013-10-29 Boston Scientific Scimed, Inc. Automated activation/deactivation of imaging device based on tracked medical device position
US8303505B2 (en) * 2005-12-02 2012-11-06 Abbott Cardiovascular Systems Inc. Methods and apparatuses for image guided medical procedures
US8190238B2 (en) * 2005-12-09 2012-05-29 Hansen Medical, Inc. Robotic catheter system and methods
WO2007139187A1 (ja) 2006-05-31 2007-12-06 National University Corporation Chiba University ３次元画像構築装置及び方法並びにプログラム
US8551076B2 (en) * 2006-06-13 2013-10-08 Intuitive Surgical Operations, Inc. Retrograde instrument
US8248414B2 (en) 2006-09-18 2012-08-21 Stryker Corporation Multi-dimensional navigation of endoscopic video
EP1925962A1 (en) 2006-11-21 2008-05-28 Swiss Medical Technology GmbH Stereo video microscope system
DK2211749T3 (en) * 2007-04-16 2019-02-04 Neuroarm Surgical Ltd METHODS, DEVICES AND SYSTEMS THAT CAN BE USED FOR REGISTRATION
US8982203B2 (en) 2007-06-06 2015-03-17 Karl Storz Gmbh & Co. Kg Video system for viewing an object on a body
US20090059018A1 (en) * 2007-09-05 2009-03-05 Micron Technology, Inc. Navigation assisted mosaic photography
JP4908356B2 (ja) 2007-09-11 2012-04-04 オリンパスメディカルシステムズ株式会社 カプセル誘導システム
KR100925641B1 (ko) * 2007-12-10 2009-11-06 고려대학교 산학협력단 신체 내부 영상 출력을 위한 디스플레이 시스템
JP2009297415A (ja) * 2008-06-17 2009-12-24 Fujinon Corp 電子内視鏡及び画像処理プログラム
US8126114B2 (en) 2008-09-12 2012-02-28 Accuray Incorporated Seven or more degrees of freedom robotic manipulator having at least one redundant joint
US8317746B2 (en) 2008-11-20 2012-11-27 Hansen Medical, Inc. Automated alignment
KR101038417B1 (ko) 2009-02-11 2011-06-01 주식회사 이턴 수술 로봇 시스템 및 그 제어 방법
JP5259457B2 (ja) † 2009-03-03 2013-08-07 オリンパスメディカルシステムズ株式会社 電子画像観察装置
US9144664B2 (en) * 2009-10-01 2015-09-29 Sarcos Lc Method and apparatus for manipulating movement of a micro-catheter
EP2377457B1 (en) * 2010-02-22 2016-07-27 Olympus Corporation Medical apparatus
US8746252B2 (en) * 2010-05-14 2014-06-10 Intuitive Surgical Operations, Inc. Surgical system sterile drape
WO2012001549A1 (en) 2010-06-30 2012-01-05 Koninklijke Philips Electronics N.V. Robotic control of an oblique endoscope for fov images
US9211058B2 (en) 2010-07-02 2015-12-15 Intuitive Surgical Operations, Inc. Method and system for fluorescent imaging with background surgical image composed of selective illumination spectra
JP2012053165A (ja) 2010-08-31 2012-03-15 Sony Corp 情報処理装置、プログラムおよび情報処理方法
DE102010041870A1 (de) 2010-10-01 2012-04-05 Olympus Winter & Ibe Gmbh Verfahren und System zur horizontrichtigen stereoskopischen Bildverarbeitung
DE102010042372A1 (de) 2010-10-13 2012-04-19 Kuka Laboratories Gmbh Verfahren zum Erstellen eines medizinischen Bildes und medizinischer Arbeitsplatz
JP5160699B2 (ja) * 2011-01-24 2013-03-13 オリンパスメディカルシステムズ株式会社 医療機器
CA2835081A1 (en) 2011-05-03 2012-11-08 Endosee Corporation Method and apparatus for hysteroscopy and endometrial biopsy
US8784301B2 (en) 2011-08-12 2014-07-22 Intuitive Surgical Operations, Inc. Image capture unit and method with an extended depth of field
US20130046137A1 (en) * 2011-08-15 2013-02-21 Intuitive Surgical Operations, Inc. Surgical instrument and method with multiple image capture sensors
US9204787B2 (en) * 2012-04-10 2015-12-08 Conmed Corporation 360 degree panning stereo endoscope
US9118818B2 (en) * 2012-06-26 2015-08-25 Olympus Corporation Endoscope apparatus, reproducing apparatus, displaying method and inspection report generating apparatus
US9642606B2 (en) * 2012-06-27 2017-05-09 Camplex, Inc. Surgical visualization system
KR102001219B1 (ko) * 2012-11-26 2019-07-17 삼성전자주식회사 의료 영상들의 정합 방법 및 장치
WO2014189969A1 (en) * 2013-05-21 2014-11-27 Camplex, Inc. Surgical visualization systems
US10492745B2 (en) * 2013-09-27 2019-12-03 Ge Medical Systems Israel, Ltd Systems and methods for controlling motion of detectors having moving detector heads
US20180007322A1 (en) * 2016-07-01 2018-01-04 Olympus Corporation Endoscope system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090048611A1 (en) 1992-05-27 2009-02-19 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US20030114962A1 (en) 1998-12-08 2003-06-19 Intuitive Surgical, Inc., A Delaware Corporation Image shifting apparatus and method for a telerobotic system

Also Published As

Publication number Publication date
EP3119325B1 (en) 2018-12-12
US20170188792A1 (en) 2017-07-06
CN106102549B (zh) 2018-12-04
EP3119325A4 (en) 2017-11-22
JP2020018877A (ja) 2020-02-06
WO2015142957A1 (en) 2015-09-24
EP3119325B2 (en) 2022-04-13
JP7248554B2 (ja) 2023-03-29
CN106102549A (zh) 2016-11-09
JP2017516507A (ja) 2017-06-22
US10548459B2 (en) 2020-02-04
KR20160135271A (ko) 2016-11-25
EP3119325A1 (en) 2017-01-25

Similar Documents

Publication Publication Date Title
KR102358967B1 (ko) 이미징 기기의 방향 제어 시스템 및 방법
JP7295153B2 (ja) 遠隔操作医療システムにおける器具のオフスクリーン表示のためのシステム及び方法
JP7080945B2 (ja) 遠隔操作医療システムにおける器具の画面上での識別のためのシステム及び方法
EP3912588B1 (en) Imaging system for surgical robot, and surgical robot
KR102720969B1 (ko) 원격조작 의료 시스템에서 기구의 스크린상 식별정보를 렌더링하기 위한 시스템 및 방법
JP5737796B2 (ja) 内視鏡操作システムおよび内視鏡操作プログラム
JP4156606B2 (ja) 臨場感を伴った遠隔操作の方法及びシステム等
EP3644889A1 (en) Systems and methods for projecting an endoscopic image to a three-dimensional volume
WO2020054566A1 (ja) 医療用観察システム、医療用観察装置及び医療用観察方法
CN103188987B (zh) 手术机器人系统及其腹腔镜操作方法以及体感式手术用图像处理装置及其方法
JP2012504017A (ja) 先端部の配置および配向を制御するカメラ機器のコンピュータ生成された補助的ビューを提供する医療用ロボットシステム
US10874428B2 (en) Imaging cannula with a hinged tip
EP3973540A1 (en) Systems and methods for generating workspace volumes and identifying reachable workspaces of surgical instruments
US12310670B2 (en) System and method related to registration for a medical procedure
JP2023008313A (ja) 手術システム、表示方法およびプログラム
WO2020196026A1 (ja) 撮影制御装置、撮影制御方法、プログラム、及び、撮影システム
CN118526146A (zh) 内窥镜的显示控制方法、控制装置及显示设备
WO2025230949A1 (en) Systems and methods for adapting depth placement of graphical user interface elements with surgical imagery

Legal Events

Date Code Title Description
PA0105 International application

Patent event date: 20161013

Patent event code: PA01051R01D

Comment text: International Patent Application

PG1501 Laying open of application
A201 Request for examination
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20200213

Comment text: Request for Examination of Application

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20210804

Patent event code: PE09021S01D

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

Patent event code: PE07011S01D

Comment text: Decision to Grant Registration

Patent event date: 20220125

GRNT Written decision to grant
PR0701 Registration of establishment

Comment text: Registration of Establishment

Patent event date: 20220128

Patent event code: PR07011E01D

PR1002 Payment of registration fee

Payment date: 20220203

End annual number: 3

Start annual number: 1

PG1601 Publication of registration