RU2692206C2 - Роботизированное управление эндоскопом на основе анатомических признаков - Google Patents

Роботизированное управление эндоскопом на основе анатомических признаков Download PDF

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Publication number
RU2692206C2
RU2692206C2 RU2015152452A RU2015152452A RU2692206C2 RU 2692206 C2 RU2692206 C2 RU 2692206C2 RU 2015152452 A RU2015152452 A RU 2015152452A RU 2015152452 A RU2015152452 A RU 2015152452A RU 2692206 C2 RU2692206 C2 RU 2692206C2
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Russia
Prior art keywords
endoscope
anatomical
image
anatomical feature
anatomical region
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RU2015152452A
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English (en)
Russian (ru)
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RU2015152452A (ru
RU2015152452A3 (enExample
Inventor
Александра ПОПОВИЧ
Хайтам ЭЛАВАРИ
Майкл Чун-чиех ЛИ
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Конинклейке Филипс Н.В.
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Publication of RU2015152452A3 publication Critical patent/RU2015152452A3/ru
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    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/01—Guiding arrangements therefore
    • 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
    • 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
    • A61B1/000094—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope extracting biological structures
    • 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
    • A61B1/00147—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
    • 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
    • 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
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • 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
    • 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
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • 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
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Signal Processing (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)
RU2015152452A 2013-05-09 2014-04-30 Роботизированное управление эндоскопом на основе анатомических признаков RU2692206C2 (ru)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361821363P 2013-05-09 2013-05-09
US61/821,363 2013-05-09
PCT/IB2014/061100 WO2014181222A1 (en) 2013-05-09 2014-04-30 Robotic control of an endoscope from anatomical features

Publications (3)

Publication Number Publication Date
RU2015152452A RU2015152452A (ru) 2017-06-15
RU2015152452A3 RU2015152452A3 (enExample) 2018-03-28
RU2692206C2 true RU2692206C2 (ru) 2019-06-21

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RU2015152452A RU2692206C2 (ru) 2013-05-09 2014-04-30 Роботизированное управление эндоскопом на основе анатомических признаков

Country Status (6)

Country Link
US (1) US11284777B2 (enExample)
EP (1) EP2996617B1 (enExample)
JP (1) JP6629186B2 (enExample)
CN (1) CN105188594B (enExample)
RU (1) RU2692206C2 (enExample)
WO (1) WO2014181222A1 (enExample)

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CN107847111B (zh) * 2015-07-23 2022-04-08 皇家飞利浦有限公司 根据体积图像的交互式平面切片的内窥镜引导
US11638615B2 (en) * 2015-08-30 2023-05-02 Asensus Surgical Us, Inc. Intelligent surgical tool control system for laparoscopic surgeries
CN108697473B (zh) * 2015-12-29 2022-08-12 皇家飞利浦有限公司 图像引导式机器人会聚消融
CN105788390A (zh) * 2016-04-29 2016-07-20 吉林医药学院 基于增强现实的医学解剖辅助教学系统
WO2018104252A1 (en) * 2016-12-07 2018-06-14 Koninklijke Philips N.V. Image guided motion scaling for robot control
JPWO2018159328A1 (ja) 2017-02-28 2019-12-19 ソニー株式会社 医療用アームシステム、制御装置及び制御方法
EP3609425A4 (en) 2017-04-13 2021-03-03 V.T.M. (Virtual Tape Measure) Technologies Ltd. ENDOSCOPIC MEASURING PROCEDURES AND TOOLS
CN107049496B (zh) * 2017-05-22 2019-07-26 清华大学 一种多任务手术机器人的视觉伺服控制方法
JP7115493B2 (ja) * 2017-11-01 2022-08-09 ソニーグループ株式会社 手術アームシステム及び手術アーム制御システム
US10672510B1 (en) * 2018-11-13 2020-06-02 Biosense Webster (Israel) Ltd. Medical user interface
WO2021115857A1 (en) * 2019-12-12 2021-06-17 Koninklijke Philips N.V. Guided anatomical manipulation for endoscopic procedures
CN111798387B (zh) * 2020-06-24 2024-06-11 海南大学 一种用于共聚焦内窥镜的图像处理方法及系统
USD1022197S1 (en) 2020-11-19 2024-04-09 Auris Health, Inc. Endoscope
WO2022176199A1 (ja) 2021-02-22 2022-08-25 オリンパス株式会社 手術システムおよび手術システムの制御方法
JP7461689B2 (ja) * 2021-09-10 2024-04-04 アナウト株式会社 推論装置、情報処理方法、及びコンピュータプログラム
CN115998439A (zh) * 2021-10-21 2023-04-25 上海微创医疗机器人（集团）股份有限公司 手术机器人的碰撞检测方法、可读存储介质及手术机器人
WO2026080420A1 (en) * 2024-10-09 2026-04-16 Mayo Foundation For Medical Education And Research Catheter for transvenous nerve ablation

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WO2012035492A1 (en) * 2010-09-15 2012-03-22 Koninklijke Philips Electronics N.V. Robotic control of an endoscope from blood vessel tree images
WO2012071571A2 (en) * 2010-11-26 2012-05-31 Agency For Science, Technology And Research Method for creating a report from radiological images using electronic report templates

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US20040059217A1 (en) * 1999-10-28 2004-03-25 Paul Kessman Method of detecting organ matter shift in a patient
US20030000535A1 (en) * 2001-06-27 2003-01-02 Vanderbilt University Method and apparatus for collecting and processing physical space data for use while performing image-guided surgery
US20080123927A1 (en) * 2006-11-16 2008-05-29 Vanderbilt University Apparatus and methods of compensating for organ deformation, registration of internal structures to images, and applications of same
WO2012035492A1 (en) * 2010-09-15 2012-03-22 Koninklijke Philips Electronics N.V. Robotic control of an endoscope from blood vessel tree images
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Also Published As

Publication number Publication date
JP6629186B2 (ja) 2020-01-15
CN105188594A (zh) 2015-12-23
US20160066768A1 (en) 2016-03-10
WO2014181222A1 (en) 2014-11-13
CN105188594B (zh) 2021-02-09
JP2016524487A (ja) 2016-08-18
US11284777B2 (en) 2022-03-29
RU2015152452A (ru) 2017-06-15
EP2996617A1 (en) 2016-03-23
EP2996617B1 (en) 2021-04-14
RU2015152452A3 (enExample) 2018-03-28

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