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公开(公告)号：US20180235709A1
公开(公告)日：2018-08-23
申请号：US15752166
申请日：2016-08-11
IPC分类号： A61B34/20 , A61B5/00 , A61B5/01 , A61B5/053 , A61B5/055 , A61B6/03 , A61B8/08 , A61B34/35 , A61B5/06 , A61B90/00 , G06T7/33
CPC分类号： A61B34/20 , A61B1/0016 , A61B5/0066 , A61B5/015 , A61B5/0536 , A61B5/055 , A61B5/062 , A61B5/066 , A61B6/032 , A61B8/0841 , A61B34/30 , A61B34/35 , A61B90/37 , A61B2017/00699 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/2065 , A61B2034/301 , A61B2090/0811 , A61B2090/3937 , G06T7/12 , G06T7/33 , G06T7/344 , G06T2200/24 , G06T2207/10068 , G06T2207/10081 , G06T2207/10088 , G06T2207/10116 , G06T2207/30061 , G06T2207/30172
摘要： A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches.
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公开(公告)号：US10039473B2
公开(公告)日：2018-08-07
申请号：US13892974
申请日：2013-05-13
发明人： Tao Zhao , Prashant Chopra , Vincent Duindam , Dorin Panescu , Lei Fan
摘要： A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.
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公开(公告)号：US09801551B2
公开(公告)日：2017-10-31
申请号：US13944999
申请日：2013-07-18
CPC分类号： A61B5/0084 , A61B1/00009 , A61B1/0005 , A61B1/00096 , A61B1/00165 , A61B1/00167 , A61B1/00181 , A61B1/00183 , A61B1/00193 , A61B1/0607 , A61B1/0676 , A61B1/0684 , A61B1/2676 , A61B5/08 , A61B5/6852 , A61B2576/00
摘要： A vision system that may be used in a catheter or similar guiding instrument includes receptors distributed in an annular area. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors and combine image data from the receptors to construct a visual representation of the entirety of the object environment.
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公开(公告)号：US20170049520A1
公开(公告)日：2017-02-23
申请号：US15345029
申请日：2016-11-07
发明人： David Q. Larkin , Vincent Duindam
CPC分类号： A61B34/30 , A61B34/77 , A61B2034/301 , B25J9/1689 , B25J13/025 , B25J18/06 , G01L5/226 , Y10S901/15 , Y10S901/17 , Y10S901/46
摘要： An apparatus comprises a continuously flexible device and an actuation mechanism that acts to bend and straighten the continuously flexible device. The apparatus also includes a sensor apparatus that generates bend information about at least a portion of the continuously flexible device. The apparatus also includes an electronic data processor. The electronic data processor generates (i) external force information about at least one of a magnitude or a direction of an external force applied to the continuously flexible device, or (ii) both the external force information and internal force information about a bending force applied to the continuously flexible device by the actuation mechanism from (a) the generated bend information and (b) information representing at least one mechanical property of the continuously flexible device.
摘要翻译： 一种装置包括连续柔性装置和致动机构，其用于弯曲和拉直连续柔性装置。 该装置还包括传感器装置，其产生关于连续柔性装置的至少一部分的弯曲信息。 该装置还包括电子数据处理器。 电子数据处理器产生（i）关于施加到连续柔性装置的外力的大小或方向中的至少一个的外力信息，或者（ii）外力信息和关于施加的弯曲力的内力信息 通过致动机构从（a）产生的弯曲信息和（b）表示连续柔性装置的至少一个机械特性的信息传递到连续柔性装置。
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公开(公告)号：US20160183841A1
公开(公告)日：2016-06-30
申请号：US14910601
申请日：2014-08-12
发明人： Vincent Duindam , Carol Reiley
CPC分类号： A61B5/066 , A61B5/743 , A61B17/34 , A61B34/25 , A61B34/30 , A61B2010/045 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61M25/01 , A61M25/0105 , A61M2025/0166
摘要： A method of guiding an interventional instrument within a patient anatomy comprises processing a target location within the patient anatomy and receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy. The method also comprises determining a three-dimensional distance between the first location and the target location and displaying a symbol representing the target location and a symbol representing the tip portion of the interventional instrument.
摘要翻译： 在患者解剖结构内引导介入器械的方法包括处理患者解剖结构内的目标位置，并且在患者解剖结构内的第一位置处接收介入器械的尖端部分的位置。 该方法还包括确定第一位置和目标位置之间的三维距离，并且显示表示目标位置的符号和表示介入器具的尖端部分的符号。
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116.发明申请Method And System For Providing Visual Guidance To An Operator For Steering A Tip Of An Endoscopic Device Towards One Or More Landmarks In A Patient 审中-公开方法和系统为操作者提供视觉指导，用于转导内窥镜装置的尖端到达患者中的一个或多个地标公开(公告)号：US20140350391A1
公开(公告)日：2014-11-27
申请号：US14452302
申请日：2014-08-05
CPC分类号： A61B5/066 , A61B1/00009 , A61B1/0002 , A61B1/00045 , A61B1/0005 , A61B1/00055 , A61B1/00147 , A61B1/0016 , A61B1/00165 , A61B1/00193 , A61B1/0051 , A61B1/01 , A61B1/05 , A61B1/273 , A61B2034/2061
摘要： Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.
摘要翻译： 通过显示邻近由设置在内窥镜装置的尖端处的图像捕获装置拍摄的当前图像的矢量的向量的图形表示并且在此时显示在显示屏幕上，向内窥镜装置的操作者提供地标方向引导，其中图形 矢量的表示指向内窥镜尖端要转向以朝向相关联的标志（例如患者的解剖结构）移动的方向。
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117.发明授权Method and system to sense relative partial-pose information using a shape sensor 有权使用形状传感器检测相对部分姿势信息的方法和系统公开(公告)号：US08896847B2
公开(公告)日：2014-11-25
申请号：US13920470
申请日：2013-06-18
IPC分类号： G01B11/14
CPC分类号： G01B21/22 , A61B34/37 , A61B34/70 , A61B2034/2061 , A61B2090/067
摘要： A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.
摘要翻译： 形状感测部分穿过远程操作的微创手术系统中远程操作的从动手术器械的运动链的至少一部分。 形状感测部分包括预设扰动。 来自预设扰动的形状信息允许确定运动链中的至少一个链路的相对部分姿势信息。
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118.发明申请SHAPE SENSOR SYSTEMS FOR TRACKING INTERVENTIONAL INSTRUMENTS AND MEHODS OF USE 有权用于跟踪传统仪器和使用方式的形状传感器系统公开(公告)号：US20140275997A1
公开(公告)日：2014-09-18
申请号：US14204807
申请日：2014-03-11
发明人： Prashant Chopra , Vincent Duindam , Tao Zhao , John A. Cole
IPC分类号： A61B5/06
CPC分类号： A61B5/064 , A61B5/6879 , A61B34/20 , A61B34/30 , A61B2034/105 , A61B2034/2061 , A61B2034/301 , A61B2034/303 , A61B2090/363 , A61B2090/3937 , A61B2090/3966 , A61B2560/0456
摘要： A medical tracking system comprises a fiducial apparatus that includes a sensor docking feature configured to mate with a mating portion of a sensor device. The sensor docking feature retains the mating portion in a known configuration. The fiducial apparatus also includes at least one imageable fiducial marker and a surface configured for attachment to an anatomy of a patient.
摘要翻译： 医疗跟踪系统包括基准装置，其包括配置成与传感器装置的配合部分配合的传感器对接特征。 传感器对接特征将配合部分保持在已知的配置中。 基准装置还包括至少一个可成像的基准标记和被配置为附接到患者的解剖结构的表面。
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公开(公告)号：US20130204124A1
公开(公告)日：2013-08-08
申请号：US13751462
申请日：2013-01-28
IPC分类号： A61B5/06 , A61B17/3209
CPC分类号： A61B5/065 , A61B5/062 , A61B10/0233 , A61B17/3209 , A61B17/3403 , A61B17/3468 , A61B34/20 , A61B2010/045 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/00991 , A61B2034/107 , A61B2034/2051 , A61B2034/2059 , A61B2034/2061
摘要： A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
摘要翻译： 手术系统包括柔性可转向针和用于测量针的形状的形状传感器。 手术系统可以是手动（例如，腹腔镜），机器人或两者的任何组合。 通过直接测量针的形状，可以避免针的复杂和潜在的不精确建模以确定轨迹和插入深度，有利于针状和/或姿态的更加鲁棒的直接测量和建模。
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公开(公告)号：US20240350209A1
公开(公告)日：2024-10-24
申请号：US18667785
申请日：2024-05-17
发明人： Giuseppe Maria Prisco , Myriam J. Curet , Vincent Duindam , Catherine J. Mohr , Theodore W. Rogers , Katherine D. Stoy
IPC分类号： A61B34/30 , A61B17/24 , A61B34/00 , A61B34/20 , G01B11/24 , G01D5/353 , H04L9/40 , H04W4/80 , H04W12/06 , A61B18/00 , A61B18/20
CPC分类号： A61B34/30 , A61B17/24 , A61B34/20 , A61B34/71 , G01B11/24 , G01D5/35316 , H04L63/0428 , H04L63/08 , H04L63/0807 , H04W4/80 , H04W12/06 , H04W12/068 , A61B2018/00035 , A61B2018/2005 , A61B2018/202 , A61B2034/2061 , A61B2034/301 , A61B2562/00
摘要： A system comprises a manually operated instrument, a reference fixture positioned in a fixed world reference frame, and a shape sensor coupled to the manually operated instrument. The shape sensor extends from the manually operated instrument to the reference fixture. The system further comprises a controller configured to receive, from the shape sensor, shape information for the manually operated instrument. The controller is further configured to determine a pose of the manually operated instrument in the fixed world reference frame based on the shape information for the manually operated instrument.
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