公开(公告)号：US10893911B2

公开(公告)日：2021-01-19

申请号：US16194012

申请日：2018-11-16

Applicant: Canon U.S.A., Inc.

Inventor： Barret Daniels ,  Takahisa Kato

IPC: A61B34/20 ,  G06T7/33 ,  G06T3/40 ,  A61B5/055 ,  A61B6/03 ,  A61B17/34 ,  A61B90/11 ,  A61B90/00 ,  A61B34/10

Abstract: Systems, methods, and computer-readable media are provided. Some embodiments include obtaining image data of a subject and a medical device, the medical device including fiducial markers, wherein the image data includes three-dimensional image data. Information is generated representing a three-dimensional shape based on a planned insertion point for performing a medical procedure. A cropping process is applied to the image data to generate cropped image data based on the three-dimensional shape. In some embodiments, the cropped image data includes image data of at least two of the fiducial markers. Fiducial marker objects are detected within the cropped image data, and the fiducial marker objects are registered by matching a model of the fiducial markers with the fiducial marker objects.

公开(公告)号：US20200054378A1

公开(公告)日：2020-02-20

申请号：US16539769

申请日：2019-08-13

Applicant: Canon U.S.A., Inc.

Inventor： Matthew Michael Kincaid ,  Derek John Hugger ,  Barret Daniels ,  Takahisa Kato ,  Brian Ninni ,  John E. Longan

IPC: A61B18/02 ,  A61B90/00 ,  A61B34/10 ,  A61B6/03

Abstract: A medical guidance apparatus (100) includes a base assembly (110) configured to be attached to a subject and a guide (150) configured to be removably mated with the base assembly (110). The base assembly (110) has an opening (160), and the guide (150) includes a rotatable ring (152) and an arc member (154). The arc member (154) includes a first end (162) and a second end (164), the first end of the arc member is connected to the rotatable ring (152) and the second end extends diametrically opposite to the first end across the rotatable ring. A probe holder (600) is mounted on the arc member (154) so as to hold a needle-like instrument (2161) at a desired angle relative to an axis (Ax) of the rotatable ring (152). In some embodiments, the arc member is monolithically integrated with the rotatable ring. In other embodiments, the arc member is pivotable and/or completely removable from the rotating ring.

公开(公告)号：US10420626B2

公开(公告)日：2019-09-24

申请号：US14755654

申请日：2015-06-30

Applicant: Canon U.S.A., Inc. ,  The Brigham and Women's Hospital, Inc.

Inventor： Junichi Tokuda ,  Nobuhiko Hata ,  Takahisa Kato ,  Brian Ninni ,  Laurent Chauvin

IPC: A61B90/00 ,  G06K9/46 ,  G06K9/62 ,  G06T7/73

Abstract: Exemplary methods, apparatus, and systems are provided for automated detection and registration of medical images using fiducial markers and processing algorithms. By either clustering fiducial markers having a different number, size, shape, configuration, or material property or by using fiducial markers arranged in a ring shape, wherein their arrangement is asymmetric, and then applying a feature extraction to extract the fiducial marker objects, and registering the fiducial marker objects with a model of the fiducial frame, automatic registration can be achieved.

公开(公告)号：US20180296800A1

公开(公告)日：2018-10-18

申请号：US15767846

申请日：2016-10-12

Applicant: CANON U.S.A., INC. ,  THE BRIGHAM AND WOMEN'S HOSPITAL INC.

Inventor： Takahisa Kato ,  Nobuhiko Hata

IPC: A61M25/01

Abstract: The disclosure of this application relates generally to medical devices and in particular to a steerable medical instrument applicable to guide interventional tools and instruments, such as percutaneous biopsy and ablations tools and endoscopes. The steerable medical instrument has an outer and an inner tube where the inner tube is movable at the proximal end and fixed at the distal end. At least one of the outer tube and inner tube has a plurality of openings, which creates deformable portions so that the outer and the inner tubes can bend by moving the inner tube at the proximal end.

公开(公告)号：US09144370B2

公开(公告)日：2015-09-29

申请号：US13834561

申请日：2013-03-15

Applicant: Canon U.S.A., Inc. ,  The Brigham and Women's Hospital

Inventor： Takahisa Kato ,  Ichiro Okumura ,  Nobuhiko Hata

IPC: A61B1/00 ,  A61B1/008 ,  A61B1/005 ,  A61M25/01 ,  A61B17/00

CPC classification number: A61B1/0055 ,  A61B1/0016 ,  A61B1/0057 ,  A61B1/008 ,  A61B17/00234 ,  A61B2017/00309 ,  A61B2017/00314 ,  A61B2017/00327 ,  A61M25/0147

Abstract: A sheath apparatus includes, a plurality of node rings configured to be tilted with respect to each other, each node ring defining a substantially cylindrical wall and having at least one hole passing through said cylindrical wall, the plurality of node rings being arranged next to each other along a linear axis such that consecutive node rings contact each other at a contact plane; a manipulating wire going through the holes in said stacked node rings; and a position restoring component configured to restore said stacked node rings from a tilted position to an original position, wherein said position restoring component is located inside or outside of the stacked node rings.

Abstract translation: 护套装置包括：多个节点环，其被配置为相对于彼此倾斜，每个节点环限定基本上圆柱形的壁并且具有穿过所述圆柱形壁的至少一个孔，所述多个节点环布置在每个节点环旁边 沿着线性轴线的另一个，使得连续的节点环在接触平面处彼此接触; 穿过所述堆叠节点环中的孔的操纵线; 以及位置恢复部件，其构造成将所述堆叠的节点环从倾斜位置恢复到原始位置，其中所述位置恢复部件位于所述堆叠的节点环的内部或外部。

公开(公告)号：US20250107854A1

公开(公告)日：2025-04-03

申请号：US18730714

申请日：2023-02-06

Applicant: CANON U.S.A., INC.

Inventor： Charles George Hwang ,  Takahisa Kato

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/01 ,  A61B1/267

Abstract: There is provided a navigation system, a medical system, a method of use, and media for using in navigation of a bendable medical device. The system and method comprises a display device and a controller, where the controller is configured to display on the display device an image of a biological lumen imaged from the distal end of a bendable medical device; and a representation of an airway structure. The representation of the airway structure includes: a navigation path through at least a portion of the airways; and a guidance reference plane located perpendicular to navigation path and located at an insertion depth of the distal end of the bendable medical device.

公开(公告)号：US12257400B2

公开(公告)日：2025-03-25

申请号：US17288329

申请日：2019-10-23

Applicant: Canon U.S.A., Inc.

Inventor： Takahisa Kato ,  Matthew Michael Kincaid ,  Showna Hsu-Hwa Chang

IPC: A61M25/01 ,  A61B1/005 ,  A61B1/008 ,  A61B1/012 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61M25/00 ,  A61M25/09

Abstract: An articulated medical device having a hollow core, capable of large degrees of maneuverability through small spaces of a patient to reach a target with minimal invasiveness, and once the medical device has reached the target, allowing a medical tool to be guided through the hollow chamber for facilitating medical procedures, including endoscopes, cameras, and catheters, at the target.

公开(公告)号：US20250072981A1

公开(公告)日：2025-03-06

申请号：US18816580

申请日：2024-08-27

Applicant: CANON U.S.A., INC.

Inventor： Brian Ninni ,  Takahisa Kato

IPC: A61B34/30 ,  A61B1/005

Abstract: Provided herein is a robot apparatus, system and method of use. The robot system may comprise a bendable body having a plurality of steerable segments and a controller, where the controller controls actuation of the steerable segments based on an input data. In some embodiments, the input data is at least one of: a target bend, or a data representation of target bend. In some embodiments, the input data of operation mode may be the selection of a Distributed bending mode, wherein the controller is configured to move the at least one proximal drive wire and the at least one distal drive wire simultaneously.

公开(公告)号：US11926062B2

公开(公告)日：2024-03-12

申请号：US17175484

申请日：2021-02-12

Applicant: Canon U.S.A., Inc. ,  The Brigham and Women's Hospital Inc.

Inventor： Fumitaro Masaki ,  Franklin King ,  Nobuhiko Hata ,  Takahisa Kato

IPC: B25J9/16 ,  A61B1/00 ,  A61B1/005 ,  A61B1/267 ,  A61B10/04 ,  B25J9/10 ,  B25J13/06 ,  B25J18/06 ,  B25J19/02

CPC classification number: B25J9/1689 ,  A61B1/00006 ,  A61B1/00045 ,  A61B1/00149 ,  A61B1/0052 ,  A61B1/267 ,  B25J9/104 ,  B25J13/065 ,  B25J18/06 ,  B25J19/023 ,  A61B10/04

Abstract: A continuum robot having at least two independently manipulateable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates control algorithms that enable the continuum robot to operate and advance into the passage, as well as the systems and procedures associated with the continuum robot and said functionality.

公开(公告)号：US11882365B2

公开(公告)日：2024-01-23

申请号：US17673606

申请日：2022-02-16

Applicant: Canon U.S.A., Inc. ,  The Brigham and Women's Hospital Inc.

Inventor： Fumitaro Masaki ,  Franklin King ,  Takahisa Kato ,  Brian Ninni ,  HuaLei Shelley Zhang ,  Nobuhiko Hata

IPC: H04N5/232 ,  H04N23/695

CPC classification number: H04N23/695

Abstract: An apparatus for correction of a direction to which a tool channel or a camera moves or is bent in a case where a displayed image is rotated. The apparatus includes at least one memory and at least one processor that executes instructions stored in the memory to receive a directional command of a capturing direction of a camera, move the capturing direction of the camera according to the received directional command, detect a rotation amount of a captured image displayed on a monitor, wherein the captured image is captured by the camera, and correct, based on the detected rotation amount, directional information corresponding to a particular directional command or directional coordinate for moving the camera, wherein the directional information is used for moving the capturing direction of the camera.