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公开(公告)号：US20210369355A1
公开(公告)日：2021-12-02
申请号：US17308758
申请日：2021-05-05
Applicant: CANON U.S.A., INC. , The Brigham and Women's Hospital Inc.
Inventor： Fumitaro Masaki , Franklin King , Nobuhiko Hata , Takahisa Kato
Abstract: An endoscope imaging system comprises a robotic controlled steerable catheter and an imaging device removably arranged in a tool channel of the catheter. One or more sensors or markers are configured to map a positional relation of the catheter with respect to an orientation of the imaging device. A controller drives the steerable catheter to manipulate the distal end thereof, while the imaging device acquires an image of a subject or sample. While the imaging device acquires the image, a processor calculates a change in positional relation of the catheter with respect to the orientation of the imaging device based on information provided by the one or more sensors or markers. An output unit provides an indication for remapping the orientation of the steerable catheter with respect to the orientation of the imaging device.
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公开(公告)号：US11096552B2
公开(公告)日：2021-08-24
申请号：US15741171
申请日：2015-06-30
Applicant: CANON U.S.A., INC. , THE BRIGHAM AND WOMEN'S HOSPITAL INC. , Nobuhiko Hata , Takahisa Kato , Kiyoshi Takagi , Hidekazu Kose
Inventor： Nobuhiko Hata , Takahisa Kato , Kiyoshi Takagi , Hidekazu Kose
Abstract: The present invention provides a method and an apparatus for controlling a flexible manipulator including a plurality of bendable mechanisms via a control apparatus. The control apparatus includes a drive-mode selecting unit allows for the selection of a movement mode which may provide a bending movement, an angled view movement, or a remote center movement.
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公开(公告)号：US11051892B2
公开(公告)日：2021-07-06
申请号：US14491796
申请日：2014-09-19
Applicant: CANON U.S.A., INC. , The Brigham and Women's Hospital, Inc
Inventor： Nobuhiko Hata , Takahisa Kato , Ichiro Okumura , Kiyoshi Takagi , Hidekazu Kose
Abstract: An apparatus including a tendon-driven device such as an endoscope comprising a bendable body, a tendon attached to and extending a length of said body, and an actuator that will actuate said tendon based on a control signal from a controller. The controller is configured to send said control signal to said actuator and comprises a forward-kinematic-mapping unit that estimates an angular displacement, wherein the kinematic-mapping unit is configured for: providing a tension value of the tendon to obtain a desired angular displacement wherein the tension has a nonlinear relationship with the desired angular displacement based on information of friction where the tension is greater that would be calculated without including the effect of friction. The friction coefficient may be determined as it changes over time.
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公开(公告)号：US10285670B2
公开(公告)日：2019-05-14
申请号：US14851987
申请日：2015-09-11
Applicant: Canon U.S.A., Inc. , The Brigham and Women's Hospital, Inc.
Inventor： Yasumichi Arimitsu , Kazufumi Onuma , Takahisa Kato , Nobuhiko Hata , Sang-Eun Song , Kemal Tuncali , Junichi Tokuda , Brian Ninni , Lydia Gayle Olson
Abstract: A positioning apparatus including a needle holder having a through hole for regulating needle placement and movement, a needle positioning unit, and an engagement member that fixes a position of the needle holder with respect to the needle positioning unit. The needle holder is either least partially detachably attached to the needle positioning unit or deformable. The positioning apparatus may be designed to accommodate the placement of multiple needles.
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公开(公告)号：US20170014200A1
公开(公告)日：2017-01-19
申请号：US14799021
申请日：2015-07-14
Applicant: Canon U.S.A., Inc. , The Brigham and Women's Hospital Inc.
Inventor： Kazufumi Onuma , Takahisa Kato , Nobuhiko Hata , Kemal Tuncali , Brian Ninni , Peter Tia
CPC classification number: A61B90/11 , A61B17/3403 , A61B18/02 , A61B18/14 , A61B18/1477 , A61B90/39 , A61B90/94 , A61B2017/00398 , A61B2017/3407 , A61B2018/0212 , A61B2090/3954
Abstract: There is provided a medical support device for holding and positioning a needle. This device is particularly useful for positioning needles in a less invasive puncture treatment. This device comprises two rotational elements and at least one needle guide attached to a rotational element and. The needle guide guides the direction of insertion of a needle-like instrument and includes a guide portion that guides a needle or other needle-like instrument where the puncture point of the needle in a first position is different from the puncture point when the needle guide guides the needle in a second position.
Abstract translation: 提供了用于保持和定位针的医疗支撑装置。 该装置特别适用于针入度较小的穿刺治疗。 该装置包括两个旋转元件和附接到旋转元件的至少一个针引导件。 针引导件引导针状器械的插入方向，并且包括引导部，该引导部引导针或其他针状器械，其中，当针引导件处于第一位置时针的穿刺点与穿刺点不同 将针引导到第二位置。
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Patent Agency Ranking
公开(公告)号：US20250032753A1
公开(公告)日：2025-01-30
申请号：US18781444
申请日：2024-07-23
Applicant: Canon U.S.A., Inc.
Inventor： Benedict Shia , Anne Yujin Edge , Takahisa Kato
Abstract: A steerable medical instrument, such as a catheter or endoscope, comprises a tubular body having non-steerable section and steerable sections arranged from a proximal end to a distal end thereof. The tubular body defines a tool channel and a plurality of wire conduits formed along the wall of the tubular body. The steerable section includes wire-guiding members arranged in lengthwise direction alternated with void regions.
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公开(公告)号：US20240382168A1
公开(公告)日：2024-11-21
申请号：US18198141
申请日：2023-05-16
Applicant: Canon U.S.A., Inc.
Inventor： Fumitaro Masaki , Brian Ninni , Takahisa Kato
Abstract: Some devices, systems, and methods obtain a fluoroscopic image and corresponding C-arm positional information of the fluoroscopic image, wherein the fluoroscopic image depicts a distal end of a bendable medical device, and wherein the C-arm positional information indicates a rotation angle of a C-arm of a C-arm scanner; obtain an orientation of the distal end in an image plane of the fluoroscopic image, wherein the image plane is defined in a detector reference frame; obtain an instructed direction; determine, in the image plane, a movement direction of the distal end that corresponds to the instructed direction; map the movement direction from the image plane to a distal-end reference frame of the distal end, wherein the mapping is based on an orientation of the distal end in an intermediate reference frame and on the C-arm positional information; and control the distal end to move according to the mapped movement direction.
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公开(公告)号：US20230240513A1
公开(公告)日：2023-08-03
申请号：US17591432
申请日：2022-02-02
Applicant: CANON U.S.A., INC.
Inventor： Benedict Shia , Junichi Matsumura , Takahisa Kato
CPC classification number: A61B1/0008 , A61B1/0057 , A61B1/018 , A61B1/05 , A61B1/0055
Abstract: A steerable catheter driven by a robotic controller comprises: a catheter body having a catheter tip and tool channel which spans from a proximal end of the catheter body and through the catheter tip along a catheter axis. The catheter tip includes a ramp-like surface formed inside part of the tool channel diameter. The ramp-like surface is an inclined flat surface formed at an angle with respect to a plane parallel to the catheter axis, such that the angle increases as the ramp-like surface spans from distal end towards the proximal end of the catheter tip. A housing mechanism permanently attached to an imaging device is configured to lock the imaging device to the ramp-like surface so as to prevent rotation of the imaging device with respect to the tool channel and/or prevent twisting of the catheter tip with respect to the imaging device.
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公开(公告)号：US20230201522A1
公开(公告)日：2023-06-29
申请号：US18065290
申请日：2022-12-13
Applicant: CANON U.S.A., INC.
Inventor： Charles George Hwang , Takahisa Kato
CPC classification number: A61M25/002 , A61B34/30 , A61B2034/301 , A61M25/0138
Abstract: A packaging assembly for storing a steerable catheter ready for connection with a robotic system, comprises: a packaging enclosure and an alignment member configured to hold the steerable catheter in a predetermined shape. The alignment member is a carrier tube configured to align one end of the steerable catheter for connection with an actuator unit. The package and the alignment member are designed such that the steerable catheter can be connected to the actuator unit without changing the predetermined shape and while the catheter is still in the package. A robotic system is configured to connect to the steerable catheter included in the packaging assembly. The robotic system completes an initialization process to set acceptor parts of the actuator unit to a position corresponding to the predetermined shape in which the catheter is packaged.
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50.发明申请公开(公告)号：US20230044706A1
公开(公告)日：2023-02-09
申请号：US17791168
申请日：2021-01-08
Applicant: Sarah FRISKEN , Clement MIRABEL , Parikshit JUVEKAR , Takahisa KATO , Alexandra J. GOLBY , Garth R. COSGROVE , Thomas NOH , Canon U.S.A., Inc. , The Brigham and Women's Hospital Incorporated
Inventor： Sarah Frisken , Clement Mirabel , Parikshit Juvekar , Takahisa Kato , Alexandra J. Golby , Garth R. Cosgrove , Thomas Noh
Abstract: Exemplary methods and systems that provide a curved path trajectory that can be used with a bendable medical device. The curved pathway can comprise straight and curved concatenated arc segments. The methods and systems can provide planning, visualizing and treatment of, for example, temporal lobe epilepsy (TLE) using laser interstitial thermal therapy (LITT) or tumors using ablation therapy. With curved pathway, the physician can create plan for intervention to avoid critical structure and to cover more target volume for treatment/diagnosis than straight pathway
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