公开(公告)号：US20180098819A1

公开(公告)日：2018-04-12

申请号：US15836141

申请日：2017-12-08

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

IPC: A61B17/34 ,  A61B17/00

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.

公开(公告)号：US20170000581A1

公开(公告)日：2017-01-05

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 ,  G06T7/00

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.

Abstract translation: 提供了示例性方法，装置和系统，用于使用基准标记和处理算法自动检测和注册医学图像。 通过聚集具有不同数量，大小，形状，构造或材料性质的基准标记，或通过使用布置成环形的基准标记，其中它们的布置是不对称的，然后应用特征提取来提取基准标记对象，以及 使用基准帧的模型注册基准标记对象，可以实现自动注册。

公开(公告)号：US20150374205A1

公开(公告)日：2015-12-31

申请号：US14843276

申请日：2015-09-02

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

Inventor： Takahisa Kato ,  Ichiro Okumura ,  Nobuhiko Hata

IPC: A61B1/005 ,  A61B1/008 ,  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：US20150088161A1

公开(公告)日：2015-03-26

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

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B1/0016 ,  A61B1/0055 ,  A61B1/0057 ,  A61B34/71 ,  A61B2017/00323 ,  A61B2034/301

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.

Abstract translation: 一种包括腱驱动装置的装置，例如内窥镜，其包括可弯曲本体，附接并延伸所述主体的长度的腱，以及将基于来自控制器的控制信号致动所述腱的致动器。 控制器被配置为将所述控制信号发送到所述致动器并且包括估计角位移的前向运动学映射单元，其中所述运动映射单元被配置为：提供所述腱的张力值以获得期望的角位移 其中所述张力与基于摩擦信息的所需角位移具有非线性关系，其中所述张力大于将被计算的张力，而不包括摩擦的影响。 摩擦系数随着时间的推移可以确定。