公开(公告)号：US20250152284A1

公开(公告)日：2025-05-15

申请号：US18835305

申请日：2023-02-06

Applicant: Canon U.S.A., Inc. ,  CANON KABUSHIKI KAISHA

Inventor： Brian Ninni ,  Takahisa Kato ,  Fumitaro Masaki ,  Charles George Hwang ,  HuaLei Shelley Zhang ,  Kiyoshi Takagi

IPC: A61B34/37 ,  A61B17/00 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

Abstract: A continuum robot having at least two independently manipulatable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates a system, method and apparatus including a ‘relax mode’ capable of relaxing at least one of the bendable sections, allowing the bendable section to conform to the surrounding anatomy.

公开(公告)号：US20250134603A1

公开(公告)日：2025-05-01

申请号：US18835295

申请日：2023-02-01

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

Inventor： Brian Ninni ,  Charles George Hwang ,  HuaLei Shelley Zhang ,  Fumitaro Masaki

IPC: A61B34/30 ,  A61M25/01

Abstract: A robotic catheter system and methods for implementing corrective actions during use thereof. A method comprises: providing a catheter that has one or more bendable segments and a catheter tip, inserting the catheter into a bodily lumen and navigating the catheter through the lumen along an insertion trajectory while an actuation unit applies an actuation force to the one or more bendable segments; recording a navigation parameter in relation to the insertion trajectory while the catheter is moved through the lumen, displaying, on a display, a graphical representation of the navigation parameter relative to a threshold value indicative of a location along the insertion trajectory where a navigation error of the catheter can occur or has occurred; and outputting to the display an interactive user-guide showing one or more than one corrective actions that can be taken to correct and/or prevent the navigation error.

公开(公告)号：US12193759B2

公开(公告)日：2025-01-14

申请号：US17564844

申请日：2021-12-29

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

Inventor： Hualei Shelley Zhang ,  Brian Ninni

IPC: A61B34/20 ,  A61B5/00 ,  A61B34/10 ,  G06T19/00 ,  G06T19/20

Abstract: A method for visualization guidance of device-to-image registration includes acquiring image data of a patient, generating a 3D model of the anatomy of the patient based on the image data, performing initial registration between image space and device space, advancing a device into a structure, tracking trajectory of the device in relation to the model, determining divergence between the device trajectory and the model, and effecting correction to the model or the device trajectory to minimize the divergence.

公开(公告)号：US20230137954A1

公开(公告)日：2023-05-04

申请号：US18050776

申请日：2022-10-28

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

Inventor： Charles George Hwang ,  Takahisa Kato ,  Brian Ninni ,  Zachary Hamilton Haubert

IPC: A61B34/37 ,  A61B34/00 ,  A61M25/01

Abstract: An articulated medical device having a hollow core, capable of large degrees of maneuverability through small cavities to reach a target with minimal invasiveness, wherein the medical device is capable of manual and robotic manipulation.

公开(公告)号：US20220202501A1

公开(公告)日：2022-06-30

申请号：US17564844

申请日：2021-12-29

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

Inventor： HuaLei Shelley Zhang ,  Brian Ninni

IPC: A61B34/20 ,  G06T19/00 ,  G06T19/20 ,  A61B34/10 ,  A61B5/00

Abstract: A method for visualization guidance of device-to-image registration includes acquiring image data of a patient, generating a 3D model of the anatomy of the patient based on the image data, performing initial registration between image space and device space, advancing a device into a structure, tracking trajectory of the device in relation to the model, determining divergence between the device trajectory and the model, and effecting correction to the model or the device trajectory to minimize the divergence.

公开(公告)号：US20220016394A1

公开(公告)日：2022-01-20

申请号：US17373437

申请日：2021-07-12

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

Inventor： Brian Ninni

IPC: A61M25/01

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 for finite movement of the distal end of the medical device to hone in on one or more targets or areas of interest, without having to move the remainder of the medical device.

公开(公告)号：US09867673B2

公开(公告)日：2018-01-16

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

IPC: A61B19/00 ,  A61B90/11 ,  A61B17/34 ,  A61B17/00 ,  A61B90/94

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：US20250160627A1

公开(公告)日：2025-05-22

申请号：US18834993

申请日：2023-01-31

Applicant: Canon U.S.A., Inc. ,  CANON KABUSHIKI KAISHA

Inventor： HuaLei Shelley Zhang ,  Takahisa Kato ,  Fumitaro Masaki ,  Brian Ninni ,  Kiyoshi Takagi

IPC: A61B1/00 ,  A61B1/005

Abstract: A continuum robot having independently manipulateable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates a system, method and apparatus for transitioning between modes for ease of use by a physician, as well as a transitional park mode for ensuring correct manipulation of the continuum robot.

公开(公告)号：US20250151978A1

公开(公告)日：2025-05-15

申请号：US18837447

申请日：2023-02-07

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

Inventor： Takahisa Kato ,  HuaLei Shelley Zhang ,  Brian Ninni

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/05 ,  A61B1/267 ,  A61B34/10 ,  A61B34/20 ,  A61M25/01

Abstract: A medical apparatus (100) includes a medical device (108) with bending sections and a distal end, at least one imaging device (110) at the distal end, at least one sensor (112), and at least one processor (201) which performs receiving input data input data from user input, the imaging device (110), the sensor (112), or combinations thereof, determining a bending plane and a bending angle of the distal end of the medical device (108), predicting location movement and position of the bending sections based on input data, displaying an image view based on the input data and displaying the predicted location movement and position of the bending sections on the image view.

公开(公告)号：US20210260339A1

公开(公告)日：2021-08-26

申请号：US17182910

申请日：2021-02-23

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

Inventor： Brian Ninni

IPC: A61M25/01 ,  A61B10/04 ,  G16H40/60 ,  G16H40/40

Abstract: Methods and systems are provided for maintaining alignment of an articulated medical device which allows a reference element or reference trajectory to be set at a location within a subject. A medical tool can be guided through the device and facilitating medical procedures, including endoscopes, cameras, and biopsy tools, to a target when the articulated medical device is subjected to external forces that cause a deviation in the trajectory towards the target.