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：US12042121B2

公开(公告)日：2024-07-23

申请号：US17564534

申请日：2021-12-29

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

Inventor： Charles George Hwang ,  Takahisa Kato

IPC: A61B1/00 ,  A61B1/267 ,  A61B5/00 ,  A61B5/055 ,  A61B6/00 ,  A61B6/03 ,  A61B6/46 ,  G06F3/01 ,  G06F3/14 ,  G06T11/00

CPC classification number: A61B1/0005 ,  A61B1/00055 ,  A61B1/267 ,  A61B5/0035 ,  A61B5/055 ,  A61B5/7425 ,  A61B6/032 ,  A61B6/463 ,  A61B6/5247 ,  G06F3/016 ,  G06F3/14 ,  G06T11/003 ,  G06T2210/41

Abstract: A medical system including a medical device having an outer diameter, a display device, and a controller. The controller is configured to acquire data regarding a biological lumen such as an airway structure, acquire an image of the airway structure, generate an overlay representing the outer diameter of the medical device, and display, on the display device, the overlay representing the outer diameter of the medical device on the acquired image of the airway structure. The overlay is scaled relative to a diameter of the airway structure at a focal plane of the airway structure based on the acquired data.

公开(公告)号：US20240112407A1

公开(公告)日：2024-04-04

申请号：US18477081

申请日：2023-09-28

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

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

IPC: G06T19/00 ,  A61B1/00 ,  A61B1/307 ,  A61B18/26 ,  G06T7/00 ,  G06T7/50

CPC classification number: G06T19/00 ,  A61B1/000094 ,  A61B1/307 ,  A61B18/26 ,  G06T7/0012 ,  G06T7/50 ,  G06T2207/10068 ,  G06T2207/10081 ,  G06T2207/30084 ,  G06T2210/41

Abstract: One or more devices, systems, methods, and storage mediums for performing imaging and/or visualization and/or for performing lithotripsy are provided herein. Examples of applications include imaging, evaluating, and diagnosing biological objects, such as, but not limited to, for ureteral, Gastro-intestinal, cardio, bronchial, and/or ophthalmic applications, and being obtained via one or more optical instruments, such as, but not limited to, optical probes, catheters, ureteroscopes, endoscopes, and bronchoscopes. Techniques provided herein also improve image processing and efficiency and provide reliable imaging techniques that may be used for one or more applications, including, but not limited to, ureteroscopy and lithotripsy, while reducing mental and physical burden and improving ease of use.

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：US11622828B2

公开(公告)日：2023-04-11

申请号：US16886078

申请日：2020-05-28

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

Inventor： Matthew Michael Kincaid ,  Takahisa Kato

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

Abstract: An apparatus, method, and system for a steerable medical instrument, configured to be used in conjunction with guided tools and devices under robotically controller medical procedures, including endoscopes, cameras, cutting tools and catheters. In one embodiment, the steerable instrument includes an elongate body (100), a control wire (110) arranged in a channel (104) of the elongate body and displaceable along the channel to bend the elongate body; and a controller (320) to selectively control drive forces applied to the control wire (110) under an actively controlled mode and a passively controlled mode. In the actively controlled mode, the controller actively bends at least part of the elongate body. In the passively controlled mode, the controller (320) decreases an amount of strain or an amount of displacement of the control wire, so that the control wire becomes compliant to external forces.

公开(公告)号：US20220202502A1

公开(公告)日：2022-06-30

申请号：US17565319

申请日：2021-12-29

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

Inventor： HuaLei Shelley Zhang ,  Takahisa Kato

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/005 ,  A61B34/10

Abstract: Apparatuses and methods for medical applications and, more particularly, to steerable flexible medical devices applicable to guide tools and devices in medical procedures, including endoscopes, cameras, and catheters are provided. The apparatuses and methods also include generating a panoramic image of an interior of a branching structure at or near the distal end of the flexible medical device wherein the panoramic image is generated based on the images of the branching structure.

公开(公告)号：US20210260767A1

公开(公告)日：2021-08-26

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 ,  B25J13/06 ,  B25J9/10 ,  B25J18/06 ,  B25J19/02 ,  A61B1/00 ,  A61B1/267 ,  A61B1/005

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：US20200281658A1

公开(公告)日：2020-09-10

申请号：US16880368

申请日：2020-05-21

Applicant: Canon U.S.A. Inc.

Inventor： Devashree S. Desai ,  Takahisa Kato ,  Lydia G. Olson

IPC: A61B34/10 ,  A61B34/30 ,  A61B34/00 ,  A61B34/20 ,  A61B18/02 ,  G06T7/00

Abstract: A method of performing a percutaneous multi-probe treatment includes: acquiring a scan image of an object to be treated with multi-probe percutaneous insertions; determining a first point in a region of interest (ROI) in the scan image; determining a second point at a surface of the object in the scan image; generating a reference trajectory by connecting the first point and the second point; arranging, around the first point, a number of third points corresponding to tips of probes to be inserted into the object; generating planned insertion trajectories for the probes based on the number of probes to be inserted and the reference trajectory; and causing a monitor to display superposed on the scan image, at least one of the planned insertion trajectories. The planned insertion trajectories extend in a geometric relationship to the reference trajectory and pass through the third points and through one or more second points.

公开(公告)号：US20190159844A1

公开(公告)日：2019-05-30

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

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：US20190105468A1

公开(公告)日：2019-04-11

申请号：US16152317

申请日：2018-10-04

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

Inventor： Takahisa Kato ,  Yohei Minatoya ,  Yusuke Tanaka ,  Kiyoshi Takagi ,  Oliver Jonas

IPC: A61M25/01 ,  A61B6/03 ,  A61B10/06

Abstract: The subject disclosure is directed to an articulated medical device having a hollow cavity, wherein the device is capable of maneuvering within a patient, and allowing a medical tool to be guided through the hollow cavity for medical procedures, including endoscopes, cameras, and catheters.