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：US20200375682A1

公开(公告)日：2020-12-03

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 ,  A61B34/20 ,  A61B90/00

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：US11642159B2

公开(公告)日：2023-05-09

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 ,  A61B90/11 ,  A61B18/00 ,  A61B17/00 ,  A61B17/34

CPC classification number: A61B18/02 ,  A61B6/032 ,  A61B34/10 ,  A61B90/06 ,  A61B90/11 ,  A61B90/39 ,  A61B2017/00128 ,  A61B2017/3407 ,  A61B2018/00577 ,  A61B2018/0293 ,  A61B2034/107 ,  A61B2090/067 ,  A61B2090/3966

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：US20210369085A1

公开(公告)日：2021-12-02

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: A61B1/005 ,  A61B1/008 ,  A61B1/012 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

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：US20210121162A1

公开(公告)日：2021-04-29

申请号：US17077480

申请日：2020-10-22

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

Inventor： Brian Ninni ,  Takahisa Kato ,  Benedict Shia ,  Showna Chang ,  Matthew Michael Kincaid

IPC: A61B10/02 ,  A61B34/20 ,  A61B90/00 ,  A61B34/00

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 bendable medical devices, at the target.

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：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：US20210308423A1

公开(公告)日：2021-10-07

申请号：US17287958

申请日：2019-10-23

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

Inventor： Matthew Michael Kincaid

IPC: A61M25/01

Abstract: An articulated medical device having a hollow central core and at least one support wires for preventing the medical device from kinking, wherein the device is capable of maneuvering through cavities 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 central core for facilitating medical procedures, including endoscopes, cameras, and catheters, at the target.