公开(公告)号：US10909771B2

公开(公告)日：2021-02-02

申请号：US15510175

申请日：2014-09-15

申请人： David Gallop ,  Wesley Bryan Hodges

发明人： David Gallop ,  Wesley Bryan Hodges

IPC分类号： G01R33/48 ,  A61B8/08 ,  A61B5/00 ,  G06T19/20 ,  G01R33/56 ,  A61B5/055 ,  G06T19/00 ,  A61B6/03

摘要： Mechanisms for image processing are provided. A computing device comprises a memory, an input device, a display, and a processor. The processor is configured to: acquire a three-dimensional image of an anatomical structure and store it in the memory. The processor renders on the display (i) an initial volume of the three-dimensional image corresponding to an initial portion of the anatomical structure, and (ii) a moveable control element. The initial volume has an outer surface defined by a position of the control element. The processor receives input data updating the position of the control element relative to the initial volume; and renders on the display, in place of the initial volume, a further volume of the three-dimensional image, corresponding to a further portion of the anatomical structure and having a further outer surface defined by the updated position of the control element.

公开(公告)号：US10433763B2

公开(公告)日：2019-10-08

申请号：US14655814

申请日：2014-03-14

申请人： Cameron Piron ,  Michael Wood ,  Gal Sela ,  Joshua Richmond ,  Murugathas Yuwaraj ,  Monroe M. Thomas ,  Wes Hodges ,  Simon Alexander ,  David Gallop ,  Alex Panther ,  Nishanthan Shanmugaratnam ,  William Lau

发明人： Cameron Piron ,  Michael Wood ,  Gal Sela ,  Joshua Richmond ,  Murugathas Yuwaraj ,  Monroe M. Thomas ,  Wes Hodges ,  Simon Alexander ,  David Gallop ,  Alex Panther ,  Nishanthan Shanmugaratnam ,  William Lau

IPC分类号： A61B5/00 ,  A61B5/06 ,  A61N1/05 ,  A61B17/34 ,  A61B34/10 ,  A61B34/20 ,  A61B5/055 ,  A61B5/145 ,  A61B90/00 ,  A61B90/10 ,  A61B90/50 ,  A61B90/57 ,  A61B90/90

摘要： Disclosed herein is navigation and simulation systems and methods for minimally invasive therapy in which the navigation system imports a planning method using patient specific pre-operative images. The navigation system uses intraoperative imaging during the medical procedure to update the preoperative images and provides images of tracked surgical tools along the surgical path prepared from the preoperative images.

公开(公告)号：US09536309B2

公开(公告)日：2017-01-03

申请号：US14555636

申请日：2014-11-27

申请人： Gal Sela ,  Neil Witcomb ,  David Gallop ,  Kelly Noel Dyer ,  Wes Hodges

发明人： Gal Sela ,  Neil Witcomb ,  David Gallop ,  Kelly Noel Dyer ,  Wes Hodges

IPC分类号： G06K9/00 ,  G06T7/00 ,  A61B19/00 ,  G06F19/00 ,  G06T7/20

CPC分类号： G06T7/0012 ,  A61B34/10 ,  A61B2034/107 ,  G06F19/00 ,  G06F19/321 ,  G06K9/4652 ,  G06K9/4661 ,  G06K9/52 ,  G06K9/6267 ,  G06T7/20 ,  G06T19/003 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/30016 ,  G06T2207/30096 ,  G06T2207/30101 ,  G06T2207/30204 ,  G06T2210/41

摘要： A method and computing device for displaying surgical path data are provided. The computing device includes an input device, a display, a memory and a processor. The memory stores (i) an image of a volume of patient tissue having an outer surface, and (ii) anatomical data defining anatomical features of the volume. The processor receives an identifier of a target location within the volume; generates a plurality of paths from the outer surface to the target location, each path having a start point located on the outer surface, and an end point at the target location; for each of the plurality of paths, determines a score based on a comparison between the path and the anatomical data; and controls the display to present the outer surface and, at the locations of the start points, indications of the respective scores of the paths corresponding to the start points.

摘要翻译： 提供了一种用于显示手术路径数据的方法和计算装置。 计算设备包括输入设备，显示器，存储器和处理器。 存储器存储（i）具有外表面的患者组织的体积的图像，以及（ii）定义体积的解剖特征的解剖数据。 处理器接收该卷内的目标位置的标识符; 产生从外表面到目标位置的多个路径，每个路径具有位于外表面上的起始点和目标位置处的终点; 对于所述多个路径中的每一个，基于所述路径和所述解剖数据之间的比较来确定分数; 并且控制显示器呈现外表面，并且在起始点的位置处指示对应于开始点的路径的各个分数。

公开(公告)号：US20160113728A1

公开(公告)日：2016-04-28

申请号：US14655872

申请日：2014-03-14

申请人： Cameron Piron ,  Michael Wood ,  Gal Sela ,  Joshua Richmond ,  Murugathas Yuwaraj ,  Stephen McFadyen ,  Alex Panther ,  Nishanthan Shanmugaratnam ,  William Lau ,  Monroe M. Thomas ,  Wes Hodges ,  Simon Alexander ,  David Gallop

发明人： Cameron Piron ,  Michael Wood ,  Gal Sela ,  Joshua Richmond ,  Murugathas Yuwaraj ,  Stephen McFadyen ,  Alex Panther ,  Nishanthan Shanmugaratnam ,  William Lau ,  Monroe M. Thomas ,  Wes Hodges ,  Simon Alexander ,  David Gallop

IPC分类号： A61B34/20 ,  A61B17/34 ,  A61B34/30

CPC分类号： A61B17/3421 ,  A61B34/20 ,  A61B34/30 ,  A61B2017/00203 ,  A61B2017/00207 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/3735 ,  A61B2090/3983 ,  A61B2090/504 ,  G05B2219/45123

摘要： System and methods are provided for adaptively and interoperatively configuring an automated arm used during a medical procedure. The automated arm is configured to position and orient an end effector on the automated arm a desired distance and orientation from a target. The end effector may be an external video scope and the target may be a surgical port. The positions and orientations of the end effector and the target may be continuously updated. The position of the arm may be moved to new locations responsive to user commands. The automated arm may include a multi-joint arm attached to a weighted frame. The weighted frame may include a tower and a supporting beam.

摘要翻译： 提供了系统和方法，用于自适应地和互操作地配置在医疗过程中使用的自动化臂。 自动化臂被配置成将自动化臂上的末端执行器定位和定向到目标的期望的距离和取向。 末端执行器可以是外部视频范围，并且目标可以是手术端口。 末端执行器和目标的位置和方位可以不断更新。 可以根据用户命令将臂的位置移动到新的位置。 自动臂可以包括附接到加权框架的多关节臂。 加权帧可以包括塔和支撑梁。

公开(公告)号：US20160022146A1

公开(公告)日：2016-01-28

申请号：US14777300

申请日：2014-03-14

申请人： Cameron PIRON ,  Michael WOOD ,  Murugathas YUWARAJ ,  Alex PANTHER ,  Nishantan MUGARATNAM ,  William LAU ,  Monroe M. THOMAS ,  Gal SELA ,  Joshua RICHMOND ,  Wes HODGES ,  Simon ALEXANDER ,  David GALLOP

发明人： Cameron Piron ,  Michael Wood ,  Murugathas Yuwaraj ,  Alex Panther ,  Nishanthan Shanmugaratnam ,  William Lau ,  Monroe M. Thomas ,  Gal Sela ,  Joshua Richmond ,  Wes Hodges ,  Simon Alexander ,  David Gallop

IPC分类号： A61B5/00 ,  G01R33/34 ,  A61B19/00 ,  A61B5/055 ,  A61B17/34

CPC分类号： A61B5/0035 ,  A61B5/0051 ,  A61B5/0059 ,  A61B5/055 ,  A61B5/6847 ,  A61B5/6865 ,  A61B8/12 ,  A61B8/4245 ,  A61B8/4254 ,  A61B8/445 ,  A61B8/4483 ,  A61B8/483 ,  A61B17/3423 ,  A61B90/39 ,  A61B2017/3454 ,  A61B2034/2055 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/3782 ,  A61B2560/0443 ,  A61B2562/04 ,  A61B2562/247 ,  G01R33/34084 ,  G01R33/3456

摘要： Insertable imaging devices, and methods of use thereof in minimally invasive medical procedures, are described. In some embodiments, insertable imaging devices are described that can be introduced and removed from an access port without disturbing or risking damage to internal tissue. In some embodiments, imaging devices are integrated into an access port, thereby allowing imaging of internal tissues within the vicinity of the access port, while, for example, enabling manipulation of surgical tools in the surgical field of interest. In other embodiments, imaging devices are integrated into an imaging sleeve that is insertable into an access port. Several example embodiments described herein provide imaging devices for performing imaging within an access port, where the imaging may be based one or more imaging modalities that may include, but are not limited to, magnetic resonance imaging, ultrasound, optical imaging such as hyperspectral imaging and optical coherence tomography, and electrical conductive measurements.

摘要翻译： 描述可插入成像装置及其在微创医疗程序中的使用方法。 在一些实施例中，描述了可以从进入端口引入和移除可插入的成像装置，而不会对内部组织造成损害或风险。 在一些实施例中，成像装置被集成到访问端口中，从而允许对进入端口附近的内部组织进行成像，而例如能够在感兴趣的手术领域中操纵外科手术工具。 在其他实施例中，成像装置被集成到可插入进入端口中的成像套筒中。 本文描述的几个示例性实施例提供用于在接入端口内执行成像的成像设备，其中成像可以基于一个或多个成像模态，其可以包括但不限于磁共振成像，超声波，诸如高光谱成像的光学成像，以及 光学相干断层扫描和导电测量。

公开(公告)号：US09922417B2

公开(公告)日：2018-03-20

申请号：US14769507

申请日：2014-03-14

申请人： Gal Sela ,  Simon Alexander ,  Cameron Piron ,  Joshua Richmond ,  Michael Wood ,  Murugathas Yuwaraj ,  David Gallop ,  Wes Hodges ,  Monroe M. Thomas

发明人： Gal Sela ,  Simon Alexander ,  Cameron Piron ,  Joshua Richmond ,  Michael Wood ,  Murugathas Yuwaraj ,  David Gallop ,  Wes Hodges ,  Monroe M. Thomas

IPC分类号： A61B34/10 ,  A61B90/11 ,  G06T7/00 ,  A61B5/00 ,  G09B23/30 ,  A61B5/055

CPC分类号： G06T7/0012 ,  A61B5/0066 ,  A61B5/055 ,  A61B34/10 ,  A61B90/11 ,  A61B2034/105 ,  G06T2207/30012 ,  G09B23/30

摘要： Disclosed herein is a method for producing an evolvable tissue model of a patient and, using this model, modelling physical transformations of the tissue (e.g. deformation) of the tissue model by interacting the tissue model with influence models which model interactions with the tissue such as surgical instruments, pressure, swelling, temperature changes etc. The model is produced from a set of input data of the tissue which includes directional information of the tissue. The directional information is used to produce an oriented tissue map. A tissue model is then produced from the oriented tissue map such that the tissue model reflects the directionality of the tissue component. When the tissue model is subjected to an influence that causes tissue deformation over a period of time, the tissue model directionally deforms over the period of time in a manner which reflects a trajectory of the influence interacting with the directionality of the tissue component.

公开(公告)号：US09814390B2

公开(公告)日：2017-11-14

申请号：US14777300

申请日：2014-03-14

申请人： Cameron Piron ,  Michael Wood ,  Murugathas Yuwaraj ,  Alex Panther ,  Nishanthan Shanmugaratnam ,  William Lau ,  Monroe M. Thomas ,  Gal Sela ,  Joshua Richmond ,  Wes Hodges ,  Simon Alexander ,  David Gallop

发明人： Cameron Piron ,  Michael Wood ,  Murugathas Yuwaraj ,  Alex Panther ,  Nishanthan Shanmugaratnam ,  William Lau ,  Monroe M. Thomas ,  Gal Sela ,  Joshua Richmond ,  Wes Hodges ,  Simon Alexander ,  David Gallop

IPC分类号： A61B5/05 ,  A61B5/00 ,  A61B5/055 ,  G01R33/34 ,  G01R33/345 ,  A61B8/12 ,  A61B8/00 ,  A61B17/34 ,  A61B8/08 ,  A61B90/00 ,  A61B34/20

CPC分类号： A61B5/0035 ,  A61B5/0051 ,  A61B5/0059 ,  A61B5/055 ,  A61B5/6847 ,  A61B5/6865 ,  A61B8/12 ,  A61B8/4245 ,  A61B8/4254 ,  A61B8/445 ,  A61B8/4483 ,  A61B8/483 ,  A61B17/3423 ,  A61B90/39 ,  A61B2017/3454 ,  A61B2034/2055 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/3782 ,  A61B2560/0443 ,  A61B2562/04 ,  A61B2562/247 ,  G01R33/34084 ,  G01R33/3456

摘要： Insertable imaging devices, and methods of use thereof in minimally invasive medical procedures, are described. In some embodiments, insertable imaging devices are described that can be introduced and removed from an access port without disturbing or risking damage to internal tissue. In some embodiments, imaging devices are integrated into an access port, thereby allowing imaging of internal tissues within the vicinity of the access port, while, for example, enabling manipulation of surgical tools in the surgical field of interest. In other embodiments, imaging devices are integrated into an imaging sleeve that is insertable into an access port. Several example embodiments described herein provide imaging devices for performing imaging within an access port, where the imaging may be based one or more imaging modalities that may include, but are not limited to, magnetic resonance imaging, ultrasound, optical imaging such as hyperspectral imaging and optical coherence tomography, and electrical conductive measurements.

公开(公告)号：US09668768B2

公开(公告)日：2017-06-06

申请号：US14655872

申请日：2014-03-14

申请人： Cameron Piron ,  Michael Wood ,  Gal Sela ,  Joshua Richmond ,  Murugathas Yuwaraj ,  Stephen McFadyen ,  Alex Panther ,  Nishanthan Shanmugaratnam ,  William Lau ,  Monroe M. Thomas ,  Wes Hodges ,  Simon Alexander ,  David Gallop

发明人： Cameron Piron ,  Michael Wood ,  Gal Sela ,  Joshua Richmond ,  Murugathas Yuwaraj ,  Stephen McFadyen ,  Alex Panther ,  Nishanthan Shanmugaratnam ,  William Lau ,  Monroe M. Thomas ,  Wes Hodges ,  Simon Alexander ,  David Gallop

IPC分类号： A61B17/34 ,  A61B34/20 ,  A61B34/30 ,  A61B34/10 ,  A61B17/00 ,  A61B90/00 ,  A61B90/50

CPC分类号： A61B17/3421 ,  A61B34/20 ,  A61B34/30 ,  A61B2017/00203 ,  A61B2017/00207 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/3735 ,  A61B2090/3983 ,  A61B2090/504 ,  G05B2219/45123

摘要： System and methods are provided for adaptively and interoperatively configuring an automated arm used during a medical procedure. The automated arm is configured to position and orient an end effector on the automated arm a desired distance and orientation from a target. The end effector may be an external video scope and the target may be a surgical port. The positions and orientations of the end effector and the target may be continuously updated. The position of the arm may be moved to new locations responsive to user commands. The automated arm may include a multi-joint arm attached to a weighted frame. The weighted frame may include a tower and a supporting beam.

公开(公告)号：US09600138B2

公开(公告)日：2017-03-21

申请号：US14769668

申请日：2014-03-14

申请人： Monroe M. Thomas ,  Gal Sela ,  Cameron Piron ,  Joshua Richmond ,  Murugathas Yuwaraj ,  Wes Hodges ,  Simon Alexander ,  David Gallop ,  William Lau ,  Sheryl Thingvold ,  Kelly Dyer

发明人： Monroe M. Thomas ,  Gal Sela ,  Cameron Piron ,  Joshua Richmond ,  Murugathas Yuwaraj ,  Wes Hodges ,  Simon Alexander ,  David Gallop ,  William Lau ,  Sheryl Thingvold ,  Kelly Dyer

IPC分类号： G06K9/00 ,  G06F3/0481 ,  G06T19/00 ,  A61B19/00 ,  G06F3/0484 ,  G06T1/60 ,  G06T7/00 ,  G06T11/20 ,  G06T17/00 ,  A61B5/05 ,  A61B5/055 ,  A61B8/00 ,  A61B5/00 ,  A61B6/03

CPC分类号： G06T19/003 ,  A61B5/0042 ,  A61B5/055 ,  A61B6/032 ,  A61B6/037 ,  A61B6/501 ,  A61B8/00 ,  A61B8/0808 ,  A61B34/10 ,  A61B34/20 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/3735 ,  A61B2090/378 ,  G06F3/04815 ,  G06F3/04842 ,  G06F3/04847 ,  G06T1/60 ,  G06T7/0012 ,  G06T11/20 ,  G06T17/00 ,  G06T19/20 ,  G06T2200/04 ,  G06T2200/24 ,  G06T2207/10088 ,  G06T2207/20101 ,  G06T2207/30016 ,  G06T2207/30241 ,  G06T2210/41 ,  G06T2219/028

摘要： Disclosed herein are planning, navigation and simulation systems and methods for minimally invasive therapy in which the planning method and system uses patient specific pre-operative images. The planning system allows for multiple paths to be developed from the pre-operative images, and scores the paths depending on desired surgical outcome of the surgery and the navigation systems allow for minimally invasive port based surgical procedures, as well as craniotomies in the particular case of brain surgery.

公开(公告)号：US20160070436A1

公开(公告)日：2016-03-10

申请号：US14769668

申请日：2014-03-14

申请人： Monroe M. THOMAS ,  Gal SELA ,  Cameron PIRON ,  Joshua RICHMOND ,  Murugathas YUWARAJ ,  Wes HODGES ,  Simon ALEXANDER ,  David GALLOP ,  William LAU ,  Sheryl THINGVOLD ,  Kelly DYER

发明人： Monroe M. Thomas ,  Gal Sela ,  Cameron Piron ,  Joshua Richmond ,  Murugathas Yuwaraj ,  Wes Hodges ,  Simon Alexander ,  David Gallop ,  William Lau ,  Sheryl Thingvold ,  Kelly Dyer

IPC分类号： G06F3/0481 ,  G06T1/60 ,  A61B19/00 ,  G06T11/20 ,  G06F3/0484 ,  G06T7/00 ,  G06T17/00

CPC分类号： G06T19/003 ,  A61B5/0042 ,  A61B5/055 ,  A61B6/032 ,  A61B6/037 ,  A61B6/501 ,  A61B8/00 ,  A61B8/0808 ,  A61B34/10 ,  A61B34/20 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/3735 ,  A61B2090/378 ,  G06F3/04815 ,  G06F3/04842 ,  G06F3/04847 ,  G06T1/60 ,  G06T7/0012 ,  G06T11/20 ,  G06T17/00 ,  G06T19/20 ,  G06T2200/04 ,  G06T2200/24 ,  G06T2207/10088 ,  G06T2207/20101 ,  G06T2207/30016 ,  G06T2207/30241 ,  G06T2210/41 ,  G06T2219/028

摘要： Disclosed herein are planning, navigation and simulation systems and methods for minimally invasive therapy in which the planning method and system uses patient specific pre-operative images. The planning system allows for multiple paths to be developed from the pre-operative images, and scores the paths depending on desired surgical outcome of the surgery and the navigation systems allow for minimally invasive port based surgical procedures, as well as craniotomies in the particular case of brain surgery.

摘要翻译： 这里公开了用于微创治疗的计划，导航和模拟系统和方法，其中规划方法和系统使用患者特定的术前图像。 规划系统允许从术前图像开发多条路径，并根据手术的期望手术结果评估路径，并且导航系统允许基于微创端口的外科手术，以及特定情况下的开颅手术 的脑部手术。