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公开(公告)号：US20110201887A1
公开(公告)日：2011-08-18
申请号：US13123591
申请日：2009-10-12
IPC分类号： A61B1/00
CPC分类号： A61B17/3421 , A61B2017/003 , A61B2017/00331 , A61B2017/00991 , A61B2017/3443 , A61B2034/107 , A61M25/0021 , A61M25/0023 , A61M25/0041 , A61M2025/0006 , A61M2025/0175 , A61M2205/6045
摘要： An interlocking nested cannula set (231) has a plurality of telescoping tubes cooperatively configured and dimensioned to reach a target location relative to an anatomical region. Each tube has a pre-set interlocking shape. A nesting of an inner tube (30) within an outer tube (40) includes a gap (50) between the tubes (30, 40), which interlock within the gap (50) to limit rotation of the tubes (30, 40) relative to the gap (50). The interlocking shapes of the tubes (30, 40) may be identical or different. Examples of the interlocking shapes of a polygonal interlocking shape, a non-circular closed curve interlocking shape, a polygonal-closed curve hybrid interlocking shape and a keyway interlocking shape.
摘要翻译： 互锁嵌套套管组（231）具有多个伸缩管，其协作地构造和定尺寸以达到相对于解剖区域的目标位置。 每个管具有预设的互锁形状。 内管（40）内的嵌套包括在管（30,40）之间的间隙（50），所述间隙在间隙（50）内互锁以限制管（30,40）的旋转， 相对于间隙（50）。 管（30,40）的互锁形状可以相同或不同。 多边形互锁形状，非圆形闭合曲线互锁形状，多边形闭合曲线混合互锁形状和键槽互锁形状的互锁形状的示例。
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公开(公告)号：US20120029288A1
公开(公告)日：2012-02-02
申请号：US13260734
申请日：2010-03-03
IPC分类号： A61B1/00
CPC分类号： A61B17/3421 , A61B2017/003 , A61B2017/00331 , A61B2017/00991 , A61B2034/108 , A61M25/0009 , A61M25/0041 , A61M25/01 , A61M2025/0175
摘要： Methods and systems for nested cannula configuration involving helical tubes (40). The nested cannula (60) includes a plurality of telescoping tubes cooperatively configured and dimensioned to reach a target location relative to an anatomical region through a set of arcs (11, 21, 41) including one or more helical arcs (41) with each arc being determined between a point associated with the anatomical region and the target location. In particular, a three-dimensional image (51) of the anatomical region is utilized to generate the series of arcs, which in turn are utilized to calculate a pathway (53) that is utilized to configure and dimension the tubes.
摘要翻译： 用于嵌套套管配置的方法和系统涉及螺旋管（40）。 嵌套插管（60）包括多个伸缩管，其协作地构造和尺寸设计成通过包括一个或多个螺旋弧（41）的一组弧（11,21,41）相对于解剖区域达到目标位置，其中每个圆弧 在与解剖区域相关联的点和目标位置之间确定。 特别地，利用解剖区域的三维图像（51）来产生一系列弧，其又被用于计算用于配置和确定管子的路径（53）。
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公开(公告)号：US20110282151A1
公开(公告)日：2011-11-17
申请号：US13124903
申请日：2009-10-12
IPC分类号： A61B1/00
CPC分类号： A61B6/5217 , A61B1/00009 , A61B1/2676 , A61B5/06 , A61B5/065 , A61B6/03 , A61B6/466 , A61B34/10 , A61B2017/00809 , A61B2034/107 , G06T7/248 , G06T7/74 , G06T2207/10068 , G06T2207/10072 , G06T2207/10116 , G06T2207/10132 , G06T2207/30061
摘要： A pre-operative stage of an image-based localization method (30) involves a generation of a scan image (20) illustrating an anatomical region (40) of a body, and a generation of virtual information (21) including a prediction of virtual poses of endoscope (51) relative to an endoscopic path (52) within scan image (20) in accordance with kinematic and optical properties of endoscope (51). An intra-operative stage of the method (30) involves a generation of an endoscopic image (22) illustrating anatomical region (40) in accordance with endoscopic path (52) and a generation of tracking information (23) includes an estimation of poses of endoscope (51) relative to endoscopic path (52) within endoscopic image (22) corresponding to the prediction of virtual poses of endoscope (51) relative to endoscopic path (52) within scan image (20).
摘要翻译： 基于图像的定位方法（30）的手术前阶段包括生成示出身体的解剖区域（40）的扫描图像（20），以及生成包括虚拟的预测的虚拟信息（21） 根据内窥镜（51）的运动学和光学特性，相对于扫描图像（20）内的内窥镜路径（52）的内窥镜（51）的姿势。 所述方法（30）的手术中阶段涉及根据内窥镜路径（52）生成示出解剖区域（40）的内窥镜图像（22），并且生成跟踪信息（23）包括： 内窥镜（51）相对于内窥镜图像（22）内的与内窥镜（51）的虚拟姿势相对于扫描图像（20）内的内窥镜路径（52）的预测相对于内窥镜路径（52）。
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4.发明申请PLANNING FOR CURVATURE INTERACTIONS, MULTIPLE RADII OF CURVATURE AND ADAPTIVE NEIGHBORHOODS 审中-公开曲线相互作用规划，曲线和自适应邻域多重RADII公开(公告)号：US20110270040A1
公开(公告)日：2011-11-03
申请号：US13142449
申请日：2009-11-10
CPC分类号： A61B17/3421 , A61B34/10 , A61B2017/00331 , A61B2017/00526 , A61B2017/3443 , A61M25/0105 , A61M25/0152 , A61M25/0158 , A61M2025/0004
摘要： Planning deployment of a medical robot based on concentric cannulas takes into account multiple radii of curvature. The radii of curvature are dependent on tube diameter. Tubes of smaller diameter can have tighter radii of curvature. Planning also takes into account moment of inertia and elasticity of tubes. For the purposes of planning, an A* algorithm is used for cost wave propagation together with a configuration space, a cost metric, and a neighborhood. The neighborhood is adaptive. The adaptive neighborhood can be different for each node in the configuration space data structure and depends on curvature affecting properties of individual tubes used to achieve a path from a most distal point to a most proximal point within a body to be examined.
摘要翻译： 基于同心插管的医疗机器人的规划部署考虑了多个曲率半径。 曲率半径取决于管直径。 较小直径的管可以具有更紧的曲率半径。 规划也考虑到管的惯性和弹性。 为了规划的目的，A *算法用于成本波传播以及配置空间，成本度量和邻域。 邻里是适应性的。 配置空间数据结构中的每个节点的自适应邻域可以不同，并且取决于影响用于实现从待检体内的最远端点到最近端点的路径的各个管的特性的曲率。
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5.发明申请公开(公告)号：US20110245625A1
公开(公告)日：2011-10-06
申请号：US13139803
申请日：2009-11-10
IPC分类号： A61B5/00
CPC分类号： A61B17/3421 , A61B34/10 , A61B2017/00331 , A61B2034/107
摘要： A method for planning a path according to a surgical application incorporating a structural damage assessment technique (112) and/or a geometric expansion technique (113) for a configuration space node structure representing a discretized configuration space of an anatomical region (100). The structural damage assessment technique (112) includes a generation of structural damage assessments indicative of an assessment of potential damage to one or more critical anatomical areas of the anatomical region (100). The geometric expansion technique (113) includes an augmentation of the configuration space node structure involving one or more free-space configuration nodes geometrically neighboring the target node serving as surrogate seed nodes.
摘要翻译： 一种用于根据包含结构损伤评估技术（112）和/或代表解剖学区域（100）的离散化配置空间的配置空间节点结构的几何扩展技术（113）的手术应用来规划路径的方法。 结构损伤评估技术（112）包括代表对解剖区域（100）的一个或多个关键解剖区域的潜在损伤的评估的结构损伤评估的产生。 几何扩展技术（113）包括涉及一个或多个自由空间配置节点的配置空间节点结构的增加，该自由空间配置节点几何地邻近用作替代种子节点的目标节点。
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公开(公告)号：US09946979B2
公开(公告)日：2018-04-17
申请号：US12996818
申请日：2009-06-19
CPC分类号： G06Q10/047 , A61B17/3421 , A61B2017/3443
摘要： A system (200) executes a method (130-180) to produce an optimal path for any type of path planning application. In operation, the system (200) constructs a configuration space node structure representing a discretized configuration space including a plurality of states characterized by one or more parameters, and augments the configuration space node structure with discrete parameter values explicitly quantifying each node of the configuration space node structure and/or with heuristic values serving as a search guide through a free space region of the discretized configuration space.
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公开(公告)号：US20110093191A1
公开(公告)日：2011-04-21
申请号：US12996818
申请日：2009-06-19
IPC分类号： G01C21/00
CPC分类号： G06Q10/047 , A61B17/3421 , A61B2017/3443
摘要： A system (200) executes a method (130-180) to produce an optimal path for any type of path planning application. In operation, the system (200) constructs a configuration space node structure representing a discretized configuration space including a plurality of states characterized by one or more parameters, and augments the configuration space node structure with discrete parameter values explicitly quantifying each node of the configuration space node structure and/or with heuristic values serving as a search guide through a free space region of the discretized configuration space.
摘要翻译： 系统（200）执行方法（130-180）以产生用于任何类型的路径规划应用的最佳路径。 在操作中，系统（200）构建表示离散化配置空间的配置空间节点结构，所述配置空间节点结构包括由一个或多个参数表征的多个状态，并且利用明确量化配置空间的每个节点的离散参数值来增加配置空间节点结构 节点结构和/或通过离散化配置空间的自由空间区域作为搜索引导的启发式值。
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公开(公告)号：US20110295199A1
公开(公告)日：2011-12-01
申请号：US13142456
申请日：2009-11-10
IPC分类号： A61M25/092 , G06G7/48 , G06G7/60
CPC分类号： A61B17/3431 , A61B17/3421 , A61B34/10 , A61B2017/00331 , A61B2017/00526 , A61B2017/3443 , A61B2034/108 , A61M25/01 , A61M25/0105 , A61M25/0152 , A61M2025/0004
摘要： A specification for a device including a set of concentric cannulas may be discovered to have an actual path different from a desired path, due to interactions between cannulas that effect net curvature of the device. The choice of particular cannulas may be corrected by performing a calculation taking into account curvature affecting properties of the individual cannulas including radius of curvature, elasticity, and moment of inertia. This calculation is preferably performed iteratively starting with a most distal cannula and iterating through the cannulas to the proximal end, accumulating net effect of curvature affecting properties.
摘要翻译： 可以发现包括一组同心插管的装置的规格具有不同于期望路径的实际路径，这是由于影响装置的净曲率的插管之间的相互作用。 特定插管的选择可以通过考虑考虑包括曲率半径，弹性和惯性矩在内的各个插管的特性的曲率进行计算来校正。 该计算优选地以最远端插管开始迭代地迭代，并且通过套管迭代到近端，累积影响特性的曲率的净效应。
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公开(公告)号：US20110257671A1
公开(公告)日：2011-10-20
申请号：US13141350
申请日：2009-11-10
IPC分类号： A61B17/34
CPC分类号： A61B17/3421 , A61B17/3494 , A61B34/30 , A61B2017/00026 , A61B2017/003 , A61B2017/00991 , A61B2017/3443 , A61B2034/301 , A61B2090/0801
摘要： A contact detection method (70) involves a navigation of a contact detection tube (20′) within an open space of an anatomical region (50) of a body. The contact detection tube includes a tubular wall (21) having an interior surface (23) defining a working channel (24), and an electrode (30) integrated in the tubular wall (21). The electrode (30) electrically connects the contact detection tube (20′) to an electrically conductive object (41, 52) (e.g., biological tissue or a medical instrument/tool) in physical contact with an exterior surface (22) of the tubular wall (21) and electrically isolates the working channel (24) from any electrical connection of the tube (20′) to the object (41, 52). The method (70) further involves a determination of a contact status of the contact detection tube (20′) between an open state (i.e., no physical contact) and a closed state (i.e., physical contact).
摘要翻译： 接触检测方法（70）涉及在身体的解剖区域（50）的开放空间内的接触检测管（20'）的导航。 接触检测管包括具有限定工作通道（24）的内表面（23）和集成在管状壁（21）中的电极（30））的管状壁（21）。 电极（30）将接触检测管（20'）电连接到与管状物的外表面（22）物理接触的导电物体（41,42）（例如，生物组织或医疗仪器/工具） 壁（21）并且将工作通道（24）与管（20'）的任何电连接与物体（41,42）电隔离。 方法（70）还包括在打开状态（即，没有物理接触）和闭合状态（即物理接触）之间确定接触检测管（20'）的接触状态。
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10.发明申请TRANSDUCER ARRANGEMENT AND METHOD FOR ACQUIRING SONO-ELASTOGRAPHICAL DATA AND ULTRASONIC DATA OF A MATERIAL 审中-公开用于获取SONO-ELASTOGRAPHICAL数据和材料的超声波数据的传感器布置和方法公开(公告)号：US20110137166A1
公开(公告)日：2011-06-09
申请号：US13058370
申请日：2009-08-10
申请人： Mareike Klee , Michael Harald Kuhn , Karen Irene Trovato , Christianus Martinus Van Heesch , Ruediger Mauczok , Marco De Wild , Biju Kumar Sreedharan Nair , Klaus Reimann
发明人： Mareike Klee , Michael Harald Kuhn , Karen Irene Trovato , Christianus Martinus Van Heesch , Ruediger Mauczok , Marco De Wild , Biju Kumar Sreedharan Nair , Klaus Reimann
IPC分类号： A61B8/00
CPC分类号： A61B8/485 , A61B8/4281 , A61B8/4416 , A61B8/4472 , A61B8/4483 , A61B8/4494 , A61B2562/0204 , A61B2562/164 , B06B1/0292 , G01H11/06 , G10K9/125
摘要： The present invention relates to a transducer arrangement, particularly a transducer arrangement for acquiring tissue information, a method for using a transducer arrangement for acquiring tissue information and a glove which comprises a transducer arrangement. The transducer arrangement 21 for analysing material 40 comprises: a first transducer element 51 for inducing and receiving mechanical displacements in the material to be analysed 40; and an analysing unit 30. The transducer arrangement is arranged such as to be flexible in order to conform with a curved surface of the material to be analysed 40; and the transducer arrangement 21 is adapted to derive a first signal from a low frequency spectrum of mechanical displacements which first signal correlates to sono-elastographical properties of a material to be analysed 40; and the transducer arrangement 21 is adapted to derive a second signal from a high frequency spectrum of mechanical displacements received by the first transducer element 51 which second signal correlates to ultrasonic properties of a material to be analysed 40. With a transducer arrangement according to the invention it may be possible to generate information about the topographical anatomy and information about elastical properties of the material to be analyzed in parallel, whereby the transducer arrangement may be adapted to the unevenness of the material's surface optimally due to its flexibility which may allow the examiner or user of the transducer arrangement to analyze regions which normally may have an uneven surface profile, which may only be reached with difficulty or whose examination may cause inconvenience to the examiner as well as to the person that is being examined.
摘要翻译： 本发明涉及一种换能器装置，特别是一种用于获取组织信息的换能器装置，一种使用换能器装置来获取组织信息的方法和一种包括换能器装置的手套。 用于分析材料40的换能器装置21包括：用于诱导和接收待分析材料40中的机械位移的第一换能器元件51; 和分析单元30.换能器装置布置成柔性以便与要分析的材料40的曲面一致; 并且换能器装置21适于从低频谱的机械位移导出第一信号，第一信号与要分析的材料40的声弹性特性相关; 并且换能器装置21适于从由第一换能器元件51接收的机械位移的高频谱导出第二信号，第二信号与待分析的材料的超声波属性相关。使用根据本发明的换能器装置 有可能产生关于地形解剖学的信息和关于要分析的材料的弹性特性的信息并行地进行，由此，换能器装置可以由于其灵活性而适应于材料表面的不均匀性，其灵活性可允许检查者或 换能器装置的使用者分析通常可能具有不平坦表面轮廓的区域，其可能只能难以达到或者检查可能对检查者以及被检查者造成不便。
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