公开(公告)号：US20160000515A1

公开(公告)日：2016-01-07

申请号：US14775759

申请日：2014-03-14

申请人： Gal Sels ,  Cameron Piron ,  Michael Wood ,  Joshua Richmond ,  Murugathas Yuwaraj ,  Stephen McFadyen ,  Monroe M. Thomas ,  Wes Hodges ,  Simon Alexander

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

IPC分类号： A61B19/00

摘要： Disclosed herein is a system and method for dynamic validation, correction of registration for surgical navigation during medical procedures on a patient which involves confirmation of registration between one or more previously registered virtual objects, such as surgical tools etc. in a common coordinate frame of a surgical navigation system and an operating room, and intra-operatively acquired imaging during the medical procedure in the common coordinate frame. The method includes displaying intra-operatively acquired imaging of the surgical field containing the one or more real objects corresponding to the one or more previously registered virtual objects, with the real objects being tracked by a tracking system. The method overlaying a virtual image containing the previously registered virtual objects onto the intra-operatively acquired imaging, from the point of view of the intra-operatively acquired imaging, and detecting for any misalignment between any one of the one or more previously registered virtual objects contained in the virtual image and its corresponding real object contained in the intra-operatively acquired imaging.

摘要翻译： 本文公开了一种用于动态验证的系统和方法，用于在患者的医疗过程期间对外科导航的注册进行校正，其涉及确认一个或多个先前登记的虚拟对象之间的注册，诸如外科手术工具等 手术导航系统和手术室，以及在公共坐标系中的医疗过程期间的手术内获取的成像。 该方法包括显示手术区域的操作中获取的成像，所述成像包含与一个或多个先前注册的虚拟对象相对应的一个或多个实际对象，其中所述实际对象由跟踪系统跟踪。 从操作中获取的成像的角度，将包含先前登记的虚拟对象的虚拟图像重叠到操作中获取的成像上的方法，以及检测一个或多个先前注册的虚拟对象中的任何一个之间的任何未对准 包含在虚拟图像中及其对应的实际对象中，包含在操作中获取的成像中。

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：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：US09788906B2

公开(公告)日：2017-10-17

申请号：US14771643

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： A61B19/00 ,  G06T11/00 ,  G06T7/00 ,  A61B1/00 ,  A61B1/045 ,  A61B6/00 ,  A61B90/96 ,  A61B90/30 ,  A61B90/90 ,  A61B90/94 ,  A61B90/98 ,  G06T7/70 ,  A61B6/03 ,  A61B8/13 ,  A61B18/14 ,  A61B8/08 ,  A61B90/00 ,  A61B34/20 ,  A61B34/00 ,  A61B90/50 ,  A61B34/30

CPC分类号： A61B34/10 ,  A61B1/00059 ,  A61B1/045 ,  A61B6/03 ,  A61B6/5247 ,  A61B8/0808 ,  A61B8/0841 ,  A61B8/13 ,  A61B18/14 ,  A61B34/20 ,  A61B34/30 ,  A61B90/30 ,  A61B90/50 ,  A61B90/90 ,  A61B90/94 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2034/252 ,  A61B2034/256 ,  A61B2090/306 ,  A61B2090/3618 ,  A61B2090/373 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/378 ,  A61B2090/3983 ,  G06T7/0012 ,  G06T7/70 ,  G06T11/003 ,  G06T2207/10081 ,  G06T2207/10088 ,  G06T2207/10104 ,  G06T2207/10132 ,  G06T2207/30016

摘要： Systems and methods are provided in which devices that are employed during a medical procedure are adaptively configured during the medical procedure, based on input or feedback that is associated with the current state, phase or context of the medical procedure. In some example embodiments, the input is obtained via the identification of one or more medical instruments present within a region of interest, and this input may be employed to determine configuration parameters for configuring the device. In other example embodiments, the input may be based on the image-based detection of a measure associated with the phase or context of the medical procedure, and this input may be employed to adaptively control the device based on the inferred context or phase of the medical procedure. In other embodiments, images from one imaging modality may be employed to adaptively switch to another imaging modality.

公开(公告)号：US20160015471A1

公开(公告)日：2016-01-21

申请号：US14771643

申请日：2015-03-14

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： A61B19/00 ,  G06T11/00 ,  G06T7/00

CPC分类号： A61B34/10 ,  A61B1/00059 ,  A61B1/00149 ,  A61B1/045 ,  A61B6/03 ,  A61B6/5247 ,  A61B8/0808 ,  A61B8/0841 ,  A61B8/13 ,  A61B18/14 ,  A61B34/20 ,  A61B34/30 ,  A61B90/30 ,  A61B90/50 ,  A61B90/90 ,  A61B90/94 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2034/252 ,  A61B2034/256 ,  A61B2090/306 ,  A61B2090/3618 ,  A61B2090/373 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/378 ,  A61B2090/3983 ,  G06T7/0012 ,  G06T7/70 ,  G06T11/003 ,  G06T2207/10081 ,  G06T2207/10088 ,  G06T2207/10104 ,  G06T2207/10132 ,  G06T2207/30016

摘要： Systems and methods are provided in which devices that are employed during a medical procedure are adaptively configured during the medical procedure, based on input or feedback that is associated with the current state, phase or context of the medical procedure. In some example embodiments, the input is obtained via the identification of one or more medical instruments present within a region of interest, and this input may be employed to determine configuration parameters for configuring the device. In other example embodiments, the input may be based on the image-based detection of a measure associated with the phase or context of the medical procedure, and this input may be employed to adaptively control the device based on the inferred context or phase of the medical procedure. In other embodiments, images from one imaging modality may be employed to adaptively switch to another imaging modality.

摘要翻译： 提供了系统和方法，其中基于与医疗过程的当前状态，相位或上下文相关联的输入或反馈，在医疗过程期间采用的设备在医疗过程期间被自适应地配置。 在一些示例性实施例中，通过识别感兴趣区域中存在的一个或多个医疗器械来获得输入，并且可以采用该输入来确定用于配置设备的配置参数。 在其他示例实施例中，输入可以基于与医疗过程的相位或上下文相关联的度量的基于图像的检测，并且可以采用该输入来基于推断的上下文或相位来自适应地控制设备 医疗程序。 在其它实施例中，可以采用来自一个成像模态的图像来自适应地切换到另一成像模态。

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：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：US20150351860A1

公开(公告)日：2015-12-10

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： A61B19/00 ,  A61B5/00 ,  A61B5/145 ,  A61B5/055

CPC分类号： A61B5/065 ,  A61B5/0042 ,  A61B5/0095 ,  A61B5/055 ,  A61B5/14539 ,  A61B17/3421 ,  A61B34/20 ,  A61B90/50 ,  A61B90/90 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2053 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2090/103 ,  A61B2090/365 ,  A61B2090/3735 ,  A61B2090/3762 ,  A61B2090/3782 ,  A61B2090/3983 ,  A61B2090/571 ,  A61B2562/0247 ,  A61N1/0534

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.

摘要翻译： 这里公开了用于微创治疗的导航和模拟系统和方法，其中导航系统使用患者特定的手术前图像来导入计划方法。 导航系统在医疗过程中使用术中成像来更新术前图像，并根据术前图像准备的手术路径提供跟踪的外科手术工具的图像。