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公开(公告)号：US11960665B2
公开(公告)日：2024-04-16
申请号：US17407634
申请日：2021-08-20
发明人： David W. Bailey , Federico Barbagli , Reuben D. Brewer , Christopher R Carlson , Vincent Duindam , Tania K. Morimoto , Michael D. Paris , Oliver J. Wagner
IPC分类号： A61B46/10 , A61B1/00 , A61B34/00 , A61B34/35 , G06F3/0354 , A61B34/20 , A61B34/30 , A61B90/00 , A61M25/01
CPC分类号： G06F3/03547 , A61B1/00042 , A61B34/25 , A61B34/35 , A61B34/74 , A61B46/10 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/3735 , A61M25/0113
摘要： A drape for an input control console of an elongate device may comprise a main drape section configured to fit over the input control console via a main opening at one end of the main drape section. The drape may also comprise a plurality of pockets. Each of the plurality of pockets may include a pocket opening that is attached to a respective secondary opening in the main drape section. Each of the plurality of pockets may be configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element.
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公开(公告)号：US11779405B2
公开(公告)日：2023-10-10
申请号：US17538047
申请日：2021-11-30
发明人： Federico Barbagli , Lisa L. Ison
CPC分类号： A61B34/20 , A61B17/3423 , A61B34/35 , A61B34/37 , A61B90/13 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2061 , A61B2034/301 , A61B2090/061 , A61B2090/3937
摘要： A teleoperative system includes a first medical instrument connected to and movable by a first manipulator assembly, a second medical instrument connected to and movable by a second manipulator assembly, a first alignment component positioned on at least one of the first manipulator assembly or the second manipulator assembly; a second alignment component positioned on an entry port; and a control system. The second medical instrument is sized and shaped to fit and move within the first medical instrument. The control system is configured to determine, based on the first and second alignment components, a position and orientation of the first medical instrument with respect to the entry port.
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公开(公告)号：US20230285081A1
公开(公告)日：2023-09-14
申请号：US18041337
申请日：2021-08-06
CPC分类号： A61B34/10 , G06T7/11 , A61B2034/105 , G06T2207/20081 , G06T2207/30004
摘要： Disclosed herein are devices, systems, methods, and computer program products for planning and performing medical procedures. In some embodiments, a system for planning a medical procedure includes a processor and a memory operably coupled to the processor. The memory can store instructions that, when executed by the processor, cause the system to perform operations including: receiving image data of an anatomic region including a plurality of lymph nodes and a target lesion; generating a three-dimensional model of the anatomic region by segmenting the image data; selecting a subset of the lymph nodes to be biopsied during the medical procedure based at least in part on a location of the target lesion in the three-dimensional model; and determining a sequence for navigating a biopsy device to locations of the subset of the lymph nodes during the medical procedure.
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公开(公告)号：US20230284876A1
公开(公告)日：2023-09-14
申请号：US18179874
申请日：2023-03-07
IPC分类号： A61B1/00 , G06T7/33 , A61B34/20 , A61B34/37 , A61B10/04 , A61B34/35 , G06T19/20 , A61B1/267 , G06T19/00 , A61B5/06 , A61B1/05 , A61B34/00 , A61B1/005 , G06T7/10
CPC分类号： A61B1/0005 , G06T7/344 , A61B34/20 , A61B34/37 , A61B10/04 , A61B34/35 , G06T19/20 , A61B1/2676 , G06T19/00 , G06T19/006 , A61B5/06 , G06T7/337 , A61B1/05 , A61B34/25 , A61B1/005 , G06T7/33 , A61B1/009 , G06T7/10 , G06T2207/30061 , A61B2034/2051 , G06T2207/10068 , A61B2034/2061
摘要： A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.
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公开(公告)号：US20230215007A1
公开(公告)日：2023-07-06
申请号：US18184499
申请日：2023-03-15
发明人： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
CPC分类号： A61B34/20 , A61B34/10 , A61B2034/2046 , A61B2034/105
摘要： A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.
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公开(公告)号：US11622669B2
公开(公告)日：2023-04-11
申请号：US17412705
申请日：2021-08-26
IPC分类号： A61B34/20 , A61B1/00 , A61B1/267 , G06T19/00 , A61B1/005 , G06T19/20 , G06T7/33 , A61B5/06 , A61B34/00 , A61B34/35 , A61B34/37 , G06T7/10 , A61B1/05 , A61B10/04
摘要： A system includes a manipulator and a processing unit. The processing unit is configured to receive, from a position sensor system, a collected set of spatial information for a distal portion of a medical instrument collected at locations within anatomic passageways as a rigid instrument body is moved in an insertion or retraction direction. The processing unit is further configured to receive, from a position measuring device, a set of position information related to a position of the rigid instrument body when the distal portion is at the locations. The processing unit is further configured to, based at least in part on the set of position information, determine a subset of the set of spatial information relative to the environment coordinate space and, based on the subset of spatial information, determine an initial transform for registering the set of spatial information with anatomical model information in a model coordinate space.
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公开(公告)号：US11464411B2
公开(公告)日：2022-10-11
申请号：US16491023
申请日：2018-03-12
摘要： A system for performing a minimally invasive procedure comprises a flexible catheter with a lumen extending therethrough. The system also comprises an elongate instrument sized for passage through the lumen and an optical coherence tomographic sensor coupled to the elongate instrument. The system also comprises a control system that includes one or more processors. The control system is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, generate an output signal based on the profiled tissue, and based on receipt of the output signal, determine a distance between the elongate instrument and the profiled tissue.
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公开(公告)号：US11351000B2
公开(公告)日：2022-06-07
申请号：US15329899
申请日：2015-07-17
IPC分类号： A61B34/35 , A61B34/30 , A61B34/20 , A61B34/00 , A61B34/37 , A61B17/00 , A61B34/10 , A61B90/50 , A61B90/00
摘要： A method of deploying an interventional instrument comprises identifying a target structure within a patient anatomy in an anatomic frame of reference. The method further comprises determining a target region representing a location of the target structure in the the anatomic frame of reference with respect to a current location of the interventional instrument and recording a first engagement location of the interventional instrument within the target. Determining the target region includes determining a probabilistic distribution of the location of the target structure relative to the current location of the interventional instrument and associating each of the plurality of target points with a probability of engaging the target structure.
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公开(公告)号：US11241148B2
公开(公告)日：2022-02-08
申请号：US16870494
申请日：2020-05-08
摘要： A system comprises a medical instrument including a nozzle and a lens. The system further comprises a valve configured to control provision of a pressurized fluid. The system further comprises a valve control mechanism and a control system. The control system is configured to determine, based on a position of the medical instrument within a patient anatomy, whether an obstruction is on a surface of the lens. The control system is further configured to, based on a determination that the obstruction is on the surface of the lens, instruct the valve control mechanism to open the valve to release a flow of the pressurized fluid through the nozzle and over the surface of the lens.
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公开(公告)号：US11219490B2
公开(公告)日：2022-01-11
申请号：US16331713
申请日：2017-09-29
发明人： Federico Barbagli , Lisa L. Ison
摘要： A teleoperative system includes a teleoperational manipulator, a flexible medical instrument, an entry port, a sensor system, and a control system. The flexible medical instrument is coupled to and movable by the teleoperational manipulator. The entry port provides a passageway for insertion of the flexible medical instrument into a patient body. The sensor system includes a first sensor fixedly coupled to the entry port. The control system is configured to use information transmitted by the first sensor to determine a position and orientation of the entry port with respect to the flexible medical instrument.
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