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。

公开(公告)号：US20110257671A1

公开(公告)日：2011-10-20

申请号：US13141350

申请日：2009-11-10

申请人： Karen Irene Trovato ,  Wouter Anthon Soer

发明人： Karen Irene Trovato ,  Wouter Anthon Soer

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。

公开(公告)号：US5663879A

公开(公告)日：1997-09-02

申请号：US966221

申请日：1992-10-26

申请人： Karen Irene Trovato ,  Leendert Dorst

发明人： Karen Irene Trovato ,  Leendert Dorst

IPC分类号： B25J9/16 ,  G05B19/4061 ,  G05D1/02 ,  G08G3/00 ,  G08G3/02 ,  G06G7/78 ,  G06F17/00

CPC分类号： G05B19/4061 ,  B25J9/1666 ,  G05D1/0217 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/028 ,  G05B2219/35415 ,  G05B2219/40443 ,  G05B2219/40448 ,  G05B2219/40465 ,  G05B2219/40471 ,  G05B2219/40476 ,  G05B2219/45131 ,  G05B2219/49143 ,  G05D1/0255 ,  G05D2201/0202

摘要： In order to provide smooth control a vehicle control method includes concatenating like-kind direction arrows in a configuration space. In addition, a stopping criterion is used to change a control signal in time to achieve stopping at a desired setpoint. To improve error recovery, control signals are changed in response to an error exceeding a predetermined limit.

摘要翻译： 为了提供平稳的控制，车辆控制方法包括在配置空间中连接类似方向的箭头。 此外，使用停止标准来及时改变控制信号，以实现在期望设定点的停止。 为了改善错误恢复，控制信号响应于超过预定极限的错误而改变。

公开(公告)号：US08267927B2

公开(公告)日：2012-09-18

申请号：US12709542

申请日：2010-02-22

申请人： Sandeep Dalal ,  Karen Irene Trovato ,  Jurgen Jan Rusch ,  Jochen Kruecker

发明人： Sandeep Dalal ,  Karen Irene Trovato ,  Jurgen Jan Rusch ,  Jochen Kruecker

IPC分类号： A61B18/12

CPC分类号： A61B18/1477 ,  A61B6/02 ,  A61B8/13 ,  A61B18/148 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B2018/00577

摘要： In planning an ablation procedure, a planned target volume (PTV) is imported, which is typically selected by a doctor but may be computer-identified. An ablation solution comprising a plurality of ablation volumes is generated or selected using a lookup table. Ablations sharing a common axis along a line of insertion are grouped into blocks. Alternatively, the PTV is enveloped in a sphere, and a pre-computed ablation solution (e.g., a 6- or 14-sphere solution) is identified to cover the PTV sphere. Optionally, a mathematical algorithm is executed to increase an axis through the ablation spheres to generate ellipsoidal ablation volumes that envelop the PTV.

摘要翻译： 在规划消融程序时，导入计划目标体积（PTV），通常由医生选择，但可能是计算机识别的。 使用查找表生成或选择包括多个消融体积的消融溶液。 沿着插入线共享公共轴的消融被分组成块。 或者，PTV被包围在球体中，并且识别预先计算的消融溶液（例如，6或14球溶液）以覆盖PTV球体。 可选地，执行数学算法以增加穿过消融球的轴以产生包围PTV的椭圆形消融体积。

公开(公告)号：US20120029288A1

公开(公告)日：2012-02-02

申请号：US13260734

申请日：2010-03-03

申请人： Elliot Eliyahu Greenblatt ,  Aleksandra Popovic ,  Karen Irene Trovato

发明人： Elliot Eliyahu Greenblatt ,  Aleksandra Popovic ,  Karen Irene Trovato

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）。

公开(公告)号：US20110282151A1

公开(公告)日：2011-11-17

申请号：US13124903

申请日：2009-10-12

申请人： Karen Irene Trovato ,  Aleksandra Popovic

发明人： Karen Irene Trovato ,  Aleksandra Popovic

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）。

公开(公告)号：US20110270040A1

公开(公告)日：2011-11-03

申请号：US13142449

申请日：2009-11-10

申请人： Aleksandra Popovic ,  Karen Irene Trovato

发明人： Aleksandra Popovic ,  Karen Irene Trovato

IPC分类号： A61B1/32 ,  G06G7/60 ,  G06F3/00

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。

公开(公告)号：US20110245625A1

公开(公告)日：2011-10-06

申请号：US13139803

申请日：2009-11-10

申请人： Karen Irene Trovato ,  Aleksandra Popovic

发明人： Karen Irene Trovato ,  Aleksandra Popovic

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。

公开(公告)号：US20110092810A1

公开(公告)日：2011-04-21

申请号：US12991913

申请日：2009-06-12

申请人： Karen Irene Trovato

发明人： Karen Irene Trovato

IPC分类号： A61B1/32 ,  A61B5/055 ,  G06F19/00

CPC分类号： A61B17/3431 ,  A61B17/3421 ,  A61B34/10 ,  A61B2017/00331 ,  A61B2017/00526 ,  A61B2017/3443 ,  A61M25/0041 ,  A61M25/0105

摘要： The present disclosure provides for systems and methods for Nested Cannula configuration. Nested Cannula systems include a plurality of telescoping, pre-shaped tubes configured and dimensioned to reach target locations within a particular anatomical region. A three dimensional image is read for the particular anatomical region and structure in question. A series of arcs are generated between a point of the anatomical region and a target location, ensuring collision-free motion for each of the tubes at each specific diameter. The target location is determined based upon the medical procedure being performed and the location and orientation in six degrees of freedom of the anatomical structure in question. The series of arcs are used to configure and dimension the plurality of tubes. The Nested Cannula system is adapted to reach relatively small and complex target locations, such as to deliver photodynamic therapy, balloon angioplasty or BronchoAlveolar Lavage.

摘要翻译： 本公开提供了用于嵌套插管配置的系统和方法。 嵌套插管系统包括多个可伸缩的预成形管，其配置和尺寸设计成达到特定解剖区域内的目标位置。 对于所讨论的特定解剖区域和结构，读取三维图像。 在解剖区域的一个点和目标位置之间产生一系列弧，确保每个特定直径处的每个管的无碰撞运动。 目标位置是基于正在执行的医疗程序以及所讨论的解剖结构的六自由度中的位置和取向来确定的。 该系列弧用于配置和定尺多个管。 嵌套插管系统适应于达到相对较小和复杂的目标位置，例如提供光动力疗法，球囊血管成形术或支气管肺泡灌洗液。

公开(公告)号：US20110295199A1

公开(公告)日：2011-12-01

申请号：US13142456

申请日：2009-11-10

申请人： Aleksandra Popovic ,  Karen Irene Trovato

发明人： Aleksandra Popovic ,  Karen Irene Trovato

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。