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1.发明授权Medical system with multiple operating modes for steering a medical instrument through linked body passages 有权具有多种操作模式的医疗系统，用于通过连接的身体通道转向医疗器械公开(公告)号：US09572481B2
公开(公告)日：2017-02-21
申请号：US13107052
申请日：2011-05-13
CPC分类号： A61B1/00147 , A61B1/0051 , A61B1/01 , A61B5/065
摘要： A controller operates in different operating modes to control movement of a distal tip of a medical instrument when inserting and retracting the medical instrument through linked body passages. When inserting the medical instrument, the controller normally operates in an automatic navigation mode unless manually overridden to operate in a manual mode. When retracting the medical instrument, the controller normally operates in a zero-force mode to allow the distal tip to freely move so that it may comply with the shape of the passages as the medical instrument is being retracted through the linked body unless manually overridden to operate in a manual mode.
摘要翻译： 控制器以不同的操作模式操作，以在通过连接的身体通道插入和缩回医疗器械时控制医疗器械的远端的移动。 当插入医疗仪器时，控制器通常以自动导航模式运行，除非手动覆盖以在手动模式下操作。 当缩回医疗器械时，控制器通常以零力模式操作，以允许远端尖端自由移动，使得当医疗器械正在缩回通过连接体时，它可以符合通道的形状，除非手动覆盖 在手动模式下操作。
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公开(公告)号：US09387048B2
公开(公告)日：2016-07-12
申请号：US13274237
申请日：2011-10-14
CPC分类号： A61B34/20 , A61B5/062 , A61B34/10 , A61B2034/2051 , A61B2034/2061 , A61B2034/302 , A61M25/0127 , A61M25/0147
摘要： A medical system including a catheter or other flexible structure uses a combination of two different sensor systems to measure a pose of a section or tip of the catheter or flexible structure. The first sensor system, which may include an electromagnetic sensor, can measure a pose of a first section of the catheter, and the second sensor system can measure a pose of the second section relative to the first section. The second sensor system may employ a technology such as fiber shape sensing that permits the second section to be smaller than the first section, so that a distal tip of the catheter or flexible structure can fit within smaller natural lumens.
摘要翻译： 包括导管或其他柔性结构的医疗系统使用两个不同传感器系统的组合来测量导管或柔性结构的截面或尖端的姿态。 可以包括电磁传感器的第一传感器系统可以测量导管的第一部分的姿态，并且第二传感器系统可以相对于第一部分测量第二部分的姿态。 第二传感器系统可以采用诸如纤维形状检测的技术，其允许第二部分小于第一部分，使得导管或柔性结构的远侧末端可以装配在较小的自然腔内。
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公开(公告)号：US20130096497A1
公开(公告)日：2013-04-18
申请号：US13274198
申请日：2011-10-14
IPC分类号： A61M25/092
CPC分类号： A61M25/0133 , A61B18/24 , A61B34/30 , A61B2034/2061 , A61B2034/301 , A61M25/0113 , A61M25/0147 , A61M25/0158 , A61M2025/0166
摘要： A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor.
摘要翻译： 一种医疗系统，其包括可远程操作的机械系统的导管，其使用传感器来至少部分地测量导管的姿态以及耦合到机械系统的控制系统。 控制系统具有多种操作模式，包括一种或多种保持模式，其中控制系统基于来自传感器的反馈来操作机械系统以维持导管的工作配置。
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公开(公告)号：US20130096385A1
公开(公告)日：2013-04-18
申请号：US13274229
申请日：2011-10-14
IPC分类号： A61B1/12
CPC分类号： A61B1/0607 , A61B1/00105 , A61B1/0051 , A61B1/05
摘要： A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. Functionality for the system is divided between the catheter and the vision probe. In particular, the removable vision probe can provide imaging, illumination, irrigation, and suction that may be employed before a medical probe is deployed. The catheter can include actuation and sensing structures that are useful with or necessary for both vision and medical probes. Accordingly, the catheter can maximize available space for probes and still provide all necessary functions for use of a medical probe when the vision probe is removed.
摘要翻译： 医疗系统包括导管和视觉探头，其可以从导管移除并用医疗探针代替。 系统的功能在导管和视觉探头之间分开。 特别地，可移除的视觉探针可以提供在部署医疗探针之前可以使用的成像，照明，冲洗和抽吸。 导管可以包括与视觉和医学探针有用或必需的致动和感测结构。 因此，导管可以使探针的可用空间最大化，并且当除去视觉探针时仍然提供用于医疗探针的所有必要功能。
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公开(公告)号：US10238837B2
公开(公告)日：2019-03-26
申请号：US13274198
申请日：2011-10-14
摘要： A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor.
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公开(公告)号：US09452276B2
公开(公告)日：2016-09-27
申请号：US13274208
申请日：2011-10-14
申请人： Vincent Duindam , Catherine J. Mohr , Carolyn M. Fenech , Giuseppe Maria Prisco , Kwok Wai Samuel Au , Caitlin Q. Donhowe
发明人： Vincent Duindam , Catherine J. Mohr , Carolyn M. Fenech , Giuseppe Maria Prisco , Kwok Wai Samuel Au , Caitlin Q. Donhowe
IPC分类号： A61B1/00 , A61M25/00 , A61B1/005 , A61B1/018 , A61B5/06 , A61B10/02 , A61M25/01 , A61B17/00 , A61B17/22 , A61B5/00
CPC分类号： A61M25/0662 , A61B1/00006 , A61B1/00078 , A61B1/00154 , A61B1/0052 , A61B1/0057 , A61B1/01 , A61B1/018 , A61B5/06 , A61B5/062 , A61B5/065 , A61B5/6852 , A61B10/02 , A61B10/04 , A61B2017/00292 , A61B2017/00323 , A61B2017/00809 , A61B2017/22074 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B2034/301 , A61M25/003 , A61M25/0074 , A61M25/0113 , A61M25/0147 , A61M2025/0034 , A61M2025/0166
摘要： A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality.
摘要翻译： 医疗系统包括导管和视觉探头，其可以从导管移除并用医疗探针代替。 因此，可以使用视觉探针来引导和构成导管，然后当执行诸如肺活检的医疗任务时，将其移除并替换为医疗探针。 导管中的传感器系统至少部分地测量导管的姿势，并且当使用医疗探针时，控制逻辑控制导管的致动以维持期望的工作构型。 因此，小直径导管可以提供视力和活检功能。
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7.发明授权Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery 有权提供图像引导手术解剖结构模型的动态注册的医疗系统公开(公告)号：US08900131B2
公开(公告)日：2014-12-02
申请号：US13107562
申请日：2011-05-13
IPC分类号： A61B1/04 , A61B5/05 , A61B1/00 , G06T19/00 , G06T7/00 , A61B1/267 , A61B19/00 , A61B1/005 , A61B5/00 , A61B17/00
CPC分类号： A61B5/0084 , A61B1/00009 , A61B1/00055 , A61B1/0051 , A61B1/2676 , A61B5/0037 , A61B5/02007 , A61B5/02028 , A61B5/08 , A61B5/20 , A61B5/4064 , A61B5/42 , A61B5/6852 , A61B5/7475 , A61B34/20 , A61B2017/00323 , A61B2017/00699 , A61B2017/00703 , A61B2034/107 , A61B2034/2061 , A61B2090/3614 , A61B2090/367 , A61B2576/023 , A61B2576/026 , G06T7/75 , G06T19/003 , G06T2207/10068
摘要： A medical system provides navigation assistance to a surgeon so that the surgeon may navigate a flexible medical device through linked passages of an anatomical structure to a target in or adjacent to the anatomical structure. As the medical device moves through the linked passages, images are captured by an image capturing element at its distal end and pose and shape information for the medical device are received from sensors disposed in the medical device. A 4-D computer model of the anatomical structure is registered to the medical device using one or both of 4-D shape registration and virtual camera registration so that the captured image and a virtual image generated from the perspective of a virtual camera are registered to each other and displayed while providing an indication of a navigational path to the target.
摘要翻译： 医疗系统为外科医生提供导航辅助，使得外科医生可以通过解剖结构的连接通道导航柔性医疗装置到解剖结构中或与解剖结构相邻的靶。 当医疗装置移动通过连接的通道时，图像被其远端处的图像捕获元件捕获，并且姿态和医疗装置的形状信息从设置在医疗装置中的传感器接收。 解剖结构的4-D计算机模型使用4-D形状配准和虚拟照相机登记中的一个或两个向医疗装置登记，从而将捕获的图像和从虚拟照相机的角度生成的虚拟图像登记到 彼此并且显示，同时提供到目标的导航路径的指示。
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8.发明授权Method and system to sense relative partial-pose information using a shape sensor 有权使用形状传感器检测相对部分姿势信息的方法和系统公开(公告)号：US08488130B2
公开(公告)日：2013-07-16
申请号：US12618082
申请日：2009-11-13
CPC分类号： G01B21/22 , A61B34/37 , A61B34/70 , A61B2034/2061 , A61B2090/067
摘要： A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.
摘要翻译： 形状感测部分穿过远程操作的微创手术系统中远程操作的从动手术器械的运动链的至少一部分。 形状感测部分包括预设扰动。 来自预设扰动的形状信息允许确定运动链中的至少一个链路的相对部分姿势信息。
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9.发明申请MEDICAL SYSTEM PROVIDING DYNAMIC REGISTRATION OF A MODEL OF AN ANATOMICAL STRUCTURE FOR IMAGE-GUIDED SURGERY 有权医学系统提供图像引导手术解剖结构模型的动态注册公开(公告)号：US20120289777A1
公开(公告)日：2012-11-15
申请号：US13107562
申请日：2011-05-13
CPC分类号： A61B5/0084 , A61B1/00009 , A61B1/00055 , A61B1/0051 , A61B1/2676 , A61B5/0037 , A61B5/02007 , A61B5/02028 , A61B5/08 , A61B5/20 , A61B5/4064 , A61B5/42 , A61B5/6852 , A61B5/7475 , A61B34/20 , A61B2017/00323 , A61B2017/00699 , A61B2017/00703 , A61B2034/107 , A61B2034/2061 , A61B2090/3614 , A61B2090/367 , A61B2576/023 , A61B2576/026 , G06T7/75 , G06T19/003 , G06T2207/10068
摘要： A medical system provides navigation assistance to a surgeon so that the surgeon may navigate a flexible medical device through linked passages of an anatomical structure to a target in or adjacent to the anatomical structure. As the medical device moves through the linked passages, images are captured by an image capturing element at its distal end and pose and shape information for the medical device are received from sensors disposed in the medical device. A 4-D computer model of the anatomical structure is registered to the medical device using one or both of 4-D shape registration and virtual camera registration so that the captured image and a virtual image generated from the perspective of a virtual camera are registered to each other and displayed while providing an indication of a navigational path to the target.
摘要翻译： 医疗系统为外科医生提供导航辅助，使得外科医生可以通过解剖结构的连接通道导航柔性医疗装置到解剖结构中或与解剖结构相邻的靶。 当医疗装置移动通过连接的通道时，图像被其远端处的图像捕获元件捕获，并且姿态和医疗装置的形状信息从设置在医疗装置中的传感器接收。 解剖结构的4-D计算机模型使用4-D形状配准和虚拟照相机登记中的一个或两个向医疗装置登记，从而将捕获的图像和从虚拟照相机的角度生成的虚拟图像登记到 彼此并且显示，同时提供到目标的导航路径的指示。
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10.发明授权公开(公告)号：US08827934B2
公开(公告)日：2014-09-09
申请号：US13297066
申请日：2011-11-15
IPC分类号： A61B5/00
CPC分类号： A61B1/0005 , A61B1/00154 , A61B1/0051 , A61B5/065 , A61B5/1076 , A61B34/20 , A61B2017/00699 , A61B2034/2061 , A61B2090/3614
摘要： A medical system provides navigation assistance to a surgeon for navigating a flexible medical device through linked passages of an anatomical structure to a target area. For tracking, navigation, and other purposes, information of extrema is determined during expansion and contraction cycles of an object by receiving time sampled information from sensors distributed along a length of a flexible device so as to indicate the shape of the device over time while the device extends through a lumen of the object so as to conform to and resemble the shape of the lumen, displacements over time of a selected point at a selected insertion length of the flexible device into the lumen of the object relative to a reference point are determined, extrema time points are determined by identifying sign changes of the slope of the determined displacements over time, and extrema types are determined using extrema type characteristics.
摘要翻译： 医疗系统为外科医生提供导航辅助，用于通过解剖结构的连接通道将柔性医疗装置导航到目标区域。 为了跟踪，导航和其他目的，通过从沿着柔性装置的长度分布的传感器接收时间采样信息来确定对象的扩展和收缩周期中的极值信息，以便随着时间而指示装置的形状 装置延伸穿过物体的内腔以便符合并类似于内腔的形状，确定随着柔性装置的选定插入长度的选定点的时间相对于参考点的位移到物体的内腔中的位移 通过识别确定的位移随时间的斜率的符号变化来确定极值时间点，并且使用极值类型特征来确定极值类型。
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