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公开(公告)号：US08958913B2
公开(公告)日：2015-02-17
申请号：US13834751
申请日：2013-03-15
CPC分类号： G05D1/0234 , G05D1/0225 , G05D2201/0206 , Y10S901/01
摘要： An apparatus includes a robotic positioning device and a locating mat. The locating mat includes a location pattern and can be disposed on a floor at a desired position relative to a movable cradle of an imaging system. The robotic positioning device is configured to be disposed, at least partially, above the locating mat. The robotic positioning device includes a docking device that includes an optical device and a guide manipulator supported on the docking device. The guide manipulator can be positioned relative to the movable cradle based, at least partially, on image data associated with the optical device and the location pattern of the locating mat. The guide manipulator can position an instrument guide relative to a patient disposed on the movable cradle.
摘要翻译： 一种装置包括机器人定位装置和定位垫。 定位垫包括位置图案，并且可以相对于成像系统的可移动支架设置在期望位置的地板上。 机器人定位装置被配置为至少部分地布置在定位垫的上方。 机器人定位装置包括对接装置，其包括支撑在对接装置上的光学装置和导向机械手。 至少部分地基于与光学装置相关联的图像数据和定位垫的位置图案相对于可动支架定位导向机械手。 引导操纵器可以相对于设置在可移动支架上的患者定位仪器引导件。
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公开(公告)号：US20140222205A1
公开(公告)日：2014-08-07
申请号：US13834751
申请日：2013-03-15
CPC分类号： G05D1/0234 , G05D1/0225 , G05D2201/0206 , Y10S901/01
摘要： An apparatus includes a robotic positioning device and a locating mat. The locating mat includes a location pattern and can be disposed on a floor at a desired position relative to a movable cradle of an imaging system. The robotic positioning device is configured to be disposed, at least partially, above the locating mat. The robotic positioning device includes a docking device that includes an optical device and a guide manipulator supported on the docking device. The guide manipulator can be positioned relative to the movable cradle based, at least partially, on image data associated with the optical device and the location pattern of the locating mat. The guide manipulator can position an instrument guide relative to a patient disposed on the movable cradle.
摘要翻译： 一种装置包括机器人定位装置和定位垫。 定位垫包括位置图案，并且可以相对于成像系统的可移动支架设置在期望位置的地板上。 机器人定位装置被配置为至少部分地布置在定位垫的上方。 机器人定位装置包括对接装置，其包括支撑在对接装置上的光学装置和导向机械手。 至少部分地基于与光学装置相关联的图像数据和定位垫的位置图案相对于可动支架定位导向机械手。 引导操纵器可以相对于设置在可移动支架上的患者定位仪器引导件。
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公开(公告)号：US20170100195A1
公开(公告)日：2017-04-13
申请号：US15159192
申请日：2016-05-19
发明人： Gnanasekar VELUSAMY
CPC分类号： A61B34/10 , A61B5/055 , A61B5/06 , A61B5/742 , A61B6/032 , A61B6/12 , A61B6/463 , A61B6/52 , A61B6/5229 , A61B6/5294 , A61B17/3403 , A61B18/00 , A61B18/02 , A61B18/04 , A61B18/12 , A61B18/14 , A61B18/18 , A61B18/1815 , A61B2018/00577 , A61B2018/1425 , A61B2034/104 , A61B2034/107 , A61B2090/3762
摘要： In some embodiments, a planning station can receive image data associated with an image(s) of an area of interest within a body of a patient and display the image(s) on a display device. A user can make a selection of a first interventional tool and a second interventional tool about which information is stored in a memory of the planning station. The planning station can execute a simulation viewable on the display device of a treatment plan for disposing the first and second interventional tools in the body of the patient and applying thermal energy from the first and second interventional tools to the body of the patient. The planning station can generate a thermal model of the thermal effect collectively produced on tissue of the patient by the first interventional tool and the second interventional tools and display the thermal model on the display device.
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公开(公告)号：US20130184572A1
公开(公告)日：2013-07-18
申请号：US13743960
申请日：2013-01-17
IPC分类号： A61B6/03
CPC分类号： A61B34/10 , A61B6/03 , A61B6/032 , A61B6/0407 , A61B6/461 , A61B10/0233 , A61B34/70 , A61B90/11 , A61B2034/101 , A61B2034/107 , A61B2090/067 , A61B2090/376
摘要： Apparatus for accurate positioning of a needle guide is disclosed. The apparatus provides a means for taking as input the position vector for the point of insertion of the needle into the body. This point of insertion can be selected from images produced by a Computer Tomography system. Similarly, the apparatus has a means for taking as input the point of target. A controller determines the directional vector between point of insertion and point of target. A guide manipulator accurately positions the needle guide in line with the directional vector, such that the needle can easily be inserted through the guide to the point of target. The positioning of the guide manipulator in accordance with the directional vector is done with the help of motors.
摘要翻译： 公开了用于精确定位针引导件的装置。 该装置提供用于将针插入身体的位置的位置矢量作为输入的装置。 这个插入点可以从计算机断层成像系统生成的图像中选择。 类似地，该装置具有将目标点作为输入的装置。 控制器确定插入点和目标点之间的方向向量。 引导机械手准确地将针导向器定位成与方向矢量一致，使得针可以容易地通过引导件插入目标点。 引导机械手根据方向矢量的定位是在电机的帮助下完成的。
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公开(公告)号：US20170079720A1
公开(公告)日：2017-03-23
申请号：US15141322
申请日：2016-04-28
CPC分类号： A61B34/10 , A61B6/03 , A61B6/032 , A61B6/0407 , A61B6/461 , A61B10/0233 , A61B34/30 , A61B34/32 , A61B34/70 , A61B90/11 , A61B2034/101 , A61B2034/107 , A61B2090/067 , A61B2090/376
摘要： Apparatus for accurate positioning of a needle guide is disclosed. The apparatus provides a means for taking as input the position vector for the point of insertion of the needle into the body. This point of insertion can be selected from images produced by a Computer Tomography system. Similarly, the apparatus has a means for taking as input the point of target. A controller determines the directional vector between point of insertion and point of target. A guide manipulator accurately positions the needle guide in line with the directional vector, such that the needle can easily be inserted through the guide to the point of target. The positioning of the guide manipulator in accordance with the directional vector is done with the help of motors.
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公开(公告)号：US08774901B2
公开(公告)日：2014-07-08
申请号：US13743960
申请日：2013-01-17
CPC分类号： A61B34/10 , A61B6/03 , A61B6/032 , A61B6/0407 , A61B6/461 , A61B10/0233 , A61B34/70 , A61B90/11 , A61B2034/101 , A61B2034/107 , A61B2090/067 , A61B2090/376
摘要： Apparatus for accurate positioning of a needle guide is disclosed. The apparatus provides a means for taking as input the position vector for the point of insertion of the needle into the body. This point of insertion can be selected from images produced by a Computer Tomography system. Similarly, the apparatus has a means for taking as input the point of target. A controller determines the directional vector between point of insertion and point of target. A guide manipulator accurately positions the needle guide in line with the directional vector, such that the needle can easily be inserted through the guide to the point of target. The positioning of the guide manipulator in accordance with the directional vector is done with the help of motors.
摘要翻译： 公开了用于精确定位针引导件的装置。 该装置提供用于将针插入身体的位置的位置矢量作为输入的装置。 这个插入点可以从计算机断层成像系统生成的图像中选择。 类似地，该装置具有将目标点作为输入的装置。 控制器确定插入点和目标点之间的方向向量。 引导机械手准确地将针导向器定位成与方向矢量一致，使得针可以容易地通过引导件插入目标点。 引导机械手根据方向矢量的定位是在电机的帮助下完成的。
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公开(公告)号：US08613748B2
公开(公告)日：2013-12-24
申请号：US13435963
申请日：2012-03-30
申请人： Gnanasekar Velusamy , Alan Bachman
发明人： Gnanasekar Velusamy , Alan Bachman
IPC分类号： A61B19/00
CPC分类号： A61B17/3403 , A61B2017/3407
摘要： Apparatus and methods for use in an image-guided interventional procedure are described herein. In one embodiment, an apparatus includes a base configured to be releasably coupled to a patient's skin. A support portion extends from the base at an angle transverse to a longitudinal axis defined by the base. The support portion has a first end portion and a second end portion. The first end portion is disposed adjacent the base. A holder portion extends from the second end portion of the support portion. The holder portion defines an opening and is configured to be moved between a first configuration in which the opening defined by the holder portion has a first size and is configured to movably receive an interventional tool therethrough, and a second configuration in which the opening defined by the holder portion has a second size different than the first size.
摘要翻译： 本文描述了用于图像引导介入过程的装置和方法。 在一个实施例中，一种装置包括被配置为可释放地联接到患者皮肤的基座。 支撑部分从基部以与由基部限定的纵向轴线横向的角度延伸。 支撑部具有第一端部和第二端部。 第一端部邻近基部设置。 保持部从支撑部的第二端部延伸。 保持器部分限定开口并且构造成在第一配置之间移动，在第一配置中，由保持器部分限定的开口具有第一尺寸并且构造成可移动地容纳穿过其中的介入工具;以及第二构造，其中由 保持器部分具有与第一尺寸不同的第二尺寸。
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8.发明申请公开(公告)号：US20130085380A1
公开(公告)日：2013-04-04
申请号：US13435980
申请日：2012-03-30
申请人： Gnanasekar Velusamy
发明人： Gnanasekar Velusamy
CPC分类号： A61B34/10 , A61B5/055 , A61B5/06 , A61B5/742 , A61B6/032 , A61B6/12 , A61B6/463 , A61B6/52 , A61B6/5229 , A61B6/5294 , A61B17/3403 , A61B18/00 , A61B18/02 , A61B18/04 , A61B18/12 , A61B18/14 , A61B18/18 , A61B18/1815 , A61B2018/00577 , A61B2018/1425 , A61B2034/104 , A61B2034/107 , A61B2090/3762
摘要： In some embodiments, a planning station can receive image data associated with an image(s) of an area of interest within a body of a patient and display the image(s) on a display device. A user can make a selection of a first interventional tool and a second interventional tool about which information is stored in a memory of the planning station. The planning station can execute a simulation viewable on the display device of a treatment plan for disposing the first and second interventional tools in the body of the patient and applying thermal energy from the first and second interventional tools to the body of the patient. The planning station can generate a thermal model of the thermal effect collectively produced on tissue of the patient by the first interventional tool and the second interventional tools and display the thermal model on the display device.
摘要翻译： 在一些实施例中，规划站可以接收与患者身体内的感兴趣区域的图像相关联的图像数据，并将图像显示在显示装置上。 用户可以选择第一介入工具和关于哪些信息存储在规划站的存储器中的第二介入工具。 规划站可以执行在显示装置上可观看的用于将第一和第二介入工具设置在患者身体中并将热能从第一和第二介入工具施加到患者身体的治疗计划的模拟。 规划站可以通过第一介入工具和第二介入工具生成在患者组织上共同产生的热效应的热模型，并在显示装置上显示热模型。
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公开(公告)号：US08401620B2
公开(公告)日：2013-03-19
申请号：US11682375
申请日：2007-03-06
CPC分类号： A61B34/10 , A61B6/03 , A61B6/032 , A61B6/0407 , A61B6/461 , A61B10/0233 , A61B34/70 , A61B90/11 , A61B2034/101 , A61B2034/107 , A61B2090/067 , A61B2090/376
摘要： Apparatus for accurate positioning of a needle guide is disclosed. The apparatus provides a means for taking as input the position vector for the point of insertion of the needle into the body. This point of insertion can be selected from images produced by a Computer Tomography system. Similarly, the apparatus has a means for taking as input the point of target. A controller determines the directional vector between point of insertion and point of target. A guide manipulator accurately positions the needle guide in line with the directional vector, such that the needle can easily be inserted through the guide to the point of target. The positioning of the guide manipulator in accordance with the directional vector is done with the help of motors.
摘要翻译： 公开了用于精确定位针引导件的装置。 该装置提供用于将针插入身体的位置的位置矢量作为输入的装置。 这个插入点可以从计算机断层成像系统生成的图像中选择。 类似地，该装置具有将目标点作为输入的装置。 控制器确定插入点和目标点之间的方向向量。 引导机械手准确地将针导向器定位成与方向矢量一致，使得针可以容易地通过引导件插入目标点。 引导机械手根据方向矢量的定位是在电机的帮助下完成的。
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公开(公告)号：US20120184956A1
公开(公告)日：2012-07-19
申请号：US13435963
申请日：2012-03-30
申请人： Gnanasekar Velusamy , Alan Bachman
发明人： Gnanasekar Velusamy , Alan Bachman
IPC分类号： A61B18/12
CPC分类号： A61B17/3403 , A61B2017/3407
摘要： Apparatus and methods for use in an image-guided interventional procedure are described herein. In one embodiment, an apparatus includes a base configured to be releasably coupled to a patient's skin. A support portion extends from the base at an angle transverse to a longitudinal axis defined by the base. The support portion has a first end portion and a second end portion. The first end portion is disposed adjacent the base. A holder portion extends from the second end portion of the support portion. The holder portion defines an opening and is configured to be moved between a first configuration in which the opening defined by the holder portion has a first size and is configured to movably receive an interventional tool therethrough, and a second configuration in which the opening defined by the holder portion has a second size different than the first size.
摘要翻译： 本文描述了用于图像引导介入过程的装置和方法。 在一个实施例中，一种装置包括被配置为可释放地联接到患者皮肤的基座。 支撑部分从基部以与由基部限定的纵向轴线横向的角度延伸。 支撑部具有第一端部和第二端部。 第一端部邻近基部设置。 保持部从支撑部的第二端部延伸。 保持器部分限定开口并且构造成在第一配置之间移动，在第一配置中，由保持器部分限定的开口具有第一尺寸并且构造成可移动地容纳穿过其中的介入工具;以及第二构造，其中由 保持器部分具有与第一尺寸不同的第二尺寸。
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