公开(公告)号：US11976985B2

公开(公告)日：2024-05-07

申请号：US16708493

申请日：2019-12-10

申请人： KONINKLIJKE PHILIPS N.V.

发明人： Bernhard Gleich ,  Juergen Erwin Rahmer ,  Michael Grass

IPC分类号： A61B5/06 ,  A61B1/00 ,  A61B5/00 ,  A61B5/0215 ,  A61B5/05 ,  A61B34/20 ,  A61B90/00 ,  G01K1/26 ,  G01K7/36 ,  G01K13/04 ,  G01L9/00

CPC分类号： G01K7/36 ,  A61B1/00158 ,  A61B5/0215 ,  A61B5/02152 ,  A61B5/05 ,  A61B5/062 ,  A61B5/6851 ,  A61B5/6852 ,  A61B34/20 ,  A61B90/36 ,  A61B90/39 ,  G01K1/26 ,  G01K13/04 ,  G01L9/0001 ,  G01L9/007 ,  A61B5/02158 ,  A61B2034/2051 ,  A61B2034/2072 ,  A61B2090/3958 ,  A61B2090/3966 ,  A61B2562/0223

摘要： The invention relates to a marker device and a tracking system for tracking the marker device, wherein the marker device comprises a rotationally oscillatable magnetic object and wherein the rotational oscillation is excitable by an external magnetic field, i.e. a magnetic field which is generated by a magnetic field providing unit 20, 31 that is located outside of the marker device. The rotational oscillation of the magnetic object induces a current in coils, wherein based on these induced currents the position and optionally also the orientation of the marker device is determined. This wireless kind of tracking can be carried out with relatively small marker devices, which can be placed, for instance, in a guidewire, the marker devices can be read out over a relatively large distance and it is possible to use a single marker device for six degrees of freedom localization.

公开(公告)号：US20240057853A1

公开(公告)日：2024-02-22

申请号：US18448958

申请日：2023-08-13

申请人： FUJIFILM Corporation

发明人： Satoru TSUTO ,  Kimitake FUKUSHIMA

IPC分类号： A61B1/00 ,  A61B1/005

CPC分类号： A61B1/00158 ,  A61B1/00006 ,  A61B1/0055

摘要： An endoscope system includes a magnetic detection unit, an insertion part of an endoscope that is used by being relatively moved with respect to the magnetic detection unit, and a processor, in which the insertion part includes a tubular member that extends in a longitudinal direction and has a magnetic pattern formed along the longitudinal direction, the magnetic detection unit detects a magnetic flux density in the longitudinal direction and a magnetic flux density in a radial direction at a plurality of positions along the longitudinal direction of the tubular member, and the processor determines a movement state of the insertion part in the longitudinal direction based on the magnetic flux densities.

公开(公告)号：US11786114B2

公开(公告)日：2023-10-17

申请号：US16844248

申请日：2020-04-09

申请人： AnX Robotica Corp

发明人： Xiaodong Duan

IPC分类号： A61B1/04 ,  A61B1/00 ,  A61B10/00 ,  A61M31/00 ,  A61B1/015

CPC分类号： A61B1/041 ,  A61B1/00119 ,  A61B1/00128 ,  A61B1/00158 ,  A61B1/015 ,  A61B10/0045 ,  A61M31/002 ,  A61B2010/0061 ,  A61B2562/162 ,  A61M2210/1042

摘要： Systems for liquid biopsy and/or drug delivery may include a capsule endoscope and a tether coupled to the capsule endoscope. The tether may include a flexible member with a lumen in fluidic communication with a port configured to permit passage of fluid, and the port may be, for example, on the capsule endoscope or the tether. In methods for liquid biopsy and/or drug delivery, the capsule endoscope may be advanced into a gastrointestinal tract of a patient, and navigated to a region of interest, where a patient sample may be withdrawn and/or a therapeutic substance may be administered through the lumen (e.g., through the port).

公开(公告)号：US20230225583A1

公开(公告)日：2023-07-20

申请号：US17917241

申请日：2021-04-08

申请人： Ankon Medical Technologies (Shanghai) Co., LTD

发明人： Xiaodong DUAN ,  Qingqing WANG

IPC分类号： A61B1/00 ,  A61B1/04 ,  A61B1/273 ,  A61B5/06 ,  H04N23/698

CPC分类号： A61B1/00006 ,  A61B1/041 ,  A61B1/00158 ,  A61B1/00097 ,  A61B1/2736 ,  A61B5/061 ,  H04N23/698 ,  A61B2090/067

摘要： A system and method for controlling a capsule endoscope is provided. The control method includes: measuring a magnetic field value of the environment in which the capsule endoscope is subjected; obtaining a critical magnetic field value for suspension of the capsule endoscope according to the magnetic field value; adjusting a traction force on the capsule endoscope according to the critical magnetic field value for suspension; and controlling the movement of the capsule endoscope in a horizontal and/or vertical direction, wherein the movement of the first magnet is controlled by moving the second magnet, and the capsule endoscope is in a quasi-suspended state as moving in the horizontal and/or vertical direction. The system and method reduce friction between the capsule endoscope and wall of the target area during movement by controlling the capsule endoscope in a quasi-suspended state, which makes the scanning of the target area more accurate.

公开(公告)号：US20190239837A1

公开(公告)日：2019-08-08

申请号：US16270246

申请日：2019-02-07

申请人： COVIDIEN LP

发明人： RON BARAK ,  ARIEL BIRENBAUM ,  GUY ALEXANDRONI ,  OREN P. WEINGARTEN

IPC分类号： A61B6/00 ,  A61B5/055 ,  A61B34/20 ,  A61B1/04 ,  A61B1/00 ,  G06T7/73 ,  A61B90/00

CPC分类号： A61B6/487 ,  A61B1/0005 ,  A61B1/00158 ,  A61B1/042 ,  A61B1/043 ,  A61B5/055 ,  A61B6/032 ,  A61B34/20 ,  A61B90/36 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/364 ,  G06T7/75

摘要： A system and method for estimating a pose of an imaging device for one or more images is provided.

公开(公告)号：US20190239719A1

公开(公告)日：2019-08-08

申请号：US16387887

申请日：2019-04-18

申请人： CapsoVision, Inc.

发明人： Gordon C. Wilson ,  Jiafu Luo ,  Kang-Huai Wang ,  Chung-Ta Lee

IPC分类号： A61B1/00 ,  A61B1/04

CPC分类号： A61B1/00013 ,  A61B1/00006 ,  A61B1/00016 ,  A61B1/00029 ,  A61B1/00032 ,  A61B1/00034 ,  A61B1/00055 ,  A61B1/00144 ,  A61B1/00158 ,  A61B1/041 ,  A61B5/073 ,  A61B2560/0204 ,  A61B2560/0456

摘要： A capsule endoscopic system is disclosed, where the system comprises a capsule device and a docking device. The capsule device comprises a battery, a secondary coil, and a capsule housing to enclose the battery and the secondary coil in a sealed environment, where the capsule device consists of a first end and a second end in a longitudinal direction of the capsule device, and the battery is located in proximity to the first end and the secondary coil is located in proximity to the second end. The docking device comprises an opening on the docking device, a primary coil to generate an alternating magnetic field, and a primary core. The capsule endoscopic system is arranged so that at least a portion of the secondary coil is enclosed by the primary coil and the battery is outside the primary coil when the capsule device is at the docked position.

公开(公告)号：US20180353055A1

公开(公告)日：2018-12-13

申请号：US16106245

申请日：2018-08-21

申请人： Aktormed GmbH

发明人： Robert Geiger ,  Peter Kraus

IPC分类号： A61B1/00 ,  A61B1/04 ,  B25J11/00 ,  B25J17/00 ,  B25J17/02 ,  B25J9/12 ,  B25J9/10 ,  B25J18/00 ,  B25J19/00

CPC分类号： A61B1/00149 ,  A61B1/00158 ,  A61B1/0016 ,  A61B1/04 ,  A61B34/30 ,  A61B90/50 ,  A61B2090/508 ,  A61B2090/571 ,  B25J9/046 ,  B25J9/102 ,  B25J9/126 ,  B25J11/00 ,  B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J19/0004

摘要： An operation assistance system includes a support column as well as at least a first and second robotic arm. A lower end section of the support column is pivotally mounted about a first pivotal axis (SA1) on a base unit and controlled by a first drive unit. A first end section of the first robotic arm is pivotally mounted about a second pivotal axis (SA2) on the upper end section of the support column opposite to the base unit and controlled by a second drive unit. A first end section of the second robotic arm is pivotally mounted about a third pivotal axis (SA3) on a second end section of the first robotic arm by a third drive unit. Each drive unit is associated with a controllable magnetic brake unit by which the robotic kinematics can be uncoupled from the drive units.

公开(公告)号：US20180249890A1

公开(公告)日：2018-09-06

申请号：US15965974

申请日：2018-04-30

申请人： CapsoVision, Inc.

发明人： Gordon C. Wilson ,  Jiafu Luo ,  Kang-Huai Wang ,  Chung-Ta Lee ,  James Blanc

IPC分类号： A61B1/00 ,  A61B1/04 ,  A61B5/07

CPC分类号： A61B1/00013 ,  A61B1/00006 ,  A61B1/00016 ,  A61B1/00029 ,  A61B1/00032 ,  A61B1/00034 ,  A61B1/00055 ,  A61B1/00144 ,  A61B1/00158 ,  A61B1/041 ,  A61B5/073 ,  A61B2560/0204 ,  A61B2560/0456

摘要： A capsule endoscopic system is disclosed for receiving data from a capsule device and providing inductive power to the capsule device wirelessly, where the capsule endoscopic system incorporates a feature to automatically protect the capsule device and the docking device from damage if the capsule device is docked in a backward orientation. In one embodiment, the docking device comprises a current sense circuit to detect the current flowing through the primary coil or primary drive circuit. The occurrence of wrong orientation can be detected from the current. A detection/control circuit can be used to provide the needed control in order to prevent damage to the system. In another embodiment, a resonant circuit comprising a capacitor and the primary coil is used to provide the needed protection when the capsule device is docked with a wrong orientation.

公开(公告)号：US10058391B2

公开(公告)日：2018-08-28

申请号：US14496830

申请日：2014-09-25

申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

发明人： Laehyun Kim ,  Sung Chul Kang

IPC分类号： A61B1/04 ,  A61B19/00 ,  A61B1/00 ,  A61B34/30 ,  A61B34/00

CPC分类号： A61B34/30 ,  A61B1/00156 ,  A61B1/00158 ,  A61B1/041 ,  A61B2034/303 ,  A61B2034/733 ,  Y10S901/01

摘要： A motion control system includes a first capsule robot, which includes a first housing, a first shaft configured to be movable bi-directionally, the first shaft having a first permanent magnet at an outer end, a first leg unit configured to protrude outwards from the first housing, and a first control unit; and a second capsule robot, which includes a second housing, a second shaft configured to be movable bi-directionally, the second shaft having a second permanent magnet at an outer end, a second leg unit, and a second control unit, wherein the first capsule robot is fixed with respect to an the internal organ wall by protruding the first leg unit to the internal organ, and wherein the second capsule robot is connected to the first capsule robot as the first permanent magnet comes into contact with the second permanent magnet by an attractive force.

公开(公告)号：US10010241B2

公开(公告)日：2018-07-03

申请号：US14341702

申请日：2014-07-25

申请人： Capso Vision, Inc.

发明人： Gordon C Wilson ,  Jiafu Luo ,  Kang-Huai Wang ,  Chung-Ta Lee ,  James Blanc

IPC分类号： A61B1/00 ,  A61B1/04 ,  A61B5/07

CPC分类号： A61B1/00013 ,  A61B1/00006 ,  A61B1/00016 ,  A61B1/00029 ,  A61B1/00032 ,  A61B1/00034 ,  A61B1/00055 ,  A61B1/00144 ,  A61B1/00158 ,  A61B1/041 ,  A61B5/073 ,  A61B2560/0204 ,  A61B2560/0456

摘要： A capsule endoscopic system is disclosed for receiving data from a capsule device and providing inductive power to the capsule device wirelessly, where the capsule endoscopic system incorporates a feature to automatically protect the capsule device and the docking device from damage if the capsule device is docked in a backward orientation. In one embodiment, the docking device comprises a current sense circuit to detect the current flowing through the primary coil or primary drive circuit. The occurrence of wrong orientation can be detected from the current. A detection/control circuit can be used to provide the needed control in order to prevent damage to the system. In another embodiment, a resonant circuit comprising a capacitor and the primary coil is used to provide the needed protection when the capsule device is docked with a wrong orientation.