BR112022010414A2 - Planejamento e atualização em tempo real de uma trajetória 3d de um instrumento médico. - Google Patents

Planejamento e atualização em tempo real de uma trajetória 3d de um instrumento médico.

Info

Publication number
BR112022010414A2
BR112022010414A2 BR112022010414A BR112022010414A BR112022010414A2 BR 112022010414 A2 BR112022010414 A2 BR 112022010414A2 BR 112022010414 A BR112022010414 A BR 112022010414A BR 112022010414 A BR112022010414 A BR 112022010414A BR 112022010414 A2 BR112022010414 A2 BR 112022010414A2
Authority
BR
Brazil
Prior art keywords
trajectory
medical instrument
update
real
time planning
Prior art date
Application number
BR112022010414A
Other languages
English (en)
Inventor
Moran Shochat
Ido Roth
Alon Ohev-Zion
Original Assignee
Xact Robotics Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xact Robotics Ltd filed Critical Xact Robotics Ltd
Publication of BR112022010414A2 publication Critical patent/BR112022010414A2/pt

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/40—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00809—Lung operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/374—NMR or MRI
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Primary Health Care (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Epidemiology (AREA)
  • Gynecology & Obstetrics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Image Generation (AREA)
  • Electrotherapy Devices (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Manipulator (AREA)

Abstract

PLANEJAMENTO E ATUALIZAÇÃO EM TEMPO REAL DE UMA TRAJETÓRIA 3D DE UM INSTRUMENTO MÉDICO. São fornecidos sistemas, dispositivos e métodos para a direção automatizada do instrumento médico no corpo de um sujeito para fins diagnósticos e/ou terapêuticos, em que a direção do instrumento médico dentro do corpo do sujeito é baseada em uma trajetória 3D planejada e atualização em tempo real da trajetória 3D, para permitir alcançar com segurança e precisão um alvo dentro do corpo do sujeito.
BR112022010414A 2019-11-27 2020-11-26 Planejamento e atualização em tempo real de uma trajetória 3d de um instrumento médico. BR112022010414A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201962941586P 2019-11-27 2019-11-27
PCT/IL2020/051219 WO2021105992A1 (en) 2019-11-27 2020-11-26 Planning and real-time updating a 3d trajectory of a medical instrument

Publications (1)

Publication Number Publication Date
BR112022010414A2 true BR112022010414A2 (pt) 2022-08-23

Family

ID=76130135

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112022010414A BR112022010414A2 (pt) 2019-11-27 2020-11-26 Planejamento e atualização em tempo real de uma trajetória 3d de um instrumento médico.

Country Status (10)

Country Link
US (1) US20220409291A1 (pt)
EP (1) EP4065014A4 (pt)
JP (1) JP2023503286A (pt)
KR (1) KR20220106140A (pt)
CN (1) CN115003235A (pt)
AU (1) AU2020393419A1 (pt)
BR (1) BR112022010414A2 (pt)
CA (1) CA3163081A1 (pt)
IL (1) IL293126A (pt)
WO (1) WO2021105992A1 (pt)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115998433A (zh) * 2022-12-30 2023-04-25 上海术之道机器人有限公司 介入器械的运动规划方法、***、程序单元和存储介质
CN117302829B (zh) * 2023-11-30 2024-03-22 无锡西爵信息科技有限公司 一种自动化的医疗器械仓储控制***及控制方法

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2029035B1 (en) 2006-06-05 2014-06-25 Technion Research & Development Foundation LTD. Controlled steering of a flexible needle
CN102105190B (zh) * 2008-05-28 2014-12-10 泰克尼恩研究和发展基金有限公司 用于柔性针操纵的超声引导机器人
SG11201507610RA (en) * 2013-03-15 2015-10-29 Synaptive Medical Barbados Inc Planning, navigation and simulation systems and methods for minimally invasive therapy
JP6581973B2 (ja) 2013-10-07 2019-09-25 テクニオン リサーチ アンド ディベロップメント ファンデーション リミテッド 針の挿入及び操縦のためのシステム
WO2015052718A1 (en) 2013-10-07 2015-04-16 Technion Research & Development Foundation Ltd. Gripper for robotic image guided needle insertion
WO2015132787A1 (en) 2014-03-04 2015-09-11 Xact Robotics Ltd. Dynamic planning method for needle insertion
CN107405165B (zh) 2014-11-29 2021-04-09 赞克特机器人有限公司 ***导引件
JP6872802B2 (ja) * 2015-09-10 2021-05-19 ザクト ロボティクス リミテッド 医療器具の挿入を誘導するためのシステム及び方法
US10143526B2 (en) * 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
CA3020805A1 (en) 2016-04-15 2017-10-19 Xact Robotics Ltd. Devices and methods for attaching a medical device to a subject
EP3463142A4 (en) 2016-05-25 2020-02-26 Xact Robotics Ltd. AUTOMATED INTRODUCTION DEVICE
CN112261915A (zh) 2018-06-07 2021-01-22 赞克特机器人有限公司 用于可安装在身体上的医疗器械的附接设备

Also Published As

Publication number Publication date
WO2021105992A9 (en) 2022-03-03
EP4065014A1 (en) 2022-10-05
AU2020393419A1 (en) 2022-06-09
CA3163081A1 (en) 2021-06-03
WO2021105992A1 (en) 2021-06-03
US20220409291A1 (en) 2022-12-29
KR20220106140A (ko) 2022-07-28
JP2023503286A (ja) 2023-01-27
EP4065014A4 (en) 2023-04-19
IL293126A (en) 2022-07-01
CN115003235A (zh) 2022-09-02

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Legal Events

Date Code Title Description
B11A Dismissal acc. art.33 of ipl - examination not requested within 36 months of filing
B11Y Definitive dismissal - extension of time limit for request of examination expired [chapter 11.1.1 patent gazette]