CN102449666A - 用于为操纵内窥镜设备的末端朝向一个或更多个界标转向提供视觉引导和在内窥镜导航中辅助操作者的*** - Google Patents
用于为操纵内窥镜设备的末端朝向一个或更多个界标转向提供视觉引导和在内窥镜导航中辅助操作者的*** Download PDFInfo
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- CN102449666A CN102449666A CN2010800231877A CN201080023187A CN102449666A CN 102449666 A CN102449666 A CN 102449666A CN 2010800231877 A CN2010800231877 A CN 2010800231877A CN 201080023187 A CN201080023187 A CN 201080023187A CN 102449666 A CN102449666 A CN 102449666A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
- A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/003—Navigation within 3D models or images
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- 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
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
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- A—HUMAN NECESSITIES
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- 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
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- 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
- A61B2034/2055—Optical tracking systems
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- 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
- A61B2034/2059—Mechanical position encoders
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- 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
- A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
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- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
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- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Radiology & Medical Imaging (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Software Systems (AREA)
- Computer Hardware Design (AREA)
- Remote Sensing (AREA)
- Computer Graphics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
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Abstract
Description
Claims (60)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201510994346.2A CN105596005B (zh) | 2009-03-26 | 2010-03-17 | 用于内窥镜导航的*** |
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
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US12/411,501 | 2009-03-26 | ||
US12/411,515 | 2009-03-26 | ||
US12/411,515 US8337397B2 (en) | 2009-03-26 | 2009-03-26 | Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device toward one or more landmarks in a patient |
US12/411,501 US10004387B2 (en) | 2009-03-26 | 2009-03-26 | Method and system for assisting an operator in endoscopic navigation |
PCT/US2010/027660 WO2010111090A1 (en) | 2009-03-26 | 2010-03-17 | System for providing visual guidance for steering a tip of an endoscopic device towards one or more landmarks and assisting an operator in endoscopic navigation |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510994346.2A Division CN105596005B (zh) | 2009-03-26 | 2010-03-17 | 用于内窥镜导航的*** |
Publications (2)
Publication Number | Publication Date |
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CN102449666A true CN102449666A (zh) | 2012-05-09 |
CN102449666B CN102449666B (zh) | 2016-01-20 |
Family
ID=42244093
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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CN201080023187.7A Active CN102449666B (zh) | 2009-03-26 | 2010-03-17 | 用于为操纵内窥镜设备的末端朝向一个或更多个界标转向提供视觉引导和在内窥镜导航中辅助操作者的*** |
CN201510994346.2A Active CN105596005B (zh) | 2009-03-26 | 2010-03-17 | 用于内窥镜导航的*** |
Family Applications After (1)
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CN201510994346.2A Active CN105596005B (zh) | 2009-03-26 | 2010-03-17 | 用于内窥镜导航的*** |
Country Status (4)
Country | Link |
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EP (5) | EP3859682A1 (zh) |
KR (2) | KR101903307B1 (zh) |
CN (2) | CN102449666B (zh) |
WO (1) | WO2010111090A1 (zh) |
Cited By (23)
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CN103430078A (zh) * | 2011-03-08 | 2013-12-04 | 奥林匹斯冬季和Ibe有限公司 | 用于显示视频内窥镜的视频内窥镜图像数据的方法和*** |
CN104427952A (zh) * | 2012-05-14 | 2015-03-18 | 直观外科手术操作公司 | 用于使用形状感测的变形补偿的***和方法 |
CN104486991A (zh) * | 2012-05-18 | 2015-04-01 | 皇家飞利浦有限公司 | 使用光纤形状感测对体素加标签 |
CN104684471A (zh) * | 2012-10-02 | 2015-06-03 | 皇家飞利浦有限公司 | 使用光学形状传感器的体积映射 |
CN104684502A (zh) * | 2012-09-26 | 2015-06-03 | 史赛克公司 | 包括光学传感器和非光学传感器的导航*** |
CN104736038A (zh) * | 2012-10-16 | 2015-06-24 | 奥林巴斯株式会社 | 观察装置、观察支援装置、观察支援方法以及程序 |
CN104853820A (zh) * | 2012-12-14 | 2015-08-19 | 皇家飞利浦有限公司 | 位置确定装置 |
CN105473097A (zh) * | 2013-07-29 | 2016-04-06 | 直观外科手术操作公司 | 具有冗余感测的形状传感器*** |
CN106029000A (zh) * | 2014-02-21 | 2016-10-12 | 阿克伦大学 | 用于引导医疗干预的成像和显示*** |
CN106137103A (zh) * | 2016-07-18 | 2016-11-23 | 王存金 | 内窥镜及内窥镜*** |
CN106170265A (zh) * | 2014-02-04 | 2016-11-30 | 直观外科手术操作公司 | 用于介入工具的虚拟导航的组织的非刚性变形的***和方法 |
CN106794045A (zh) * | 2014-09-09 | 2017-05-31 | 直观外科手术操作公司 | 柔性医疗器具 |
CN107133941A (zh) * | 2017-04-18 | 2017-09-05 | 重庆金山医疗器械有限公司 | 一种无线胶囊内窥镜图像突出血管奇变以及凸起部位的显示方法 |
CN108324229A (zh) * | 2012-08-07 | 2018-07-27 | 柯惠有限合伙公司 | 微波消融*** |
CN108577977A (zh) * | 2018-03-19 | 2018-09-28 | 山东大学 | 穿刺针及穿刺针运动轨迹的三维重建方法及*** |
CN108742842A (zh) * | 2013-01-16 | 2018-11-06 | 史赛克公司 | 指示视线误差的导航***和方法 |
CN108742844A (zh) * | 2012-09-07 | 2018-11-06 | 杰尼索尼克斯公司 | 用于针结构在组织中的受控部署的方法和*** |
CN110742690A (zh) * | 2019-09-12 | 2020-02-04 | 东南大学苏州医疗器械研究院 | 一种用于配置内窥镜的方法及终端设备 |
CN111936030A (zh) * | 2018-06-22 | 2020-11-13 | 奥林巴斯株式会社 | 界标估计方法及内窥镜装置 |
CN113014871A (zh) * | 2021-02-20 | 2021-06-22 | 青岛小鸟看看科技有限公司 | 内窥镜图像显示方法、装置及内窥镜手术辅助*** |
CN114402378A (zh) * | 2019-09-09 | 2022-04-26 | 助视会有限公司 | 手术模拟器***和方法 |
US11559358B2 (en) | 2016-05-26 | 2023-01-24 | Mako Surgical Corp. | Surgical assembly with kinematic connector |
US11622800B2 (en) | 2013-01-16 | 2023-04-11 | Mako Surgical Corp. | Bone plate for attaching to an anatomic structure |
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JP5944395B2 (ja) * | 2010-10-08 | 2016-07-05 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 動的な器具追跡のための一体化されたセンサを持つ柔軟なテザー |
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RU2668490C2 (ru) * | 2012-04-19 | 2018-10-01 | Конинклейке Филипс Н.В. | Инструменты наведения для ручного управления эндоскопом с помощью 3d-изображений, полученных до операции и во время операции |
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2010
- 2010-03-17 KR KR1020177021115A patent/KR101903307B1/ko active IP Right Grant
- 2010-03-17 KR KR1020117024734A patent/KR101764438B1/ko active IP Right Grant
- 2010-03-17 WO PCT/US2010/027660 patent/WO2010111090A1/en active Application Filing
- 2010-03-17 CN CN201080023187.7A patent/CN102449666B/zh active Active
- 2010-03-17 EP EP21164409.1A patent/EP3859682A1/en not_active Withdrawn
- 2010-03-17 CN CN201510994346.2A patent/CN105596005B/zh active Active
- 2010-03-17 EP EP22153756.6A patent/EP4012658A1/en active Pending
- 2010-03-17 EP EP15192812.4A patent/EP3023941B1/en active Active
- 2010-03-17 EP EP10711112.2A patent/EP2411966B1/en active Active
- 2010-03-17 EP EP19165830.1A patent/EP3553751A3/en not_active Withdrawn
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CN105596005A (zh) | 2016-05-25 |
KR20120014242A (ko) | 2012-02-16 |
EP3553751A2 (en) | 2019-10-16 |
KR101764438B1 (ko) | 2017-08-02 |
EP3023941A3 (en) | 2016-08-03 |
EP3023941A2 (en) | 2016-05-25 |
EP2411966B1 (en) | 2016-05-11 |
EP3553751A3 (en) | 2019-12-18 |
WO2010111090A1 (en) | 2010-09-30 |
KR20170090527A (ko) | 2017-08-07 |
CN105596005B (zh) | 2019-01-22 |
EP3859682A1 (en) | 2021-08-04 |
EP2411966A1 (en) | 2012-02-01 |
EP3023941B1 (en) | 2019-05-08 |
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CN102449666B (zh) | 2016-01-20 |
KR101903307B1 (ko) | 2018-10-01 |
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