SG10201806489TA - Systems and methods for tracking and displaying endoscope shape and distal end orientation - Google Patents

Systems and methods for tracking and displaying endoscope shape and distal end orientation

Info

Publication number
SG10201806489TA
SG10201806489TA SG10201806489TA SG10201806489TA SG10201806489TA SG 10201806489T A SG10201806489T A SG 10201806489TA SG 10201806489T A SG10201806489T A SG 10201806489TA SG 10201806489T A SG10201806489T A SG 10201806489TA SG 10201806489T A SG10201806489T A SG 10201806489TA
Authority
SG
Singapore
Prior art keywords
endoscope
distal end
tracking
orientation
shape
Prior art date
Application number
SG10201806489TA
Inventor
Tswen Wen Victor Lee
Wee Chuan Melvin Loh
Tsui Ying Rachel Hong
Siang Lin Yeow
Jing Ze Li
Original Assignee
Nat Univ Singapore
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 Nat Univ Singapore filed Critical Nat Univ Singapore
Publication of SG10201806489TA publication Critical patent/SG10201806489TA/en

Links

Classifications

    • 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
    • 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
    • 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
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/0011—Manufacturing of endoscope parts
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • 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
    • 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
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • 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
    • A61B5/066—Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
    • 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
    • A61B5/067—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe using accelerometers or gyroscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/742—Details of notification to user or communication with user or patient ; user input means using visual displays
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
    • A61B2505/05—Surgical care
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/04—Arrangements of multiple sensors of the same type
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A61B5/6851—Guide wires

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Manufacturing & Machinery (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

SYSTEMS AND METHODS FOR TRACKING AND DISPLAYING ENDOSCOPE SHAPE AND DISTAL END ORIENTATION OF THE DISCLOSURE Systems and methods for tracking shape and orientation of an endoscope 5 employ motion tracking sensors to track locations on the endoscope for use in determining real time shape and distal end orientation for display during navigation of the endoscope. An example system includes sensor units distributed along the endoscope and a control unit. The sensor units track motion of the endoscope locations and transmit resulting tracking data to a control unit. The control unit processes the tracking data to determine shape of the 10 endoscope and orientation of the distal end of the endoscope. The control unit generates output to a display unit that causes the display unit to display one or more representations indicative of the shape of the endoscope and orientation of the distal end of the endoscope for reference by an endoscope operator during an endoscopic procedure. 15 (FIG. 2)
SG10201806489TA 2014-02-05 2015-02-05 Systems and methods for tracking and displaying endoscope shape and distal end orientation SG10201806489TA (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US201461936037P 2014-02-05 2014-02-05

Publications (1)

Publication Number Publication Date
SG10201806489TA true SG10201806489TA (en) 2018-08-30

Family

ID=53778270

Family Applications (2)

Application Number Title Priority Date Filing Date
SG11201606423VA SG11201606423VA (en) 2014-02-05 2015-02-05 Systems and methods for tracking and displaying endoscope shape and distal end orientation
SG10201806489TA SG10201806489TA (en) 2014-02-05 2015-02-05 Systems and methods for tracking and displaying endoscope shape and distal end orientation

Family Applications Before (1)

Application Number Title Priority Date Filing Date
SG11201606423VA SG11201606423VA (en) 2014-02-05 2015-02-05 Systems and methods for tracking and displaying endoscope shape and distal end orientation

Country Status (5)

Country Link
US (1) US20170164869A1 (en)
EP (1) EP3102087A4 (en)
CN (1) CN106455908B (en)
SG (2) SG11201606423VA (en)
WO (1) WO2015119573A1 (en)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8672837B2 (en) 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
CN114795472A (en) 2015-10-28 2022-07-29 安多卓思公司 Apparatus and method for tracking the position of an endoscope within a patient
IL246068A0 (en) * 2016-06-06 2016-08-31 Medigus Ltd Endoscope-like devices comprising sensors that provide positional information
CN106343942A (en) * 2016-10-17 2017-01-25 武汉大学中南医院 Automatic laparoscopic lens deflection alarm device
KR102558061B1 (en) 2017-03-31 2023-07-25 아우리스 헬스, 인코포레이티드 A robotic system for navigating the intraluminal tissue network that compensates for physiological noise
KR102391591B1 (en) * 2017-05-16 2022-04-27 박연호 Apparatus for estimating shape of flexible portion and endoscope system comprising the same
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
DE102017008148A1 (en) * 2017-08-29 2019-02-28 Joimax Gmbh Sensor unit, intraoperative navigation system and method for detecting a surgical instrument
EP3684283A4 (en) 2017-12-18 2021-07-14 Auris Health, Inc. Methods and systems for instrument tracking and navigation within luminal networks
KR102500422B1 (en) 2018-03-28 2023-02-20 아우리스 헬스, 인코포레이티드 System and method for displaying the estimated position of an instrument
CN114601559B (en) * 2018-05-30 2024-05-14 奥瑞斯健康公司 System and medium for positioning sensor-based branch prediction
KR102567087B1 (en) 2018-05-31 2023-08-17 아우리스 헬스, 인코포레이티드 Robotic systems and methods for navigation of luminal networks detecting physiological noise
KR102455671B1 (en) 2018-05-31 2022-10-20 아우리스 헬스, 인코포레이티드 Image-Based Airway Analysis and Mapping
JP6856594B2 (en) * 2018-09-25 2021-04-07 株式会社メディカロイド Surgical system and display method
WO2020152758A1 (en) * 2019-01-21 2020-07-30 オリンパス株式会社 Endoscopic instrument and endoscopic system
US11684251B2 (en) * 2019-03-01 2023-06-27 Covidien Ag Multifunctional visualization instrument with orientation control
KR102313319B1 (en) * 2019-05-16 2021-10-15 서울대학교병원 AR colonoscopy system and method for monitoring by using the same
CN114340540B (en) 2019-08-30 2023-07-04 奥瑞斯健康公司 Instrument image reliability system and method
KR20220058569A (en) 2019-08-30 2022-05-09 아우리스 헬스, 인코포레이티드 System and method for weight-based registration of position sensors
US11980573B2 (en) * 2019-12-05 2024-05-14 Johnson & Johnson Surgical Vision, Inc. Eye examination apparatus
US20220202286A1 (en) * 2020-12-28 2022-06-30 Johnson & Johnson Surgical Vision, Inc. Highly bendable camera for eye surgery
US20230100698A1 (en) * 2021-09-29 2023-03-30 Cilag Gmbh International Methods for Controlling Cooperative Surgical Instruments

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL125781A (en) * 1996-02-15 2003-06-24 Biosense Inc Precise position determination of endoscopes
US6206493B1 (en) * 1999-07-22 2001-03-27 Collector's Museum, Llc Display structure for collectibles
US7720521B2 (en) * 2004-04-21 2010-05-18 Acclarent, Inc. Methods and devices for performing procedures within the ear, nose, throat and paranasal sinuses
US10143398B2 (en) * 2005-04-26 2018-12-04 Biosense Webster, Inc. Registration of ultrasound data with pre-acquired image
US20070270686A1 (en) * 2006-05-03 2007-11-22 Ritter Rogers C Apparatus and methods for using inertial sensing to navigate a medical device
JP5011235B2 (en) * 2008-08-27 2012-08-29 富士フイルム株式会社 Imaging apparatus and imaging method
EP2351509A4 (en) * 2008-10-28 2018-01-17 Olympus Corporation Medical device
US8827948B2 (en) * 2010-09-17 2014-09-09 Hansen Medical, Inc. Steerable catheters
EP2550908A1 (en) * 2011-07-28 2013-01-30 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Apparatus for determining a spatial path of a flexible or semi-rigid elongated body
LT2939599T (en) * 2011-09-06 2018-07-25 Ezono Ag Magnetic medical device and magnetizer
CN103006164A (en) * 2012-12-13 2013-04-03 天津大学 Endoscope tracking and positioning and digital human dynamic synchronous display device based on multi-sensor
WO2014110118A1 (en) * 2013-01-10 2014-07-17 Ohio University Method and device for evaluating a colonoscopy procedure

Also Published As

Publication number Publication date
EP3102087A1 (en) 2016-12-14
SG11201606423VA (en) 2016-09-29
CN106455908A (en) 2017-02-22
CN106455908B (en) 2019-01-01
WO2015119573A1 (en) 2015-08-13
EP3102087A4 (en) 2017-10-25
US20170164869A1 (en) 2017-06-15

Similar Documents

Publication Publication Date Title
SG10201806489TA (en) Systems and methods for tracking and displaying endoscope shape and distal end orientation
EP4295801A3 (en) Virtual reality surgical device
EP4335403A3 (en) Systems and methods for flexible computer-assisted instrument control
WO2018094041A8 (en) Methods, systems and apparatuses for displaying real-time catheter position
GB2569438B (en) Surgical imaging sensor and display unit, and surgical navigation system associated therewith
EP3028661A3 (en) Visual guidance system for surgical procedure
WO2015151098A3 (en) An articulated structured light based-laparoscope
EP3684281A4 (en) System and method for medical instrument navigation and targeting
MX2016014481A (en) Autonomous driving at intersections based on perception data.
GB2545601A (en) Media streaming methods, apparatus and systems
EP3246664A3 (en) Information processing system and information display apparatus
WO2016191364A8 (en) Methods and systems for controlling a concentric tube probe
SG10201806563QA (en) Systems and methods for remotely processing data collected by a drug delivery device
GB2564764A (en) Sonar sensor fusion and model based virtual and augmented reality systems and methods
BR112014026361A2 (en) position monitoring system and method
WO2016066419A3 (en) Method and device for localizing a vehicle in the environment thereof
GB2512519A (en) Systems, methods, and apparatus for providing indoor navigation
MX2016012612A (en) Haptic feedback for ultrasound image acquisition.
MY173983A (en) Information providing apparatus, information providing method and program
WO2015193177A3 (en) User-wearable device and system for personal computing
EP2636493A3 (en) Information processing apparatus and information processing method
GB2545145A (en) A device and method for optically scanning and measuring an environment
EP3889728A3 (en) Selective processing of sensor data
PH12014501792A1 (en) Sensor fusion algorithm
IL258735A (en) Real-time patient image overlay display and device navigation system and method