公开(公告)号：US11666243B2

公开(公告)日：2023-06-06

申请号：US16410710

申请日：2019-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Stephen J. Blumenkranz ,  Caitlin Q. Donhowe ,  Randall L. Schlesinger

IPC: A61B5/06 ,  A61B1/005 ,  A61B5/00 ,  A61B5/107 ,  A61B34/20 ,  A61B5/05

CPC classification number: A61B5/065 ,  A61B1/0051 ,  A61B5/1076 ,  A61B5/6852 ,  A61B5/6855 ,  A61B5/05 ,  A61B5/066 ,  A61B2034/2061 ,  A61B2562/0233

Abstract: An apparatus includes an instrument that comprises an elongated, flexible body including an inner surface and an outer surface, wherein the inner surface is shaped to define a lumen extending through at least a portion of the elongated, flexible body. The instrument further comprises a plurality of portions extending along a length of the elongated, flexible body. The apparatus further comprises a radiopaque material incorporated into a first portion of the plurality of portions and a second portion of the plurality of portions, wherein the radiopaque material is incorporated into the first portion such that the first portion has a first radiopacity, and the radiopaque material is incorporated into the second portion such that the second portion has a second radiopacity, wherein the first radiopacity is different from the second radiopacity.

公开(公告)号：US20230169669A1

公开(公告)日：2023-06-01

申请号：US17917756

申请日：2021-03-15

Applicant: NEC CORPORATION ,  OLYMPUS CORPORATION

Inventor： Kenichi KAMIJO ,  Yusuke NAKAO ,  Mieko MANO ,  Yuichi IKEDA ,  Hiromasa FUJITA

IPC: G06T7/50 ,  G06T7/70 ,  A61B1/00

CPC classification number: G06T7/50 ,  G06T7/70 ,  A61B1/00045 ,  A61B1/00055 ,  A61B1/00009 ,  G06T2207/20081 ,  G06T2207/10068 ,  A61B2034/2061

Abstract: It is an object of the present invention to provide an endoscope insertion assistance apparatus, a method and a program that allow an operator of an endoscope to easily grasp an insertion situation of the endoscope to thereby conduct effective insertion assistance. An endoscope insertion assistance apparatus (100) according to the present invention includes an acquisition unit (110) that acquires shape data to identify an insertion shape of an endoscope inserted into a lumen, an estimation unit (120) that estimates any one of a plurality of shape categories for the insertion shape from the shape data and an output unit (130) that outputs display information in chronological order for the estimated shape category.

公开(公告)号：US11653905B2

公开(公告)日：2023-05-23

申请号：US17462073

申请日：2021-08-31

Applicant: Auris Health, Inc.

Inventor： Serena Wong ,  Sean Walker ,  Jason Hsu ,  June Park ,  Neal Tanner ,  Kiran Murthy

IPC: A61B17/00 ,  G06T7/246 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/10 ,  A61B34/20

CPC classification number: A61B17/00 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/39 ,  G06T7/248 ,  A61B2017/00212 ,  A61B2034/105 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3735 ,  A61B2090/3782 ,  A61B2090/3966 ,  G06T2207/30004

Abstract: Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.

公开(公告)号：US20190201134A1

公开(公告)日：2019-07-04

申请号：US16294442

申请日：2019-03-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti ,  Paul E. Lilagan

IPC: A61B34/30 ,  B25J13/02 ,  A61B1/00 ,  B25J19/02 ,  A61B17/00 ,  A61B34/00 ,  A61B34/37

CPC classification number: A61B34/30 ,  A61B1/00087 ,  A61B1/00193 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00278 ,  A61B2017/00477 ,  A61B2017/00694 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  B25J13/025 ,  B25J19/021

Abstract: A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide after a delay. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

公开(公告)号：US20190183586A1

公开(公告)日：2019-06-20

申请号：US16220809

申请日：2018-12-14

Applicant: R.A.W. S.R.L.

Inventor： Alessandro ROTILIO ,  Marco SOLBIATI

IPC: A61B34/20 ,  G02B27/01 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B90/36 ,  A61B2034/2046 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/2063 ,  A61B2090/062 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2090/0807 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/3983 ,  A61B2090/502 ,  G02B27/017 ,  G02B27/0172 ,  G02B2027/0138 ,  G02B2027/014 ,  G02B2027/0141 ,  G02B2027/0178 ,  G02B2027/0187

Abstract: A navigation, tracking and guiding system for the positioning of operatory instruments inside the body of a patient. The system includes a control unit, a viewer and detecting means for determining the spatial position of the viewer. The system further includes a sensor associated to an operatory instrument and insertable inside the internal portion of the body of the patient. The control unit is configured to project on the viewer an image of the state of the internal portion.

公开(公告)号：US20190029770A1

公开(公告)日：2019-01-31

申请号：US16049640

申请日：2018-07-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey

IPC: A61B34/00 ,  G06F3/0362 ,  G06F3/0354 ,  A61B17/00 ,  A61B46/10

CPC classification number: A61B34/74 ,  A61B17/00234 ,  A61B34/25 ,  A61B34/37 ,  A61B46/10 ,  A61B2017/00199 ,  A61B2017/00314 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/365 ,  A61B2090/371 ,  G06F3/03549 ,  G06F3/0362

Abstract: Systems and methods for controlling an elongate device include a console. The console includes a first recess and a removable first input control for controlling motion of the medical device. The console also may include one or more first sensors located about the first recess that detect motion of the first input control and detect operator contact with the first input control. The console also may include an integrated display screen arranged to display status information for the medical device. In some embodiments, the first input control controls an insertion depth or steering of the medical device, and may be in the form of a scroll wheel forming a part of a removable control assembly

公开(公告)号：US20190000566A1

公开(公告)日：2019-01-03

申请号：US15640277

申请日：2017-06-30

Applicant: Auris Health, Inc.

Inventor： Chauncey F. Graetzel ,  June Gyu Park

IPC: A61B34/30 ,  A61B34/00 ,  A61B1/00 ,  A61B90/98 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B1/00149 ,  A61B17/00234 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/71 ,  A61B90/98 ,  A61B2017/00323 ,  A61B2017/00327 ,  A61B2017/00477 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/715 ,  A61B2090/064 ,  A61B2090/067 ,  A61B2217/005 ,  A61B2217/007

Abstract: Certain aspects relate to systems and techniques for compensating for compression in elongated shafts of medical instruments. Medical instruments can include elongated shafts that may experience compression when articulated. The medical instruments can be attached to instrument positioning devices that are configured to move the medical instruments to compensate for this compression. For example, an instrument positioning device can advance a medical instrument to compensate for compression in an elongated shaft of the medical instrument. In some instances, the amount of compression is determined using a compression compensation parameter. The compression compensation parameter can be determined during a calibration process of the medical instrument.

公开(公告)号：US20180317806A1

公开(公告)日：2018-11-08

申请号：US15773212

申请日：2016-11-28

Applicant: KONINKLIJKE PHILIPS N.V .

Inventor： Sander Hans DENISSEN ,  WILHELMUS HENRICA GERADA MARIA VAN DEN

IPC: A61B5/06 ,  A61B34/20 ,  A61M25/01

CPC classification number: A61B5/066 ,  A61B5/065 ,  A61B34/20 ,  A61B2034/2061 ,  A61M25/01

Abstract: The present invention relates to a method and system of visualizing a first sensed shape of a first elongated device (14) having a first) length and a second sensed shape of a second elongated device (16) having a second length. The first elongated device (14) and the second elongated device (16) are physically linked to one another over at least a part (28) of the first and second lengths. The first sensed shape and the second sensed shape have been obtained independently of each other. The method comprises the steps: providing one of the first and second sensed shapes as a reference shape and the other of the first and second sensed shapes as a linked shape; determining along the reference shape and the linked shape an overlap region in which the reference shape and the linked shape should match due to a physical overlap of the first and second elongated devices (14, 16) in this region; copying, in the overlap region, an overlap region reference shape portion to an overlap region linked shape portion so that, in the overlap region, the linked shape is visualized as matching the reference shape.

公开(公告)号：US20180317751A1

公开(公告)日：2018-11-08

申请号：US16033262

申请日：2018-07-12

Applicant: OLYMPUS CORPORATION

Inventor： Toru KUBOI ,  Masaya TAKAHASHI ,  Tetsuya MORISHIMA

IPC: A61B1/00 ,  A61B1/005

CPC classification number: A61B1/00165 ,  A61B1/00 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00045 ,  A61B1/00071 ,  A61B1/0057 ,  A61B34/20 ,  A61B2034/2061 ,  A61B2090/306 ,  G02B23/26

Abstract: A shape measuring apparatus includes a cylindrical flexible body and a bend detection sensor. The sensor includes an optical fiber extending along the flexible body, a detection target to vary characteristics of detection light guided through the optical fiber in accordance with a curvature of the optical fiber, and a light detection unit to detect the detection light. The shape measuring apparatus also includes a shape calculating device to calculate a bend shape of the flexible body, based on the variation of the characteristics of the detection light, a cylindrical sheathing member sheathing a part of the optical fiber in the flexible body, and a hard distal member provided at a distal end of the flexible body and holding a distal end of the sheathing member.

公开(公告)号：US20180274907A1

公开(公告)日：2018-09-27

申请号：US15991022

申请日：2018-05-29

Applicant: OLYMPUS CORPORATION

Inventor： Ken SATO

IPC: G01B11/16 ,  A61B34/20

CPC classification number: G01B11/16 ,  A61B1/00 ,  A61B1/00165 ,  A61B1/005 ,  A61B1/07 ,  A61B34/20 ,  A61B2034/2061 ,  G01B11/18 ,  G01D5/268 ,  G01D5/35367 ,  G01M11/088 ,  G01M11/31

Abstract: A bend information computation apparatus includes a light source, a first light guide, a detection target, a second light guide, a switching member, a driver, a detector, a generator, and a bend information arithmetic operator. The detector is configured to detect first and second spectrum change. The generator is configured to calculate, based on the second spectrum change, suppression information. The bend information arithmetic operator is configured to calculate change information based on the first spectrum change and the suppression information and to compute bend information based on the change information.