公开(公告)号：US12089816B2

公开(公告)日：2024-09-17

申请号：US17206478

申请日：2021-03-19

申请人： OLYMPUS CORPORATION

发明人： Takechiyo Nakamitsu

IPC分类号： A61B5/00 ,  A61B1/00 ,  A61B1/005 ,  A61B5/06 ,  A61B34/20 ,  A61B90/00

CPC分类号： A61B1/0051 ,  A61B1/0005 ,  A61B1/00147 ,  A61B5/062 ,  A61B34/20 ,  A61B90/39 ,  A61B1/009 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/3937 ,  A61B2090/3983

摘要： An endoscope insertion shape observation apparatus includes a processor, and the processor: detects a travelling direction of a first position detection member and a travelling direction of a second position detection member out of plural position detection members provided in an insertion portion inserted into a lumen of a subject, the first position detection member being provided on a distal end side of a bending portion of the insertion portion, the second position detection member being provided on a proximal end side of the bending portion; detects a stretch start timing in which the lumen starts stretching, based on detection results of the travelling directions and finds position coordinates of a predetermined position of the bending portion in the detected stretch start timing as a manual compression point; and causes a compression position display that indicates the position found as the manual compression point to be presented on a monitor.

公开(公告)号：US12089804B2

公开(公告)日：2024-09-17

申请号：US17875365

申请日：2022-07-27

申请人： Auris Health, Inc.

发明人： David S. Mintz ,  Atiyeh Ghoreyshi ,  Prasanth Jeevan ,  Yiliang Xu ,  Gehua Yang ,  Matthew Joseph Leotta ,  Charles V. Stewart

IPC分类号： A61B1/00 ,  A61B1/267 ,  A61B5/06 ,  A61B6/03 ,  A61B34/20 ,  A61B90/30 ,  G06T7/00 ,  G06T7/149 ,  G06T7/246 ,  G06T7/32 ,  G06T7/73 ,  G06T15/20 ,  G06T17/00 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B90/00

CPC分类号： A61B1/000094 ,  A61B1/00147 ,  A61B1/00149 ,  A61B1/0016 ,  A61B1/00194 ,  A61B1/2676 ,  A61B5/061 ,  A61B6/032 ,  A61B34/20 ,  G06T7/0012 ,  G06T7/149 ,  G06T7/248 ,  G06T7/32 ,  G06T7/73 ,  G06T15/205 ,  G06T17/00 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B34/25 ,  A61B2034/252 ,  A61B2034/301 ,  A61B90/30 ,  A61B2090/3614 ,  G06T2207/10068 ,  G06T2207/10081 ,  G06T2207/30061 ,  G06T2207/30196

摘要： Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

公开(公告)号：US20240299714A1

公开(公告)日：2024-09-12

申请号：US18668055

申请日：2024-05-17

申请人： CEREVASC, INC.

发明人： Carl Heilman ,  Adel M. Malek ,  David A. Rezac ,  Timothy W. Robinson ,  Joseph Ting

IPC分类号： A61M27/00 ,  A61B6/12 ,  A61B18/00 ,  A61B18/14 ,  A61B34/20 ,  A61M25/00 ,  A61M25/01 ,  A61M25/09 ,  A61M25/10 ,  A61M39/24

CPC分类号： A61M27/006 ,  A61B6/12 ,  A61B18/14 ,  A61B18/1477 ,  A61B18/1492 ,  A61B34/20 ,  A61M25/0067 ,  A61M25/0108 ,  A61M25/0155 ,  A61M25/09 ,  A61M25/10 ,  A61M39/24 ,  A61B2018/00446 ,  A61B2018/00619 ,  A61B2018/1425 ,  A61M2039/242 ,  A61M2039/2426 ,  A61M2210/06

摘要： Methods for treating hydrocephalus using a shunt, the shunt having one or more CSF intake openings in a distal portion, a valve disposed in a proximal portion of the shunt, and a lumen extending between the one or more CSF intake openings and the valve, the method comprises deploying the shunt in a body of a patient so that the distal portion of the shunt is at least partially disposed within a CP angle cistern, a body of the shunt is at least partially disposed within an IPS of the patient, and the proximal portion of the shunt is at least partially disposed within or proximate to a JV of the patient, wherein, after deployment of the shunt, CSF flows from the CP angle cistern to the JV via the shunt lumen at a flow rate in a range of 5 ml per hour to 15 ml per hour.

公开(公告)号：US20240299109A1

公开(公告)日：2024-09-12

申请号：US18663146

申请日：2024-05-14

申请人： MAKO Surgical Corp.

发明人： Hyosig Kang ,  Jienan Ding ,  Snehal Kasodekar ,  Peter L. Ebbitt

IPC分类号： A61B34/30 ,  A61B17/16 ,  A61B17/17 ,  A61B17/70 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/32 ,  A61B90/00 ,  A61B90/98

CPC分类号： A61B34/30 ,  A61B17/1671 ,  A61B34/20 ,  A61B34/32 ,  A61B34/71 ,  A61B34/76 ,  A61B17/16 ,  A61B17/1757 ,  A61B17/7076 ,  A61B17/7082 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/031 ,  A61B2090/378 ,  A61B2090/3983 ,  A61B90/98

摘要： Spinal surgery systems and methods include a manipulator with a robotic arm and an end effector. A navigation system with a localizer tracks a patient and the manipulator. A control system registers, with the navigation system, a desired trajectory for a vertebra of the patient and detects that the end effector is within a predetermined distance to the desired trajectory. In response to the end effector being within the predetermined distance and detection of a user input, the control system autonomously moves the robotic arm to align the end effector to the desired trajectory. The end effector is constrained to the desired trajectory with a line haptic object and can exit the line haptic object in response to being moved along the line haptic object until the end effector reaches an exit point defined relative to the line haptic object.

公开(公告)号：US20240299100A1

公开(公告)日：2024-09-12

申请号：US18281429

申请日：2022-03-11

申请人： Digital Surgery Systems, Inc.

发明人： Stephen C. Minne ,  George C. Polchin ,  Alan Fridman ,  Michael Larkin

IPC分类号： A61B34/20 ,  A61B34/10 ,  A61B34/32 ,  G06T7/00 ,  G06T7/73 ,  G06T7/80 ,  G06T11/00 ,  H04N13/246

CPC分类号： A61B34/20 ,  A61B34/10 ,  A61B34/32 ,  G06T7/0014 ,  G06T7/75 ,  G06T7/85 ,  G06T11/00 ,  H04N13/246 ,  A61B2034/105 ,  A61B2034/2057 ,  G06T2207/10012 ,  G06T2207/30004 ,  G06T2210/41

摘要： Systems and methods are disclosed for an automated touchless registration of patient anatomy for surgical navigation systems. An example method includes: acquiring a plurality of images of the patient; determining relevant objects from a plurality of poses; and processing the received images through a photogrammetry module. The photogrammetry module may provide camera calibration and facilitate camera registration. As such, manual movement or robotic movement capabilities of the camera head, and digital visualization capabilities of a digital surgical microscope disclosed herein can be extended to allow near-automated or fully automated touchless registration for traditional surgical navigation.

公开(公告)号：US20240299099A1

公开(公告)日：2024-09-12

申请号：US18264711

申请日：2022-02-08

申请人： VIVID SURGICAL PTY LTD

发明人： William Lindsay Walter ,  Daniel Marsden-Jones

IPC分类号： A61B34/20 ,  A61F2/46

CPC分类号： A61B34/20 ,  A61F2/4609 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2068 ,  A61F2002/4681

摘要： Intraoperative stereotaxic navigation system 10 for determining an orientation of a surgical tool (12) relative to a patient's anatomy located within a surgical environment (16). The system (10) includes a radar-based sensor (18) which is operable to define a field-of-view FOV 20 and determine at least one of relative distance to, direction to, and orientation of, one or more objects in the FOV 20, and a mount (24) configured to releasably secure the sensor (18) to one of the patient (26) and the tool (12) to allow the other of the patient (26) and the tool (12) to be within the FOV 20. A processor (28) is communicatively connectable with the radar-based sensor (18) and configured to determine the orientation of the tool (12) responsive to receiving at least one of relative distance, direction and/or orientation information, from the sensor (18), relating to at least one of the patient (26) and the tool (12), and receiving information relating to orientation of the patient (26) relative to the surgical environment (16).

公开(公告)号：US20240298882A1

公开(公告)日：2024-09-12

申请号：US18258414

申请日：2021-12-15

申请人： UCL BUSINESS LTD

发明人： Lukas LINDENROTH ,  Joseph MANJALY ,  Sophia BANO ,  Agostino STILLI ,  George DWYER ,  Danail STOYANOV

IPC分类号： A61B1/00 ,  A61B34/20 ,  A61F11/20

CPC分类号： A61B1/00154 ,  A61F11/20 ,  A61B2034/2051 ,  A61B2034/2057

摘要： The present invention relates to a system 10 for positioning a medical tool within a lumen. The system 10 comprises a positioning device 11 and a control system 12. The positioning device 11 comprises a cylindrical body 110, configured to receive the medical tool, and an actuator 120 configured to apply a force to an internal wall of the lumen to move the cylindrical body 110 in a radial direction within the lumen. The control system 12 is configured to: receive an input signal indicative of a target position of the cylindrical body 110, and provide an output signal to control the actuator 120 to move the cylindrical body 110 to adopt the target position. The system 10 may comprise a camera and utilise image recognition to identify a target location in an image captured by the camera to determine the target position of the cylindrical body 110. The system 10 may be configured such that the cylindrical body 110 is automatically moved to the target position. The system 10 may also be configured to compensate for unintended movement of the cylindrical body 110 away from the target position. The system 10 may be particularly applicable to positioning a needle within an ear canal to perform an intratympanic injection.

公开(公告)号：US12083043B2

公开(公告)日：2024-09-10

申请号：US16529155

申请日：2019-08-01

申请人： Auris Health, Inc.

发明人： Jeffery B. Alvarez ,  Jian Zhang ,  Gregory Kintz

IPC分类号： A61B3/10 ,  A61B3/13 ,  A61B5/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61F9/007

CPC分类号： A61F9/00736 ,  A61B3/102 ,  A61B3/13 ,  A61B5/0059 ,  A61B34/30 ,  A61B5/0066 ,  A61B2034/105 ,  A61B2034/2055 ,  A61B90/03 ,  A61B2090/066 ,  A61B2090/3735

摘要： An apparatus and method for establishing a global coordinate system to facilitate robotic assisted surgery. The coordinate system may be established using a combination of the robotic data, i.e., kinematics, and optical coherence tomographic images generated by an overhead optical assembly and a tool-based sensor. Using these components, the system may generate a computer-registered three-dimensional model of the patient's eye. In some embodiments, the system may also generate a virtual boundary within the coordinate system to prevent inadvertent injury to the patient.

公开(公告)号：US12082920B2

公开(公告)日：2024-09-10

申请号：US18311031

申请日：2023-05-02

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC分类号： A61B5/05 ,  A61B5/00 ,  A61B5/06 ,  A61B34/30 ,  G16Z99/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20

CPC分类号： A61B5/066 ,  A61B5/0044 ,  A61B5/062 ,  A61B5/065 ,  A61B34/30 ,  G16Z99/00 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/303 ,  A61B2505/05 ,  A61B2562/043

摘要： A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

公开(公告)号：US12082800B2

公开(公告)日：2024-09-10

申请号：US17575188

申请日：2022-01-13

申请人： MAKO Surgical Corp.

发明人： Jason Otto ,  Mark Nadzadi ,  Radu Iorgulescu ,  Kevin Bechtold ,  Hyosig Kang

IPC分类号： A61B17/02 ,  A61B17/16 ,  A61B90/00 ,  A61B17/00 ,  A61B34/20

CPC分类号： A61B17/025 ,  A61B17/16 ,  A61B17/1675 ,  A61B2017/00115 ,  A61B2017/0268 ,  A61B34/20 ,  A61B2090/064

摘要： A joint distraction lever includes a lever body having a handle portion coupled to a working portion, a fulcrum extending from a bottom surface of the working portion of the lever body, a distal tip, which is raised above a top surface of the working portion of the lever body, a force measurement device used to measure a distraction force applied at the distal tip during a distraction procedure for a joint during which a torque is applied at the handle portion of the lever body, and a force value output used to indicate the distraction force applied at the distal tip.