公开(公告)号：US20080262297A1

公开(公告)日：2008-10-23

申请号：US11568260

申请日：2005-05-01

Applicant: Pinhas Gilboa ,  Danny Blecher ,  Benny Greenberg

Inventor： Pinhas Gilboa ,  Danny Blecher ,  Benny Greenberg

IPC: A61B1/04

CPC classification number: A61B1/0005 ,  A61B1/00128 ,  A61B1/00137 ,  A61B1/0014 ,  A61B1/00147 ,  A61B1/0052 ,  A61B1/012 ,  A61B1/018 ,  A61B1/042 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/055 ,  A61B5/06 ,  A61B5/062 ,  A61B5/415 ,  A61B5/418 ,  A61B6/032 ,  A61B6/037 ,  A61B8/13 ,  A61B90/50 ,  A61B90/57 ,  A61B2090/365

Abstract: Systems and methods for endoscopic procedures employ a first technique to ensure initial correct alignment of an endoscope (100) with a desired target (10). A reference image (51) is then acquired from an imaging arrangement associated with the endoscope. During a subsequent stage of the procedure, tracking of the endoscope position relative to the target is performed partially or entirely by image-based tracking by comparing features in real-time video image (52) produced by imaging arrangement with features in the reference image (51). The feature comparison may be performed visually by a user, or may be automated to offer more specific corrective suggestions to the user.

Abstract translation: 用于内窥镜程序的系统和方法采用第一技术来确保内窥镜（100）与期望目标（10）的初始正确对准。 然后从与内窥镜相关联的成像装置获取参考图像（51）。 在该程序的后续阶段期间，通过将由成像装置产生的实时视频图像（52）中的特征与参考图像中的特征进行比较，部分地或完全地通过基于图像的跟踪来执行对目标的内窥镜位置的跟踪（ 51）。 特征比较可以由用户视觉地执行，或者可以被自动化以向用户提供更具体的纠正建议。

公开(公告)号：US06833814B2

公开(公告)日：2004-12-21

申请号：US10397358

申请日：2003-03-27

Applicant: Pinhas Gilboa ,  Danny Blecher

Inventor： Pinhas Gilboa ,  Danny Blecher

IPC: G01S504

CPC classification number: A61B5/06 ,  A61B5/055 ,  A61B5/062 ,  A61B6/032 ,  A61B8/08 ,  A61B8/4245 ,  A61B34/20 ,  A61B2034/2051 ,  A61B2034/2072

Abstract: A system and method for tracking the position and orientation of a probe such as a catheter whose transverse inner dimension may be at most about two millimeters. Three planar antennas that at least partly overlap are used to transmit electromagnetic radiation simultaneously, with the radiation transmitted by each antenna having its own spectrum. In the case of single-frequency spectra, the antennas are provided with mechanisms for decoupling them from each other. A receiver inside the probe includes sensors of the three components of the transmitted field, with sensors for at least two of the three components being pairs of sensors, such as coils, disposed symmetrically with respect to a common reference point. In one variant of the receiver, the coils are collinear and are wound about cores that are mounted in pairs of diametrically opposed apertures in the housing of the probe. In another variant of the receiver-catheter combination, the catheter is configured with an inner and outer sleeve connected at their ends by one or more flexible elements on which the coils are mounted. Each member of a pair of coils that sense the same component of the transmitted field is connected to a different input of a differential amplifier. The position and orientation of the receiver relative to the antennas are determined noniteratively, by setting up an overdetermined set of linear equations that relates the received signals to transmitter-receiver amplitudes, solving for the amplitudes and inferring the position coordinates and the orientation angles of the receiver relative to the transmitter from these amplitudes.

Abstract translation: 用于跟踪诸如导管的探针的位置和取向的系统和方法，其横向内部尺寸可以至多约两毫米。 至少部分重叠的三个平面天线用于同时传输电磁辐射，每个天线发射的辐射具有其自己的光谱。 在单频谱的情况下，天线具有用于将它们彼此分离的机制。 探头内的接收器包括传输场的三个部件的传感器，其中三个部件中的至少两个部件的传感器是相对于公共参考点对称设置的传感器对，例如线圈。 在接收器的一个变型中，线圈是共线的，并且围绕在探针的壳体中成对地沿直径相对的孔安装的芯部缠绕。 在接收器 - 导管组合的另一变型中，导管配置有内套筒和外套筒，它们的端部由一个或多个在其上安装线圈的柔性元件连接。 感测发射场的相同分量的一对线圈的每个成员连接到差分放大器的不同输入。 接收器相对于天线的位置和取向被非常确定，通过建立一个超定义的线性方程组，将接收到的信号与发射机 - 接收机幅度相关联，求解幅度并推断位置坐标和定位角 接收机相对于来自这些振幅的发射机。

公开(公告)号：US06702780B1

公开(公告)日：2004-03-09

申请号：US10009762

申请日：2002-03-05

Applicant: Pinhas Gilboa ,  David Tolkowsky ,  Danny Blecher

Inventor： Pinhas Gilboa ,  David Tolkowsky ,  Danny Blecher

IPC: A61M3700

CPC classification number: A61M25/0144 ,  A61M25/0147

Abstract: A steering configuration for facilitating steering of a catheter or the like provided with a rigid distal device employs a flexible support element to which a rigid device is attached at its distal end. At least one elongated flexible control element is configured such that tension applied to the control element causes flexing of the flexible support element. The control element is directly attached to the rigid device, thereby rendering the rigid device an operative extension of the steering mechanism.

Abstract translation: 用于便于设置有刚性远端装置的导管等的转向的转向构造使用柔性支撑元件，刚性装置在其远端附接到该柔性支撑元件。 至少一个细长的柔性控制元件构造成使得施加到控制元件的张力导致柔性支撑元件的挠曲。 控制元件直接连接到刚性装置，从而使刚性装置成为转向机构的有效延伸。

公开(公告)号：US07555330B2

公开(公告)日：2009-06-30

申请号：US10408123

申请日：2003-04-08

Applicant: Pinhas Gilboa ,  Danny Blecher

Inventor： Pinhas Gilboa ,  Danny Blecher

IPC: A61B5/05 ,  G01S5/04 ,  G01S3/02

CPC classification number: A61B5/06 ,  A61B5/055 ,  A61B5/062 ,  A61B6/032 ,  A61B8/08 ,  A61B8/4245 ,  A61B34/20 ,  A61B2034/2051 ,  A61B2034/2072

Abstract: A system and method for tracking the position and orientation of a probe. Three at least partly overlapping planar antennas are used to transmit electromagnetic radiation simultaneously, with the radiation transmitted by each antenna having its own spectrum. A receiver inside the probe includes sensors of the three components of the transmitted field, with sensors for at least two of the three components being pairs of sensors, such as coils, on opposite sides of a common reference point. In one variant of the receiver, the coils are collinear and are wound about cores that are mounted in pairs of diametrically opposed apertures in the housing of the probe. Each member of a pair of coils that sense the same component of the transmitted field is connected to a different input of a differential amplifier. The position and orientation of the receiver relative to the antennas are determined noniteratively.

Abstract translation: 用于跟踪探头的位置和方向的系统和方法。 使用三个至少部分重叠的平面天线来同时传输电磁辐射，每个天线发射的辐射具有其自己的光谱。 探头内部的接收器包括传输场的三个部件的传感器，其中三个部件中的至少两个部件的传感器是在公共参考点的相对侧上的传感器（例如线圈）对。 在接收器的一个变型中，线圈是共线的，并且围绕在探针的壳体中成对地沿直径相对的孔安装的芯部缠绕。 感测发射场的相同分量的一对线圈的每个成员连接到差分放大器的不同输入。 确定接收机相对于天线的位置和取向是非常确定的。

公开(公告)号：US09055881B2

公开(公告)日：2015-06-16

申请号：US11568260

申请日：2005-05-01

Applicant: Pinhas Gilboa ,  Danny Blecher ,  Benny Greenberg

Inventor： Pinhas Gilboa ,  Danny Blecher ,  Benny Greenberg

IPC: A61B1/04 ,  A61B1/00 ,  A61B1/05 ,  A61B1/005 ,  A61B1/012 ,  A61B1/018 ,  A61B1/267 ,  A61B5/06 ,  A61B5/00 ,  A61B19/00

CPC classification number: A61B1/0005 ,  A61B1/00128 ,  A61B1/00137 ,  A61B1/0014 ,  A61B1/00147 ,  A61B1/0052 ,  A61B1/012 ,  A61B1/018 ,  A61B1/042 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/055 ,  A61B5/06 ,  A61B5/062 ,  A61B5/415 ,  A61B5/418 ,  A61B6/032 ,  A61B6/037 ,  A61B8/13 ,  A61B90/50 ,  A61B90/57 ,  A61B2090/365

Abstract: Systems and methods for endoscopic procedures employ a first technique to ensure initial correct alignment of an endoscope (100) with a desired target (10). A reference image (51) is then acquired from an imaging arrangement associated with the endoscope. During a subsequent stage of the procedure, tracking of the endoscope position relative to the target is performed partially or entirely by image-based tracking by comparing features in real-time video image (52) produced by imaging arrangement with features in the reference image (51). The feature comparison may be performed visually by a user, or may be automated to offer more specific corrective suggestions to the user.

Abstract translation: 用于内窥镜程序的系统和方法采用第一技术来确保内窥镜（100）与期望目标（10）的初始正确对准。 然后从与内窥镜相关联的成像装置获取参考图像（51）。 在该程序的后续阶段期间，通过将由成像装置产生的实时视频图像（52）中的特征与参考图像中的特征进行比较，部分地或完全地通过基于图像的跟踪来执行对目标的内窥镜位置的跟踪（ 51）。 特征比较可以由用户视觉地执行，或者可以被自动化以向用户提供更具体的纠正建议。

公开(公告)号：US06947788B2

公开(公告)日：2005-09-20

申请号：US09879109

申请日：2001-06-13

Applicant: Pinhas Gilboa ,  Danny Blecher

Inventor： Pinhas Gilboa ,  Danny Blecher

IPC: A61B1/00 ,  A61B20060101 ,  A61B5/00 ,  A61B5/0408 ,  A61B5/0478 ,  A61B5/0492 ,  A61B5/055 ,  A61B5/06 ,  A61B6/03 ,  A61B6/12 ,  A61B8/00 ,  A61B8/08 ,  A61B8/12 ,  A61B19/00 ,  A61M25/00 ,  A61M25/095 ,  G01B7/00 ,  G01R33/02 ,  G01R33/34 ,  G01R33/36 ,  A61B6/00

CPC classification number: A61B5/06 ,  A61B5/055 ,  A61B5/062 ,  A61B6/032 ,  A61B8/08 ,  A61B8/4245 ,  A61B34/20 ,  A61B2034/2051 ,  A61B2034/2072

Abstract: A catheter, including: a housing having a transverse inner dimension of at most about two millimeters; and a coil arrangement including five coils and five solid cores. Each of the coils is wound around one of the solid cores. The coils are non-coaxial. The coil arrangement is mounted inside the housing.

Abstract translation: 一种导管，包括：具有至多约两毫米的横向内部尺寸的壳体; 以及包括五个线圈和五个实芯的线圈装置。 每个线圈缠绕在一个固体芯上。 线圈是非同轴的。 线圈装置安装在壳体内。

公开(公告)号：US06593884B1

公开(公告)日：2003-07-15

申请号：US09463177

申请日：2000-01-21

Applicant: Pinhas Gilboa ,  Danny Blecher

Inventor： Pinhas Gilboa ,  Danny Blecher

IPC: G01S504

CPC classification number: A61B5/06 ,  A61B5/055 ,  A61B5/062 ,  A61B6/032 ,  A61B8/08 ,  A61B8/4245 ,  A61B34/20 ,  A61B2034/2051 ,  A61B2034/2072

Abstract: A system and method for tracking the position and orientation of a probe. Three at least partly overlapping planar antennas are used to transmit electromagnetic radiation simultaneously, with the radiation transmitted by each antenna having its own spectrum. A receiver inside the probe includes sensors of the three components of the transmitted field, with sensors for at least two of the three components being pairs of sensors, such as coils, on opposite sides of a common reference point. In one variant of the receiver, the coils are collinear and are wound about cores that are mounted in pairs of diametrically opposed apertures in the housing of the probe. Each member of a pair of coils that sense the same component of the transmitted field is connected to a different input of a differential amplifier. The position and orientation of the receiver relative to the antennas are determined noniteratively.