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    DEVICES, SYSTEMS, METHODS, AND STORAGE MEDIA FOR CONTROLLING A BENDABLE MEDICAL DEVICE
    1.
    发明申请
    DEVICES, SYSTEMS, METHODS, AND STORAGE MEDIA FOR CONTROLLING A BENDABLE MEDICAL DEVICE 有权

    公开(公告)号：US20240382168A1

    公开(公告)日：2024-11-21

    申请号：US18198141

    申请日：2023-05-16

    Applicant: Canon U.S.A., Inc.

    Inventor： Fumitaro Masaki ,  Brian Ninni ,  Takahisa Kato

    IPC: A61B6/00 ,  A61B90/00

    Abstract: Some devices, systems, and methods obtain a fluoroscopic image and corresponding C-arm positional information of the fluoroscopic image, wherein the fluoroscopic image depicts a distal end of a bendable medical device, and wherein the C-arm positional information indicates a rotation angle of a C-arm of a C-arm scanner; obtain an orientation of the distal end in an image plane of the fluoroscopic image, wherein the image plane is defined in a detector reference frame; obtain an instructed direction; determine, in the image plane, a movement direction of the distal end that corresponds to the instructed direction; map the movement direction from the image plane to a distal-end reference frame of the distal end, wherein the mapping is based on an orientation of the distal end in an intermediate reference frame and on the C-arm positional information; and control the distal end to move according to the mapped movement direction.

    ROBOTIC CATHETER SYSTEM AND METHOD OF REPLAYING TARGETING TRAJECTORY
    5.
    发明申请
    ROBOTIC CATHETER SYSTEM AND METHOD OF REPLAYING TARGETING TRAJECTORY 有权

    公开(公告)号：US20250143812A1

    公开(公告)日：2025-05-08

    申请号：US18838332

    申请日：2023-02-13

    Applicant: CANON U.S.A., INC. ,  THE BRIGHAM AND WOMEN'S HOSPITAL INCORPORATED

    Inventor： Fumitaro Masaki ,  Brian Ninni ,  Franklin King ,  Nobuhiko Hata

    IPC: A61B34/30 ,  A61B1/267 ,  A61B34/00

    Abstract: A system for, display controller connected to, and a method of, operating a robotic catheter system which is configured to manipulate a catheter having one or more bending segments along the catheter's length and a catheter tip at the distal end thereof, and which includes an actuator unit coupled to the bending segments via one or more drive wires arranged along a wall of the catheter. The method comprising: inserting at least part of the catheter into a lumen along an insertion trajectory that spans from an insertion point to a target; causing the actuator unit to actuate at least one of the one or more drive wires to align the catheter tip with the target; determining the position and/or orientation of the catheter tip with respect to the target; and displaying information about an accuracy of alignment between the catheter tip with respect to the target.

    CONTINUUM ROBOT APPARATUS, METHOD, AND MEDIUM
    6.
    发明申请
    CONTINUUM ROBOT APPARATUS, METHOD, AND MEDIUM 有权

    公开(公告)号：US20220264020A1

    公开(公告)日：2022-08-18

    申请号：US17673606

    申请日：2022-02-16

    Applicant: Canon U.S.A., Inc. ,  The Brigham and Women's Hospital Inc.

    Inventor： Fumitaro Masaki ,  Franklin King ,  Takahisa Kato ,  Brian Ninni ,  HuaLei Shelley Zhang ,  Nobuhiko Hata

    IPC: H04N5/232

    Abstract: An apparatus for correction of a direction to which a tool channel or a camera moves or is bent in a case where a displayed image is rotated. The apparatus includes at least one memory and at least one processor that executes instructions stored in the memory to receive a directional command of a capturing direction of a camera, move the capturing direction of the camera according to the received directional command, detect a rotation amount of a captured image displayed on a monitor, wherein the captured image is captured by the camera, and correct, based on the detected rotation amount, directional information corresponding to a particular directional command or directional coordinate for moving the camera, wherein the directional information is used for moving the capturing direction of the camera.

    ROBOTIC ENDOSCOPE PROBE HAVING ORIENTATION REFERENCE MARKERS
    7.
    发明申请
    ROBOTIC ENDOSCOPE PROBE HAVING ORIENTATION REFERENCE MARKERS 有权

    公开(公告)号：US20210369355A1

    公开(公告)日：2021-12-02

    申请号：US17308758

    申请日：2021-05-05

    Applicant: CANON U.S.A., INC. ,  The Brigham and Women's Hospital Inc.

    Inventor： Fumitaro Masaki ,  Franklin King ,  Nobuhiko Hata ,  Takahisa Kato

    IPC: A61B34/20 ,  A61B1/00 ,  A61B1/005 ,  A61B5/06 ,  A61B90/00 ,  A61B34/37 ,  A61B1/04

    Abstract: An endoscope imaging system comprises a robotic controlled steerable catheter and an imaging device removably arranged in a tool channel of the catheter. One or more sensors or markers are configured to map a positional relation of the catheter with respect to an orientation of the imaging device. A controller drives the steerable catheter to manipulate the distal end thereof, while the imaging device acquires an image of a subject or sample. While the imaging device acquires the image, a processor calculates a change in positional relation of the catheter with respect to the orientation of the imaging device based on information provided by the one or more sensors or markers. An output unit provides an indication for remapping the orientation of the steerable catheter with respect to the orientation of the imaging device.

    ROBOTIC CATHETER SYSTEM AND METHODS FOR DISPLAYING CORRECTIVE ACTIONS THEREFOR
    9.
    发明申请
    ROBOTIC CATHETER SYSTEM AND METHODS FOR DISPLAYING CORRECTIVE ACTIONS THEREFOR 有权

    公开(公告)号：US20250134603A1

    公开(公告)日：2025-05-01

    申请号：US18835295

    申请日：2023-02-01

    Applicant: CANON U.S.A., INC.

    Inventor： Brian Ninni ,  Charles George Hwang ,  HuaLei Shelley Zhang ,  Fumitaro Masaki

    IPC: A61B34/30 ,  A61M25/01

    Abstract: A robotic catheter system and methods for implementing corrective actions during use thereof. A method comprises: providing a catheter that has one or more bendable segments and a catheter tip, inserting the catheter into a bodily lumen and navigating the catheter through the lumen along an insertion trajectory while an actuation unit applies an actuation force to the one or more bendable segments; recording a navigation parameter in relation to the insertion trajectory while the catheter is moved through the lumen, displaying, on a display, a graphical representation of the navigation parameter relative to a threshold value indicative of a location along the insertion trajectory where a navigation error of the catheter can occur or has occurred; and outputting to the display an interactive user-guide showing one or more than one corrective actions that can be taken to correct and/or prevent the navigation error.

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