公开(公告)号：US07969143B2

公开(公告)日：2011-06-28

申请号：US09860484

申请日：2001-05-21

申请人： Pinhas Gilboa

发明人： Pinhas Gilboa

IPC分类号： G01B7/14 ,  G01B7/30

CPC分类号： G01R33/02 ,  A61B2017/00411 ,  A61B2090/3975 ,  F41G3/225 ,  G01B7/004 ,  G01S13/66 ,  G01S13/874 ,  G01S13/878

摘要： A method of tracking translation and rotation of one or more objects within a region of interest. The method includes providing a passive transponder in the region of interest, the transponder having a position and an orientation, generating an electromagnetic field in the region of interest, causing the transponder to generate electromagnetic signal, mapping the electromagnetic field and the signal as functions of the position and the orientation of the transponder, fixing the transponder to the object being tracked, receiving the signals generated by the transponder while the transponder is fixed to the object being tracked, and processing the signal, with reference to the functions, to compute the three-dimensional translational position and three-axis rotational orientation of the object.

摘要翻译： 跟踪感兴趣区域内的一个或多个对象的翻译和旋转的方法。 该方法包括在感兴趣的区域中提供无源应答器，应答器具有位置和取向，在感兴趣区域中产生电磁场，使得应答器产生电磁信号，将电磁场和信号映射为 应答器的位置和方向，将应答器固定在正在被跟踪的对象上，在应答器被固定到被跟踪对象的同时接收由应答器产生的信号，并且参考该功能来处理该信号，以计算 物体的三维平移位置和三轴旋转取向。

公开(公告)号：US20080125760A1

公开(公告)日：2008-05-29

申请号：US10597747

申请日：2005-02-09

申请人： Pinhas Gilboa

发明人： Pinhas Gilboa

IPC分类号： A61K9/22 ,  A61M25/04 ,  A61M36/12

CPC分类号： A61M25/04

摘要： An anchoring mechanism and method for anchoring a device within a biological conduit include an expandable element configured for retaining the device at a desired angle relative to a central axis of the biological conduit. A steering mechanism is preferably provided for orienting the device prior to operation of the anchoring mechanism. The anchoring mechanism and method are employed in drug delivery devices, brachytherapy devices or for anchoring a catheter or sheath to provide a working channel for reliable guidance of a wide range of tools to a target location within the body.

摘要翻译： 用于将装置锚定在生物导管内的锚固机构和方法包括被构造用于相对于生物导管的中心轴线保持所需的角度的可扩张元件。 优选地提供转向机构以在锚定机构的操作之前使装置定向。 锚定机构和方法用于药物递送装置，近距离放射治疗装置或用于锚定导管或鞘以提供工作通道，用于将范围广泛的工具可靠地引导到身体内的目标位置。

公开(公告)号：US20050171508A1

公开(公告)日：2005-08-04

申请号：US10258124

申请日：2001-04-19

申请人： Pinhas Gilboa

发明人： Pinhas Gilboa

IPC分类号： A61B5/06 ,  A61M25/01 ,  A61M25/092 ,  A63H33/00 ,  A61M31/00

CPC分类号： A61M25/0105 ,  A61B5/06 ,  A61B5/064 ,  A61M2025/0166

摘要： A method for guiding an apparatus to a location within the body includes providing a sheath having a lumen and inserting along the lumen a position sensor such that said position sensor is located within, or adjacent to, a distal portion of the sheath. Position information generated using the position sensor is then employed during guiding of the distal portion of the sheath to the location within the body. Once the sheath is in place, the position sensor is withdrawn along the lumen to free the lumen for guiding an apparatus to the location within the body. The position sensor is preferably part of a six-degrees-of-freedom position sensing system. A corresponding catheter system typically includes at least one, and preferably two, steering mechanisms. At least one of the steering mechanisms is preferably deployed in a separate center-support distally with respect to the position sensor.

摘要翻译： 用于将装置引导到体内的位置的方法包括提供具有内腔的护套并且沿着内腔插入位置传感器，使得所述位置传感器位于护套的远侧部分内或邻近护套的远侧部分。 然后在将护套的远端部分引导到体内的位置的同时使用使用位置传感器产生的位置信息。 一旦护套就位，位置传感器就沿内腔被抽出以释放内腔，以将装置引导到体内的位置。 位置传感器优选地是六自由度位置感测系统的一部分。 相应的导管系统通常包括至少一个，优选两个转向机构。 至少一个转向机构优选地相对于位置传感器向远侧展开在单独的中心支撑中。

公开(公告)号：US06702780B1

公开(公告)日：2004-03-09

申请号：US10009762

申请日：2002-03-05

申请人： Pinhas Gilboa ,  David Tolkowsky ,  Danny Blecher

发明人： Pinhas Gilboa ,  David Tolkowsky ,  Danny Blecher

IPC分类号： A61M3700

CPC分类号： A61M25/0144 ,  A61M25/0147

摘要： 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.

摘要翻译： 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：US06226543B1

公开(公告)日：2001-05-01

申请号：US09179827

申请日：1998-10-28

申请人： Pinhas Gilboa ,  David Tolkowsky ,  David Hollander

发明人： Pinhas Gilboa ,  David Tolkowsky ,  David Hollander

IPC分类号： A61B505

CPC分类号： A61B5/06 ,  A61B5/064 ,  A61B34/20 ,  A61B90/36 ,  A61B2017/00694 ,  A61B2017/00703 ,  A61B2034/2051 ,  A61B2034/2063 ,  A61B2090/364 ,  A61B2090/376 ,  A61B2090/378

摘要： The present invention provides a method of recording and displaying in context of an image a location of at least one point-of-interest in a body during an intra-body medical procedure. The method is effected by (a) establishing a location of the body; (b) inserting at least one catheter into a portion of the body, the at least one catheter including a first location implement; (c) using an imaging instrument for imaging the portion of the body; (d) establishing a location of the imaging instrument; (e) advancing the at least one catheter to at least one point-of-interest in the portion of the body and via a locating implement recording a location of the at least one point-of-interest; and (f) displaying and highlighting the at least one point-of-interest in context of an image of the portion of the body, the image being generated by the imaging instrument; such that, in course of the procedure, the locations of the body, the at least one catheter and the imaging instrument are known, thereby the at least one point-of-interest is projectable and displayable in context of the image even in cases whereby a relative location of the body and the imaging instrument are changed.

摘要翻译： 本发明提供了一种在体内医疗过程期间在图像的上下文中记录和显示身体中至少一个感兴趣点的位置的方法。 该方法通过（a）建立身体的位置来实现; （b）将至少一个导管插入所述主体的一部分中，所述至少一个导管包括第一定位工具; （c）使用成像仪对身体的一部分进行成像; （d）建立成像仪器的位置; （e）将所述至少一个导管推进到所述身体的所述部分中的至少一个兴趣点，并且经由定位工具记录所述至少一个兴趣点的位置; 以及（f）在所述身体部分的图像的上下文中显示和突出所述至少一个兴趣点，所述图像由所述成像仪产生; 使得在程序过程中，身体，至少一个导管和成像仪器的位置是已知的，从而至少一个兴趣点可投影和显示在图像的上下文中，即使在这样的情况下， 身体和成像仪器的相对位置发生变化。

公开(公告)号：US5341242A

公开(公告)日：1994-08-23

申请号：US878391

申请日：1992-05-04

申请人： Pinhas Gilboa ,  Alexander Gold ,  Joseph Yaeli

发明人： Pinhas Gilboa ,  Alexander Gold ,  Joseph Yaeli

IPC分类号： G02B5/10 ,  G02B5/26 ,  G02B27/00 ,  G02B27/01 ,  G02B17/08 ,  G02B27/10

CPC分类号： G02B27/0172 ,  G02B2027/011 ,  G02B2027/0123 ,  G02B2027/0143 ,  G02B27/017 ,  G02B5/10 ,  G02B5/26

摘要： A display, for example, for a visor attached to a helmet, the visor having a partially reflecting semi-transparent portion in the view of the wearer and an optical projector for projecting an image onto the semi-transparent portion for reflection therefrom. The semi-transparent portion has a relatively higher reflectivity in a central area thereof and a relatively lower reflectivity in an annular area outside the central area. In one aspect of the invention, the head mounted display includes a projector having a display source whereon an image is formed and an optical system for focusing the image at separate sagittal and tangential foci between the image-forming surface and the semi-transparent portion.

摘要翻译： 显示器，例如用于安装在头盔上的遮阳板，遮阳板在穿戴者视野中具有部分反射的半透明部分，以及用于将图像投影到半透明部分上用于反射的光学投影仪。 半透明部分在其中心区域具有相对更高的反射率，并且在中心区域外部的环形区域中具有相对较低的反射率。 在本发明的一个方面中，头戴式显示器包括具有形成图像的显示源的投影仪和用于在图像形成表面和半透明部分之间的分开的矢状和切向焦点聚焦图像的光学系统。

公开(公告)号：US09202387B2

公开(公告)日：2015-12-01

申请号：US13498142

申请日：2010-11-11

申请人： Pinhas Gilboa

发明人： Pinhas Gilboa

IPC分类号： A61B6/02 ,  A61B6/00 ,  G09B23/28 ,  A61B19/00

CPC分类号： G09B23/28 ,  A61B34/20 ,  A61B90/36 ,  A61B90/39 ,  A61B2034/2051 ,  G06F19/00

摘要： A system and method for planning volumetric treatment by percutaneous needle procedures obtains a volumetric image data set of a subject including an identifiable region requiring treatment. An effective treatment volume is defined relative to the needle position for at least one needle carrying a treatment applicator. One or more proposed inserted needle position is defined such that a effective treatment volume corresponding to the one or more proposed inserted needle position provides coverage of the region requiring treatment. The effective treatment volume for one or more needles can then be visualized in the context of slices of 3D image data. One or more entry point and corresponding virtual target are then defined relative to a frame of reference of the volumetric image data set for use in navigation of the at least one needle to the corresponding proposed inserted needle position.

摘要翻译： 用于通过经皮针程序计划体积治疗的系统和方法获得包括需要治疗的可识别区域的受试者的体积图像数据集。 相对于至少一个承载治疗施用器的针的针位置限定有效的治疗体积。 定义了一个或多个所提出的插入针位置，使得对应于一个或多个所提出的插入针位置的有效治疗体积提供了需要治疗的区域的覆盖。 然后可以在3D图像数据的切片的上下文中可视化一个或多个针的有效治疗体积。 然后，相对于用于至少一个针的导航中使用的体积图像数据集的参考帧到相应的所提出的插入针位置来定义一个或多个入口点和对应的虚拟目标。

公开(公告)号：US08565858B2

公开(公告)日：2013-10-22

申请号：US12490237

申请日：2009-06-23

申请人： Pinhas Gilboa

发明人： Pinhas Gilboa

IPC分类号： G03B42/02 ,  G01T1/00

CPC分类号： A61B19/5244 ,  A61B5/06 ,  A61B5/062 ,  A61B5/11 ,  A61B6/4441 ,  A61B6/481 ,  A61B6/504 ,  A61B6/508 ,  A61B34/20 ,  A61F2/95

摘要： A catheter is navigated within a body cavity of a patient. This navigation is enabled by the provision of the transmitter of electromagnetic radiation under platform, a receiver of electromagnetic radiation rigidly attached to fluoroscope, and a receiver of radiation rigidly attached to the catheter, all three of which are connected by wires to a computer. The computer displays, on a display unit, the image of the body cavity acquired by the fluoroscope, with an icon representing the catheter superposed on the image in the location and orientation of catheter relative to the body. There is no representational imaging device equipped with a receiver in the apparatus of the current invention.

摘要翻译： 导管在患者的体腔内导航。 通过提供平台下的电磁辐射发射器，刚性地连接到荧光镜的电磁辐射的接收器和刚性地附接到导管的辐射接收器，所有这三个通过导线连接到计算机来实现该导航。 计算机在显示单元上显示由荧光镜获取的体腔的图像，其中图标表示导管叠加在图像上的导管相对于身体的位置和方位。 在本发明的装置中没有装备有接收器的代表成像装置。

公开(公告)号：US20080255416A1

公开(公告)日：2008-10-16

申请号：US10571695

申请日：2006-01-26

申请人： Pinhas Gilboa

发明人： Pinhas Gilboa

IPC分类号： A61B1/05 ,  A61B1/06

CPC分类号： A61B1/04 ,  A61B1/00096 ,  A61B1/00188 ,  A61B1/051 ,  A61B1/055 ,  A61B5/062 ,  H04N5/2254 ,  H04N5/23203 ,  H04N2005/2255

摘要： A miniature endoscope with an imaging arrangement associated with its distal tip portion includes an image sensor chip with a two-dimensional array of light-sensitive pixels and a lens arrangement deployed for focusing light from a field of view onto the image sensor chip so as to generate an image of a scene viewed from the distal tip portion. The lens arrangement is preferably directly affixed to the image sensor chip by a quantity of transparent adhesive. Use of bidirectional communication along data lines to the image sensor chip allows use of only four wires connecting to the chip. These and other features allow miniaturization of the endoscope to a diameter of about 2 millimeters while still generating color images of high dynamic range.

摘要翻译： 具有与其远端部分相关联的成像装置的微型内窥镜包括具有二维光敏像素阵列的图像传感器芯片和用于将来自视野的光聚焦到图像传感器芯片上的透镜布置，以便 生成从远端部分观看的场景的图像。 透镜装置优选通过一定量的透明粘合剂直接固定到图像传感器芯片上。 沿图像传感器芯片沿着数据线的双向通信允许仅使用连接到芯片的四条线。 这些和其他特征允许内窥镜的小型化直径约2毫米，同时仍然产生高动态范围的彩色图像。

公开(公告)号：US20080208041A1

公开(公告)日：2008-08-28

申请号：US11915333

申请日：2007-03-29

申请人： Pinhas Gilboa

发明人： Pinhas Gilboa

IPC分类号： A61B5/05

CPC分类号： A61B34/20 ,  A61B6/12 ,  A61B90/11 ,  A61B90/361 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2090/371 ,  G06T7/73 ,  G06T2207/30004 ,  G06T2207/30021 ,  G06T2207/30208

摘要： A system for measuring the position of a hand-held tool relative to a body in six degrees of freedom employs a camera attached via a mechanical linkage to the tool so that the camera moves together with the proximal portion of the tool and has a field of view including the distal end of the tool. A processing system processes images from the camera to determine a position of at least part of the tool. By employing optically identifiable fiducial reference points defined on the external surface of the body, a projection of the tool tip position onto a plane containing the target can be derived and displayed together with the target position, thereby facilitating guiding the tool to the target.

摘要翻译： 用于以六自由度测量手持工具相对于身体的位置的系统使用通过机械连接件附接到工具的照相机，使得照相机与工具的近侧部分一起移动并且具有 视图包括工具的远端。 处理系统处理来自相机的图像以确定至少部分工具的位置。 通过使用限定在身体的外表面上的光学可识别的基准参考点，可以导出与目标位置一起显示工具尖端位置到包含目标的平面上的投影，从而便于将工具引导到目标。