公开(公告)号：US10368850B2

公开(公告)日：2019-08-06

申请号：US14743123

申请日：2015-06-18

申请人： Siemens Medical Solutions USA, Inc.

发明人： Ali Kamen ,  John Benson ,  Richard Chiao ,  Dorin Comaniciu ,  Ankur Kapoor ,  Yuehaw Khoo ,  Andrzej Milkowski

IPC分类号： A61B10/04 ,  A61B8/00 ,  A61B10/02 ,  A61B8/08 ,  A61B8/12 ,  A61B5/055 ,  A61B34/30 ,  A61B5/06 ,  A61B90/11 ,  A61B90/00 ,  A61B17/00

摘要： Systems and methods are provided for utilizing an MRI image and real-time an ultrasound images to guide and/or restrict the movement of an ultrasound probe in position for collecting a biopsy core. A real-time ultrasound image is acquired and fused with pre-operative imaging modalities, such as an MRI image, to provide a three-dimensional model of the prostate. A multi-link robotic arm is provided with an end-effector and an ultrasound probe mounted thereto. Sensor information is used to track the ultrasound probe position with respect to the 3D model. The robotic arm allows for the implementation of a virtual remote center of motion (VRCM) about the transrectal probe tip, an adjustable compliant mode for the physician triggered movement of probe, a restrictive trajectory of joints of the robotic arm and active locking for stationary imaging of the prostate.

公开(公告)号：US11129598B2

公开(公告)日：2021-09-28

申请号：US15841177

申请日：2017-12-13

申请人： Siemens Medical Solutions USA, Inc.

发明人： Yassin Labyed ,  John Benson

IPC分类号： A61B8/14 ,  A61B8/00 ,  G01S7/52 ,  G01S15/89 ,  A61B8/08

摘要： A system and method includes transmission of an ultrasound push pulse toward material along a first axis, the ultrasound push pulse associated with a first frequency, a first F number, and a first focal depth, determination of displacement of the material along the axis in response to the push pulse, transmission of a second ultrasound pulse toward the material along the first axis, the second ultrasound pulse associated with a second frequency, a second F number, and a second focal depth substantially similar to the first frequency, the first F number, and the first focal depth, respectively, reception of echo signals from the material in response to the second ultrasound pulse, beamforming of the echo signals based on the first F number and a fixed focus at the first focal depth, determination of a magnitude of the beamformed echo signals along the axis, determination of relative elasticity of the material along the axis based on the determined displacement of the material along the axis and the magnitude of the beamformed echo signals along the axis, and generation of an image based on the determined relative elasticity of the material along the axis.

公开(公告)号：US10321847B2

公开(公告)日：2019-06-18

申请号：US14586731

申请日：2014-12-30

申请人： Siemens Medical Solutions USA, Inc.

发明人： Caroline Maleke ,  Chi Hyung Seo ,  Andrzej Milkowski ,  John Benson

IPC分类号： A61B8/12 ,  A61B17/00 ,  A61B5/06 ,  A61B17/34 ,  A61B8/00 ,  A61B8/08 ,  A61B8/06 ,  B06B1/02

摘要： To accurately generate the three-dimensional ultrasound data and/or determine the position of the ultrasound scan relative to pre-operative data, a tracking sensor is releasably connected with the ultrasound probe. The connection positions the tracking sensor near a distal end of the probe for insertion into the patient. A needle guide may be similarly releasably connected with the probe and, at least in part, inserted into the patient.

公开(公告)号：US20190175150A1

公开(公告)日：2019-06-13

申请号：US15841177

申请日：2017-12-13

申请人： Siemens Medical Solutions USA, Inc.

发明人： Yassin Labyed ,  John Benson

IPC分类号： A61B8/00 ,  A61B8/14 ,  A61B8/08

摘要： A system and method includes transmission of an ultrasound push pulse toward material along a first axis, the ultrasound push pulse associated with a first frequency, a first F number, and a first focal depth, determination of displacement of the material along the axis in response to the push pulse, transmission of a second ultrasound pulse toward the material along the first axis, the second ultrasound pulse associated with a second frequency, a second F number, and a second focal depth substantially similar to the first frequency, the first F number, and the first focal depth, respectively, reception of echo signals from the material in response to the second ultrasound pulse, beamforming of the echo signals based on the first F number and a fixed focus at the first focal depth, determination of a magnitude of the beamformed echo signals along the axis, determination of relative elasticity of the material along the axis based on the determined displacement of the material along the axis and the magnitude of the beamformed echo signals along the axis, and generation of an image based on the determined relative elasticity of the material along the axis.

公开(公告)号：US20160183767A1

公开(公告)日：2016-06-30

申请号：US14586731

申请日：2014-12-30

申请人： Siemens Medical Solutions USA, Inc.

发明人： Caroline Maleke ,  Chi Hyung Seo ,  Andrzej Milkowski ,  John Benson

IPC分类号： A61B1/00 ,  A61B8/08 ,  A61B8/00 ,  A61B5/06 ,  A61B17/34 ,  A61B8/12

CPC分类号： A61B5/062 ,  A61B8/06 ,  A61B8/12 ,  A61B8/4254 ,  A61B8/445 ,  A61B8/4461 ,  A61B8/4483 ,  A61B8/4494 ,  A61B8/483 ,  A61B8/488 ,  A61B8/5207 ,  A61B17/3403 ,  A61B2017/00274 ,  A61B2017/3413 ,  B06B1/0292

摘要： To accurately generate the three-dimensional ultrasound data and/or determine the position of the ultrasound scan relative to pre-operative data, a tracking sensor is releasably connected with the ultrasound probe. The connection positions the tracking sensor near a distal end of the probe for insertion into the patient. A needle guide may be similarly releasably connected with the probe and, at least in part, inserted into the patient.

摘要翻译： 为了精确地生成三维超声数据和/或确定相对于手术前数据的超声扫描的位置，跟踪传感器可释放地与超声波探头连接。 连接将跟踪传感器定位在探头的远端附近以插入患者体内。 针引导件可以类似地与探针可释放地连接，并且至少部分地插入患者体内。

公开(公告)号：US20150366546A1

公开(公告)日：2015-12-24

申请号：US14743123

申请日：2015-06-18

申请人： Siemens Medical Solutions USA, Inc.

发明人： Ali Kamen ,  John Benson ,  Richard Chiao ,  Dorin Comaniciu ,  Ankur Kapoor ,  Yuehaw Khoo ,  Andrzej Milkowski

IPC分类号： A61B10/04 ,  A61B8/08 ,  A61B19/00 ,  A61B10/02 ,  A61B17/34 ,  A61B8/00

CPC分类号： A61B10/04 ,  A61B5/055 ,  A61B5/066 ,  A61B5/067 ,  A61B8/12 ,  A61B8/4218 ,  A61B8/429 ,  A61B8/4405 ,  A61B8/4444 ,  A61B8/483 ,  A61B8/5261 ,  A61B10/0233 ,  A61B34/30 ,  A61B90/11 ,  A61B2010/045 ,  A61B2017/00274 ,  A61B2090/065 ,  A61B2090/378

摘要： One or more of the present embodiments include systems and methods for utilizing an MRI image and real-time an ultrasound images to guide and/or restrict the movement of an ultrasound probe in position for collecting a biopsy core. A real-time ultrasound image is acquired and fused with pre-operative imaging modalities, such as an MRI image, to provide a three-dimensional model of the prostate. A multi-link robotic arm is provided with an end-effector and an ultrasound probe mounted thereto. Sensor information is used to track the ultrasound probe position with respect to the 3D model. The robotic arm allows for the implementation of a virtual remote center of motion (VRCM) about the transrectal probe tip, an adjustable compliant mode for the physician triggered movement of probe, a restrictive trajectory of joints of the robotic arm and active locking for stationary imaging of the prostate.

摘要翻译： 本实施例中的一个或多个包括用于利用MRI图像的系统和方法，并且实时超声图像来引导和/或限制用于收集活组织检查核的位置的超声探针的运动。 获取实时超声图像并与术前成像模态（例如MRI图像）融合，以提供前列腺的三维模型。 多连杆机械手臂设置有末端执行器和安装在其上的超声波探头。 传感器信息用于跟踪相对于3D模型的超声探头位置。 机器手臂允许实现关于经直肠探针尖端的虚拟远程运动中心（VRCM），用于医生触发的探针运动的可调整的符合模式，机器人臂的关节的限制性轨迹和用于静止成像的主动锁定 的前列腺。