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1. 发明申请

WO2019075075A1 SURGICAL SHAPE SENSING FIBER OPTIC APPARATUS AND METHOD THEREOF 审中-公开
公开(公告)号：WO2019075075A1
公开(公告)日：2019-04-18
申请号：PCT/US2018/055229
申请日：2018-10-10
申请人： VIBRONIX, INC. , XIA, Yan , LAN, Lu
发明人： XIA, Yan , LAN, Lu
IPC分类号： A61B34/20 , H01L33/10 , H04B10/2519
CPC分类号： A61B90/36 , A61B90/361 , A61B2034/105 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B2090/365 , A61B2090/372 , A61B2090/502 , H04B10/2519
摘要： A shape sensing apparatus for tissue and surgical procedures comprising a processing means and a tunable light source. At least one shape sensing fiber can be used with the shape sensing fiber having a plurality of individual sensing fiber cores having a fiber Bragg grating distributed within the fiber. An optical switch configured to sequentially switch between a multiplex of individual fibers inside the shape sensing fiber for signal detection can be included and a detector can be used to detect the fiber signals. An augmented reality system that receives the tracking data from the shape sensing apparatus, and superimposes visual guidance on its display for precise and intuitive surgical guidance.

2. 发明申请

WO2018115200A1 NAVIGATION PLATFORM FOR A MEDICAL DEVICE, PARTICULARLY AN INTRACARDIAC CATHETER 审中-公开
公开(公告)号：WO2018115200A1
公开(公告)日：2018-06-28
申请号：PCT/EP2017/083950
申请日：2017-12-20
申请人： KONINKLIJKE PHILIPS N.V.
发明人： HARKS, Godefridus, Antonius , VENKER, Frans , BELT, Harm, Jan, Willem , AARNINK, Reinardus, Gerhardus
IPC分类号： A61B34/20 , A61B17/00 , A61B90/00
CPC分类号： A61B34/20 , A61B34/10 , A61B2017/00243 , A61B2017/00699 , A61B2017/00703 , A61B2034/105 , A61B2034/2063 , A61B2034/2065 , A61B2090/364 , A61B2090/365 , A61B2090/367
摘要： The invention relates to a system for assisting in navigating a medical device (1) in a region of a patient body, such as a cardiac chamber. The system comprises a unit (5) for providing a three-dimensional model of the region and an ultrasound probe (2) for acquiring image signals of the region of the patient body. At least one an ultrasound sensor (6) is attached to the medical device (1) for sensing ultrasound signals emitted by the 5 ultrasound probe (2) and a tracking unit (7) determines a relative position of the at last one ultrasound sensor (6) with respect to the live images and/or the ultrasound probe (2) on the basis of the sensed ultrasound signals. Further, a mapping unit (8) maps the determined relative position of the at least one ultrasound sensor (6) onto the model to generate a visualization of region of the patient body.

3. 发明申请

WO2018032083A1 METHODS AND SYSTEMS FOR REGISTRATION OF VIRTUAL SPACE WITH REAL SPACE IN AN AUGMENTED REALITY SYSTEM 审中-公开
标题翻译：在增强现实系统中用真实空间注册虚拟空间的方法和系统
公开(公告)号：WO2018032083A1
公开(公告)日：2018-02-22
申请号：PCT/CA2016/050961
申请日：2016-08-17
申请人： SYNAPTIVE MEDICAL (BARBADOS) INC. , THOMAS, Monroe Milas
发明人： THOMAS, Monroe Milas
IPC分类号： A61B34/20 , A61B34/10 , G06F19/00
CPC分类号： A61B34/20 , A61B34/10 , A61B34/30 , A61B90/36 , A61B90/361 , A61B90/39 , A61B2034/2048 , A61B2034/2055 , A61B2034/2065 , A61B2090/365 , A61B2090/3975 , A61B2090/502 , G06F3/017 , G06T7/50 , G06T7/70 , G06T19/006 , G06T19/20 , G16H20/40
摘要： A method and system to use an augmented reality device in a surgical procedure. The method includes rendering, on the display of the device, a model of a patient reference object; in response to receiving input, moving the model of the patient reference object in an augmented reality coordinate system; determining that the model is aligned with the patient reference object in real world space when viewed through the display and, based on that determination, identifying a first transform from the augmented reality coordinate system to a navigation coordinate system used by an optical navigation system for tracking the patient reference object; subsequently transferring patient image data from the navigation coordinate system to the augmented reality coordinate system using an inverse of the first transform; and displaying the patient image data on the display to augment a real world view of a patient.
摘要翻译：在外科手术中使用增强现实设备的方法和系统。该方法包括在装置的显示器上呈现患者参考对象的模型; 响应于接收到输入，在增强现实坐标系中移动患者参考对象的模型; 当通过显示器观看时，确定模型与真实世界空间中的患者参考对象对齐，并且基于该确定，识别从增强现实坐标系到用于跟踪的光学导航系统所使用的导航坐标系的第一变换患者参考对象; 随后使用第一变换的逆来将患者图像数据从导航坐标系转移到增强现实坐标系; 并在显示器上显示患者图像数据以增加患者的真实世界视图。

4. 发明申请

WO2018013198A1 SYSTEMS AND METHODS FOR DISPLAYING AN INSTRUMENT NAVIGATOR IN A TELEOPERATIONAL SYSTEM 审中-公开
标题翻译：用于在远距操作系统中显示仪器导航仪的系统和方法
公开(公告)号：WO2018013198A1
公开(公告)日：2018-01-18
申请号：PCT/US2017/029400
申请日：2017-04-25
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： MUSTUFA, Tabish , FLAMM, Benjamin S. , HOOVER, Paul A.
IPC分类号： A61B90/00 , A61B34/35
CPC分类号： A61B34/25 , A61B1/00149 , A61B1/00193 , A61B34/20 , A61B34/30 , A61B34/35 , A61B90/00 , A61B90/37 , A61B2034/254 , A61B2034/301 , A61B2090/365 , A61B2090/371 , A61B2090/373 , G06T3/60
摘要： A system comprises a teleoperational assembly including a teleoperational manipulator coupled to a plurality of instruments in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to display a first synthetic rendering of the plurality of instruments, recognize a triggering event, and change from displaying the first synthetic rendering to displaying a second synthetic rendering of the plurality of instruments in response to recognition of the triggering event.
摘要翻译：系统包括远程操作组件，远程操作组件包括耦合到手术环境中的多个器械的远程操作控制器。该系统还包括包含一个或多个处理器的处理单元。处理单元被配置为响应于触发事件的识别而显示多个乐器的第一合成渲染，识别触发事件，并且从显示第一合成渲染改变为显示多个乐器的第二合成渲染。

5. 发明申请

WO2017151963A1 SENSORY ENHANCED ENVIRONMENTS FOR INJECTION AID AND SOCIAL TRAINING 审中-公开
标题翻译：感知增强的注射和社会训练环境
公开(公告)号：WO2017151963A1
公开(公告)日：2017-09-08
申请号：PCT/US2017/020509
申请日：2017-03-02
申请人： TRUINJECT MADICAL CORP.
发明人： RIOS, Gabrielle, A. , RIOS, Daniel, David , FOSTER, Clark, B.
IPC分类号： G06F19/00 , A61B90/11 , A61B90/00
CPC分类号： A61B34/10 , A61B17/3403 , A61B34/20 , A61B34/25 , A61B90/36 , A61B2034/104 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2090/365 , A61B2090/502 , G09B23/285 , G16H40/63 , G16H50/50
摘要： An injection aid system and a social aid system having a computing system with at least one processor and a memory device. The computing system can be configured to generate a at least one of a virtual environment and an augmented environment. A display device can be coupled to the computing system and configured to visually display the environment. The injection aid system can further include an injection tool and a treatment target configured to receive a simulated injection by the injection tool. The injection tool can have a needle and a plunger.
摘要翻译：一种具有计算系统的注射辅助系统和社交辅助系统，所述计算系统具有至少一个处理器和存储器设备。计算系统可以被配置成生成虚拟环境和增强环境中的至少一个。显示设备可以耦合到计算系统并且被配置为可视地显示环境。注射辅助系统可以进一步包括注射工具和配置成接收注射工具的模拟注射的治疗目标。注射工具可以有针和柱塞。

6. 发明申请

WO2017143427A1 SYSTEM AND METHOD FOR SCOPE BASED DEPTH MAP ACQUISITION 审中-公开
标题翻译：用于基于范围的深度图获取的系统和方法
公开(公告)号：WO2017143427A1
公开(公告)日：2017-08-31
申请号：PCT/CA2016/050189
申请日：2016-02-25
申请人： SYNAPTIVE MEDICAL (BARBADOS) INC. , ABHARI, Kamyar , SELA, Gal , WOOD, Michael Frank Gunter , HYNNA,, Kai Michael , LEE, Tammy Kee-wai
发明人： ABHARI, Kamyar , SELA, Gal , WOOD, Michael Frank Gunter , HYNNA,, Kai Michael , LEE, Tammy Kee-wai
IPC分类号： A61B34/20 , A61B1/04 , A61B34/00 , A61B90/30
CPC分类号： A61B34/20 , A61B1/00009 , A61B17/3423 , A61B34/00 , A61B34/10 , A61B90/30 , A61B90/37 , A61B2034/107 , A61B2034/2057 , A61B2034/2065 , A61B2090/365 , A61B2090/366 , G06T7/521 , G06T2207/10016 , G06T2207/10021 , G06T2207/10028 , G06T2207/10048 , G06T2207/10068 , G06T2207/30016 , G06T2207/30204 , H04N5/272 , H04N13/271
摘要： A medical navigation system is provided for acquiring a depth map of a surgical site of interest in a patient. The medical navigation system comprises a camera, a light projecting device, a display, and a controller. The controller has a processor coupled to a memory. The controller is configured to generate a signal provided to the light projecting device to project an edge indicator on the surgical site of interest, generate a signal to operate the camera to perform a focus sweep and capture a plurality of images during the focus sweep where the plurality of images includes the projected edge indicator, receive from the camera data representing the plurality of images captured during the focus sweep, and generate a depth map of the surgical site of interest using the data representing the plurality of images.
摘要翻译：医疗导航系统被提供用于获取患者中感兴趣的手术部位的深度图。医疗导航系统包括照相机，投光装置，显示器和控制器。控制器具有耦合到存储器的处理器。控制器被配置为生成提供给光投射设备的信号以在感兴趣的手术部位上投影边缘指示符，生成信号以操作相机执行聚焦扫掠并且在聚焦扫掠期间捕获多个图像，其中多个图像包括投影边缘指示符，从相机接收表示聚焦扫描期间捕获的多个图像的数据，并且使用表示多个图像的数据生成感兴趣的手术部位的深度图。

7. 发明申请

WO2017134536A1 SYSTEM AND METHOD FOR PROVIDING SURGICAL GUIDANCE BASED ON POLARIZATION-SENSITIVE OPTICAL COHERENCE TOMOGRAPHY 审中-公开
标题翻译：基于极化敏感的光学相干层析成像提供手术指导的系统和方法
公开(公告)号：WO2017134536A1
公开(公告)日：2017-08-10
申请号：PCT/IB2017/050226
申请日：2017-01-16
申请人： SYNAPTIVE MEDICAL (BARBADOS) INC. , MAK, Siu Wai Jacky
发明人： MAK, Siu Wai Jacky
IPC分类号： A61B34/10 , A61B34/00 , A61B5/00
CPC分类号： A61B5/0066 , A61B5/00 , A61B5/0035 , A61B5/0084 , A61B17/3421 , A61B34/00 , A61B34/10 , A61B90/37 , A61B2034/107 , A61B2034/2055 , A61B2090/365 , A61B2090/3735 , G01B9/02091 , G01N21/4795
摘要： Systems and methods are provided for identifying a suitable surgical location and/or trajectory for proceeding with a surgical procedure based on local polarization-sensitive optical coherence tomography imaging (PSOCT). PSOCT images are obtained of a tissue region and are processed to provide a spatial map of anisotropic structure within the tissue region. The anisotropic structure is processed to determine one or more suitable surgical locations and/or trajectories for avoiding or reducing damage to local anisotropic tissue structure identified within the tissue region. The spatial map of the anisotropic structure is registered with pre-operative volumetric image data identifying anisotropic tissue structure within a second tissue region that is larger than the tissue region imaged by PSOCT.
摘要翻译：提供了系统和方法，用于基于局部偏振敏感光学相干断层扫描成像（PSOCT）来识别用于继续进行外科手术的合适手术位置和/或轨迹。获得组织区域的PSOCT图像并进行处理以提供组织区域内的各向异性结构的空间图。处理各向异性结构以确定用于避免或减少对在组织区域内识别的局部各向异性组织结构的损伤的一个或多个合适手术位置和/或轨迹。各向异性结构的空间图与手术前体积图像数据配准，所述手术体积图像数据识别比PSOCT成像的组织区域大的第二组织区域内的各向异性组织结构。

8. 发明申请

WO2017089941A1 NAVIGATION, TRACKING AND GUIDING SYSTEM FOR THE POSITIONING OF OPERATORY INSTRUMENTS WITHIN THE BODY OF A PATIENT 审中-公开
标题翻译：在患者体内定位术士仪器的导航，跟踪和引导系统
公开(公告)号：WO2017089941A1
公开(公告)日：2017-06-01
申请号：PCT/IB2016/057001
申请日：2016-11-21
申请人： R.A.W. S.R.L.
发明人： ROTILIO, Alessandro , SOLBIATI, Marco , MIRABILE, Maurizio , ZENI, Luigi
IPC分类号： A61B90/00 , G02B27/01 , A61B34/20
CPC分类号： A61B34/20 , A61B90/36 , A61B2034/2046 , A61B2034/2055 , A61B2034/2061 , A61B2090/062 , A61B2090/065 , A61B2090/066 , A61B2090/365 , A61B2090/3983 , A61B2090/502 , G02B27/017 , G02B2027/0138 , G02B2027/014 , G02B2027/0187
摘要： Navigation, tracking and guiding system (1) for the positioning of operatory instruments (5) inside the body of a patient (P) comprising a control unit (2), a display (3) and first detecting means (4) for determining the spatial position of the viewer (3). The system (1) further comprises a sensor associated to an operatory instrument (5) and insertable inside the internal portion (Pi) of the body of the patient (P). The probe comprises at least one optical guide, having dispersion zones of a luminous flux generated inside the optical guide and detecting means for the detection of the dispersion of the luminous flux, in order to identify the spatial arrangement of the probe when inserted within the patient (P). The control unit (2) is configured to project on the viewer (3) an image of the internal state of at least one internal portion (Pi) of the body of the patient (P) and the image of the probe based on the identified spatial arrangement.
摘要翻译：用于将操作器械（5）定位在患者（P）的体内的导航，跟踪和引导系统（1），所述系统包括控制单元（2），显示器（3）和第一检测装置（4），用于确定观看者（3）的空间位置。系统（1）还包括与操作器械（5）相关联并且可插入患者（P）的身体的内部部分（P 1）内部的传感器。探头包括至少一个光导，其具有在光导内产生的光通量的分散区和用于检测光通量的分散的检测装置，以便在插入患者体内时识别探头的空间布置（P）。控制单元（2）被配置为在观察者（3）上投影患者（P）的身体的至少一个内部部分（P 1）的内部状态的图像以及基于所识别的探测器的图像空间安排。

9. 发明申请

WO2017028935A1 DETERMINING A CONFIGURATION OF A MEDICAL ROBOTIC ARM 审中-公开
标题翻译：确定医用机器人的配置
公开(公告)号：WO2017028935A1
公开(公告)日：2017-02-23
申请号：PCT/EP2015/075427
申请日：2015-11-02
申请人： BRAINLAB AG
发明人： STEINLE, Wolfgang , HAMILTON, Christoffer , FRIELINGHAUS, Nils
IPC分类号： A61B34/10 , A61N5/10
CPC分类号： A61B34/20 , A61B10/0233 , A61B34/10 , A61B34/30 , A61B90/37 , A61B90/50 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/2057 , A61B2034/2059 , A61B2034/2063 , A61B2034/2068 , A61B2090/0481 , A61B2090/364 , A61B2090/365 , A61B2090/3929 , A61B2090/3975 , A61B2090/3979 , A61N5/1049 , A61N2005/1059 , B25J9/1666 , B25J9/1676 , G06F19/00 , G06T7/0012 , G06T7/70 , G06T11/001 , G06T2207/10024 , G06T2207/10028 , G06T2207/10081 , G06T2207/10088 , G06T2207/30024 , G06T2207/30241
摘要： A computer implemented method for determining a configuration of a medical robotic arm, wherein the configuration comprises a pose of the robotic arm and a position of a base of the robotic arm, comprising the steps of: - acquiring treatment information data representing information about the treatment to be performed by use of the robotic arm; - acquiring patient position data representing the position of a patient to be treated; and - calculating the configuration from the treatment information data and the patient position data.
摘要翻译：一种用于确定医疗机器人臂的配置的计算机实现的方法，其中所述配置包括所述机器人手臂的姿势和所述机器人手臂的基座的位置，包括以下步骤： - 获取表示关于所述治疗的信息的治疗信息数据通过使用机器手臂进行; - 获取表示待治疗患者的位置的患者位置数据; 以及 - 根据治疗信息数据和患者位置数据计算配置。

10. 发明申请

WO2017028934A1 PLANNING A STRAIGHT LINE TRAJECTORY FOR A MEDICAL PROCEDURE 审中-公开
标题翻译：为医疗程序规划一条直线路线
公开(公告)号：WO2017028934A1
公开(公告)日：2017-02-23
申请号：PCT/EP2015/070153
申请日：2015-09-03
申请人： BRAINLAB AG
发明人： STEINLE, Wolfgang , HAMILTON, Christoffer , FRIELINGHAUS, Nils
IPC分类号： A61B34/10 , A61N5/10
CPC分类号： A61B34/20 , A61B10/0233 , A61B34/10 , A61B34/30 , A61B90/37 , A61B90/50 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/2057 , A61B2034/2059 , A61B2034/2063 , A61B2034/2068 , A61B2090/0481 , A61B2090/364 , A61B2090/365 , A61B2090/3929 , A61B2090/3975 , A61B2090/3979 , A61N5/1049 , A61N2005/1059 , B25J9/1666 , B25J9/1676 , G06F19/00 , G06T7/0012 , G06T7/70 , G06T11/001 , G06T2207/10024 , G06T2207/10028 , G06T2207/10081 , G06T2207/10088 , G06T2207/30024 , G06T2207/30241
摘要： Disclosed is a computer-implemented method for planning a trajectory (11) through an anatomical body part (1), the trajectory (11) being usable for a medical procedure and the method comprising executing, on at least one processor of at least one computer, steps of: • a) acquiring (S1), at a processor, patient image data describing a medical image of a patient anatomical body part being the anatomical body part (1) in a patient's body; • b) acquiring (S2), at a processor, atlas trajectory data describing a model anatomical body part being a model of the patient anatomical body part, and describing the position of at least one predetermined trajectory through the model anatomical body part; • c) acquiring (S3), at a processor, critical structure data describing the position of at least one critical structure (5) in the model anatomical body part or in the patient anatomical body part; • d) determining (S4), by a processor and based on the patient image data and the atlas trajectory data and the critical structure, mapping data describing a mapping of the model anatomical body part, of the position of the at least one predetermined trajectory and of the position of the at least one critical structure (5) onto the medical image of the patient anatomical body part; • e) determining (S5), by a processor and based on the mapping data and the atlas trajectory data and the patient image data, analysis region data describing an analysis region in the patient image data, the analysis region (16) having a position in the patient anatomical body part fulfilling a predetermined spatial condition relative to the position of the mapped predetermined trajectory (6); • f) determining (S6), by the processor and based on the patient image data and the atlas trajectory data and the analysis region data and the critical structure data, straight trajectory data describing a straight line trajectory (11) through the patient anatomical body part having a position fulfilling a predetermined spatial condition relative to the position of at least one critical structure (5) in the patient anatomical body part.
摘要翻译：公开了一种用于通过解剖体部分（1）规划轨迹（11）的计算机实现的方法，所述轨迹（11）可用于医疗过程，并且所述方法包括在至少一个计算机的至少一个处理器步骤：a）在处理器处获取（S1）患者图像数据，所述患者图像数据描述患者解剖体部分的医学图像，所述患者解剖体部分是患者体内的解剖体部分（1）; b）在处理器处获取描述作为所述患者解剖体部分的模型的模型解剖体部分的图形轨迹数据，以及描述穿过所述模型解剖体部分的至少一个预定轨迹的位置的步骤（S2）。 c）在处理器处获取描述模型解剖体部分或患者解剖体部分中至少一个关键结构（5）的位置的关键结构数据（S3）; •d）由处理器确定（S4），并且基于所述患者图像数据和所述图谱轨迹数据和所述关键结构来确定描述所述模型解剖体部分的映射的数据（S4），所述至少一个预定轨迹的位置以及所述至少一个关键结构（5）到患者解剖体部分的医学图像上的位置; •e）通过处理器确定（S5）基于所述映射数据和所述图谱轨迹数据和所述患者图像数据，描述所述患者图像数据中的分析区域的分析区域数据，所述分析区域（16）具有位置在患者解剖体部分中相对于所映射的预定轨迹（6）的位置实现预定的空间状态; •f）由处理器确定（S6）并基于患者图像数据和图谱轨迹数据以及分析区域数据和关键结构数据，描述通过患者解剖体的直线轨迹（11）的直线轨迹数据具有相对于患者解剖体部分中的至少一个临界结构（5）的位置实现预定空间状态的位置的部分。

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