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1. 发明申请

WO2019060579A1 MRI GUIDED BIOPSY DEVICE WITH ROTATING DEPTH STOP DEVICE 审中-公开
公开(公告)号：WO2019060579A1
公开(公告)日：2019-03-28
申请号：PCT/US2018/052004
申请日：2018-09-20
申请人： DEVICOR MEDICAL PRODUCTS, INC.
发明人： REBELLINO, Jordan , BRUCE, John, Kevin
IPC分类号： A61B10/02 , A61B10/00 , A61B17/34 , A61B90/00
CPC分类号： A61B10/0275 , A61B5/055 , A61B10/0041 , A61B10/0283 , A61B17/3403 , A61B17/3421 , A61B17/3494 , A61B90/10 , A61B90/11 , A61B2010/0208 , A61B2017/3405 , A61B2017/3411 , A61B2090/034 , A61B2090/062 , A61B2090/0811 , A61B2090/374 , A61B2217/005
摘要： A bi-directional depth stop for use with biopsy instrument including a body and a pair of blades. The body defines a channel sized to receive a cannula associated with the biopsy instrument. The channel includes a first pair of opposing concave surfaces and a second pair of opposing concave surfaces. The first pair and second pair of opposing concave surfaces together form a superimposed bi-oval-shaped cross-section. Each blade of the pair of blades projects inwardly into a concave surface of the first pair of opposing concave surfaces such the pair of blades are disposed on an opposing side of the body. In some instances, the concave surfaces may be beneficial to provide rotation of the dept stop in two directions rather than a single direction.

2. 发明申请

WO2017205368A1 NEEDLE-GUIDE ROBOT WITH PRESET DEPTH OF INSERTION 审中-公开
标题翻译：具有预置插入深度的针引导机器人
公开(公告)号：WO2017205368A1
公开(公告)日：2017-11-30
申请号：PCT/US2017/033991
申请日：2017-05-23
申请人： THE JOHNS HOPKINS UNIVERSITY
发明人： STOIANOVICI, Dan , PETRISOR, Doru
IPC分类号： A61B10/02 , A61B90/11 , A61B34/30
CPC分类号： A61B10/0233 , A61B34/30 , A61B90/11 , A61B2017/3409 , A61B2090/034 , A61B2090/374
摘要： An embodiment in accordance with the present invention provides a robot structure that includes an MRI-Safe pneumatic stepper motor and optical encoding technologies. The present invention includes a needle guide and a needle depth limiter. The needle for biopsy is inserted through the needle guide and the depth of inserting is limited by the needle depth limiter. The robot is configured to control this procedure. The robot structure is adapted for biopsy, a novel way of setting the depth of needle insertion, image-to-robot registration. The system includes control for the robot.
摘要翻译：根据本发明的实施例提供了一种机器人结构，其包括MRI安全气动步进电机和光学编码技术。本发明包括针引导件和针深度限制器。活检针穿过导针器插入，深度限制器限制插入深度。机器人配置为控制此过程。机器人结构适用于活检，这是一种设置针插入深度，图像与机器人配准的新方法。该系统包含对机器人的控制。

3. 发明申请

WO2017158180A1 CONTROL UNIT, SYSTEM AND METHOD FOR CONTROLLING HYBRID ROBOT HAVING RIGID PROXIMAL PORTION AND FLEXIBLE DISTAL PORTION 审中-公开
标题翻译：用于控制具有刚性接近部分和柔性远端部分的混合机器人的控制单元，系统和方法
公开(公告)号：WO2017158180A1
公开(公告)日：2017-09-21
申请号：PCT/EP2017/056435
申请日：2017-03-17
申请人： KONINKLIJKE PHILIPS N.V.
发明人： POPOVIC, Aleksandra , NOONAN, David, Paul
IPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , A61B34/32 , B25J18/00 , B25J9/16
CPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , A61B34/32 , A61B90/37 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/252 , A61B2034/301 , A61B2090/374 , A61B2090/3762
摘要： A control unit for a robot system including a robot with a rigid proximal portion having a remote center of motion (RCM), a flexible distal portion, and an image acquisition device. The control unit includes a processor that receives images from the image acquisition device; generates a first deployment path to a first target position based on the images; generates a second deployment path to a second target position from the first target position based on the images; generates first guidance information for positioning the rigid proximal portion along the first deployment path; generates second guidance information for positioning the flexible distal portion along the second deployment path; and deploys the first guidance information to the rigid proximal portion for guiding the rigid proximal portion to the first target position, and deploys the second guidance information to the flexible distal portion for guiding the flexible distal portion to the second target position.
摘要翻译：一种用于机器人系统的控制单元，所述机器人系统包括具有刚性近侧部分的机器人，所述刚性近侧部分具有远程运动中心（RCM），柔性远侧部分和图像采集装置。控制单元包括从图像获取装置接收图像的处理器; 基于图像生成到第一目标位置的第一部署路径; 基于图像产生从第一目标位置到第二目标位置的第二部署路径; 产生用于沿着第一展开路径定位刚性近侧部分的第一引导信息; 生成用于沿着第二展开路径定位柔性远侧部分的第二引导信息; 并将第一引导信息展开到刚性近侧部分以将刚性近侧部分引导到第一目标位置，并将第二引导信息展开到柔性远侧部分以将柔性远侧部分引导到第二目标位置。

4. 发明申请

WO2017123536A1 ELASTOGRAPHY IMAGING WITH MAGNETIC RESONANCE IMAGING GUIDED FOCUSED ULTRASOUND 审中-公开
标题翻译：磁共振成像引导聚焦超声的血管造影成像
公开(公告)号：WO2017123536A1
公开(公告)日：2017-07-20
申请号：PCT/US2017/012827
申请日：2017-01-10
申请人： UNIVERSITY OF UTAH RESEARCH FOUNDATION
发明人： PARKER, Dennis , PAYNE, Allison , DE BEVER, Joshua , CHRISTENSEN, Douglas
IPC分类号： A61B8/00
CPC分类号： A61B8/485 , A61B5/0035 , A61B5/055 , A61B8/08 , A61B8/5261 , A61B2034/101 , A61B2090/364 , A61B2090/374 , A61B2090/378 , A61N7/02 , A61N2007/025 , G01R33/4804 , G01R33/4814 , G01R33/5619 , G01R33/56358
摘要： A technology is described for multipoint tissue elastic property measurement. An example method (700) includes generating a treatment map (710) of an anatomical region that shows focal points within the anatomical region to be exposed to Focused Ultrasound (FUS) pulses; acquiring a reference MR-ARFI image (720) of the anatomical region containing the focal points using the treatment map; acquiring an active MR-ARFI image (730) for each of the focal points in the anatomical region during exposure of the focal points to the FUS pulses using the treatment map; interleaving the reference MR-ARFI image and active MR-ARFI images (740) to create a combined image of the anatomical region and the focal points; and calculating a tissue displacement measurement (750) for the focal points exposed to the simultaneous and/or rapidly interleaved FUS pulses using the combined image of the anatomical region and the focal points exposed to the simultaneous FUS pulses.
摘要翻译：描述了用于多点组织弹性特性测量的技术。一种示例性方法（700）包括：生成解剖区域的治疗图（710），该图显示解剖区域内将要暴露于聚焦超声（FUS）脉冲的焦点; 使用治疗图来获取包含焦点的解剖区域的参考MR-ARFI图像（720）在使用治疗图将焦点暴露于FUS脉冲期间，获取解剖区域中的每个焦点的活动MR-ARFI图像（730）交错参考MR-ARFI图像和活动MR-ARFI图像（740）以创建解剖区域和焦点的组合图像; 以及使用解剖区域和暴露于同时FUS脉冲的焦点的组合图像来计算暴露于同时和/或快速交错的FUS脉冲的焦点的组织位移测量（750）。

5. 发明申请

WO2017117382A1 ROBOTIC ASSISTED PROSTATE SURGERY DEVICE 审中-公开
标题翻译：机器人辅助前列腺手术装置
公开(公告)号：WO2017117382A1
公开(公告)日：2017-07-06
申请号：PCT/US2016/069187
申请日：2016-12-29
申请人： UNIVERSITY OF GEORGIA RESEARCH FOUNDATION, INC.
发明人： TSE, Tsz Ho , SQUIRES, Alex , XU, Sheng , SEIFABADI, Reza , WOOD, Bradford
IPC分类号： A61B5/055 , A61B5/06 , A61B8/14 , G01L1/24
CPC分类号： G01L1/24 , A61B6/12 , A61B8/0841 , A61B34/20 , A61B34/30 , A61B90/10 , A61B90/11 , A61B2090/374
摘要： An example robot system for guiding a percutaneous device into a prostate of a patient includes a guide defining an opening configured to direct the needle, a robot coupled to the guide, and a rotation member coupled to the robot. The robot being configured to move the guide in a left-right and anterior-posterior directions based on information on the prostate of the patient. The rotation member being configured to change a yaw angle of the guide within a coronal plane of the patient.
摘要翻译：用于将经皮装置引导到患者的前列腺中的示例机器人系统包括限定被配置为引导针的开口的引导件，耦合到引导件的机器人以及耦合到机器人的旋转构件。机器人被配置成基于关于患者的前列腺的信息在左右方向和前后方向上移动引导件。旋转构件被配置成改变导向器在患者的冠状平面内的偏转角。

6. 发明申请

WO2017015594A1 GUIDEWIRE NAVIGATION SYSTEM WITH DIRECT VISUALIZATION FEATURE 审中-公开
标题翻译：具有直观可视化功能的导航系统
公开(公告)号：WO2017015594A1
公开(公告)日：2017-01-26
申请号：PCT/US2016/043652
申请日：2016-07-22
申请人： CARDIOGUIDANCE BIOMEDICAL, LLC
发明人： MILLER, Scott
IPC分类号： A61M25/092 , A61M25/095 , A61M25/098 , A61M25/14
CPC分类号： A61B18/14 , A61B10/06 , A61B17/221 , A61B17/3205 , A61B18/1492 , A61B90/361 , A61B2017/00106 , A61B2017/00938 , A61B2017/00942 , A61B2017/320064 , A61B2018/00982 , A61B2018/1412 , A61B2018/144 , A61B2090/064 , A61B2090/374 , A61B2090/376 , A61B2090/3782 , A61M37/00
摘要： Disclosed is a navigation system with a remote visualization element for navigating in remote spaces in medical and non-medical applications using multiple imaging modalities, including direct visualization.
摘要翻译：公开了一种具有远程可视化元件的导航系统，用于使用多种成像模式（包括直接可视化）在医疗和非医疗应用中的远程空间中导航。

7. 发明申请

WO2016205731A1 METHOD AND SYSTEM FOR EVALUATION OF FUNCTIONAL CARDIAC ELECTROPHYSIOLOGY 审中-公开
标题翻译：功能性心脏电生理学评估方法与系统
公开(公告)号：WO2016205731A1
公开(公告)日：2016-12-22
申请号：PCT/US2016/038209
申请日：2016-06-17
申请人： GENETESIS, LLC
发明人： ERASALA, Vineet , SHRIVASTAVA, Peeyush
IPC分类号： A61B5/04 , A61B5/05 , A61B5/103 , G06T7/00
CPC分类号： A61B5/04007 , A61B5/0035 , A61B5/0044 , A61B5/01 , A61B5/02055 , A61B5/021 , A61B5/024 , A61B5/04008 , A61B5/04011 , A61B5/055 , A61B5/4064 , A61B5/7235 , A61B5/7278 , A61B5/7282 , A61B5/743 , A61B5/7475 , A61B6/032 , A61B6/485 , A61B8/08 , A61B2090/374 , A61B2090/3762 , A61B2090/378 , A61B2562/0223 , A61B2576/023 , A61B2576/026 , G06F19/00
摘要： An organ evaluation device, system, or method is configured to receive electrophysiological data from a patient or model organism and integrates the data in a computational backend environment with anatomical data input from an external source, spanning a plurality of file formats, where the input parameters are combined to visualize and output current density and/or current flow activity having ampere-based units displayed in the spatial context of heart or other organ anatomy.
摘要翻译：器官评估装置，系统或方法被配置为从患者或模型生物体接收电生理数据，并将数据在计算后端环境中与从外部源输入的解剖学数据进行整合，跨越多个文件格式，其中输入参数被组合以可视化和输出具有以心脏或其他器官解剖结构的空间背景中显示的基于安培的单位的电流密度和/或电流流动活动。

8. 发明申请

WO2016196299A1 SYSTEM AND METHODS FOR REAL-TIME INTERVENTIONAL DEVICE LOCALIZATION USING MAGNETIC RESONANCE IMAGING 审中-公开
标题翻译：使用磁共振成像实时传统设备定位的系统和方法
公开(公告)号：WO2016196299A1
公开(公告)日：2016-12-08
申请号：PCT/US2016/034667
申请日：2016-05-27
申请人： WISCONSIN ALUMNI RESEARCH FOUNDATION
发明人： OLSEN, Miles, E. , BRODSKY, Ethan, K. , BLOCK, Walter, F.
IPC分类号： G01R33/28 , A61B34/10 , G01R33/48
CPC分类号： G01R33/287 , A61B10/02 , A61B17/3403 , A61B34/10 , A61B90/11 , A61B2090/374 , A61B2090/3954 , G01R33/286 , G01R33/4824
摘要： A system and methods are provided for controlling interventional devices using magnetic resonance imaging ("MRI") guidance. In some aspects, the method includes arranging a pivoting guide about a subject's anatomy that is configured to direct an interventional device toward a selected target point within the subject's anatomy, generating, using an MRI system, MR data associated with markers placed on the pivoting guide, and determining a vector defining an orientation of the pivoting guide from locations for the markers identified using the MR data. The method also includes orienting the pivoting guide in multiple directions to determine multiple vectors, and identifying a pivot point for the pivoting guide using the determined vectors. The method further includes determining a trajectory for the interventional device using the identified pivot point and the selected target point, and controlling the interventional device along the determined trajectory.
摘要翻译：提供了一种使用磁共振成像（“MRI”）指导来控制介入装置的系统和方法。在一些方面，该方法包括将关于被摄体的解剖结构的枢转引导件布置成被配置为将介入装置引导到受试者的解剖结构内的所选择的目标点，使用MRI系统生成与放置在枢转引导件上的标记相关联的MR数据以及确定从使用所述MR数据识别的所述标记的位置确定所述枢转引导件的取向的向量。该方法还包括在多个方向上定向枢转引导件以确定多个向量，以及使用所确定的向量来识别枢转引导件的枢轴点。该方法还包括使用所识别的枢轴点和所选择的目标点来确定介入装置的轨迹，以及沿着确定的轨迹来控制介入装置。

9. 发明申请

WO2016193233A1 SYSTEM FOR TRACKING POSITION AND ORIENTATION OF AN OBJECT IN A MAGNETIC RESONANCE (MR) APPARATUS 审中-公开
标题翻译：用于跟踪磁共振（MR）装置中物体的位置和方向的系统
公开(公告)号：WO2016193233A1
公开(公告)日：2016-12-08
申请号：PCT/EP2016/062200
申请日：2016-05-30
申请人： EIDGENÖSSISCHE TECHNISCHE HOCHSCHULE (ETH) , UNIVERSITÄT ZÜRICH
发明人： BRUNNER, David O. , SCHMID, Thomas , BARMET, Christoph , PRÜSSMANN, Klaas P.
IPC分类号： G01R33/28 , G01R33/565
CPC分类号： G01R33/287 , A61B34/20 , A61B2034/2051 , A61B2090/374 , A61B2090/502 , G01R33/56509
摘要： The invention relates to a system and a method for tracking position and orientation of an object in a magnetic resonance (MR) apparatus. The system comprises a tracking device for electromagnetic measurements of position and orientation with a) a tracker structure (2) that is firmly attachable to the object (4) of which the position and orientation are to be measured; b) retransmitter means (6; 8a, 8b, 8c) firmly attached to said tracker structure, said retransmitter means having at least one retransmitter resonance frequency; and c) electrical circuitry means including: i) transmitter means (10) for transmitting an electromagnetic field with at least one of said retransmitter resonance frequencies; ii) receiver means (12; 14a,14b) for receiving an electromagnetic field retransmitted by said retransmitter means; said receiver means converting said electromagnetic field into a proportional voltage; and iii) calculating means for determining, from said proportional voltages obtained from said receiver means, a position and orientation of said retransmitter means, and concomitantly of said object. The tracking device can be used in an operating MR imaging or spectroscopy apparatus.
摘要翻译：本发明涉及用于跟踪磁共振（MR）装置中的物体的位置和取向的系统和方法。该系统包括用于电磁测量位置和取向的跟踪装置，其中a）跟踪器结构（2），该跟踪器结构牢固地附接到待测量位置和取向的物体（4）上; b）牢固地附接到所述跟踪器结构的重传器装置（6; 8a，8b，8c），所述重传器装置具有至少一个重传器谐振频率; 以及c）电路装置，包括：i）用于用至少一个所述重传器谐振频率发送电磁场的发射机装置（10） ii）用于接收由所述重传器装置重传的电磁场的接收机装置（12; 14a，14b）所述接收装置将所述电磁场转换为比例电压; 以及iii）计算装置，用于根据从所述接收机装置获得的所述比例电压，确定所述重传装置的位置和方向，并与所述对象相伴。跟踪装置可用于操作的MR成像或光谱设备。

10. 发明申请

WO2016185259A1 METHOD AND APPARATUS TO PROVIDE UPDATED PATIENT IMAGES DURING ROBOTIC SURGERY 审中-公开
标题翻译：在机器人手术中提供更新的患者图像的方法和装置
公开(公告)号：WO2016185259A1
公开(公告)日：2016-11-24
申请号：PCT/IB2015/056938
申请日：2015-09-10
申请人： SIEMENS HEALTHCARE GMBH , INTUITIVE SURGICAL, INC.
发明人： AZIZIAN, Mahdi , BLOHM, Lutz , KUNZE, Holger , NIEBLER, Christine , SORGER, Jonathan
IPC分类号： A61B34/00
CPC分类号： A61B90/37 , A61B34/30 , A61B2090/064 , A61B2090/364 , A61B2090/368 , A61B2090/373 , A61B2090/374 , A61B2090/3762
摘要： In a method and an apparatus to provide updated images during a roboticaliy- implemented surgical procedure, 3D data are obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.
摘要翻译：在机器人实现的外科手术过程中提供更新图像的方法和装置中，获得了患者体积的3D数据，其中包括手术中涉及的解剖结构。解剖结构从体积的重建图像分割。在手术过程中，外科医生对解剖结构施加力量，导致解剖结构的几何变化。手术机器人中的力传感器检测这些力，这些力被提供给在显示屏幕上控制分段解剖结构的显示的处理器。根据应用的力量和解剖结构的物理特性，处理器计算已经发生的解剖结构的几何变化，并且在手术过程中实时地在显示屏幕上修改显示的分段解剖结构的外观和/或位置，以便可视化几何变化。

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