WO2003013624A2 - Intra vascular imaging method and apparatus - Google Patents
Intra vascular imaging method and apparatus Download PDFInfo
- Publication number
- WO2003013624A2 WO2003013624A2 PCT/IL2002/000659 IL0200659W WO03013624A2 WO 2003013624 A2 WO2003013624 A2 WO 2003013624A2 IL 0200659 W IL0200659 W IL 0200659W WO 03013624 A2 WO03013624 A2 WO 03013624A2
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- WIPO (PCT)
- Prior art keywords
- catheter
- image
- blood
- distal end
- fluid
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3137—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for examination of the interior of blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00082—Balloons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00091—Nozzles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00193—Optical arrangements adapted for stereoscopic vision
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/015—Control of fluid supply or evacuation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0655—Control therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/02007—Evaluating blood vessel condition, e.g. elasticity, compliance
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0638—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements providing two or more wavelengths
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/026—Measuring blood flow
- A61B5/0275—Measuring blood flow using tracers, e.g. dye dilution
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S977/00—Nanotechnology
- Y10S977/84—Manufacture, treatment, or detection of nanostructure
- Y10S977/849—Manufacture, treatment, or detection of nanostructure with scanning probe
- Y10S977/86—Scanning probe structure
- Y10S977/868—Scanning probe structure with optical means
- Y10S977/869—Optical microscope
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S977/00—Nanotechnology
- Y10S977/84—Manufacture, treatment, or detection of nanostructure
- Y10S977/849—Manufacture, treatment, or detection of nanostructure with scanning probe
- Y10S977/86—Scanning probe structure
- Y10S977/875—Scanning probe structure with tip detail
- Y10S977/876—Nanotube tip
Definitions
- the present invention relates to an intra vascular imaging method
- cavities of the body including methods and apparatus for visualization through
- Atherosclerotic plaques which are an active collection of different cells, mainly
- plaques otherwise known as vulnerable plaques. This type of plaque is usually
- the commonly applied method, angiography includes
- occlusions in small blood vessels of other organs such as the brain, kidney, or
- intra- vascular imaging such as in the present invention
- intra- vascular imaging are angioscopy and intra-luminal ultrasound.
- Angioscopy is a form of endoscopy developed for the arteries. Because
- the illumination used in angioscopy is in the visible wavelength range, in which
- the method requires a way of moving
- angioscope in front of the camera-head or optical assembly.
- the balloon is
- distal end of the angioscope and clears a field of view of the walls of the vessel.
- Another method for intra-vascular imaging is the use of ultrasound.
- ultrasound transducer is positioned at the distal end of a catheter inside the
- Patents referring to this kind of apparatus are
- ultrasonic imaging is US5167233.
- OCT provides a three-dimensional image by performing optical
- a well-known property of human tissue is that it has different absorption
- an invasive imaging apparatus comprising;
- a flexible catheter with a proximal end and a distal end, said distal
- At least one working channel running from the proximal to the distal
- said illumination source utilizes at least one wavelength taken
- said illumination source uses at least one wavelength
- said illumination source is comprised of an infra-red
- illumination source positionable outside of said patient's body.
- illumination source is controllable to be aimed directly at
- said illumination source is controllable to be directed in a
- said optical assembly comprises optical components and an
- said imaging assembly comprises said image sensor and an
- optical components comprise a lens with two optical
- said light deflector is one of a prism and a mirror with a
- said image sensor and said illumination sensor are operable
- infra-red light to correspond to said illumination source.
- a polarized filter is positionable before at least one of a
- said working channel comprises a guide wire.
- said working channel is usable for controllably passing
- said image sensor is positioned substantially parallel to the
- said image sensor is shaped to fit within restricted
- said image sensor is a CMOS or CCD-based pixel sensor.
- said image sensor comprises an imaging area shaped in a
- Preferably said rectangular pixel array measures 128 x 256 pixels.
- said sensor comprises sensor control electronic circuitry
- imaging area located beneath a shorter side of said imaging area, said imaging area being
- I/O and supply pads for said electronic circuitry are placed
- said display and control unit is operable to control the timing
- a transparent balloon-like structure is positioned at said distal
- said balloon-like structure is rigid
- said balloon-like structure is flexible.
- said balloon-like structure is inflated and deflated by means
- said optical assembly comprises two image sensors for
- the injection of said fluid is synchronized with the operation
- one of said physiological conditions is heart beat sensible
- a heart rate sensor such as a plethysmograph, or other device
- central control unit enabling synchronization with said physiological
- said balloon-like structure is pressure-sensed to provide real ⁇
- said working channel is usable for passage of therapeutic
- optical assembly is used in conjunction with a laser
- said laser cutting device to enable laser operated surgery.
- said laser cutting device is used to obtain biopsy biological
- optical assembly and said laser cutting device are used in
- an invasive imaging control apparatus comprising:
- a flexible catheter with a proximal end and a distal end, said distal
- An optical assembly positioned at the distal end of said catheter.
- At least one working channel running from the proximal to the distal
- said optical assembly comprises an illumination sensor
- said working channel is usable for controllably passing
- control unit is connectable to the proximal end of said
- control unit is operable to control the timing and amount
- the injection of said fluid is synchronized with the operation
- said fluid is insertable into the immediate region of said distal
- said fluid comprises one or more fluids selected to modify the
- said physiological condition is heart beat sensible using a
- heart rate sensor (such as a plethysmograph, or other device) connectable to a
- central control unit enabling synchronization with said physiological
- invasive imaging control apparatus comprising: a. A flexible catheter with a proximal end and a distal end, said distal
- An optical assembly positioned at the distal end of said catheter.
- At least one working channel running from the proximal to the distal
- a semi-permeable membrane positioned at said distal end of said
- said membrane is rigid.
- said membrane is flexible.
- said membrane is inflated and deflated by means of
- the injection of said fluid is synchronized with the operation
- one of said physiological conditions is heart beat sensible
- a heart rate sensor such as a plethysmograph, or other device
- central control unit enabling synchronization with said physiological
- optical assembly temporarily changing the optical characteristics of the blood
- optical assembly temporarily changing the reflectance of the liquid portion of
- said fluid being a
- physiological fluid such as saline
- hypoosmolar fluid such as 0.45%
- said fluid being a blood
- said fluid is chosen to enable illumination to facilitate
- said fluid is chosen to be oxygen carrying, such as a blood
- vasculature or other organs based on image data from both said longitudinal
- said off-line image training initialization comprises:
- training image is clipped and rotated to obtain robust
- said local contrast enhancement comprises:
- said first image is produced by modifying the intensity of
- said real-time data inte ⁇ olation comprises:
- a preferred embodiment comprises generating said set of direction
- Fig. 1 is a simplified schematic of the overall patient system.
- Fig. 2 A is a simplified schematic of the optical head — side view.
- Fig. 2B is a simplified schematic of the optical head — top view.
- Fig. 3 is a system block diagram.
- Fig. 4A is a simplified schematic of the optical array assembly.
- Fig. 4B is a schematic example configuration of optical design A.
- Fig 4C is a schematic example configuration of optical design B.
- Fig. 5A is a simplified diagram of a configuration with the optical head
- Fig. 5B is a simplified diagram of a configuration with the optical head
- Fig. 6 is a schematic representation of the image sensor.
- Fig. 7 is a block diagram of the post-processing algorithm.
- Fig 8 is a simplified schematic of use of an external IR source.
- Fig 9 is a simplified schematic of a biological sample collector.
- a small-diameter flexible catheter with a distal end that can be
- a viewing apparatus which is positioned at the distal end of the
- catheter and consists of a specifically designed image sensor, a distorting
- optical assembly and an illumination source.
- the image sensor is shaped to fit within the restricted dimensions of
- the image sensor is positioned non-peipendicularly to the
- the catheter to contain both the viewing apparatus and a working channel
- the optical assembly is designed to distort and deflect the light
- the light source or sources may be visible light sources, IR sources
- the lighting is either aimed directly at the imaged object
- One or more working channels which run along the length of the
- a channel for a guide wire is necessary, and may be provided as
- the local area network is conducted through a wire connection or a wireless connection.
- controller may be an entirely separate element situated at the distal head of the
- catheter as described above, but it also may be a part of the image sensor.
- a central control and display unit is typically located on a rack in the
- This unit executes, among other tasks, basic
- a device only or as part of a PTCA, stenting, laser, or any other operative device.
- operative devices is by mounting the viewing apparatus at the distal end of a
- the guide wire is inserted into the artery at the beginning of a
- Fig. 1 is a simplified schematic of the
- the configuration has a processing and control unit
- digital video unit 40 comprising, among others, three functional units: digital video unit 40;
- balloon inflation unit 41 balloon inflation unit 41; and fluid injection unit 42.
- catheter 30 is connected to the processing and control unit 28.
- the display unit 28 controls the processing and control unit 28.
- the catheter 30 is inserted into the patient 25 with the inflatable balloon 31 located at the catheter distal end, inside the patient.
- a heart rate sensor 26 is
- the heart rate of the patient 25 is monitored either by a heart rate sensor
- heart rate is sent to the processing and control unit 28.
- the processing and control unit 28 The processing and control unit 28.
- control unit receives the information, processes it and synchronizes the
- the catheter 30 is connected to the
- FIG. 2A and 2B are schematic details of
- the optical head comprises a lens 2 and an optical
- the illumination sensor 1 and an image sensor 8 (for acquiring images).
- image sensor 8 may be separate elements or they may be combined
- One or more illumination sources 3 which may use visible or infrared
- pressure sensor 7 is also positioned at the distal end of the optical head.
- a variable volume transparent balloon 6 encloses all components on the distal
- a mechanical enclosure houses the previously mentioned components and
- variable volume transparent balloon 6 serves as the proximal surface of the variable volume transparent balloon 6.
- Working channel A 4 representing one or more such channels, runs along the
- catheter 30 and terminates at the distal end inside of the variable volume
- a cable 5 runs along the catheter 30 and
- the illumination sources 3 in the present embodiment illuminate the
- Working channels (in this example, two)
- variable volume transparent balloon 6 6.
- variable volume transparent balloon 6 enables short period imaging
- variable volume transparent balloon pressure is sensed and
- the system has a fixed optical
- transparent balloon 6 has known optical attributes and it enables close contact with the blood vessel wall. Inflation of the variable volume transparent balloon
- variable volume transparent balloon 6 When deflated, the variable volume transparent balloon 6 allows an
- variable volume transparent balloon 6 is inflated again.
- a safety mechanism comprising
- a pressure sensor 7 ensures that pressure within the balloon is maintained at
- a local controller 11 coordinates data flow to and from the optical
- FIG. 3 highlights the logic in and between the optical head 20, as detailed in
- the local processor 11 serves to control the functions of the optical head 20
- optical head 20 located in the operating room. Functions of the optical head 20 are the
- illumination source 3 (commanded by the local processor 11), light sensor 8
- image sensor 1 (which feeds back to the local processor 11), image sensor 1 (which feeds back to the local processor 11), image sensor 1 (which feeds back
- the local processor 11 receives and sends commands and receives power from the video control and command unit 40 and power and data control
- command unit 13 together form the core of command and control of the entire
- supply controller 14 power supply to power
- controller 41 operates through working channel A 4, which physically passes
- air pressure control 41 commands the physiological fluid control source 42.
- the suction mechanism 19 and laser source 18 all function through working
- channel B 9 which runs along the catheter but parallel and external to the
- the suction mechanism 19 and laser source 18 are devices that are
- the local processor 11 controls and coordinates functioning of
- power and data control unit 13 include, timing control of the system functions
- optical distortion created by the image sensor 1 taking into account the system overall design are controlled by the video control and command unit 40.
- Images processed by the video control and command unit 40 may be
- the first modality is a succession of separate
- the second modality is a stream of video images.
- processing and control unit 28 performs a time
- the optical array assembly 48 is comprised of a lens 2
- the prism 22 is positioned above the image sensor 1.
- One preferred prism is positioned above the image sensor 1.
- embodiment consists of a lens 2 with two optical planes, a shutter 12 and a
- the optical array assembly 48 is
- the lens 2 and prism 22 are two fixed optical components
- PMMA refers to a specific plastic lens material called polymethyl
- Figure 5 A shows an
- an optical head 47 is located distally to the PTCA/stent
- the stent balloon 50 is located distally to the catheter 30.
- optical head 47 is located within a second balloon 60.
- a regulating valve 55 is
- Inflation of the second balloon 60 is enabled by the regulating valve 55, which
- multiple light sources on board light receivers, and an on board pressure sensor
- the regulating valve 55 is designed to close itself
- valve closes and the PTCA/stent balloon 50 inflates.
- the second balloon 60 inflates the second balloon 60, made of a transparent membrane which is non-
- the regulating valve 55 also controls
- Figure 5B shows an embodiment where the optical head 48 is installed
- the optical head assembly is distally and exterior to the PTCA/stent balloon 50.
- the PTCA/stent balloon 50 is located at the distal end of the catheter. Note
- optical head assembly 48 shown in Figure 5B is similar to the optical
- a regulating valve 56 located distally to the PTCA/stent balloon
- Each cycle comprises a delay after which fluid is
- injection are synchronized and timed so that they occur after a pulse of blood
- the regulating valve 56 is opened and fluid is
- optical head assembly 48 and power dissipation of the light source.
- the sensor comprises an imaging area 71 which
- the sensor is shaped as a rectangle pixel area, such as a 128 x 256 pixel array.
- circuitiy 72 may also contain additional circuitiy 72 that performs functions such as analog
- Supply pads 73 are
- the sensor 70 is located in the optical head assembly previously
- the sensor 70 serves to capture the
- the senor is positioned non-pe ⁇ endicularly to
- the longitudinal axis of the catheter In a preferred embodiment it is placed
- the small width of the imaging area makes it possible to
- Figure 7 is a simplified block
- the central control and display unit has been received by the central control and display unit.
- control and display unit is preferably located in the operating room, and it
- the catheter preferably located in a blood vessel.
- the initialization and training sequence 301 takes place as a one-time
- the aim of this sequence is to determine the optimal set of
- pre input image conversion 303 takes
- the training process is
- Real-time execution begins with step 306, when a new image is received
- the next step is to find the direction for each pixel 308 in the intensity
- the first step of contrast enhancement is to perform image segmentation
- Enhancement function is a function of the average intensity and the local
- near-IR light may be advantageous
- IR light may be used in a viewing apparatus designed for intra-vascular
- the apparatus and method in the present embodiment includes a
- the previously mentioned imaging sensing apparatus is applicable to the
- the apparatus consists of one or more light sources which
- the image sensor is preferably a CMOS or CCD pixilated sensor.
- the senor may use filters that have
- CMOS complementary metal-oxide-semiconductor
- CCD complementary metal-oxide-semiconductor
- the light sources may also include a combination of wavelengths of
- IR light can be used in another diagnostic embodiment, considering the
- the present embodiments can include an analyzing apparatus for the analysis of these coefficients. Evaluation of blood status (for example, sugar level in the
- blood may be analyzed by evaluating the IR light absorption) may be one of the
- Another embodiment uses external IR illumination. Reference is made to
- the optical assembly 80 is located at the distal end of the catheter 30
- the function of on- light receiver is preferably included.
- the function of on- light receiver is preferably included.
- the light source is not on board the optical head assembly
- blood may be temporarily diluted at the site of an object to be imaged.
- the injection fluid is not necessarily a physiological fluid.
- the present embodiment includes a
- a working channel through which the fluid may be injected from the proximal
- measurement may supply the timing to inject the physiological fluid into the
- the reflected light measurement may provide for
- a quality control algorithm which may be able to calculate necessary changes to lighting or fluid injection from the received image to improve image
- concentration of particles such as 1/6 saline.
- concentration of particles such as 1/6 saline.
- Another embodiment uses a fluid that is capable of carrying oxygen
- This embodiment uses a transparent dome or balloon, either
- the structure is positioned at the distal end of the catheter,
- a flexible balloon which inflates by injecting a transparent fluid or gas into it. It is positioned at the distal end of the catheter at its deflated mode.
- injection is preferably, centrally controlled and the fluid or gas may be injected
- the balloon displaces the blood from the field of view, as does the
- the structure is a
- the rigid structure extends distally to it.
- the rigid structure is situated so that it removes the blood
- rigid structure is either hollow (vacuum, gas) or filled with a transparent fluid.
- Light that impinges on a surface has a component that returns polarized.
- Reflected light is more polarized when the incidence angle is closer to normal.
- Imaged objects are
- a distal balloon made of a transparent membrane blocking the
- the injected fluid can also be used for the
- This embodiment enables an accurate operation
- Another embodiment is that of biopsy and sample retrieval.
- Working channel B 9 is used to pass
- optical head 90 to enable visual inspection of the desired location.
- Samples may be transferred through the working channel B 9
- the optical head 90 is used to hold a sample in position and the laser apparatus is used to cut the sample from surrounding tissue.
- the optical head 90 is
- suction/nano-gripper 99 and laser device 98 can alternately or
- Minimally invasive surgery is
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2002324316A AU2002324316A1 (en) | 2001-08-10 | 2002-08-11 | Intra vascular imaging method and apparatus |
EP02758761A EP1465684B1 (en) | 2001-08-10 | 2002-08-11 | Intra vascular imaging method and apparatus |
IL15982902A IL159829A0 (en) | 2001-08-10 | 2002-08-11 | Intra vascular imaging method and apparatus |
CA002456418A CA2456418A1 (en) | 2001-08-10 | 2002-08-11 | Intra vascular imaging method and apparatus |
JP2003518624A JP4471651B2 (en) | 2001-08-10 | 2002-08-11 | Intravascular imaging method and apparatus |
IL159829A IL159829A (en) | 2001-08-10 | 2004-01-12 | Intra vascular imaging method and apparatus |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US31109301P | 2001-08-10 | 2001-08-10 | |
US60/311,093 | 2001-08-10 | ||
US09/973,181 US6692430B2 (en) | 2000-04-10 | 2001-10-10 | Intra vascular imaging apparatus |
US09/973,181 | 2001-10-10 |
Publications (2)
Publication Number | Publication Date |
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WO2003013624A2 true WO2003013624A2 (en) | 2003-02-20 |
WO2003013624A3 WO2003013624A3 (en) | 2004-08-05 |
Family
ID=26977739
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/IL2002/000659 WO2003013624A2 (en) | 2001-08-10 | 2002-08-11 | Intra vascular imaging method and apparatus |
Country Status (7)
Country | Link |
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US (3) | US6692430B2 (en) |
EP (1) | EP1465684B1 (en) |
JP (1) | JP4471651B2 (en) |
AU (1) | AU2002324316A1 (en) |
CA (1) | CA2456418A1 (en) |
IL (1) | IL159829A0 (en) |
WO (1) | WO2003013624A2 (en) |
Cited By (43)
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WO2006007865A1 (en) * | 2004-07-19 | 2006-01-26 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Video endoscopy device |
JP2008510586A (en) * | 2004-08-24 | 2008-04-10 | ザ ジェネラル ホスピタル コーポレイション | Method and apparatus for imaging blood vessel segments |
US7758499B2 (en) | 2001-08-10 | 2010-07-20 | C2Cure, Inc. | Method and apparatus for viewing through blood |
WO2011111645A1 (en) * | 2010-03-09 | 2011-09-15 | 学校法人慶應義塾 | System for preventing burning and sticking of blood on laser catheter output part |
US8194121B2 (en) | 2002-05-16 | 2012-06-05 | C2Cure, Inc. | Miniature camera head |
US9333031B2 (en) | 2013-04-08 | 2016-05-10 | Apama Medical, Inc. | Visualization inside an expandable medical device |
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Also Published As
Publication number | Publication date |
---|---|
US6692430B2 (en) | 2004-02-17 |
WO2003013624A3 (en) | 2004-08-05 |
IL159829A0 (en) | 2004-06-20 |
US20040147806A1 (en) | 2004-07-29 |
US20020068853A1 (en) | 2002-06-06 |
AU2002324316A1 (en) | 2003-02-24 |
US20070100241A1 (en) | 2007-05-03 |
JP4471651B2 (en) | 2010-06-02 |
EP1465684A4 (en) | 2009-01-07 |
JP2005503203A (en) | 2005-02-03 |
US7758499B2 (en) | 2010-07-20 |
EP1465684B1 (en) | 2012-09-19 |
EP1465684A2 (en) | 2004-10-13 |
CA2456418A1 (en) | 2003-02-20 |
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