WO2009147683A1 - Hybrid registration method - Google Patents
Hybrid registration method Download PDFInfo
- Publication number
- WO2009147683A1 WO2009147683A1 PCT/IL2009/000569 IL2009000569W WO2009147683A1 WO 2009147683 A1 WO2009147683 A1 WO 2009147683A1 IL 2009000569 W IL2009000569 W IL 2009000569W WO 2009147683 A1 WO2009147683 A1 WO 2009147683A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sensor
- probe
- image
- branched network
- patient
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
- A61B5/066—Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
-
- 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
- A61B1/267—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 the respiratory tract, e.g. laryngoscopes, bronchoscopes
- A61B1/2676—Bronchoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/064—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/7246—Details of waveform analysis using correlation, e.g. template matching or determination of similarity
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
- G06T7/0014—Biomedical image inspection using an image reference approach
- G06T7/0016—Biomedical image inspection using an image reference approach involving temporal comparison
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
- A61B2017/00699—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement caused by respiration, e.g. by triggering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2576/00—Medical imaging apparatus involving image processing or analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10068—Endoscopic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30061—Lung
Abstract
Methods for registering a three-dimensional model of a body volume to a real-time indication of a sensor position that involve analyzing scanned and sensed voxels and using parameters or thresholds to identify said voxels as being either tissue or intraluminal fluid. Those voxels identified as fluid are then used to construct a real-time sensed three-dimensional model of the lumen which is then compared to a similarly constructed, but previously scanned model to establish and update registration.
Description
HYBRID REGISTRATION METHOD
RELATED APPLICATIONS
[0001] This application claims priority to U.S. Provisional Application Serial No. 61/059,669 filed June 6, 2008 entitled Hybrid Registration Method, which is hereby incorporated herein by reference.
Background of the Invention
[0002] Breakthrough technology has emerged which allows the navigation of a catheter tip through a tortuous channel, such as those found in the pulmonary system, to a predetermined target. This technology compares the real-time movement of a sensor against a three-dimensional digital map of the targeted area of the body (for purposes of explanation, the pulmonary airways of the lungs will be used hereinafter, though one skilled in the art will realize the present invention could be used in any body cavity or system: circulatory, digestive, pulmonary, to name a few).
[0003] Such technology is described in U.S. Patents 6,188,355; 6,226,543; 6,558,333; 6,574,498; 6,593,884; 6,615,155; 6,702,780; 6,711,429; 6,833,814; 6,947,788; and 6,996,430, all to Gilboa or Gilboa et al.; and U.S. Published Applications Pub. Nos. 2002/0193686; 2003/0074011; 2003/0216639; 2004/0249267 to either Gilboa or Gilboa et al. All of these references are incorporated herein in ■their entireties.
[0004] Using this technology begins with recording a plurality of images of the applicable portion of the patient, for example, the lungs. These images are often recorded using CT technology. CT images are two-dimensional slices of a portion of the patient. After taking several, parallel images, the images may be "assembled" by a computer to form a three-dimensional model, or "CT volume" of the lungs.
[0005] The CT volume is used during the procedure as a map to the target. The physician navigates a steerable probe that has a trackable sensor at its distal tip.
The sensor provides the system with a real-time image of its location. However, because the image of the sensor location appears as a vector on the screen, the image has no context without superimposing the CT volume over the image provided by the sensor. The act of superimposing the CT volume and the sensor image is known as "registration."
[0006] Sensor Probe-Based Registration Methods
[0007] There are various registration methods, some of which are described in the aforementioned references, and utilize a probe with a trackable sensor, as described above. For example, point registration involves selecting a plurality of points, typically identifiable anatomical landmarks, inside the lung from the CT volume and then using the sensor (with the help of an endoscope) and "clicking" on each of the corresponding landmarks in the lung. Clicking on the landmarks refers to activating a record feature on the sensor that signifies the registration point should be recorded. The recorded points are then aligned with the points in the CT volume, such that registration is achieved. This method works well for initial registration in the central area but as the sensor is navigated to the distal portions of the lungs, the registration becomes less accurate as the distal airways are smaller. Also, the point registration method matches a "snapshot" location of the landmarks to another "snapshot" (CT volume) of the lungs. Each snapshot is taken at different times and, potentially, at different points in the breathing cycle. Due to the dynamic nature of the lungs, the shape of the lungs during the CT scan is likely not the same as the shape of those same lungs during the procedure. Moreover, because the physician is "clicking" on the landmarks over the course of several breathing cycles, it is up to the physician to approximate the timing of his clicking so that it roughly matches the point in the breathing cycle at which the CT scan was taken. This leaves much room for error. Finally, it is time consuming for the physician to maneuver the sensor tip to the various landmarks.
[0008] Another example of a registration method utilizing a trackable sensor involves recording a segment of an airway and shape-match that segment to a
corresponding segment in the CT volume. This method of registration suffers similar setbacks to the point registration method, though it can be used in more distal airways because an endoscope is not required. The registration should be conducted more than once to keep the registration updated. It may be inconvenient or otherwise undesirable to require additional registration steps from a physician. Additionally, this method requires that a good image exists in the CT volume for any given airway occupied by the sensor. If for example, the CT scan resulted in an airway shadowed by a blood vessel, for example, the registration will suffer because the shape data on that airway is compromised.
[0009] Another registration method tailored for trackable sensors is known as "Adaptive Navigation" and was developed and described in U.S. Published Application 2008/0118135 to Averbuch et al., incorporated by reference herein in its entirety. This registration technique operates on the assumption that the sensor remains in the airways at all times. The position of the sensor is recorded as the sensor is advanced, thus providing a shaped historical path of where the sensor has been. This registration method requires the development of a computer-generated and automatically or manually segmented "Bronchial Tree" (BT). The shape of the historical path is matched to a corresponding shape in the BT.
[0010] Segmenting the BT involves converting the CT volume into a series of digitally-identified branches to develop, or "grow," a virtual model of the lungs. Automatic segmentation works well on the well-defined, larger airways and smaller airways that were imaged well in the CT scans. However, as the airways get smaller, the CT scan gets "noisier" and makes continued automatic segmentation inaccurate. Noise results from poor image quality, small airways, or airways that are shadowed by other features such as blood vessels. Noise can cause the automatic segmentation process to generate false branches and/or loops — airways that rejoin, an occurrence not found in the actual lungs.
[0011] Another registration method is herein referred to as "feature-based registration." When the CT scans are taken, the CT machine records each image as
a plurality of pixels. When the various scans are assembled together to form a CT volume, voxels (volumetric pixels) appear and can be defined as volume elements, representing values on a regular grid in three dimensional space. Each of the voxels is assigned a number based on the tissue density Housefield number. This density value can be associated with gray level or color using well known window-leveling techniques.
[0012] The sensing volume of the electromagnetic field of the sensor system is also voxelized by digitizing it into voxels of a specific size compatible with the CT volume. Each voxel visited by the sensor can be assigned a value that correlates to the frequency with which that voxel is visited by the sensor. The densities of the voxels in the CT volume are adjusted according to these values, thereby creating clouds of voxels in the CT volume having varying densities. These voxels clouds or clusters thus match the interior anatomical features of the lungs.
[0013] By using a voxel-based approach, registration is actually accomplished by comparing anatomical cavity features to cavity voxels, as opposed to anatomical shapes or locations to structure shapes or locations. An advantage of this approach is that air-filled cavities are of a predictable range of densities.
[0014] Image-Based Registration Methods
[0015] Some registration methods are used with systems that use a bronchoscope without a trackable sensor. One of these registration methods compares an image taken by a video camera to a virtual model of the airways. The virtual model includes surfaces, reflections and shadows. This method while herein be referred to as "virtual surface matching." A virtual camera is established to generate a viewpoint and a virtual light source is used to provide the reflections, shadows, and surface texture. The virtual camera and light source are matched to the actual video camera and light source so that an "apples to apples" comparison can be performed. Essentially, the virtual model is a library of thousands of computer- generated images of the lungs, from various viewpoints. Hence, the image taken by the video camera is compared against this large library, in the same way a
fingerprint is lifted from a crime scene and compared against a large database of fingerprint images. Once the match is found, the camera is determined to be where the "virtual camera" was when the computer image was generated.
[0016] One problem with this method is that each time the camera moves, as it is being advanced toward the target, the images recorded by the camera are compared against the large library of computer generated images. This is time consuming and places a strain on the computer resources. It also presents the risk that there may be more than one computer-generated image that closely matches the actual image. For example, if the video camera is up against an airway wall, there may not be much on the image to distinguish it from other similar computer generated images of walls.
[0017] Another problem is lack of tracking. Without a sensor, there is no recorded history. Hence, even though the camera is moving and being registered, as soon as the camera encounters an area that matches more than one computer generated image, the registration is lost. The system has no capacity for "tracking" the movement of the camera. In other words, the system does not look at the previous matches to deduce which of the possible images is likely to be the correct one.
[0018] Yet another bronchoscope registration method involves terrain or skeletal surface-matching. The virtual model of the lungs is left in a skeletal format, rather than filling the contours in with surfaces and reflections. This saves on initial processing time. As video images are captured of the actual lungs, they are converted into skeletal, digital images. The "real" skeletal images are then matched against the virtual skeletal images. This method requires more processing of the video images than the previously described "virtual surface geometery matching" method but the matching steps are accomplished much more quickly because each of the virtual images is smaller in terms of data. Like the virtual surface matching method, this method present the risk that there may be more than one computer-
generated image that closely matches the acquired image, such as when the camera is pointing at a wall.
[0019] Each of the aforementioned registration methods has advantages and disadvantages over the others. Generally, the methods using trackable sensors are more accurate than the image-based methods. More particularly, the methods using trackable sensors are more accurate "globally," that is, they are more accurate when it comes to indicating the present position on a scan of the entire lungs. Image- based methods, on the other hand, can be more accurate "locally," that is, they can be more accurate relative to a small area, if conditions are optimal. Thus, it would be advantageous to introduce a hybrid method that utilizes the advantages of all of the aforementioned methods.
Summary of the Invention
[0020] The present invention provides several new or improved registration methods. Additionally, the present invention describes a concept whereby a most accurate registration is determined and utilized at any given time during a procedure, thereby utilizing the advantages of all of the aforementioned registration methods.
[0021] More specifically, one aspect of the present invention provides a method of registering real-time sensor location data to previously acquired images of a branched network of body lumens. This method involves placing a probe containing a sensor at a distal end thereof into a branched network of body lumens in a patient; performing an initial registration between a real-time sensor location and a previously acquired image selected a plurality of previously acquired images of said branched network; receiving data from said sensor to determine an approximate location of said sensor; using said approximate location of said sensor to create a subgroup of said plurality of images, said subgroup containing one or more previously acquired images corresponding to said approximate location; and selecting an image from said subgroup that most accurately corresponds to said
approximate location to update said initial registration using an image-based registration technique.
[0022] Placing a probe containing a sensor at a distal end thereof may comprise placing a probe with a six degree of freedom sensor at a distal end thereof.
[0023] Performing an initial registration may comprise viewing a landmark through an endoscope; using data from said sensor to project a beam from a tip of said probe to said landmark; displaying said beam on a monitor; calculating and recording coordinates of . said beam location on said landmark; and using said coordinates as a registration point.
[0024] Receiving data from said sensor to determine a proximate location of said sensor may comprise receiving six degree of freedom data from said sensor.
[0025] Placing a probe containing a sensor at a distal end thereof into a branched network of body lumens may comprise placing a bronchoscope containing a sensor at a distal end thereof into said branched network of body lumens.
[0026] Selecting an image from said subgroup that most accurately corresponds to said approximate location to update said initial registration using an image-based registration technique may comprise selecting an image from said subgroup that most closely matches an image being viewed through said bronchoscope.
[0027] Performing an initial registration between a real-time sensor location and a previously acquired image selected a plurality of previously acquired images of said branched network may comprise performing an initial registration using a 4D registration technique.
[0028] Performing an initial registration using a 4D registration technique may comprise: recording an image of a landmark as it moves through at least one breathing cycle; recording concurrently a position of said sensor; recording concurrently positions of patient sensors, said patient sensor attached at various locations on said patient; saving said recordings as a data set for said landmark; and
using said data set to correlate said position of said sensor to a previously acquired image of said branched network of body lumens.
[0029] Another aspect of the present invention provides method of navigating a probe through a branched network of lumens of a patient comprising: compiling a database of images of said branched network of lumens prior to a navigating procedure; placing a probe containing a sensor at a distal end thereof into said branched network; receiving probe location data from said sensor; and using at least said probe location data to select an image from said database to display to a user navigating said probe, said image being representative of a location of said probe.
[0030] Compiling a database of images of said branched network of lumens prior to a navigating procedure may comprise compiling a plurality of CT scans.
[0031] Placing a probe containing a sensor at a distal end thereof into said branched network may comprise placing a probe containing a six degree of freedom sensor at a distal end thereof into said branched network.
[0032] Placing a probe containing a sensor at a distal end thereof into said branched network may comprise placing an endoscope containing a sensor at a distal end thereof into said branched network.
[0033] Receiving probe location data from said sensor may comprise receiving said probe's location and orientation from said sensor.
[0034] Using at least said probe location data to select an image from said database to display to a user navigating said probe, said image being representative of a location of said probe may comprise using said probe location data to create a subgroup of images from said database, said subgroup containing only images that correspond to a vicinity of said probe location.
[0035] Placing a probe containing a sensor at a distal end thereof into said branched network may comprise placing an endoscope containing a sensor at a distal end thereof into said branched network.
[0036] Using at least said probe location data to select an image from said database to display to a user navigating said probe, said image being representative of a location of said probe further may comprise matching a real-time image from said endoscope to an image from said subgroup.
[0037] Another aspect of the present invention provides a method of registering real-time sensor location data to previously acquired images of a branched network of body lumens comprising: placing a probe containing a sensor at a distal end thereof in branched network of body lumens in a patient; placing a plurality of patient sensors on said patient; recording an image of an anatomical landmark in said patient as said landmark moves through at least one breathing cycle; recording concurrently a position of said sensor; recording concurrently positions of patient sensors, said patient sensor attached at various locations on said patient; saving said recordings as a data set for said landmark; and using said data set to correlate said position of said sensor to a previously acquired image of said branched network of body lumens.
[0038] Placing a plurality of patient sensors on said patient may comprise affixing said plurality of patient sensors to said patient's chest or affixing a plurality of patient sensors to said branched network.
[0039] Using said data set to correlate said position of said sensor to a previsouly acquired image of said branched network of body lumens may comprise using said data set to correlate said position of said sensor to a previously acquired CT image of said branched network of body lumens.
Description of the Invention
[0040] The sensor based and image-based registration methods described above are improved upon by combining the advantages of each. Put another way, the image-based registration techniques are improved upon through the use of a trackable sensor. By monitoring sensor data, an approximate position of the probe tip is easily determined. Hence, a database of virtual images may be appropriately
parsed such that the matching algorithm has a significantly reduced number of iterations through which it must cycle to find a match. The position of the sensor is thus used as filtering tool to determine which images are locally relevant.
[0041] Additionally, the tracking of a tool tip or bronchoscope location will not be lost in cases of partial or complete obscurity of the video image or in cases when the bronchoscope is passing a bifurcation while the camera is pointed away from the bifurcation toward a wall. Due to the tracking capability provided by the trackable sensor, the number of matching images will typically be reduced to only one after the outliers are removed. Hence, not only is the matching procedure much quicker, it is also more accurate and less likely to provide incorrect matches.
[0042] The image-based registration methods are further improved because the need for camera calibration is eliminated. Presently, image-based registration methods require extensive camera calibration efforts, prior to each procedure, in order to obtain images that can be matched to the virtual images. Factors such as camera angle and camera distortion must be corrected prior to the matching process. Because the use of the trackable sensor as an additional modality greatly reduces the amount of data involved, calibration is much less crucial. In other words, despite forgoing the calibration step, a match is still likely to be found and accurate because the number of images the camera image is being compared to is greatly reduced.
[0043] The point registration method described above is also improved by the present invention. Recall that presently the point registration method is comprised of two general steps: 1) finding a predetermined anatomical landmark using a bronchoscope and 2) "click" on the landmark by advancing the probe with the trackable sensor until it touches the landmark, then press a button that records the three-dimensional coordinates of the landmark. The present invention obviates the need for the second step by utilizing the six degree of freedom data provided by the sensor once the landmark is being viewed through the bronchoscope. This data is used to project a virtual "beam" from the tip of the probe to the target. The virtual
beam appears on the monitor and the physician is then able to record the coordinates of the landmark without actually having to maneuver the probe into physical contact with the landmark.
[0044] The present invention also provides a novel registration method, herein referred to as "4D registration." Rather than clicking on a landmark at an approximated point in the breathing cycle, video registration involves recording an image of a landmark as it moves through at least one, preferably two or more, breathing cycles. The recording of the landmark includes a recording of the position of the trackable sensor as well as the positions of the patient sensors. This way, rather than acquiring a single data coordinate for each landmark, an entire data set is recorded for each landmark over a period of time and including all or most of the possible lung positions. This way lung movement may be taken into account during the registration process. Furthermore, the matching error will be minimized if an entire data set is used for each point, rather than a single, three-dimensional coordinate.
[0045] For example, assume three registration areas are being monitored. The positions of all three are recorded over three separate intervals. The patient sensor positions are also being recorded during each of these intervals as well as the position of the trackable sensor and attached to each image frame. After the three registration points have been recorded over one or more breathing cycles, they are aligned using the patient sensor positions as an indication of the breathing cycle. Hence, for most of the positions of the patient sensors (extremes excepted), there will be a corresponding position of each of the sensors. Hence, the three intervals during which the recordings were taken are "superimposed" so to speak, as though they were all recorded simultaneously. Later, during the procedure, the patient sensor positions are used as an indication of breathing cycle and it can be determined at which phase of the breathing cycle the registration is most accurate. Moreover, this information can be utilized during navigation by giving the higher weight to sensor data acquired in a specific phase of breathing.
[0046] Although the invention has been described in terms of particular embodiments and applications, one of ordinary skill in the art, in light of this teaching, can generate additional embodiments and modifications without departing from the spirit of or exceeding the scope of the claimed invention. Accordingly, it is to be understood that the drawings and descriptions herein are proffered by way of example to facilitate comprehension of the invention and should not be construed to limit the scope thereof.
Claims
1. A method of registering real-time sensor location data to previously acquired images of a branched network of body lumens comprising:
placing a probe containing a sensor at a distal end thereof into a branched network of body lumens in a patient;
performing an initial registration between a real-time sensor location and a previously acquired image selected a plurality of previously acquired images of said branched network;
receiving data from said sensor to determine an approximate location of said sensor;
using said approximate location of said sensor to create a subgroup of said plurality of images, said subgroup containing one or more previously acquired images corresponding to said approximate location; and,
selecting an image from said subgroup that most accurately corresponds to said approximate location to update said initial registration using an image-based registration technique.
2. The method of claim 1 wherein placing a probe containing a sensor at a distal end thereof comprises placing a probe with a six degree of freedom sensor at a distal end thereof.
3. The method of claim 2 wherein performing an initial registration comprises:
viewing a landmark through an endoscope;
using data from said sensor to project a beam from a tip of said probe to said landmark;
displaying said beam on a monitor; calculating and recording coordinates of said beam location on said landmark; and,
using said coordinates as a registration point.
4. The method of claim 1 wherein receiving data from said sensor to determine a proximate location of said sensor comprises receiving six degree of freedom data from said sensor.
5. The method of claim 1 wherein placing a probe containing a sensor at a distal end thereof into a branched network of body lumens comprises placing a bronchoscope containing a sensor at a distal end thereof into said branched network of body lumens.
6. The method of claim 5 wherein selecting an image from said subgroup that most accurately corresponds to said approximate location to update said initial registration using an image-based registration technique comprises selecting an image from said subgroup that most closely matches an image being viewed through said bronchoscope.
7. The method of claim 1 wherein performing an initial registration between a real-time sensor location and a previously acquired image selected a plurality of previously acquired images of said branched network comprises performing an initial registration using a 4D registration technique.
8. The method of claim 7 wherein performing an initial registration using a 4D registration technique comprises:
recording an image of a landmark as it moves through at least one breathing cycle;
recording concurrently a position of said sensor; recording concurrently positions of patient sensors, said patient sensor attached at various locations on said patient;
saving said recordings as a data set for said landmark; and,
using said data set to correlate said position of said sensor to a previously acquired image of said branched network of body lumens.
9. A method of navigating a probe through a branched network of lumens of a patient comprising:
compiling a database of images of said branched network of lumens prior to a navigating procedure;
placing a probe containing a sensor at a distal end thereof into said branched network;
receiving probe location data from said sensor; and,
using at least said probe location data to select an image from said database to display to a user navigating said probe, said image being representative of a location of said probe.
10. The method of claim 9 wherein compiling a database of images of said branched network of lumens prior to a navigating procedure comprises compiling a plurality of CT scans.
11. The method of claim 9 wherein placing a probe containing a sensor at a distal end thereof into said branched network comprises placing a probe containing a six degree of freedom sensor at a distal end thereof into said branched network.
12. The method of claim 9 wherein placing a probe containing a sensor at a distal end thereof into said branched network comprises placing an endoscope containing a sensor at a distal end thereof into said branched network.
13. The method of claim 9 wherein receiving probe location data from said sensor comprises receiving said probe's location and orientation from said sensor.
14. The method of claim 9 wherein using at least said probe location data to select an image from said database to display to a user navigating said probe, said image being representative of a location of said probe comprises using said probe location data to create a subgroup of images from said database, said subgroup containing only images that correspond to a vicinity of said probe location.
15. The method of claim 14 wherein placing a probe containing a sensor at a distal end thereof into said branched network comprises placing an endoscope containing a sensor at a distal end thereof into said branched network.
16. The method of claim 15 wherein using at least said probe location data to select an image from said database to display to a user navigating said probe, said image being representative of a location of said probe further comprises matching a real-time image from said endoscope to an image from said subgroup.
17. A method of registering real-time sensor location data to previously acquired images of a branched network of body lumens comprising:
placing a probe containing a sensor at a distal end thereof in branched network of body lumens in a patient;
placing a plurality of patient sensors on said patient;
recording an image of an anatomical landmark in said patient as said landmark moves through at least one breathing cycle;
recording concurrently a position of said sensor;
recording concurrently positions of patient sensors, said patient sensor attached at various locations on said patient; saving said recordings as a data set for said landmark; and,
using said data set to correlate said position of said sensor to a previously acquired image of said branched network of body lumens.
18. The method of claim 17 wherein placing a plurality of patient sensors on said patient comprises affixing said plurality of patient sensors to said patient's chest.
19. The method of claim 17 wherein placing a plurality of patient sensors on said patient comprises affixing a plurality of patient sensors to said branched network.
20. The method of claim 17 wherein using said data set to correlate said position of said sensor to a previously acquired image of said branched network of body lumens comprises using said data set to correlate said position of said sensor to a previously acquired CT image of said branched network of body lumens.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP09758027.8A EP2293839B1 (en) | 2008-06-06 | 2009-06-07 | Hybrid registration system |
EP18215857.6A EP3485798B1 (en) | 2008-06-06 | 2009-06-07 | Hybrid registration system |
US13/875,685 US9271803B2 (en) | 2008-06-06 | 2013-05-02 | Hybrid registration method |
US15/055,698 US10285623B2 (en) | 2008-06-06 | 2016-02-29 | Hybrid registration method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US5966908P | 2008-06-06 | 2008-06-06 | |
US61/059,669 | 2008-06-06 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009147683A1 true WO2009147683A1 (en) | 2009-12-10 |
Family
ID=41397785
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/IL2009/000569 WO2009147683A1 (en) | 2008-06-06 | 2009-06-07 | Hybrid registration method |
Country Status (3)
Country | Link |
---|---|
US (8) | US8218847B2 (en) |
EP (2) | EP3485798B1 (en) |
WO (1) | WO2009147683A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013173229A1 (en) | 2012-05-14 | 2013-11-21 | Intuitive Surgical Operations | Systems and methods for deformation compensation using shape sensing |
WO2014068106A1 (en) * | 2012-11-05 | 2014-05-08 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Imaging system, operating device with the imaging system and method for imaging |
EP3058889A1 (en) * | 2011-05-13 | 2016-08-24 | Intuitive Surgical Operations, Inc. | Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery |
EP3081184A1 (en) * | 2015-04-17 | 2016-10-19 | Clear Guide Medical, Inc. | System and method for fused image based navigation with late marker placement |
CN106170265A (en) * | 2014-02-04 | 2016-11-30 | 直观外科手术操作公司 | The system and method for non-rigid deformation of tissue for the virtual navigation of intervention tool |
WO2018085287A1 (en) * | 2016-11-02 | 2018-05-11 | Intuitive Surgical Operations, Inc. | Systems and methods of continuous registration for image-guided surgery |
EP3392835A1 (en) * | 2017-04-21 | 2018-10-24 | Biosense Webster (Israel) Ltd. | Improving registration of an anatomical image with a position-tracking coordinate system based on visual proximity to bone tissue |
Families Citing this family (41)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1924198B1 (en) | 2005-09-13 | 2019-04-03 | Veran Medical Technologies, Inc. | Apparatus for image guided accuracy verification |
US20070066881A1 (en) | 2005-09-13 | 2007-03-22 | Edwards Jerome R | Apparatus and method for image guided accuracy verification |
US8218847B2 (en) | 2008-06-06 | 2012-07-10 | Superdimension, Ltd. | Hybrid registration method |
US8348856B1 (en) | 2008-12-16 | 2013-01-08 | Zanetta Malanowska-Stega | Simultaneous multiple method out-patient uterus biopsy device and method |
JP5650248B2 (en) | 2010-02-01 | 2015-01-07 | コビディエン エルピー | Region expansion algorithm |
EP2605693B1 (en) | 2010-08-20 | 2019-11-06 | Veran Medical Technologies, Inc. | Apparatus for four dimensional soft tissue navigation |
WO2012106320A1 (en) * | 2011-02-04 | 2012-08-09 | The Penn State Research Foundation | Global and semi-global registration for image-based bronchoscopy guidance |
EP2611356B1 (en) | 2011-07-11 | 2014-12-24 | Etview Ltd. | Endobronchial tube |
US10912699B2 (en) | 2012-01-10 | 2021-02-09 | Alessio Pigazzi | Method of securing a patient onto an operating table when the patient is in a position such as the trendelenburg position and apparatus therefor including a kit |
US9138165B2 (en) | 2012-02-22 | 2015-09-22 | Veran Medical Technologies, Inc. | Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation |
US10194801B2 (en) | 2012-06-28 | 2019-02-05 | Koninklijke Philips N.V. | Fiber optic sensor guided navigation for vascular visualization and monitoring |
DE102012220116A1 (en) * | 2012-06-29 | 2014-01-02 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Mobile device, in particular for processing or observation of a body, and method for handling, in particular calibration, of a device |
US9091628B2 (en) | 2012-12-21 | 2015-07-28 | L-3 Communications Security And Detection Systems, Inc. | 3D mapping with two orthogonal imaging views |
EP2754384B1 (en) | 2013-01-10 | 2018-07-11 | Ambu A/S | Endobronchial tube with integrated image sensor and cleaning nozzle arrangement |
US20150305650A1 (en) | 2014-04-23 | 2015-10-29 | Mark Hunter | Apparatuses and methods for endobronchial navigation to and confirmation of the location of a target tissue and percutaneous interception of the target tissue |
US20150305612A1 (en) | 2014-04-23 | 2015-10-29 | Mark Hunter | Apparatuses and methods for registering a real-time image feed from an imaging device to a steerable catheter |
AU2015283946B2 (en) * | 2014-07-02 | 2019-09-12 | Covidien Lp | Real-time automatic registration feedback |
US9950194B2 (en) | 2014-09-09 | 2018-04-24 | Mevion Medical Systems, Inc. | Patient positioning system |
US9986983B2 (en) | 2014-10-31 | 2018-06-05 | Covidien Lp | Computed tomography enhanced fluoroscopic system, device, and method of utilizing the same |
US10080488B2 (en) | 2014-12-12 | 2018-09-25 | Medix3d LLC | Cleaning device for cleaning a scope, laparoscope or microscope used in surgery or other medical procedures and a method of using the device during surgical or other medical procedures |
US10674982B2 (en) | 2015-08-06 | 2020-06-09 | Covidien Lp | System and method for local three dimensional volume reconstruction using a standard fluoroscope |
US11419490B2 (en) | 2016-08-02 | 2022-08-23 | Covidien Lp | System and method of using an endoscopic catheter as a port in laparoscopic surgery |
JP6608111B2 (en) * | 2016-09-28 | 2019-11-20 | 富士フイルム株式会社 | MEDICAL IMAGE STORAGE / REPRODUCING DEVICE AND METHOD, AND PROGRAM |
CN109952070B (en) | 2016-10-05 | 2022-02-01 | 纽文思公司 | Surgical navigation system and related methods |
EP3544482A4 (en) | 2016-11-28 | 2020-07-22 | Adaptivendo LLC | Endoscope with separable, disposable shaft |
KR20190104148A (en) | 2016-12-09 | 2019-09-06 | 자네타 말라노브스카-스테가 | Brush Biopsy Devices, Kits, and Methods |
US10699448B2 (en) | 2017-06-29 | 2020-06-30 | Covidien Lp | System and method for identifying, marking and navigating to a target using real time two dimensional fluoroscopic data |
AU2019200594B2 (en) | 2018-02-08 | 2020-05-28 | Covidien Lp | System and method for local three dimensional volume reconstruction using a standard fluoroscope |
US10905498B2 (en) | 2018-02-08 | 2021-02-02 | Covidien Lp | System and method for catheter detection in fluoroscopic images and updating displayed position of catheter |
US10872449B2 (en) | 2018-05-02 | 2020-12-22 | Covidien Lp | System and method for constructing virtual radial ultrasound images from CT data and performing a surgical navigation procedure using virtual ultrasound images |
US11944388B2 (en) | 2018-09-28 | 2024-04-02 | Covidien Lp | Systems and methods for magnetic interference correction |
US11877806B2 (en) | 2018-12-06 | 2024-01-23 | Covidien Lp | Deformable registration of computer-generated airway models to airway trees |
US11625825B2 (en) | 2019-01-30 | 2023-04-11 | Covidien Lp | Method for displaying tumor location within endoscopic images |
WO2020176717A1 (en) | 2019-02-28 | 2020-09-03 | Medix3d LLC | Scope cleaning device configured to be removably connected to a surgical tool |
US10881353B2 (en) * | 2019-06-03 | 2021-01-05 | General Electric Company | Machine-guided imaging techniques |
US11612440B2 (en) | 2019-09-05 | 2023-03-28 | Nuvasive, Inc. | Surgical instrument tracking devices and related methods |
US11446095B2 (en) | 2019-12-24 | 2022-09-20 | Biosense Webster (Israel) Ltd. | 2D pathfinder visualization |
US11596481B2 (en) | 2019-12-24 | 2023-03-07 | Biosense Webster (Israel) Ltd. | 3D pathfinder visualization |
USD1018844S1 (en) | 2020-01-09 | 2024-03-19 | Adaptivendo Llc | Endoscope handle |
EP4125675A1 (en) * | 2020-03-24 | 2023-02-08 | Intuitive Surgical Operations, Inc. | Systems and methods for registering an instrument to an image using point cloud data and endoscopic image data |
WO2024079639A1 (en) | 2022-10-14 | 2024-04-18 | Covidien Lp | Systems and methods for confirming position or orientation of medical device relative to target |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080086051A1 (en) * | 2006-09-20 | 2008-04-10 | Ethicon Endo-Surgery, Inc. | System, storage medium for a computer program, and method for displaying medical images |
US20080118135A1 (en) * | 2006-11-10 | 2008-05-22 | Superdimension, Ltd. | Adaptive Navigation Technique For Navigating A Catheter Through A Body Channel Or Cavity |
Family Cites Families (1007)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1735726A (en) | 1929-11-12 | bornhardt | ||
US1576781A (en) | 1924-04-22 | 1926-03-16 | Herman B Philips | Fluoroscopic fracture apparatus |
US2407845A (en) | 1943-01-16 | 1946-09-17 | California Inst Res Found | Aligning device for tools |
US2650588A (en) | 1950-12-29 | 1953-09-01 | Drew Harry Guy Radcliffe | Artificial femoral head having an x-ray marker |
US2697433A (en) | 1951-12-04 | 1954-12-21 | Max A Zehnder | Device for accurately positioning and guiding guide wires used in the nailing of thefemoral neck |
US3073310A (en) | 1957-08-05 | 1963-01-15 | Zenon R Mocarski | Surgical instrument positioning device |
US3016899A (en) | 1958-11-03 | 1962-01-16 | Carl B Stenvall | Surgical instrument |
NL238272A (en) | 1959-03-07 | 1900-01-01 | ||
US3017887A (en) | 1960-01-19 | 1962-01-23 | William T Heyer | Stereotaxy device |
US3121228A (en) | 1961-05-01 | 1964-02-11 | Henry P Kalmus | Direction indicator |
US3109588A (en) | 1962-01-26 | 1963-11-05 | William L Polhemus | Celestial computers |
US3294083A (en) | 1963-08-26 | 1966-12-27 | Alderson Res Lab Inc | Dosimetry system for penetrating radiation |
US3367326A (en) | 1965-06-15 | 1968-02-06 | Calvin H. Frazier | Intra spinal fixation rod |
DE1238814B (en) | 1966-02-23 | 1967-04-13 | Merckle Flugzeugwerke G M B H | Inductive angle encoder based on the transformer principle |
US3577160A (en) | 1968-01-10 | 1971-05-04 | James E White | X-ray gauging apparatus with x-ray opaque markers in the x-ray path to indicate alignment of x-ray tube, subject and film |
GB1257034A (en) | 1968-03-25 | 1971-12-15 | ||
US3605725A (en) | 1968-08-07 | 1971-09-20 | Medi Tech Inc | Controlled motion devices |
US3600625A (en) | 1968-08-31 | 1971-08-17 | Tokyo Shibaura Electric Co | Projection picture tube with rotating fluorescent screen |
US3519436A (en) | 1969-05-09 | 1970-07-07 | Grace W R & Co | Method for making plastic low fat emulsion spread |
SE336642B (en) | 1969-10-28 | 1971-07-12 | Astra Meditec Ab | |
US3644825A (en) | 1969-12-31 | 1972-02-22 | Texas Instruments Inc | Magnetic detection system for detecting movement of an object utilizing signals derived from two orthogonal pickup coils |
US3704707A (en) | 1971-04-06 | 1972-12-05 | William X Halloran | Orthopedic drill guide apparatus |
US3702935A (en) | 1971-10-13 | 1972-11-14 | Litton Medical Products | Mobile fluoroscopic unit for bedside catheter placement |
US3821469A (en) | 1972-05-15 | 1974-06-28 | Amperex Electronic Corp | Graphical data device |
US3822697A (en) | 1973-03-20 | 1974-07-09 | Olympus Optical Co | Envelope of an endoscope |
US3868565A (en) | 1973-07-30 | 1975-02-25 | Jack Kuipers | Object tracking and orientation determination means, system and process |
US4017858A (en) | 1973-07-30 | 1977-04-12 | Polhemus Navigation Sciences, Inc. | Apparatus for generating a nutating electromagnetic field |
US3941127A (en) | 1974-10-03 | 1976-03-02 | Froning Edward C | Apparatus and method for stereotaxic lateral extradural disc puncture |
US3983474A (en) | 1975-02-21 | 1976-09-28 | Polhemus Navigation Sciences, Inc. | Tracking and determining orientation of object using coordinate transformation means, system and process |
US4052620A (en) | 1975-11-28 | 1977-10-04 | Picker Corporation | Method and apparatus for improved radiation detection in radiation scanning systems |
US4054881A (en) | 1976-04-26 | 1977-10-18 | The Austin Company | Remote object position locater |
US4037592A (en) | 1976-05-04 | 1977-07-26 | Kronner Richard F | Guide pin locating tool and method |
US5291199A (en) | 1977-01-06 | 1994-03-01 | Westinghouse Electric Corp. | Threat signal detection system |
US4298874A (en) | 1977-01-17 | 1981-11-03 | The Austin Company | Method and apparatus for tracking objects |
DE2718804C3 (en) | 1977-04-27 | 1979-10-31 | Karlheinz Prof. Dr. 3000 Hannover Renner | Device for positioning control of patients and / or radiation sources |
US4173228A (en) | 1977-05-16 | 1979-11-06 | Applied Medical Devices | Catheter locating device |
US4182312A (en) | 1977-05-20 | 1980-01-08 | Mushabac David R | Dental probe |
NL7708012A (en) | 1977-07-19 | 1979-01-23 | Nedap Nv | DETECTION SYSTEM. |
US4135184A (en) | 1977-08-31 | 1979-01-16 | Knogo Corporation | Electronic theft detection system for monitoring wide passageways |
SU745505A1 (en) | 1977-09-28 | 1980-07-05 | Научно-Исследовательский Институт Экспериментальной Медицины Амн Ссср | Method of guiding stereotaxic tool on target point |
US4117337A (en) | 1977-11-03 | 1978-09-26 | General Electric Company | Patient positioning indication arrangement for a computed tomography system |
DE7805301U1 (en) | 1978-02-22 | 1978-07-06 | Howmedica International, Inc. Zweigniederlassung Kiel, 2300 Kiel | Distal aiming device for locking nailing |
US4202349A (en) | 1978-04-24 | 1980-05-13 | Jones James W | Radiopaque vessel markers |
USRE32619E (en) | 1978-11-20 | 1988-03-08 | Apparatus and method for nuclear magnetic resonance scanning and mapping | |
US4686695A (en) | 1979-02-05 | 1987-08-11 | Board Of Trustees Of The Leland Stanford Junior University | Scanned x-ray selective imaging system |
US4256112A (en) | 1979-02-12 | 1981-03-17 | David Kopf Instruments | Head positioner |
US4341220A (en) | 1979-04-13 | 1982-07-27 | Pfizer Inc. | Stereotactic surgery apparatus and method |
US4249167A (en) | 1979-06-05 | 1981-02-03 | Magnavox Government And Industrial Electronics Company | Apparatus and method for theft detection system having different frequencies |
FR2458838A1 (en) | 1979-06-06 | 1981-01-02 | Thomson Csf | DEVICE FOR MEASURING THE RELATIVE ORIENTATION OF TWO BODIES AND CORRESPONDING STEERING SYSTEM |
US4314251A (en) | 1979-07-30 | 1982-02-02 | The Austin Company | Remote object position and orientation locater |
US4287809A (en) | 1979-08-20 | 1981-09-08 | Honeywell Inc. | Helmet-mounted sighting system |
US4608977A (en) | 1979-08-29 | 1986-09-02 | Brown Russell A | System using computed tomography as for selective body treatment |
US4419012A (en) | 1979-09-11 | 1983-12-06 | Elliott Brothers (London) Limited | Position measuring system |
US4317078A (en) | 1979-10-15 | 1982-02-23 | Ohio State University Research Foundation | Remote position and orientation detection employing magnetic flux linkage |
US4319136A (en) | 1979-11-09 | 1982-03-09 | Jinkins J Randolph | Computerized tomography radiograph data transfer cap |
DE2950819A1 (en) | 1979-12-17 | 1981-06-25 | Siemens AG, 1000 Berlin und 8000 München | RADIATION DIAGNOSTICS DEVICE FOR THE PRODUCTION OF LAYER IMAGES |
US4341385A (en) | 1980-01-24 | 1982-07-27 | Doyle Holly Thomis | Electronic board game apparatus |
US4346384A (en) | 1980-06-30 | 1982-08-24 | The Austin Company | Remote object position and orientation locator |
US4328548A (en) | 1980-04-04 | 1982-05-04 | The Austin Company | Locator for source of electromagnetic radiation having unknown structure or orientation |
DE3166555D1 (en) | 1980-04-23 | 1984-11-15 | Inoue Japax Res | Magnetic treatment device |
DE3022497A1 (en) | 1980-06-14 | 1981-12-24 | Philips Patentverwaltung Gmbh, 2000 Hamburg | COUPLE AREA |
US4688037A (en) | 1980-08-18 | 1987-08-18 | Mcdonnell Douglas Corporation | Electromagnetic communications and switching system |
US4339953A (en) | 1980-08-29 | 1982-07-20 | Aisin Seiki Company, Ltd. | Position sensor |
US4638798A (en) | 1980-09-10 | 1987-01-27 | Shelden C Hunter | Stereotactic method and apparatus for locating and treating or removing lesions |
US4328813A (en) | 1980-10-20 | 1982-05-11 | Medtronic, Inc. | Brain lead anchoring system |
US4358856A (en) | 1980-10-31 | 1982-11-09 | General Electric Company | Multiaxial x-ray apparatus |
DE3042343A1 (en) | 1980-11-10 | 1982-06-09 | Philips Patentverwaltung Gmbh, 2000 Hamburg | Synthetic formation of defect-free images - by superimposed blurring images of defect on reconstituted multiple perspective images |
US4425511A (en) | 1981-02-09 | 1984-01-10 | Amnon Brosh | Planar coil apparatus employing a stationary and a movable board |
US4394831A (en) | 1981-02-12 | 1983-07-26 | Honeywell Inc. | Helmet metal mass compensation for helmet-mounted sighting system |
AU7986682A (en) | 1981-02-12 | 1982-08-19 | New York University | Apparatus for stereotactic surgery |
NL8101722A (en) | 1981-04-08 | 1982-11-01 | Philips Nv | CONTOUR METER. |
US4710708A (en) | 1981-04-27 | 1987-12-01 | Develco | Method and apparatus employing received independent magnetic field components of a transmitted alternating magnetic field for determining location |
US4431005A (en) | 1981-05-07 | 1984-02-14 | Mccormick Laboratories, Inc. | Method of and apparatus for determining very accurately the position of a device inside biological tissue |
FI64282C (en) | 1981-06-04 | 1983-11-10 | Instrumentarium Oy | DIAGNOSISPARATUR FOER BESTAEMMANDE AV VAEVNADERNAS STRUKTUR OC SAMMANSAETTNING |
US4422041A (en) | 1981-07-30 | 1983-12-20 | The United States Of America As Represented By The Secretary Of The Army | Magnet position sensing system |
US4396945A (en) | 1981-08-19 | 1983-08-02 | Solid Photography Inc. | Method of sensing the position and orientation of elements in space |
US4447462A (en) | 1981-11-04 | 1984-05-08 | The Procter & Gamble Company | Structural fat and method for making same |
US4645343A (en) | 1981-11-11 | 1987-02-24 | U.S. Philips Corporation | Atomic resonance line source lamps and spectrophotometers for use with such lamps |
US4485815A (en) | 1982-08-30 | 1984-12-04 | Kurt Amplatz | Device and method for fluoroscope-monitored percutaneous puncture treatment |
US4506676A (en) | 1982-09-10 | 1985-03-26 | Duska Alois A | Radiographic localization technique |
US4447224A (en) | 1982-09-20 | 1984-05-08 | Infusaid Corporation | Variable flow implantable infusion apparatus |
US4584577A (en) | 1982-10-20 | 1986-04-22 | Brookes & Gatehouse Limited | Angular position sensor |
US4961422A (en) | 1983-01-21 | 1990-10-09 | Marchosky J Alexander | Method and apparatus for volumetric interstitial conductive hyperthermia |
NL8300965A (en) | 1983-03-17 | 1984-10-16 | Nicolaas Roelof Snijder | SYSTEM FOR EXAMINATION OF SKELETON PARTS OF THE BODY OF A LIVING ORIGIN, IN PARTICULAR THE SPIRIT OF THE HUMAN BODY. |
US4651732A (en) | 1983-03-17 | 1987-03-24 | Frederick Philip R | Three-dimensional light guidance system for invasive procedures |
US4613866A (en) | 1983-05-13 | 1986-09-23 | Mcdonnell Douglas Corporation | Three dimensional digitizer with electromagnetic coupling |
NL8302228A (en) | 1983-06-22 | 1985-01-16 | Optische Ind De Oude Delft Nv | MEASURING SYSTEM FOR USING A TRIANGULAR PRINCIPLE, CONTACT-FREE MEASURING A DISTANCE GIVEN BY A SURFACE CONTOUR TO AN OBJECTIVE LEVEL. |
USRE33662E (en) | 1983-08-25 | 1991-08-13 | TV animation interactively controlled by the viewer | |
DE3332642A1 (en) | 1983-09-09 | 1985-04-04 | Ortopedia Gmbh, 2300 Kiel | DEVICE FOR DETECTING CROSS HOLES INTRAMEDULLA IMPLANTS |
US4618978A (en) | 1983-10-21 | 1986-10-21 | Cosman Eric R | Means for localizing target coordinates in a body relative to a guidance system reference frame in any arbitrary plane as viewed by a tomographic image through the body |
SE8306243L (en) | 1983-11-14 | 1985-05-15 | Cytex Medicinteknik Ab | LOCATION METHODOLOGY |
DE3342675A1 (en) | 1983-11-25 | 1985-06-05 | Fa. Carl Zeiss, 7920 Heidenheim | METHOD AND DEVICE FOR CONTACTLESS MEASUREMENT OF OBJECTS |
US4753528A (en) | 1983-12-13 | 1988-06-28 | Quantime, Inc. | Laser archery distance device |
US4549555A (en) | 1984-02-17 | 1985-10-29 | Orthothronics Limited Partnership | Knee laxity evaluator and motion module/digitizer arrangement |
US4841967A (en) | 1984-01-30 | 1989-06-27 | Chang Ming Z | Positioning device for percutaneous needle insertion |
BR8505670A (en) | 1984-02-15 | 1986-02-18 | Intermodulation & Safety Syst | METHOD AND SYSTEM FOR DETECTING THE PRESENCE OF DEVICES INDICATED IN A LIMITED RESEARCH AREA |
US4571834A (en) | 1984-02-17 | 1986-02-25 | Orthotronics Limited Partnership | Knee laxity evaluator and motion module/digitizer arrangement |
US4583538A (en) | 1984-05-04 | 1986-04-22 | Onik Gary M | Method and apparatus for stereotaxic placement of probes in the body utilizing CT scanner localization |
US4649504A (en) | 1984-05-22 | 1987-03-10 | Cae Electronics, Ltd. | Optical position and orientation measurement techniques |
US4642786A (en) | 1984-05-25 | 1987-02-10 | Position Orientation Systems, Ltd. | Method and apparatus for position and orientation measurement using a magnetic field and retransmission |
DE8417428U1 (en) | 1984-06-08 | 1984-09-13 | Howmedica International, Inc. Zweigniederlassung Kiel, 2300 Kiel | Target device |
US4572198A (en) | 1984-06-18 | 1986-02-25 | Varian Associates, Inc. | Catheter for use with NMR imaging systems |
US4548208A (en) | 1984-06-27 | 1985-10-22 | Medtronic, Inc. | Automatic adjusting induction coil treatment device |
US4587975A (en) | 1984-07-02 | 1986-05-13 | Cardiac Pacemakers, Inc. | Dimension sensitive angioplasty catheter |
US4697595A (en) | 1984-07-24 | 1987-10-06 | Telectronics N.V. | Ultrasonically marked cardiac catheters |
JPS6149205A (en) | 1984-08-16 | 1986-03-11 | Seiko Instr & Electronics Ltd | Robot control system |
US4889526A (en) | 1984-08-27 | 1989-12-26 | Magtech Laboratories, Inc. | Non-invasive method and apparatus for modulating brain signals through an external magnetic or electric field to reduce pain |
US4617925A (en) | 1984-10-01 | 1986-10-21 | Laitinen Lauri V | Adapter for definition of the position of brain structures |
US4705395A (en) | 1984-10-03 | 1987-11-10 | Diffracto Ltd. | Triangulation data integrity |
US4821206A (en) | 1984-11-27 | 1989-04-11 | Photo Acoustic Technology, Inc. | Ultrasonic apparatus for positioning a robot hand |
US4586491A (en) | 1984-12-14 | 1986-05-06 | Warner-Lambert Technologies, Inc. | Bronchoscope with small gauge viewing attachment |
US4706665A (en) | 1984-12-17 | 1987-11-17 | Gouda Kasim I | Frame for stereotactic surgery |
DE3500605A1 (en) | 1985-01-10 | 1986-07-10 | Markus Dr. 5300 Bonn Hansen | DEVICE FOR MEASURING THE POSITIONS AND MOVEMENTS OF THE LOWER JAW RELATIVE TO THE UPPER JAW |
US4722336A (en) | 1985-01-25 | 1988-02-02 | Michael Kim | Placement guide |
DE3508730A1 (en) | 1985-03-12 | 1986-09-18 | Siemens AG, 1000 Berlin und 8000 München | Measuring device for medical purposes |
US4782239A (en) | 1985-04-05 | 1988-11-01 | Nippon Kogaku K. K. | Optical position measuring apparatus |
CH671873A5 (en) | 1985-10-03 | 1989-10-13 | Synthes Ag | |
US4838265A (en) | 1985-05-24 | 1989-06-13 | Cosman Eric R | Localization device for probe placement under CT scanner imaging |
US4737921A (en) | 1985-06-03 | 1988-04-12 | Dynamic Digital Displays, Inc. | Three dimensional medical image display system |
DE3520782A1 (en) | 1985-06-10 | 1986-12-11 | Siemens AG, 1000 Berlin und 8000 München | Medicament metering device with reservoir and metering store |
SE447848B (en) | 1985-06-14 | 1986-12-15 | Anders Bengtsson | INSTRUMENTS FOR SEATING SURFACE TOPOGRAPHY |
US4743771A (en) | 1985-06-17 | 1988-05-10 | View Engineering, Inc. | Z-axis height measurement system |
US4805615A (en) | 1985-07-02 | 1989-02-21 | Carol Mark P | Method and apparatus for performing stereotactic surgery |
US4653509A (en) | 1985-07-03 | 1987-03-31 | The United States Of America As Represented By The Secretary Of The Air Force | Guided trephine samples for skeletal bone studies |
US4719419A (en) | 1985-07-15 | 1988-01-12 | Harris Graphics Corporation | Apparatus for detecting a rotary position of a shaft |
US4705401A (en) | 1985-08-12 | 1987-11-10 | Cyberware Laboratory Inc. | Rapid three-dimensional surface digitizer |
US4737032A (en) | 1985-08-26 | 1988-04-12 | Cyberware Laboratory, Inc. | Surface mensuration sensor |
IL76517A (en) | 1985-09-27 | 1989-02-28 | Nessim Igal Levy | Distance measuring device |
US4696544A (en) | 1985-11-18 | 1987-09-29 | Olympus Corporation | Fiberscopic device for inspection of internal sections of construction, and method for using same |
US4709156A (en) | 1985-11-27 | 1987-11-24 | Ex-Cell-O Corporation | Method and apparatus for inspecting a surface |
US4794262A (en) | 1985-12-03 | 1988-12-27 | Yukio Sato | Method and apparatus for measuring profile of three-dimensional object |
US4737794A (en) | 1985-12-09 | 1988-04-12 | Mcdonnell Douglas Corporation | Method and apparatus for determining remote object orientation and position |
US4742356A (en) | 1985-12-09 | 1988-05-03 | Mcdonnell Douglas Corporation | Method and apparatus for determining remote object orientation and position |
DE3543867C3 (en) | 1985-12-12 | 1994-10-06 | Wolf Gmbh Richard | Device for the spatial location and destruction of concrements in body cavities |
US4742815A (en) | 1986-01-02 | 1988-05-10 | Ninan Champil A | Computer monitoring of endoscope |
DE3704247A1 (en) | 1986-02-14 | 1987-08-20 | Olympus Optical Co | ENDOSCOPE INSERTION DEVICE |
JPS62192134A (en) | 1986-02-17 | 1987-08-22 | オリンパス光学工業株式会社 | Curved part device for endoscope |
US4722056A (en) | 1986-02-18 | 1988-01-26 | Trustees Of Dartmouth College | Reference display systems for superimposing a tomagraphic image onto the focal plane of an operating microscope |
JP2685071B2 (en) | 1986-03-10 | 1997-12-03 | 三菱電機株式会社 | Numerical control unit |
DE3608148A1 (en) | 1986-03-12 | 1987-09-24 | Schwab Technologieberatung | ARRANGEMENT FOR MONITORING AND DISPLAYING CHESS PARTIES |
SE469321B (en) | 1986-04-14 | 1993-06-21 | Joenkoepings Laens Landsting | SET AND DEVICE TO MAKE A MODIFIED THREE-DIMENSIONAL IMAGE OF AN ELASTIC DEFORMABLE PURPOSE |
US4977655A (en) | 1986-04-25 | 1990-12-18 | Intra-Sonix, Inc. | Method of making a transducer |
US5002058A (en) | 1986-04-25 | 1991-03-26 | Intra-Sonix, Inc. | Ultrasonic transducer |
US4862893A (en) | 1987-12-08 | 1989-09-05 | Intra-Sonix, Inc. | Ultrasonic transducer |
US4821731A (en) | 1986-04-25 | 1989-04-18 | Intra-Sonix, Inc. | Acoustic image system and method |
US5078140A (en) | 1986-05-08 | 1992-01-07 | Kwoh Yik S | Imaging device - aided robotic stereotaxis system |
US4822163A (en) | 1986-06-26 | 1989-04-18 | Robotic Vision Systems, Inc. | Tracking vision sensor |
US4723544A (en) | 1986-07-09 | 1988-02-09 | Moore Robert R | Hemispherical vectoring needle guide for discolysis |
US4791934A (en) | 1986-08-07 | 1988-12-20 | Picker International, Inc. | Computer tomography assisted stereotactic surgery system and method |
US4733969A (en) | 1986-09-08 | 1988-03-29 | Cyberoptics Corporation | Laser probe for determining distance |
US4743770A (en) | 1986-09-22 | 1988-05-10 | Mitutoyo Mfg. Co., Ltd. | Profile-measuring light probe using a change in reflection factor in the proximity of a critical angle of light |
US4761072A (en) | 1986-09-30 | 1988-08-02 | Diffracto Ltd. | Electro-optical sensors for manual control |
US4849692A (en) | 1986-10-09 | 1989-07-18 | Ascension Technology Corporation | Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields |
US4945305A (en) | 1986-10-09 | 1990-07-31 | Ascension Technology Corporation | Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields |
GB8625365D0 (en) | 1986-10-23 | 1986-11-26 | Radiodetection Ltd | Positional information systems |
US4750487A (en) | 1986-11-24 | 1988-06-14 | Zanetti Paul H | Stereotactic frame |
DE3703422A1 (en) | 1987-02-05 | 1988-08-18 | Zeiss Carl Fa | OPTOELECTRONIC DISTANCE SENSOR |
US4745290A (en) | 1987-03-19 | 1988-05-17 | David Frankel | Method and apparatus for use in making custom shoes |
US4804261A (en) | 1987-03-27 | 1989-02-14 | Kirschen David G | Anti-claustrophobic glasses |
JPH0685784B2 (en) | 1987-03-30 | 1994-11-02 | 株式会社東芝 | Surgical three-dimensional viewer system |
US4875478A (en) | 1987-04-10 | 1989-10-24 | Chen Harry H | Portable compression grid & needle holder |
US4793355A (en) | 1987-04-17 | 1988-12-27 | Biomagnetic Technologies, Inc. | Apparatus for process for making biomagnetic measurements |
US4809694A (en) | 1987-05-19 | 1989-03-07 | Ferrara Vincent L | Biopsy guide |
DE3717871C3 (en) | 1987-05-27 | 1995-05-04 | Georg Prof Dr Schloendorff | Method and device for reproducible visual representation of a surgical intervention |
US4836778A (en) | 1987-05-26 | 1989-06-06 | Vexcel Corporation | Mandibular motion monitoring system |
JPH02503519A (en) | 1987-05-27 | 1990-10-25 | サージカル ナビゲーション テクノロジース インコーポレーティッド(アン アフィリエイティッド カンパニー オブ ソファマー ダンネク グループ インコーポレーティッド) | Method and apparatus for reproducibly optically displaying surgical procedures |
US4845771A (en) | 1987-06-29 | 1989-07-04 | Picker International, Inc. | Exposure monitoring in radiation imaging |
US4989608A (en) | 1987-07-02 | 1991-02-05 | Ratner Adam V | Device construction and method facilitating magnetic resonance imaging of foreign objects in a body |
FR2618211B1 (en) | 1987-07-15 | 1991-11-15 | Chardon Bernard | FRONTAL LIGHTING DEVICE FOR OBSERVING NARROW AND DEEP CAVITIES. |
WO1989000829A1 (en) | 1987-07-23 | 1989-02-09 | Terumo Kabushiki Kaisha | Catheter tube |
US4829373A (en) | 1987-08-03 | 1989-05-09 | Vexcel Corporation | Stereo mensuration apparatus |
US4797907A (en) | 1987-08-07 | 1989-01-10 | Diasonics Inc. | Battery enhanced power generation for mobile X-ray machine |
US4931056A (en) | 1987-09-04 | 1990-06-05 | Neurodynamics, Inc. | Catheter guide apparatus for perpendicular insertion into a cranium orifice |
JPS6472736A (en) | 1987-09-14 | 1989-03-17 | Toshiba Corp | Mri apparatus |
US4991579A (en) | 1987-11-10 | 1991-02-12 | Allen George S | Method and apparatus for providing related images over time of a portion of the anatomy using fiducial implants |
US5079699A (en) | 1987-11-27 | 1992-01-07 | Picker International, Inc. | Quick three-dimensional display |
US4875165A (en) | 1987-11-27 | 1989-10-17 | University Of Chicago | Method for determination of 3-D structure in biplane angiography |
US5027818A (en) | 1987-12-03 | 1991-07-02 | University Of Florida | Dosimetric technique for stereotactic radiosurgery same |
US4869255A (en) | 1987-12-04 | 1989-09-26 | Ad-Tech Medical Instrument Corp. | Electrical connection device |
US5251127A (en) | 1988-02-01 | 1993-10-05 | Faro Medical Technologies Inc. | Computer-aided surgery apparatus |
EP0326768A3 (en) | 1988-02-01 | 1991-01-23 | Faro Medical Technologies Inc. | Computer-aided surgery apparatus |
US4829250A (en) | 1988-02-10 | 1989-05-09 | Honeywell, Inc. | Magnetic direction finding device with improved accuracy |
US4951653A (en) | 1988-03-02 | 1990-08-28 | Laboratory Equipment, Corp. | Ultrasound brain lesioning system |
US4869247A (en) | 1988-03-11 | 1989-09-26 | The University Of Virginia Alumni Patents Foundation | Video tumor fighting system |
US4884566A (en) | 1988-04-15 | 1989-12-05 | The University Of Michigan | System and method for determining orientation of planes of imaging |
NL8801750A (en) | 1988-07-11 | 1990-02-01 | Philips Nv | ROENTGEN RESEARCH DEVICE WITH A BALANCED TRIPOD. |
US5050608A (en) | 1988-07-12 | 1991-09-24 | Medirand, Inc. | System for indicating a position to be operated in a patient's body |
US4896673A (en) | 1988-07-15 | 1990-01-30 | Medstone International, Inc. | Method and apparatus for stone localization using ultrasound imaging |
US4860331A (en) | 1988-09-12 | 1989-08-22 | Williams John F | Image marker device |
US4905698A (en) | 1988-09-13 | 1990-03-06 | Pharmacia Deltec Inc. | Method and apparatus for catheter location determination |
US5265611A (en) | 1988-09-23 | 1993-11-30 | Siemens Aktiengellschaft | Apparatus for measuring weak, location-dependent and time-dependent magnetic field |
EP0359864B1 (en) | 1988-09-23 | 1993-12-01 | Siemens Aktiengesellschaft | Apparatus and method for the measurement of weak magnetic fields dependent upon position and time |
US5088928A (en) | 1988-11-15 | 1992-02-18 | Chan James K | Educational/board game apparatus |
IT1227365B (en) | 1988-11-18 | 1991-04-08 | Istituto Neurologico Carlo Bes | PROCEDURE AND EQUIPMENT PARTICULARLY FOR THE GUIDE OF NEUROSURGICAL OPERATIONS |
US4945912A (en) | 1988-11-25 | 1990-08-07 | Sensor Electronics, Inc. | Catheter with radiofrequency heating applicator |
US5143076A (en) | 1988-12-23 | 1992-09-01 | Tyrone L. Hardy | Three-dimensional beam localization microscope apparatus for stereotactic diagnoses or surgery |
US5099846A (en) | 1988-12-23 | 1992-03-31 | Hardy Tyrone L | Method and apparatus for video presentation from a variety of scanner imaging sources |
US5023102A (en) | 1988-12-30 | 1991-06-11 | Nabisco Brands, Inc. | Method and composition for inhibiting fat bloom in fat based compositions and hard butter |
US5098426A (en) | 1989-02-06 | 1992-03-24 | Phoenix Laser Systems, Inc. | Method and apparatus for precision laser surgery |
US5197476A (en) | 1989-03-16 | 1993-03-30 | Christopher Nowacki | Locating target in human body |
CN1049287A (en) | 1989-05-24 | 1991-02-20 | 住友电气工业株式会社 | The treatment conduit |
US5301061A (en) | 1989-07-27 | 1994-04-05 | Olympus Optical Co., Ltd. | Endoscope system |
US5476100A (en) | 1994-07-07 | 1995-12-19 | Guided Medical Systems, Inc. | Catheter steerable by directional jets with remotely controlled closures |
US5024226A (en) | 1989-08-17 | 1991-06-18 | Critikon, Inc. | Epidural oxygen sensor |
US5104393A (en) | 1989-08-30 | 1992-04-14 | Angelase, Inc. | Catheter |
GB8920204D0 (en) | 1989-09-07 | 1989-10-18 | Saitek Ltd | Sensory games |
US5070462A (en) | 1989-09-12 | 1991-12-03 | Flowmole Corporation | Device for locating a boring machine |
US5285787A (en) | 1989-09-12 | 1994-02-15 | Kabushiki Kaisha Toshiba | Apparatus for calculating coordinate data of desired point in subject to be examined |
GB8920697D0 (en) | 1989-09-13 | 1989-10-25 | Isis Innovation | Apparatus and method for aligning drilling apparatus in surgical procedures |
US5257998A (en) | 1989-09-20 | 1993-11-02 | Mitaka Kohki Co., Ltd. | Medical three-dimensional locating apparatus |
US5681260A (en) | 1989-09-22 | 1997-10-28 | Olympus Optical Co., Ltd. | Guiding apparatus for guiding an insertable body within an inspected object |
IL91805A (en) | 1989-09-27 | 1996-12-05 | Elscint Ltd | Quadrature surface coil |
EP0419729A1 (en) | 1989-09-29 | 1991-04-03 | Siemens Aktiengesellschaft | Position finding of a catheter by means of non-ionising fields |
FR2652928B1 (en) | 1989-10-05 | 1994-07-29 | Diadix Sa | INTERACTIVE LOCAL INTERVENTION SYSTEM WITHIN A AREA OF A NON-HOMOGENEOUS STRUCTURE. |
DE68901599D1 (en) | 1989-10-25 | 1992-06-25 | Saitek Ltd | ELECTRONIC PLAYER. |
US5005592A (en) | 1989-10-27 | 1991-04-09 | Becton Dickinson And Company | Method and apparatus for tracking catheters |
EP0427358B1 (en) | 1989-11-08 | 1996-03-27 | George S. Allen | Mechanical arm for and interactive image-guided surgical system |
US5222499A (en) | 1989-11-15 | 1993-06-29 | Allen George S | Method and apparatus for imaging the anatomy |
US5188126A (en) | 1989-11-16 | 1993-02-23 | Fabian Carl E | Surgical implement detector utilizing capacitive coupling |
US5329944A (en) | 1989-11-16 | 1994-07-19 | Fabian Carl E | Surgical implement detector utilizing an acoustic marker |
US5057095A (en) | 1989-11-16 | 1991-10-15 | Fabian Carl E | Surgical implement detector utilizing a resonant marker |
US5105829A (en) | 1989-11-16 | 1992-04-21 | Fabian Carl E | Surgical implement detector utilizing capacitive coupling |
US5190059A (en) | 1989-11-16 | 1993-03-02 | Fabian Carl E | Surgical implement detector utilizing a powered marker |
US5107862A (en) | 1991-05-06 | 1992-04-28 | Fabian Carl E | Surgical implement detector utilizing a powered marker |
US5308352A (en) | 1989-11-17 | 1994-05-03 | Koutrouvelis Panos G | Stereotactic device |
US5047036A (en) | 1989-11-17 | 1991-09-10 | Koutrouvelis Panos G | Stereotactic device |
CA2260688A1 (en) | 1989-11-21 | 1991-05-21 | I.S.G. Technologies, Inc. | Probe-correlated viewing of anatomical image data |
WO1991007913A1 (en) | 1989-11-24 | 1991-06-13 | Technomed International | A method and apparatus for determining the position of a target relative to known co-ordinates |
FR2655415B1 (en) | 1989-12-01 | 1992-02-21 | Sextant Avionique | ELECTROMAGNETIC POSITION AND ORIENTATION DETECTOR. |
US7033325B1 (en) | 1989-12-19 | 2006-04-25 | Scimed Life Systems, Inc. | Guidewire with multiple radiopaque marker sections |
US5916210A (en) | 1990-01-26 | 1999-06-29 | Intraluminal Therapeutics, Inc. | Catheter for laser treatment of atherosclerotic plaque and other tissue abnormalities |
US5254088A (en) | 1990-02-02 | 1993-10-19 | Ep Technologies, Inc. | Catheter steering mechanism |
US5820591A (en) | 1990-02-02 | 1998-10-13 | E. P. Technologies, Inc. | Assemblies for creating compound curves in distal catheter regions |
US5013317A (en) | 1990-02-07 | 1991-05-07 | Smith & Nephew Richards Inc. | Medical drill assembly transparent to X-rays and targeting drill bit |
US5031203A (en) | 1990-02-09 | 1991-07-09 | Trecha Randal R | Coaxial laser targeting device for use with x-ray equipment and surgical drill equipment during surgical procedures |
US5214615A (en) | 1990-02-26 | 1993-05-25 | Will Bauer | Three-dimensional displacement of a body with computer interface |
JP2653210B2 (en) | 1990-03-16 | 1997-09-17 | 天美 加藤 | Stereotactic brain surgery support device |
JP3034898B2 (en) | 1990-04-04 | 2000-04-17 | オリンパス光学工業株式会社 | Endoscope device |
FI89132C (en) | 1990-04-06 | 1993-08-25 | Orion Yhtymae Oy | Method for fine-needle biopsy or for performing a tissue marker in conjunction with mammography and arrangements for performing the procedure |
US5224049A (en) | 1990-04-10 | 1993-06-29 | Mushabac David R | Method, system and mold assembly for use in preparing a dental prosthesis |
US5253647A (en) | 1990-04-13 | 1993-10-19 | Olympus Optical Co., Ltd. | Insertion position and orientation state pickup for endoscope |
JP2750201B2 (en) | 1990-04-13 | 1998-05-13 | オリンパス光学工業株式会社 | Endoscope insertion state detection device |
US5107839A (en) | 1990-05-04 | 1992-04-28 | Pavel V. Houdek | Computer controlled stereotaxic radiotherapy system and method |
US5030222A (en) | 1990-05-09 | 1991-07-09 | James Calandruccio | Radiolucent orthopedic chuck |
US5295483A (en) | 1990-05-11 | 1994-03-22 | Christopher Nowacki | Locating target in human body |
US5086401A (en) | 1990-05-11 | 1992-02-04 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
US5457641A (en) | 1990-06-29 | 1995-10-10 | Sextant Avionique | Method and apparatus for determining an orientation associated with a mobile system, especially a line of sight inside a helmet visor |
US5017139A (en) | 1990-07-05 | 1991-05-21 | Mushabac David R | Mechanical support for hand-held dental/medical instrument |
US5376795A (en) | 1990-07-09 | 1994-12-27 | Regents Of The University Of California | Emission-transmission imaging system using single energy and dual energy transmission and radionuclide emission data |
GB9018660D0 (en) | 1990-08-24 | 1990-10-10 | Imperial College | Probe system |
US5193106A (en) | 1990-08-28 | 1993-03-09 | Desena Danforth | X-ray identification marker |
US5127408A (en) | 1990-09-14 | 1992-07-07 | Duke University | Apparatus for intravascularly measuring oxidative metabolism in body organs and tissues |
US5160337A (en) | 1990-09-24 | 1992-11-03 | Cosman Eric R | Curved-shaped floor stand for use with a linear accelerator in radiosurgery |
US5198877A (en) | 1990-10-15 | 1993-03-30 | Pixsys, Inc. | Method and apparatus for three-dimensional non-contact shape sensing |
US6347240B1 (en) | 1990-10-19 | 2002-02-12 | St. Louis University | System and method for use in displaying images of a body part |
WO1992006645A1 (en) | 1990-10-19 | 1992-04-30 | St. Louis University | Surgical probe locating system for head use |
US5059789A (en) | 1990-10-22 | 1991-10-22 | International Business Machines Corp. | Optical position and orientation sensor |
FR2668359B1 (en) | 1990-10-24 | 1998-02-20 | Gen Electric Cgr | MAMMOGRAPH PROVIDED WITH A PERFECTED NEEDLE HOLDER. |
US5527292A (en) | 1990-10-29 | 1996-06-18 | Scimed Life Systems, Inc. | Intravascular device for coronary heart treatment |
US5823958A (en) | 1990-11-26 | 1998-10-20 | Truppe; Michael | System and method for displaying a structural data image in real-time correlation with moveable body |
JP2715762B2 (en) | 1990-11-30 | 1998-02-18 | 富士写真光機株式会社 | Ultrasonic inspection equipment |
US5054492A (en) | 1990-12-17 | 1991-10-08 | Cardiovascular Imaging Systems, Inc. | Ultrasonic imaging catheter having rotational image correlation |
US5129654A (en) | 1991-01-03 | 1992-07-14 | Brehn Corporation | Electronic game apparatus |
US5662111A (en) | 1991-01-28 | 1997-09-02 | Cosman; Eric R. | Process of stereotactic optical navigation |
US6405072B1 (en) | 1991-01-28 | 2002-06-11 | Sherwood Services Ag | Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus |
US6006126A (en) | 1991-01-28 | 1999-12-21 | Cosman; Eric R. | System and method for stereotactic registration of image scan data |
US5947981A (en) | 1995-01-31 | 1999-09-07 | Cosman; Eric R. | Head and neck localizer |
US5480439A (en) | 1991-02-13 | 1996-01-02 | Lunar Corporation | Method for periprosthetic bone mineral density measurement |
US5327889A (en) | 1992-12-01 | 1994-07-12 | Cardiac Pathways Corporation | Mapping and ablation catheter with individually deployable arms and method |
US5228442A (en) | 1991-02-15 | 1993-07-20 | Cardiac Pathways Corporation | Method for mapping, ablation, and stimulation using an endocardial catheter |
US5456254A (en) | 1991-02-15 | 1995-10-10 | Cardiac Pathways Corp | Flexible strip assembly having insulating layer with conductive pads exposed through insulating layer and device utilizing the same |
US5161536A (en) | 1991-03-22 | 1992-11-10 | Catheter Technology | Ultrasonic position indicating apparatus and methods |
US5257636A (en) | 1991-04-02 | 1993-11-02 | Steven J. White | Apparatus for determining position of an endothracheal tube |
JPH04307024A (en) | 1991-04-02 | 1992-10-29 | Olympus Optical Co Ltd | Electronic endoscope apparatus |
WO1992018104A1 (en) | 1991-04-19 | 1992-10-29 | Vestar, Inc. | Pharmaceutical formulation and process |
US5339799A (en) | 1991-04-23 | 1994-08-23 | Olympus Optical Co., Ltd. | Medical system for reproducing a state of contact of the treatment section in the operation unit |
US5203337A (en) | 1991-05-08 | 1993-04-20 | Brigham And Women's Hospital, Inc. | Coronary artery imaging system |
DE4116004C2 (en) | 1991-05-16 | 1993-09-30 | Fresenius Ag | nutrient preparation |
US5291889A (en) | 1991-05-23 | 1994-03-08 | Vanguard Imaging Ltd. | Apparatus and method for spatially positioning images |
FI93607C (en) | 1991-05-24 | 1995-05-10 | John Koivukangas | Cutting Remedy |
US5493517A (en) | 1991-06-03 | 1996-02-20 | Hughes Missile Systems Company | Cargo container mapping system |
US5187475A (en) | 1991-06-10 | 1993-02-16 | Honeywell Inc. | Apparatus for determining the position of an object |
DE9107298U1 (en) | 1991-06-13 | 1991-07-25 | Howmedica Gmbh, 2314 Schoenkirchen, De | |
US5279309A (en) | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
US5417210A (en) | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US5261404A (en) | 1991-07-08 | 1993-11-16 | Mick Peter R | Three-dimensional mammal anatomy imaging system and method |
US5249581A (en) | 1991-07-15 | 1993-10-05 | Horbal Mark T | Precision bone alignment |
US5520059A (en) | 1991-07-29 | 1996-05-28 | Magnetoelastic Devices, Inc. | Circularly magnetized non-contact torque sensor and method for measuring torque using same |
DE4227800C2 (en) | 1991-08-21 | 1996-12-19 | Toshiba Kawasaki Kk | Thrombus-releasing treatment device |
US5251635A (en) | 1991-09-03 | 1993-10-12 | General Electric Company | Stereoscopic X-ray fluoroscopy system using radiofrequency fields |
US5255680A (en) | 1991-09-03 | 1993-10-26 | General Electric Company | Automatic gantry positioning for imaging systems |
US5265610A (en) | 1991-09-03 | 1993-11-30 | General Electric Company | Multi-planar X-ray fluoroscopy system using radiofrequency fields |
US5211165A (en) | 1991-09-03 | 1993-05-18 | General Electric Company | Tracking system to follow the position and orientation of a device with radiofrequency field gradients |
EP0531081A1 (en) | 1991-09-03 | 1993-03-10 | General Electric Company | Tracking system to follow the position and orientation of a device with radiofrequency fields |
US5425367A (en) | 1991-09-04 | 1995-06-20 | Navion Biomedical Corporation | Catheter depth, position and orientation location system |
US5645065A (en) | 1991-09-04 | 1997-07-08 | Navion Biomedical Corporation | Catheter depth, position and orientation location system |
FR2680965B1 (en) | 1991-09-05 | 1993-11-12 | Gabriel Bernaz | APPARATUS AND METHOD FOR TREATING SKIN. |
US5190285A (en) | 1991-09-30 | 1993-03-02 | At&T Bell Laboratories | Electronic game having intelligent game pieces |
DE4134481C2 (en) | 1991-10-18 | 1998-04-09 | Zeiss Carl Fa | Surgical microscope for computer-aided, stereotactic microsurgery |
US5207688A (en) | 1991-10-31 | 1993-05-04 | Medco, Inc. | Noninvasive head fixation method and apparatus |
US5300080A (en) | 1991-11-01 | 1994-04-05 | David Clayman | Stereotactic instrument guided placement |
US5330485A (en) | 1991-11-01 | 1994-07-19 | Clayman David A | Cerebral instrument guide frame and procedures utilizing it |
US5704361A (en) | 1991-11-08 | 1998-01-06 | Mayo Foundation For Medical Education And Research | Volumetric image ultrasound transducer underfluid catheter system |
US5437277A (en) | 1991-11-18 | 1995-08-01 | General Electric Company | Inductively coupled RF tracking system for use in invasive imaging of a living body |
US5445150A (en) | 1991-11-18 | 1995-08-29 | General Electric Company | Invasive system employing a radiofrequency tracking system |
US5371778A (en) | 1991-11-29 | 1994-12-06 | Picker International, Inc. | Concurrent display and adjustment of 3D projection, coronal slice, sagittal slice, and transverse slice images |
US5274551A (en) | 1991-11-29 | 1993-12-28 | General Electric Company | Method and apparatus for real-time navigation assist in interventional radiological procedures |
US5230623A (en) | 1991-12-10 | 1993-07-27 | Radionics, Inc. | Operating pointer with interactive computergraphics |
US5178621A (en) | 1991-12-10 | 1993-01-12 | Zimmer, Inc. | Two-piece radio-transparent proximal targeting device for a locking intramedullary nail |
ATE177612T1 (en) | 1991-12-23 | 1999-04-15 | Sims Deltec Inc | GUIDE WIRE DEVICE WITH LOCATING LINK |
US5478341A (en) | 1991-12-23 | 1995-12-26 | Zimmer, Inc. | Ratchet lock for an intramedullary nail locking bolt |
US5233990A (en) | 1992-01-13 | 1993-08-10 | Gideon Barnea | Method and apparatus for diagnostic imaging in radiation therapy |
US5212720A (en) | 1992-01-29 | 1993-05-18 | Research Foundation-State University Of N.Y. | Dual radiation targeting system |
US5320111A (en) | 1992-02-07 | 1994-06-14 | Livingston Products, Inc. | Light beam locator and guide for a biopsy needle |
US5237996A (en) | 1992-02-11 | 1993-08-24 | Waldman Lewis K | Endocardial electrical mapping catheter |
US5555883A (en) | 1992-02-24 | 1996-09-17 | Avitall; Boaz | Loop electrode array mapping and ablation catheter for cardiac chambers |
US5620734A (en) | 1992-03-05 | 1997-04-15 | Van Den Bergh Foods Co., Division Of Conopco, Inc. | Spreads and other products including mesomorphic phases |
US5306271A (en) | 1992-03-09 | 1994-04-26 | Izi Corporation | Radiation therapy skin markers |
DE4207632C2 (en) | 1992-03-11 | 1995-07-20 | Bodenseewerk Geraetetech | Device and method for positioning a body part for treatment purposes |
DE4207901C3 (en) | 1992-03-12 | 1999-10-07 | Aesculap Ag & Co Kg | Method and device for displaying a work area in a three-dimensional structure |
US5271400A (en) | 1992-04-01 | 1993-12-21 | General Electric Company | Tracking system to monitor the position and orientation of a device using magnetic resonance detection of a sample contained within the device |
US5318025A (en) | 1992-04-01 | 1994-06-07 | General Electric Company | Tracking system to monitor the position and orientation of a device using multiplexed magnetic resonance detection |
US5262722A (en) | 1992-04-03 | 1993-11-16 | General Electric Company | Apparatus for near surface nondestructive eddy current scanning of a conductive part using a multi-layer eddy current probe array |
US5573533A (en) | 1992-04-10 | 1996-11-12 | Medtronic Cardiorhythm | Method and system for radiofrequency ablation of cardiac tissue |
US5299253A (en) | 1992-04-10 | 1994-03-29 | Akzo N.V. | Alignment system to overlay abdominal computer aided tomography and magnetic resonance anatomy with single photon emission tomography |
US5603318A (en) | 1992-04-21 | 1997-02-18 | University Of Utah Research Foundation | Apparatus and method for photogrammetric surgical localization |
US5389101A (en) | 1992-04-21 | 1995-02-14 | University Of Utah | Apparatus and method for photogrammetric surgical localization |
US5359637A (en) | 1992-04-28 | 1994-10-25 | Wake Forest University | Self-calibrated tomosynthetic, radiographic-imaging system, method, and device |
JP3257640B2 (en) | 1992-06-09 | 2002-02-18 | オリンパス光学工業株式会社 | Stereoscopic endoscope device |
US5646525A (en) | 1992-06-16 | 1997-07-08 | Elbit Ltd. | Three dimensional tracking system employing a rotating field |
IL102218A (en) | 1992-06-16 | 2003-06-24 | Elbit Systems Ltd | Tracker employing a rotating electromagnetic field |
US5341807A (en) | 1992-06-30 | 1994-08-30 | American Cardiac Ablation Co., Inc. | Ablation catheter positioning system |
GB2280343A (en) | 1993-07-08 | 1995-01-25 | Innovative Care Ltd | A laser targeting device for use with image intensifiers |
US5307072A (en) | 1992-07-09 | 1994-04-26 | Polhemus Incorporated | Non-concentricity compensation in position and orientation measurement systems |
US5325873A (en) | 1992-07-23 | 1994-07-05 | Abbott Laboratories | Tube placement verifier system |
US5269759A (en) | 1992-07-28 | 1993-12-14 | Cordis Corporation | Magnetic guidewire coupling for vascular dilatation apparatus |
US5197965A (en) | 1992-07-29 | 1993-03-30 | Codman & Shurtleff, Inc. | Skull clamp pin assembly |
DE4225112C1 (en) | 1992-07-30 | 1993-12-09 | Bodenseewerk Geraetetech | Instrument position relative to processing object measuring apparatus - has measuring device for measuring position of instrument including inertia sensor unit |
FR2694881B1 (en) | 1992-07-31 | 1996-09-06 | Univ Joseph Fourier | METHOD FOR DETERMINING THE POSITION OF AN ORGAN. |
CA2142338C (en) | 1992-08-14 | 1999-11-30 | John Stuart Bladen | Position location system |
EP0655138B1 (en) | 1992-08-14 | 1998-04-29 | BRITISH TELECOMMUNICATIONS public limited company | Position location system |
US5643175A (en) | 1992-09-01 | 1997-07-01 | Adair; Edwin L. | Sterilizable endoscope with separable disposable tube assembly |
CA2143639C (en) | 1992-09-01 | 2004-07-20 | Edwin L. Adair | Sterilizable endoscope with separable disposable tube assembly |
US5469847A (en) | 1992-09-09 | 1995-11-28 | Izi Corporation | Radiographic multi-modality skin markers |
US5368030A (en) | 1992-09-09 | 1994-11-29 | Izi Corporation | Non-invasive multi-modality radiographic surface markers |
US5662108A (en) | 1992-09-23 | 1997-09-02 | Endocardial Solutions, Inc. | Electrophysiology mapping system |
US5297549A (en) | 1992-09-23 | 1994-03-29 | Endocardial Therapeutics, Inc. | Endocardial mapping system |
US5647361A (en) | 1992-09-28 | 1997-07-15 | Fonar Corporation | Magnetic resonance imaging method and apparatus for guiding invasive therapy |
US5375596A (en) | 1992-09-29 | 1994-12-27 | Hdc Corporation | Method and apparatus for determining the position of catheters, tubes, placement guidewires and implantable ports within biological tissue |
DE4233978C1 (en) | 1992-10-08 | 1994-04-21 | Leibinger Gmbh | Body marking device for medical examinations |
US5568384A (en) | 1992-10-13 | 1996-10-22 | Mayo Foundation For Medical Education And Research | Biomedical imaging and analysis |
US5364351A (en) | 1992-11-13 | 1994-11-15 | Ep Technologies, Inc. | Catheter steering mechanism |
US5456718A (en) | 1992-11-17 | 1995-10-10 | Szymaitis; Dennis W. | Apparatus for detecting surgical objects within the human body |
US5732703A (en) | 1992-11-30 | 1998-03-31 | The Cleveland Clinic Foundation | Stereotaxy wand and tool guide |
US5309913A (en) | 1992-11-30 | 1994-05-10 | The Cleveland Clinic Foundation | Frameless stereotaxy system |
US5517990A (en) | 1992-11-30 | 1996-05-21 | The Cleveland Clinic Foundation | Stereotaxy wand and tool guide |
US5389073A (en) | 1992-12-01 | 1995-02-14 | Cardiac Pathways Corporation | Steerable catheter with adjustable bend location |
US5383852A (en) | 1992-12-04 | 1995-01-24 | C. R. Bard, Inc. | Catheter with independent proximal and distal control |
US5353807A (en) | 1992-12-07 | 1994-10-11 | Demarco Thomas J | Magnetically guidable intubation device |
US5305091A (en) | 1992-12-07 | 1994-04-19 | Oreo Products Inc. | Optical coordinate measuring system for large objects |
US5427097A (en) | 1992-12-10 | 1995-06-27 | Accuray, Inc. | Apparatus for and method of carrying out stereotaxic radiosurgery and radiotherapy |
US5353795A (en) | 1992-12-10 | 1994-10-11 | General Electric Company | Tracking system to monitor the position of a device using multiplexed magnetic resonance detection |
US5353800A (en) | 1992-12-11 | 1994-10-11 | Medtronic, Inc. | Implantable pressure sensor lead |
JPH06194639A (en) | 1992-12-25 | 1994-07-15 | Matsushita Electric Ind Co Ltd | Liquid crystal display panel |
US5385146A (en) | 1993-01-08 | 1995-01-31 | Goldreyer; Bruce N. | Orthogonal sensing for use in clinical electrophysiology |
US5400771A (en) | 1993-01-21 | 1995-03-28 | Pirak; Leon | Endotracheal intubation assembly and related method |
US5651047A (en) | 1993-01-25 | 1997-07-22 | Cardiac Mariners, Incorporated | Maneuverable and locateable catheters |
US5333168A (en) | 1993-01-29 | 1994-07-26 | Oec Medical Systems, Inc. | Time-based attenuation compensation |
US5423334A (en) | 1993-02-01 | 1995-06-13 | C. R. Bard, Inc. | Implantable medical device characterization system |
US5448610A (en) | 1993-02-09 | 1995-09-05 | Hitachi Medical Corporation | Digital X-ray photography device |
US5799099A (en) | 1993-02-12 | 1998-08-25 | George S. Allen | Automatic technique for localizing externally attached fiducial markers in volume images of the head |
US5575794A (en) | 1993-02-12 | 1996-11-19 | Walus; Richard L. | Tool for implanting a fiducial marker |
US5551429A (en) | 1993-02-12 | 1996-09-03 | Fitzpatrick; J. Michael | Method for relating the data of an image space to physical space |
DE4304571A1 (en) | 1993-02-16 | 1994-08-18 | Mdc Med Diagnostic Computing | Procedures for planning and controlling a surgical procedure |
US5433198A (en) | 1993-03-11 | 1995-07-18 | Desai; Jawahar M. | Apparatus and method for cardiac ablation |
US5476495A (en) | 1993-03-16 | 1995-12-19 | Ep Technologies, Inc. | Cardiac mapping and ablation systems |
US5636634A (en) | 1993-03-16 | 1997-06-10 | Ep Technologies, Inc. | Systems using guide sheaths for introducing, deploying, and stabilizing cardiac mapping and ablation probes |
US5483961A (en) | 1993-03-19 | 1996-01-16 | Kelly; Patrick J. | Magnetic field digitizer for stereotactic surgery |
US5787886A (en) | 1993-03-19 | 1998-08-04 | Compass International Incorporated | Magnetic field digitizer for stereotatic surgery |
DE69311090T2 (en) | 1993-03-19 | 1997-10-16 | Vip Ind Ltd | Hot welding process and travel case |
US5336222A (en) | 1993-03-29 | 1994-08-09 | Boston Scientific Corporation | Integrated catheter for diverse in situ tissue therapy |
US5357253A (en) | 1993-04-02 | 1994-10-18 | Earth Sounding International | System and method for earth probing with deep subsurface penetration using low frequency electromagnetic signals |
DE4310993A1 (en) | 1993-04-03 | 1994-10-06 | Philips Patentverwaltung | MR imaging method and arrangement for carrying out the method |
US5453686A (en) | 1993-04-08 | 1995-09-26 | Polhemus Incorporated | Pulsed-DC position and orientation measurement system |
US5435573A (en) | 1993-04-13 | 1995-07-25 | Visioneering International, Inc. | Wireless remote control and position detecting system |
DE69424733T2 (en) | 1993-04-20 | 2001-02-01 | Gen Electric | GRAPHIC DIGITAL PROCESSING SYSTEM AND REAL-TIME VIDEO SYSTEM FOR IMPROVING THE REPRESENTATION OF BODY STRUCTURES DURING SURGICAL INTERVENTION. |
IL109385A (en) | 1993-04-22 | 1998-03-10 | Pixsys | System for locating the relative positions of objects in three dimensional space |
EP0699050B1 (en) | 1993-04-26 | 2004-03-03 | St. Louis University | Indicating the position of a probe |
US5405346A (en) | 1993-05-14 | 1995-04-11 | Fidus Medical Technology Corporation | Tunable microwave ablation catheter |
US5325728A (en) | 1993-06-22 | 1994-07-05 | Medtronic, Inc. | Electromagnetic flow meter |
US5347289A (en) | 1993-06-29 | 1994-09-13 | Honeywell, Inc. | Method and device for measuring the position and orientation of objects in the presence of interfering metals |
DE69432148T2 (en) | 1993-07-01 | 2003-10-16 | Boston Scient Ltd | CATHETER FOR IMAGE DISPLAY, DISPLAY OF ELECTRICAL SIGNALS AND ABLATION |
US5391199A (en) | 1993-07-20 | 1995-02-21 | Biosense, Inc. | Apparatus and method for treating cardiac arrhythmias |
US5738096A (en) | 1993-07-20 | 1998-04-14 | Biosense, Inc. | Cardiac electromechanics |
IL116699A (en) | 1996-01-08 | 2001-09-13 | Biosense Ltd | Method of constructing cardiac map |
US5487757A (en) | 1993-07-20 | 1996-01-30 | Medtronic Cardiorhythm | Multicurve deflectable catheter |
US5545200A (en) | 1993-07-20 | 1996-08-13 | Medtronic Cardiorhythm | Steerable electrophysiology catheter |
US6285898B1 (en) | 1993-07-20 | 2001-09-04 | Biosense, Inc. | Cardiac electromechanics |
US5385148A (en) | 1993-07-30 | 1995-01-31 | The Regents Of The University Of California | Cardiac imaging and ablation catheter |
US5397321A (en) | 1993-07-30 | 1995-03-14 | Ep Technologies, Inc. | Variable curve electrophysiology catheter |
IL106569A (en) | 1993-08-02 | 1998-02-22 | Elbit Systems Ltd | Compensation of electromagnetic distortion caused by metal mass |
US5398691A (en) | 1993-09-03 | 1995-03-21 | University Of Washington | Method and apparatus for three-dimensional translumenal ultrasonic imaging |
FR2709656B1 (en) | 1993-09-07 | 1995-12-01 | Deemed Int Sa | Installation for computer-assisted microsurgery operation and methods implemented by said installation. |
US5409000A (en) | 1993-09-14 | 1995-04-25 | Cardiac Pathways Corporation | Endocardial mapping and ablation system utilizing separately controlled steerable ablation catheter with ultrasonic imaging capabilities and method |
US5425382A (en) | 1993-09-14 | 1995-06-20 | University Of Washington | Apparatus and method for locating a medical tube in the body of a patient |
DE9314075U1 (en) | 1993-09-17 | 1994-01-20 | Dwl Elektron Systeme Gmbh | Device for receiving at least one sonographic probe |
DK110193A (en) | 1993-09-30 | 1995-03-31 | Per Baunsgaard | Terminal device |
US5558091A (en) | 1993-10-06 | 1996-09-24 | Biosense, Inc. | Magnetic determination of position and orientation |
US5446548A (en) | 1993-10-08 | 1995-08-29 | Siemens Medical Systems, Inc. | Patient positioning and monitoring system |
US5464446A (en) | 1993-10-12 | 1995-11-07 | Medtronic, Inc. | Brain lead anchoring system |
US5456689A (en) | 1993-10-13 | 1995-10-10 | Arnold J. Kresch | Method and device for tissue resection |
EP0649117A3 (en) | 1993-10-15 | 1996-01-31 | George S Allen | Method for providing medical images. |
US5545193A (en) | 1993-10-15 | 1996-08-13 | Ep Technologies, Inc. | Helically wound radio-frequency emitting electrodes for creating lesions in body tissue |
US5840024A (en) | 1993-10-18 | 1998-11-24 | Olympus Optical Co., Ltd. | Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope |
US6059718A (en) | 1993-10-18 | 2000-05-09 | Olympus Optical Co., Ltd. | Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope |
US5394875A (en) | 1993-10-21 | 1995-03-07 | Lewis; Judith T. | Automatic ultrasonic localization of targets implanted in a portion of the anatomy |
US5472441A (en) | 1993-11-08 | 1995-12-05 | Zomed International | Device for treating cancer and non-malignant tumors and methods |
WO1995013111A1 (en) | 1993-11-10 | 1995-05-18 | Medtronic Cadiorhythm | Electrode array catheter |
US5730127A (en) | 1993-12-03 | 1998-03-24 | Avitall; Boaz | Mapping and ablation catheter system |
JP2782316B2 (en) | 1993-12-09 | 1998-07-30 | 東北リコー株式会社 | Leakage magnetic flux detection device and switching power supply device |
US5399146A (en) | 1993-12-13 | 1995-03-21 | Nowacki; Christopher | Isocentric lithotripter |
US5445144A (en) | 1993-12-16 | 1995-08-29 | Purdue Research Foundation | Apparatus and method for acoustically guiding, positioning, and monitoring a tube within a body |
JP3400835B2 (en) | 1993-12-20 | 2003-04-28 | テルモ株式会社 | Secondary conduction path detector |
US5531227A (en) | 1994-01-28 | 1996-07-02 | Schneider Medical Technologies, Inc. | Imaging device and method |
WO1995020348A1 (en) | 1994-01-28 | 1995-08-03 | Ep Technologies, Inc. | Matching electrical characteristics and propagation velocities to locate ablation sites |
US5485849A (en) | 1994-01-31 | 1996-01-23 | Ep Technologies, Inc. | System and methods for matching electrical characteristics and propagation velocities in cardiac tissue |
US5487391A (en) | 1994-01-28 | 1996-01-30 | Ep Technologies, Inc. | Systems and methods for deriving and displaying the propagation velocities of electrical events in the heart |
US5800535A (en) | 1994-02-09 | 1998-09-01 | The University Of Iowa Research Foundation | Wireless prosthetic electrode for the brain |
US5444756A (en) | 1994-02-09 | 1995-08-22 | Minnesota Mining And Manufacturing Company | X-ray machine, solid state radiation detector and method for reading radiation detection information |
US5571083A (en) | 1994-02-18 | 1996-11-05 | Lemelson; Jerome H. | Method and system for cell transplantation |
US5596228A (en) | 1994-03-10 | 1997-01-21 | Oec Medical Systems, Inc. | Apparatus for cooling charge coupled device imaging systems |
US5503416A (en) | 1994-03-10 | 1996-04-02 | Oec Medical Systems, Inc. | Undercarriage for X-ray diagnostic equipment |
US5426683A (en) | 1994-03-14 | 1995-06-20 | Oec Medical Systems, Inc. | One piece C-arm for X-ray diagnostic equipment |
EP0673166B1 (en) | 1994-03-15 | 1999-06-02 | Siemens Aktiengesellschaft | Method of clocktiming recovery in a receiver for digitally transmitted videosignals according to the ATM technique in fibre/coaxial subscriber networks |
US5490196A (en) | 1994-03-18 | 1996-02-06 | Metorex International Oy | Multi energy system for x-ray imaging applications |
ES2114626T3 (en) | 1994-03-18 | 1998-06-01 | Schneider Europ Ag | MAGNETIC RESONANCE VISUALIZATION SYSTEM TO LOCATE A MEDICAL INSTRUMENT. |
US5447156A (en) | 1994-04-04 | 1995-09-05 | General Electric Company | Magnetic resonance (MR) active invasive devices for the generation of selective MR angiograms |
US6022578A (en) | 1994-04-22 | 2000-02-08 | Kraft Foods, Inc. | Tablespread product containing liquid fat and process for preparing same |
US5546949A (en) | 1994-04-26 | 1996-08-20 | Frazin; Leon | Method and apparatus of logicalizing and determining orientation of an insertion end of a probe within a biotic structure |
DE4417944A1 (en) | 1994-05-21 | 1995-11-23 | Zeiss Carl Fa | Process for correlating different coordinate systems in computer-assisted, stereotactic surgery |
US5672172A (en) | 1994-06-23 | 1997-09-30 | Vros Corporation | Surgical instrument with ultrasound pulse generator |
US5419325A (en) | 1994-06-23 | 1995-05-30 | General Electric Company | Magnetic resonance (MR) angiography using a faraday catheter |
US5643286A (en) | 1994-06-24 | 1997-07-01 | Cytotherapeutics, Inc. | Microdrive for use in stereotactic surgery |
US5600330A (en) | 1994-07-12 | 1997-02-04 | Ascension Technology Corporation | Device for measuring position and orientation using non-dipole magnet IC fields |
WO1996002184A1 (en) | 1994-07-14 | 1996-02-01 | Washington Research Foundation | Method and apparatus for detecting barrett's metaplasia of the esophagus |
US5619261A (en) | 1994-07-25 | 1997-04-08 | Oec Medical Systems, Inc. | Pixel artifact/blemish filter for use in CCD video camera |
JPH10503395A (en) | 1994-07-28 | 1998-03-31 | スーパー ディメンション インコーポレイテッド | Computer game board |
ATE188108T1 (en) | 1994-08-19 | 2000-01-15 | Biosense Inc | MEDICAL DIAGNOSIS, TREATMENT AND DISPLAY SYSTEM |
US5531520A (en) | 1994-09-01 | 1996-07-02 | Massachusetts Institute Of Technology | System and method of registration of three-dimensional data sets including anatomical body data |
US5999840A (en) | 1994-09-01 | 1999-12-07 | Massachusetts Institute Of Technology | System and method of registration of three-dimensional data sets |
US5701898A (en) | 1994-09-02 | 1997-12-30 | The United States Of America As Represented By The Department Of Health And Human Services | Method and system for Doppler ultrasound measurement of blood flow |
US5492131A (en) | 1994-09-06 | 1996-02-20 | Guided Medical Systems, Inc. | Servo-catheter |
CA2197682A1 (en) | 1994-09-06 | 1996-03-14 | Sims Deltec, Inc. | Method and apparatus for location of a catheter tip |
US5803089A (en) | 1994-09-15 | 1998-09-08 | Visualization Technology, Inc. | Position tracking and imaging system for use in medical applications |
DE4432891C2 (en) | 1994-09-15 | 2003-11-06 | Brainlab Ag | Device and mask part set for non-invasive stereotactic immobilization in a reproducible position |
US5829444A (en) | 1994-09-15 | 1998-11-03 | Visualization Technology, Inc. | Position tracking and imaging system for use in medical applications |
DE4432890B4 (en) | 1994-09-15 | 2004-02-19 | Brainlab Ag | Device for detecting the position of irradiation target points |
US5606975A (en) | 1994-09-19 | 1997-03-04 | The Board Of Trustees Of The Leland Stanford Junior University | Forward viewing ultrasonic imaging catheter |
DE4434519A1 (en) | 1994-09-27 | 1996-03-28 | Brainlab Med Computersyst Gmbh | Fixing pin for fixing reference system in bone structure, esp. for head ring for neurosurgery |
US5891157A (en) | 1994-09-30 | 1999-04-06 | Ohio Medical Instrument Company, Inc. | Apparatus for surgical stereotactic procedures |
US5695501A (en) | 1994-09-30 | 1997-12-09 | Ohio Medical Instrument Company, Inc. | Apparatus for neurosurgical stereotactic procedures |
DE69532829T2 (en) | 1994-10-07 | 2005-01-27 | St. Louis University | DEVICE FOR USE WITH A SURGICAL NAVIGATION SYSTEM |
US5941251A (en) | 1994-10-11 | 1999-08-24 | Ep Technologies, Inc. | Systems for locating and guiding operative elements within interior body regions |
US5740808A (en) | 1996-10-28 | 1998-04-21 | Ep Technologies, Inc | Systems and methods for guilding diagnostic or therapeutic devices in interior tissue regions |
US5599305A (en) | 1994-10-24 | 1997-02-04 | Cardiovascular Concepts, Inc. | Large-diameter introducer sheath having hemostasis valve and removable steering mechanism |
US5857997A (en) | 1994-11-14 | 1999-01-12 | Heart Rhythm Technologies, Inc. | Catheter for electrophysiological procedures |
US5674296A (en) | 1994-11-14 | 1997-10-07 | Spinal Dynamics Corporation | Human spinal disc prosthesis |
US5611025A (en) | 1994-11-23 | 1997-03-11 | General Electric Company | Virtual internal cavity inspection system |
DE69530355D1 (en) | 1994-11-28 | 2003-05-22 | Ohio State University Columbus | Medical intervention device |
US5583909C1 (en) | 1994-12-20 | 2001-03-27 | Oec Medical Systems Inc | C-arm mounting structure for mobile x-ray imaging system |
US5762064A (en) | 1995-01-23 | 1998-06-09 | Northrop Grumman Corporation | Medical magnetic positioning system and method for determining the position of a magnetic probe |
US6690963B2 (en) | 1995-01-24 | 2004-02-10 | Biosense, Inc. | System for determining the location and orientation of an invasive medical instrument |
US5682890A (en) | 1995-01-26 | 1997-11-04 | Picker International, Inc. | Magnetic resonance stereotactic surgery with exoskeleton tissue stabilization |
SE9500274D0 (en) | 1995-01-26 | 1995-01-26 | Siemens Elema Ab | Device for locating port on medical implant |
US5971997A (en) | 1995-02-03 | 1999-10-26 | Radionics, Inc. | Intraoperative recalibration apparatus for stereotactic navigators |
US5588430A (en) | 1995-02-14 | 1996-12-31 | University Of Florida Research Foundation, Inc. | Repeat fixation for frameless stereotactic procedure |
WO1996025882A1 (en) | 1995-02-22 | 1996-08-29 | Groenningsaeter Aage | Method for ultrasound guidance during clinical procedures |
US6019724A (en) | 1995-02-22 | 2000-02-01 | Gronningsaeter; Aage | Method for ultrasound guidance during clinical procedures |
DE19506197A1 (en) | 1995-02-23 | 1996-09-05 | Aesculap Ag | Method and device for determining the location of a body part |
AU4760196A (en) | 1995-02-27 | 1996-09-18 | Medtronic, Inc. | External patient reference sensor |
JP2644208B2 (en) | 1995-02-28 | 1997-08-25 | 機動建設工業株式会社 | Magnetic measurement method and underground object detection method |
US5636644A (en) | 1995-03-17 | 1997-06-10 | Applied Medical Resources Corporation | Method and apparatus for endoconduit targeting |
JP3307519B2 (en) | 1995-03-24 | 2002-07-24 | 株式会社モリタ製作所 | Medical X-ray equipment |
US6246898B1 (en) | 1995-03-28 | 2001-06-12 | Sonometrics Corporation | Method for carrying out a medical procedure using a three-dimensional tracking and imaging system |
US5515853A (en) | 1995-03-28 | 1996-05-14 | Sonometrics Corporation | Three-dimensional digital ultrasound tracking system |
US5797849A (en) | 1995-03-28 | 1998-08-25 | Sonometrics Corporation | Method for carrying out a medical procedure using a three-dimensional tracking and imaging system |
US5868673A (en) | 1995-03-28 | 1999-02-09 | Sonometrics Corporation | System for carrying out surgery, biopsy and ablation of a tumor or other physical anomaly |
US5730129A (en) | 1995-04-03 | 1998-03-24 | General Electric Company | Imaging of interventional devices in a non-stationary subject |
DE19515586A1 (en) | 1995-04-27 | 1996-10-31 | Siemens Ag | HF antenna system for medical NMR device for human body investigation |
US5741320A (en) | 1995-05-02 | 1998-04-21 | Heart Rhythm Technologies, Inc. | Catheter control system having a pulley |
US5566681A (en) | 1995-05-02 | 1996-10-22 | Manwaring; Kim H. | Apparatus and method for stabilizing a body part |
US6122541A (en) | 1995-05-04 | 2000-09-19 | Radionics, Inc. | Head band for frameless stereotactic registration |
US5640170A (en) | 1995-06-05 | 1997-06-17 | Polhemus Incorporated | Position and orientation measuring system having anti-distortion source configuration |
US5588033A (en) | 1995-06-06 | 1996-12-24 | St. Jude Children's Research Hospital | Method and apparatus for three dimensional image reconstruction from multiple stereotactic or isocentric backprojections |
US5617857A (en) | 1995-06-06 | 1997-04-08 | Image Guided Technologies, Inc. | Imaging system having interactive medical instruments and methods |
US5718241A (en) | 1995-06-07 | 1998-02-17 | Biosense, Inc. | Apparatus and method for treating cardiac arrhythmias with no discrete target |
US5713853A (en) | 1995-06-07 | 1998-02-03 | Interventional Innovations Corporation | Methods for treating thrombosis |
US5729129A (en) | 1995-06-07 | 1998-03-17 | Biosense, Inc. | Magnetic location system with feedback adjustment of magnetic field generator |
US5752513A (en) | 1995-06-07 | 1998-05-19 | Biosense, Inc. | Method and apparatus for determining position of object |
WO1996039917A1 (en) | 1995-06-07 | 1996-12-19 | Chilcoat Robert T | Articulated endospcope with specific advantages for laryngoscopy |
ATE247499T1 (en) | 1995-06-12 | 2003-09-15 | Cordis Webster Inc | CATHETER WITH AN ELECTRICAL GUIDANCE SENSOR |
US5592939A (en) | 1995-06-14 | 1997-01-14 | Martinelli; Michael A. | Method and system for navigating a catheter probe |
JP3964471B2 (en) | 1995-06-16 | 2007-08-22 | 東燃ゼネラル石油株式会社 | Heat resistant lubricating oil composition |
UA54395C2 (en) | 1995-06-16 | 2003-03-17 | Баєр Акціенгезельшафт | Phytobactericidal composition, a method of controlling and preventing plant diseases, a plant propagating material |
ES2164751T3 (en) | 1995-06-19 | 2002-03-01 | Procter & Gamble | SUPERIOR DOUBLE SHEETS PERFORATED FOR ABSORBENT ITEMS. |
WO1997000054A1 (en) | 1995-06-19 | 1997-01-03 | Sven Olerud | An adjustable spacing device and a method of adjusting the distance between two vertebrae with the aid of said spacing device in spinal surgical operations |
EP0749737B1 (en) | 1995-06-19 | 1999-11-24 | The Procter & Gamble Company | Sanitary articles with dual layer topsheet having a selected distribution of large apertures |
IT1280535B1 (en) | 1995-07-05 | 1998-01-22 | Reel Srl | METHOD AND UNIT FOR THE SYNCHRONISM CONTROL OF COMPLEX MACHINES IN CASE OF ELECTRICAL POWER FAULTS |
KR19990029038A (en) | 1995-07-16 | 1999-04-15 | 요아브 빨띠에리 | Free aiming of needle ceramic |
US5776050A (en) | 1995-07-24 | 1998-07-07 | Medical Media Systems | Anatomical visualization system |
US5810007A (en) | 1995-07-26 | 1998-09-22 | Associates Of The Joint Center For Radiation Therapy, Inc. | Ultrasound localization and image fusion for the treatment of prostate cancer |
US5627873B1 (en) | 1995-08-04 | 2000-03-14 | Oec Medical Systems | Mini c-arm assembly for mobile x-ray imaging system |
US5617462A (en) | 1995-08-07 | 1997-04-01 | Oec Medical Systems, Inc. | Automatic X-ray exposure control system and method of use |
US5642395A (en) | 1995-08-07 | 1997-06-24 | Oec Medical Systems, Inc. | Imaging chain with miniaturized C-arm assembly for mobile X-ray imaging system |
US5842986A (en) | 1995-08-16 | 1998-12-01 | Proton Sciences Corp. | Ferromagnetic foreign body screening method and apparatus |
US5696500A (en) | 1995-08-18 | 1997-12-09 | Motorola, Inc. | Multi-media receiver and system therefor |
US5638819A (en) | 1995-08-29 | 1997-06-17 | Manwaring; Kim H. | Method and apparatus for guiding an instrument to a target |
US5713369A (en) | 1995-09-13 | 1998-02-03 | Vance Products Inc. | Uterine endometrial tissue sample brush |
US6351659B1 (en) | 1995-09-28 | 2002-02-26 | Brainlab Med. Computersysteme Gmbh | Neuro-navigation system |
US5715822A (en) | 1995-09-28 | 1998-02-10 | General Electric Company | Magnetic resonance devices suitable for both tracking and imaging |
US5769861A (en) | 1995-09-28 | 1998-06-23 | Brainlab Med. Computersysteme Gmbh | Method and devices for localizing an instrument |
US5889834A (en) | 1995-09-28 | 1999-03-30 | Brainlab Med. Computersysteme Gmbh | Blade collimator for radiation therapy |
US5772594A (en) | 1995-10-17 | 1998-06-30 | Barrick; Earl F. | Fluoroscopic image guided orthopaedic surgery system with intraoperative registration |
US6095149A (en) | 1996-08-13 | 2000-08-01 | Oratec Interventions, Inc. | Method for treating intervertebral disc degeneration |
US5744802A (en) | 1995-10-25 | 1998-04-28 | Adac Laboratories | Image generation from limited projections in positron emission tomography using multi-slice rebinning |
US5697377A (en) | 1995-11-22 | 1997-12-16 | Medtronic, Inc. | Catheter mapping system and method |
JPH10513098A (en) | 1995-11-24 | 1998-12-15 | フィリップス エレクトロニクス エヌ ベー | MRI system and catheter for interventional procedures |
US5944023A (en) | 1995-12-07 | 1999-08-31 | Sims Deltec, Inc. | Systems and methods for determining the location of an implanted device including a magnet |
US5837001A (en) | 1995-12-08 | 1998-11-17 | C. R. Bard | Radio frequency energy delivery system for multipolar electrode catheters |
DE19547977A1 (en) | 1995-12-21 | 1997-06-26 | Zeiss Carl Fa | Touch probe for coordinate measuring machines |
US5682886A (en) | 1995-12-26 | 1997-11-04 | Musculographics Inc | Computer-assisted surgical system |
SE9504707L (en) | 1995-12-29 | 1997-06-30 | Alfa Laval Agri Ab | activity Measurement |
AU712539B2 (en) | 1996-01-08 | 1999-11-11 | Biosense, Inc. | Methods and apparatus for myocardial revascularization |
US5727552A (en) | 1996-01-11 | 1998-03-17 | Medtronic, Inc. | Catheter and electrical lead location system |
US5711299A (en) | 1996-01-26 | 1998-01-27 | Manwaring; Kim H. | Surgical guidance method and system for approaching a target within a body |
US6618612B1 (en) | 1996-02-15 | 2003-09-09 | Biosense, Inc. | Independently positionable transducers for location system |
IL119262A0 (en) | 1996-02-15 | 1996-12-05 | Biosense Israel Ltd | Locatable biopsy needle |
ES2241037T3 (en) | 1996-02-15 | 2005-10-16 | Biosense Webster, Inc. | PRECISE DETERMINATION OF THE POSITION OF ENDOSCOPES. |
ES2251018T3 (en) | 1996-02-15 | 2006-04-16 | Biosense Webster, Inc. | CATHETER WITH LUMEN. |
IL125757A (en) | 1996-02-15 | 2003-09-17 | Biosense Inc | Medical procedures and apparatus using intrabody probes |
WO1997029701A1 (en) | 1996-02-15 | 1997-08-21 | Biosense Inc. | Catheter based surgery |
EP1481635B1 (en) | 1996-02-15 | 2007-11-07 | Biosense Webster, Inc. | Movable transmit and receive coils for a location system |
US6453190B1 (en) | 1996-02-15 | 2002-09-17 | Biosense, Inc. | Medical probes with field transducers |
US5769843A (en) | 1996-02-20 | 1998-06-23 | Cormedica | Percutaneous endomyocardial revascularization |
US5828770A (en) | 1996-02-20 | 1998-10-27 | Northern Digital Inc. | System for determining the spatial position and angular orientation of an object |
EP0886757B1 (en) | 1996-02-27 | 2005-05-25 | Biosense Webster, Inc. | Location system with field actuation sequences |
US5735278A (en) | 1996-03-15 | 1998-04-07 | National Research Council Of Canada | Surgical procedure with magnetic resonance imaging |
DE69723137T2 (en) | 1996-03-18 | 2004-05-27 | Ashiya, Hiroaki | Catheteranordnung |
US5727553A (en) | 1996-03-25 | 1998-03-17 | Saad; Saad A. | Catheter with integral electromagnetic location identification device |
WO1997036143A1 (en) | 1996-03-26 | 1997-10-02 | Biosense Inc. | Mutual induction correction |
US5865726A (en) | 1996-03-27 | 1999-02-02 | Asahi Kogaku Kogyo Kabushiki Kaisha | Front end structure of side-view type endoscope |
DE59706099D1 (en) | 1996-03-27 | 2002-02-28 | Mednetix Ag Villigen | DEVICE AND METHOD FOR DETERMINING THE POSITION |
US5868749A (en) | 1996-04-05 | 1999-02-09 | Reed; Thomas M. | Fixation devices |
US5782765A (en) | 1996-04-25 | 1998-07-21 | Medtronic, Inc. | Medical positioning system |
JPH09294720A (en) | 1996-04-30 | 1997-11-18 | Nikon Corp | Ophthalmologic instrument |
AUPN958296A0 (en) | 1996-05-01 | 1996-05-23 | Golden Circle Limited | Novel acc synthase genes from pineapple |
US6077257A (en) | 1996-05-06 | 2000-06-20 | Vidacare, Inc. | Ablation of rectal and other internal body structures |
WO1997042517A1 (en) | 1996-05-06 | 1997-11-13 | Biosense Inc. | Radiator calibration |
US6019728A (en) | 1996-05-08 | 2000-02-01 | Kabushiki Kaisha Tokai Rika Denki Seisakusho | Catheter and sensor having pressure detecting function |
US5799055A (en) | 1996-05-15 | 1998-08-25 | Northwestern University | Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy |
EP0904127B1 (en) | 1996-05-17 | 2005-02-23 | Biosense Webster, Inc. | Self-aligning catheter |
US5767699A (en) | 1996-05-28 | 1998-06-16 | Sun Microsystems, Inc. | Fully complementary differential output driver for high speed digital communications |
US6013087A (en) | 1996-05-29 | 2000-01-11 | U.S. Philips Corporation | Image-guided surgery system |
SE9602226D0 (en) | 1996-06-05 | 1996-06-05 | Astra Ab | Biocompatible glue |
EP0812568B1 (en) | 1996-06-11 | 2003-10-22 | Roke Manor Research Limited | Catheter tracking system |
US5742394A (en) | 1996-06-14 | 1998-04-21 | Ascension Technology Corporation | Optical 6D measurement system with two fan shaped beams rotating around one axis |
US5767960A (en) | 1996-06-14 | 1998-06-16 | Ascension Technology Corporation | Optical 6D measurement system with three fan-shaped beams rotating around one axis |
US5983141A (en) | 1996-06-27 | 1999-11-09 | Radionics, Inc. | Method and apparatus for altering neural tissue function |
US5775322A (en) | 1996-06-27 | 1998-07-07 | Lucent Medical Systems, Inc. | Tracheal tube and methods related thereto |
US6167296A (en) | 1996-06-28 | 2000-12-26 | The Board Of Trustees Of The Leland Stanford Junior University | Method for volumetric image navigation |
CA2185485A1 (en) | 1996-07-01 | 1998-01-02 | William Stewart Wilson | Process for producing chip food product and system therefor |
IL118784A (en) | 1996-07-03 | 1999-04-11 | Eliav Medical Imaging Systems | Method and apparatus for processing images for removal of artifacts |
US6064390A (en) | 1996-07-26 | 2000-05-16 | Lifef/X Networks, Inc. | Apparatus and method for representation of expression in a tissue-like system |
US5823192A (en) | 1996-07-31 | 1998-10-20 | University Of Pittsburgh Of The Commonwealth System Of Higher Education | Apparatus for automatically positioning a patient for treatment/diagnoses |
US5820553A (en) | 1996-08-16 | 1998-10-13 | Siemens Medical Systems, Inc. | Identification system and method for radiation therapy |
US5744953A (en) | 1996-08-29 | 1998-04-28 | Ascension Technology Corporation | Magnetic motion tracker with transmitter placed on tracked object |
US5865842A (en) | 1996-08-29 | 1999-02-02 | Medtronic, Inc. | System and method for anchoring brain stimulation lead or catheter |
US5831260A (en) | 1996-09-10 | 1998-11-03 | Ascension Technology Corporation | Hybrid motion tracker |
SE9603314D0 (en) | 1996-09-12 | 1996-09-12 | Siemens Elema Ab | Method and apparatus for determining the location of a catheter within the body of a patient |
US6331116B1 (en) | 1996-09-16 | 2001-12-18 | The Research Foundation Of State University Of New York | System and method for performing a three-dimensional virtual segmentation and examination |
EP0926997B1 (en) | 1996-09-17 | 2004-11-17 | Biosense Webster, Inc. | Position confirmation with learn and test functions |
US5951571A (en) | 1996-09-19 | 1999-09-14 | Surgical Navigation Specialist Inc. | Method and apparatus for correlating a body with an image of the body |
US5891134A (en) | 1996-09-24 | 1999-04-06 | Goble; Colin | System and method for applying thermal energy to tissue |
DE19639924C1 (en) | 1996-09-27 | 1998-04-30 | Siemens Ag | Thermally insulating material transparent to high-frequency signals for magnetic resonance diagnosis |
US5980535A (en) | 1996-09-30 | 1999-11-09 | Picker International, Inc. | Apparatus for anatomical tracking |
US6016439A (en) | 1996-10-15 | 2000-01-18 | Biosense, Inc. | Method and apparatus for synthetic viewpoint imaging |
US5752518A (en) | 1996-10-28 | 1998-05-19 | Ep Technologies, Inc. | Systems and methods for visualizing interior regions of the body |
US6096036A (en) | 1998-05-05 | 2000-08-01 | Cardiac Pacemakers, Inc. | Steerable catheter with preformed distal shape and method for use |
US5902239A (en) | 1996-10-30 | 1999-05-11 | U.S. Philips Corporation | Image guided surgery system including a unit for transforming patient positions to image positions |
US5919147A (en) | 1996-11-01 | 1999-07-06 | Jain; Krishna M. | Method and apparatus for measuring the vascular diameter of a vessel |
US5893885A (en) | 1996-11-01 | 1999-04-13 | Cordis Webster, Inc. | Multi-electrode ablation catheter |
US6423009B1 (en) | 1996-11-29 | 2002-07-23 | Life Imaging Systems, Inc. | System, employing three-dimensional ultrasonographic imaging, for assisting in guiding and placing medical instruments |
US5810008A (en) | 1996-12-03 | 1998-09-22 | Isg Technologies Inc. | Apparatus and method for visualizing ultrasonic images |
US5803084A (en) | 1996-12-05 | 1998-09-08 | Olson; Charles | Three dimensional vector cardiographic display and method for displaying same |
US5782828A (en) | 1996-12-11 | 1998-07-21 | Irvine Biomedical, Inc. | Ablation catheter with multiple flexible curves |
US5951461A (en) | 1996-12-20 | 1999-09-14 | Nyo; Tin | Image-guided laryngoscope for tracheal intubation |
SI0901341T1 (en) | 1997-01-03 | 2005-04-30 | Biosense Webster, Inc. | Bend-responsive catheter |
IL126015A (en) | 1997-01-03 | 2003-07-06 | Biosense Inc | Bend responsive catheter |
US6122538A (en) | 1997-01-16 | 2000-09-19 | Acuson Corporation | Motion--Monitoring method and system for medical devices |
US5935160A (en) | 1997-01-24 | 1999-08-10 | Cardiac Pacemakers, Inc. | Left ventricular access lead for heart failure pacing |
US7453490B2 (en) | 1997-01-31 | 2008-11-18 | Gyrus Acmi, Inc. | Correction of image signals characteristic of non-uniform images in an endoscopic imaging system |
DE19703556A1 (en) | 1997-01-31 | 1998-08-06 | Philips Patentverwaltung | Method and arrangement for determining the position in X-ray imaging |
US5919188A (en) | 1997-02-04 | 1999-07-06 | Medtronic, Inc. | Linear ablation catheter |
US5954796A (en) | 1997-02-11 | 1999-09-21 | Compaq Computer Corporation | System and method for automatically and dynamically changing an address associated with a device disposed in a fire channel environment |
WO1998036236A1 (en) | 1997-02-13 | 1998-08-20 | Super Dimension Ltd. | Six-degree tracking system |
CA2250961C (en) | 1997-02-14 | 2012-09-04 | Biosense, Inc. | X-ray guided surgical location system with extended mapping volume |
US6314310B1 (en) | 1997-02-14 | 2001-11-06 | Biosense, Inc. | X-ray guided surgical location system with extended mapping volume |
US5928248A (en) | 1997-02-14 | 1999-07-27 | Biosense, Inc. | Guided deployment of stents |
US6580938B1 (en) | 1997-02-25 | 2003-06-17 | Biosense, Inc. | Image-guided thoracic therapy and apparatus therefor |
US6346940B1 (en) | 1997-02-27 | 2002-02-12 | Kabushiki Kaisha Toshiba | Virtualized endoscope system |
US6006127A (en) | 1997-02-28 | 1999-12-21 | U.S. Philips Corporation | Image-guided surgery system |
WO1998038908A1 (en) | 1997-03-03 | 1998-09-11 | Schneider Medical Technologies, Inc. | Imaging device and method |
US6019725A (en) | 1997-03-07 | 2000-02-01 | Sonometrics Corporation | Three-dimensional tracking and imaging system |
WO1998041157A1 (en) | 1997-03-17 | 1998-09-24 | Boris Rubinsky | Freezing method for controlled removal of fatty tissue by liposuction |
DE19751761B4 (en) | 1997-04-11 | 2006-06-22 | Brainlab Ag | System and method for currently accurate detection of treatment targets |
DE19715202B4 (en) | 1997-04-11 | 2006-02-02 | Brainlab Ag | Referencing device with a mouthpiece |
US5921992A (en) | 1997-04-11 | 1999-07-13 | Radionics, Inc. | Method and system for frameless tool calibration |
US5944022A (en) | 1997-04-28 | 1999-08-31 | American Cardiac Ablation Co. Inc. | Catheter positioning system |
US5834759A (en) | 1997-05-22 | 1998-11-10 | Glossop; Neil David | Tracking device having emitter groups with different emitting directions |
US5907395A (en) | 1997-06-06 | 1999-05-25 | Image Guided Technologies, Inc. | Optical fiber probe for position measurement |
CA2240776C (en) | 1997-07-18 | 2006-01-10 | Image Guided Technologies, Inc. | Improved optical tracking system |
US6080151A (en) | 1997-07-21 | 2000-06-27 | Daig Corporation | Ablation catheter |
WO1999005962A1 (en) | 1997-07-31 | 1999-02-11 | Case Western Reserve University | A system and method for non-invasive electrocardiographic imaging |
US6490474B1 (en) | 1997-08-01 | 2002-12-03 | Cardiac Pathways Corporation | System and method for electrode localization using ultrasound |
US6246784B1 (en) | 1997-08-19 | 2001-06-12 | The United States Of America As Represented By The Department Of Health And Human Services | Method for segmenting medical images and detecting surface anomalies in anatomical structures |
US6024739A (en) | 1997-09-05 | 2000-02-15 | Cordis Webster, Inc. | Method for detecting and revascularizing ischemic myocardial tissue |
EP0900547B1 (en) | 1997-09-05 | 2007-05-30 | Biosense Webster, Inc. | Steerable catheter for detecting and revascularizing ischemic myocardial tissue |
US6096050A (en) | 1997-09-19 | 2000-08-01 | Surgical Navigation Specialist Inc. | Method and apparatus for correlating a body with an image of the body |
US5909476A (en) | 1997-09-22 | 1999-06-01 | University Of Iowa Research Foundation | Iterative process for reconstructing cone-beam tomographic images |
US5930329A (en) | 1997-09-22 | 1999-07-27 | Siemens Corporate Research, Inc. | Apparatus and method for detection and localization of a biopsy needle or similar surgical tool in a radiographic image |
US6179809B1 (en) | 1997-09-24 | 2001-01-30 | Eclipse Surgical Technologies, Inc. | Drug delivery catheter with tip alignment |
US6183444B1 (en) | 1998-05-16 | 2001-02-06 | Microheart, Inc. | Drug delivery module |
US6226548B1 (en) | 1997-09-24 | 2001-05-01 | Surgical Navigation Technologies, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
US5951475A (en) | 1997-09-25 | 1999-09-14 | International Business Machines Corporation | Methods and apparatus for registering CT-scan data to multiple fluoroscopic images |
US5999837A (en) | 1997-09-26 | 1999-12-07 | Picker International, Inc. | Localizing and orienting probe for view devices |
US6086532A (en) | 1997-09-26 | 2000-07-11 | Ep Technologies, Inc. | Systems for recording use of structures deployed in association with heart tissue |
US5987960A (en) | 1997-09-26 | 1999-11-23 | Picker International, Inc. | Tool calibrator |
DE69738156T2 (en) | 1997-09-27 | 2008-06-12 | Brainlab Ag | Method and device for taking a three-dimensional image of a body part |
US5923727A (en) | 1997-09-30 | 1999-07-13 | Siemens Corporate Research, Inc. | Method and apparatus for calibrating an intra-operative X-ray system |
US6248074B1 (en) | 1997-09-30 | 2001-06-19 | Olympus Optical Co., Ltd. | Ultrasonic diagnosis system in which periphery of magnetic sensor included in distal part of ultrasonic endoscope is made of non-conductive material |
US5978696A (en) | 1997-10-06 | 1999-11-02 | General Electric Company | Real-time image-guided placement of anchor devices |
US6201387B1 (en) | 1997-10-07 | 2001-03-13 | Biosense, Inc. | Miniaturized position sensor having photolithographic coils for tracking a medical probe |
US6585763B1 (en) | 1997-10-14 | 2003-07-01 | Vascusense, Inc. | Implantable therapeutic device and method |
US6304769B1 (en) | 1997-10-16 | 2001-10-16 | The Regents Of The University Of California | Magnetically directable remote guidance systems, and methods of use thereof |
DE19746092C2 (en) | 1997-10-17 | 2002-09-05 | Siemens Ag | X-ray imaging device for 3D imaging |
US6246899B1 (en) | 1997-10-20 | 2001-06-12 | Irvine Biomedical, Inc. | Ultrasound locating system having ablation capabilities |
US5954649A (en) | 1997-10-20 | 1999-09-21 | Irvine Biomedical, Inc. | Catheter system having ultrasound locating capabilities |
US6147480A (en) | 1997-10-23 | 2000-11-14 | Biosense, Inc. | Detection of metal disturbance |
CA2249508A1 (en) | 1997-10-24 | 1999-04-24 | Unilever Plc | Wax ester compositions |
US5882304A (en) | 1997-10-27 | 1999-03-16 | Picker Nordstar Corporation | Method and apparatus for determining probe location |
DE19747427C2 (en) | 1997-10-28 | 1999-12-09 | Zeiss Carl Fa | Device for bone segment navigation |
US6461370B1 (en) | 1998-11-03 | 2002-10-08 | C. R. Bard, Inc. | Temporary vascular filter guide wire |
DE69727709T2 (en) | 1997-11-05 | 2005-01-05 | Synthes Ag Chur, Chur | VIRTUAL REPRESENTATION OF A BONE OR A BONE JOINT |
US6014580A (en) | 1997-11-12 | 2000-01-11 | Stereotaxis, Inc. | Device and method for specifying magnetic field for surgical applications |
JP4237398B2 (en) | 1997-11-14 | 2009-03-11 | コンチネンタル・テベス・アーゲー・ウント・コンパニー・オーハーゲー | Braking force transmission device |
US6104944A (en) | 1997-11-17 | 2000-08-15 | Martinelli; Michael A. | System and method for navigating a multiple electrode catheter |
US6021343A (en) | 1997-11-20 | 2000-02-01 | Surgical Navigation Technologies | Image guided awl/tap/screwdriver |
US6149592A (en) | 1997-11-26 | 2000-11-21 | Picker International, Inc. | Integrated fluoroscopic projection image data, volumetric image data, and surgical device position data |
US5938603A (en) | 1997-12-01 | 1999-08-17 | Cordis Webster, Inc. | Steerable catheter with electromagnetic sensor |
US5967982A (en) | 1997-12-09 | 1999-10-19 | The Cleveland Clinic Foundation | Non-invasive spine and bone registration for frameless stereotaxy |
US6348058B1 (en) | 1997-12-12 | 2002-02-19 | Surgical Navigation Technologies, Inc. | Image guided spinal surgery guide, system, and method for use thereof |
IL122578A (en) | 1997-12-12 | 2000-08-13 | Super Dimension Ltd | Wireless six-degree-of-freedom locator |
US6070100A (en) | 1997-12-15 | 2000-05-30 | Medtronic Inc. | Pacing system for optimizing cardiac output and determining heart condition |
US6073043A (en) | 1997-12-22 | 2000-06-06 | Cormedica Corporation | Measuring position and orientation using magnetic fields |
DE19882935B4 (en) | 1997-12-31 | 2005-02-10 | Surgical Navigation Technologies Inc., Broomfield | Systems for displaying a position of an object during an operation |
US5976127A (en) | 1998-01-14 | 1999-11-02 | Lax; Ronald | Soft tissue fixation devices |
JP4177903B2 (en) | 1998-01-22 | 2008-11-05 | バイオセンス・ウエブスター・インコーポレーテツド | Measurement in the body |
CA2318771A1 (en) | 1998-01-26 | 1999-07-29 | Scimed Life Systems, Inc. | Catheter assembly with distal end inductive coupler and embedded transmission line |
EP1415609A1 (en) | 1998-01-28 | 2004-05-06 | Sherwood Services AG | Optical object tracking system |
US7749215B1 (en) | 1998-02-05 | 2010-07-06 | Biosense, Inc. | Intracardiac cell delivery and cell transplantation |
US6517534B1 (en) | 1998-02-11 | 2003-02-11 | Cosman Company, Inc. | Peri-urethral ablation |
US7165551B2 (en) | 1998-02-19 | 2007-01-23 | Curon Medical, Inc. | Apparatus to detect and treat aberrant myoelectric activity |
US6810281B2 (en) | 2000-12-21 | 2004-10-26 | Endovia Medical, Inc. | Medical mapping system |
US6289235B1 (en) | 1998-03-05 | 2001-09-11 | Wake Forest University | Method and system for creating three-dimensional images using tomosynthetic computed tomography |
US5966090A (en) | 1998-03-16 | 1999-10-12 | Mcewan; Thomas E. | Differential pulse radar motion sensor |
US5938585A (en) | 1998-03-20 | 1999-08-17 | Boston Scientific Corporation | Anchoring and positioning device and method for an endoscope |
US6115626A (en) | 1998-03-26 | 2000-09-05 | Scimed Life Systems, Inc. | Systems and methods using annotated images for controlling the use of diagnostic or therapeutic instruments in instruments in interior body regions |
ES2253882T3 (en) | 1998-03-30 | 2006-06-01 | Biosense Webster, Inc. | THREE AXLE COIL SENSOR. |
US6213998B1 (en) | 1998-04-02 | 2001-04-10 | Vanderbilt University | Laser surgical cutting probe and system |
CA2326642C (en) | 1998-04-03 | 2008-06-17 | Image Guided Technologies, Inc. | Wireless optical instrument for position measurement and method of use therefor |
US6298262B1 (en) | 1998-04-21 | 2001-10-02 | Neutar, Llc | Instrument guidance for stereotactic surgery |
US6273896B1 (en) | 1998-04-21 | 2001-08-14 | Neutar, Llc | Removable frames for stereotactic localization |
US5902324A (en) | 1998-04-28 | 1999-05-11 | Medtronic, Inc. | Bi-atrial and/or bi-ventricular sequential cardiac pacing systems |
US6122545A (en) | 1998-04-28 | 2000-09-19 | Medtronic, Inc. | Multiple channel sequential cardiac pacing method |
AU3924599A (en) | 1998-05-28 | 1999-12-13 | Orthosoft, Inc. | Interactive computer-assisted surgical system and method thereof |
US6118845A (en) | 1998-06-29 | 2000-09-12 | Surgical Navigation Technologies, Inc. | System and methods for the reduction and elimination of image artifacts in the calibration of X-ray imagers |
DE19829230A1 (en) | 1998-06-30 | 2000-03-23 | Brainlab Med Computersyst Gmbh | Method for detecting external contour of objects being treated; prepares flat image for section of area being treated while specifying external contour spots in image surface of section |
DE19829224B4 (en) | 1998-06-30 | 2005-12-15 | Brainlab Ag | Method for localizing treatment goals in the area of soft body parts |
US6447504B1 (en) | 1998-07-02 | 2002-09-10 | Biosense, Inc. | System for treatment of heart tissue using viability map |
BR9912662A (en) | 1998-07-31 | 2001-06-05 | Genzyme Corp | Improvement of cardiac function by mesenchymal branch cell transplantation |
JP2003524443A (en) | 1998-08-02 | 2003-08-19 | スーパー ディメンション リミテッド | Medical guidance device |
US20040006268A1 (en) | 1998-09-24 | 2004-01-08 | Super Dimension Ltd Was Filed In Parent Case | System and 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 |
IL126333A0 (en) | 1998-09-24 | 1999-05-09 | Super Dimension Ltd | System and method of recording and displaying in context of an image a location of at least one point-of-interest in body during an intra-body medical procedure |
US20030074011A1 (en) | 1998-09-24 | 2003-04-17 | Super Dimension Ltd. | System and 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 |
EP1115328A4 (en) | 1998-09-24 | 2004-11-10 | Super Dimension Ltd | System and method for determining the location of a catheter during an intra-body medical procedure |
US6061588A (en) | 1998-09-29 | 2000-05-09 | Advanced Cardiovascular Systems, Inc. | Catheter apparatus for positioning a wire |
US6373240B1 (en) | 1998-10-15 | 2002-04-16 | Biosense, Inc. | Metal immune system for tracking spatial coordinates of an object in the presence of a perturbed energy field |
US6468265B1 (en) | 1998-11-20 | 2002-10-22 | Intuitive Surgical, Inc. | Performing cardiac surgery without cardioplegia |
US6319250B1 (en) | 1998-11-23 | 2001-11-20 | C.R. Bard, Inc | Tricuspid annular grasp catheter |
DE69917484T2 (en) | 1998-12-14 | 2005-05-12 | Tre Esse Progettazione Biomedica S.R.L. | CATHETER SYSTEM FOR CARRYING OUT INTRAMYOCARDIAL THERAPEUTIC TREATMENT |
US6117476A (en) | 1999-01-04 | 2000-09-12 | Shaul Eger | Healthy food spreads |
US6285902B1 (en) | 1999-02-10 | 2001-09-04 | Surgical Insights, Inc. | Computer assisted targeting device for use in orthopaedic surgery |
US7068825B2 (en) | 1999-03-08 | 2006-06-27 | Orametrix, Inc. | Scanning system and calibration method for capturing precise three-dimensional information of objects |
US6498477B1 (en) | 1999-03-19 | 2002-12-24 | Biosense, Inc. | Mutual crosstalk elimination in medical systems using radiator coils and magnetic fields |
US6470207B1 (en) | 1999-03-23 | 2002-10-22 | Surgical Navigation Technologies, Inc. | Navigational guidance via computer-assisted fluoroscopic imaging |
DE19917867B4 (en) | 1999-04-20 | 2005-04-21 | Brainlab Ag | Method and device for image support in the treatment of treatment objectives with integration of X-ray detection and navigation system |
DE10022468A1 (en) | 1999-05-10 | 2001-10-11 | Shimadzu Corp | X-ray computerized tomography apparatus for medical diagnosis, selects scanning type based on comparison result of visual field and image pick-up ranges of radiated X-ray |
US6233476B1 (en) | 1999-05-18 | 2001-05-15 | Mediguide Ltd. | Medical positioning system |
US8442618B2 (en) | 1999-05-18 | 2013-05-14 | Mediguide Ltd. | Method and system for delivering a medical device to a selected position within a lumen |
US7778688B2 (en) | 1999-05-18 | 2010-08-17 | MediGuide, Ltd. | System and method for delivering a stent to a selected position within a lumen |
US9572519B2 (en) | 1999-05-18 | 2017-02-21 | Mediguide Ltd. | Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors |
US7840252B2 (en) | 1999-05-18 | 2010-11-23 | MediGuide, Ltd. | Method and system for determining a three dimensional representation of a tubular organ |
US9833167B2 (en) | 1999-05-18 | 2017-12-05 | Mediguide Ltd. | Method and system for superimposing virtual anatomical landmarks on an image |
US7386339B2 (en) | 1999-05-18 | 2008-06-10 | Mediguide Ltd. | Medical imaging and navigation system |
US7343195B2 (en) | 1999-05-18 | 2008-03-11 | Mediguide Ltd. | Method and apparatus for real time quantitative three-dimensional image reconstruction of a moving organ and intra-body navigation |
US6192280B1 (en) | 1999-06-02 | 2001-02-20 | Medtronic, Inc. | Guidewire placed implantable lead with tip seal |
US6306097B1 (en) | 1999-06-17 | 2001-10-23 | Acuson Corporation | Ultrasound imaging catheter guiding assembly with catheter working port |
DE29910795U1 (en) | 1999-06-21 | 1999-09-02 | Wolf Gmbh Richard | Electronic endoscope |
WO2001006917A1 (en) | 1999-07-26 | 2001-02-01 | Super Dimension Ltd. | Linking of an intra-body tracking system to external reference coordinates |
US6246231B1 (en) | 1999-07-29 | 2001-06-12 | Ascension Technology Corporation | Magnetic field permeable barrier for magnetic position measurement system |
US6413981B1 (en) | 1999-08-12 | 2002-07-02 | Ortho-Mcneil Pharamceutical, Inc. | Bicyclic heterocyclic substituted phenyl oxazolidinone antibacterials, and related compositions and methods |
US6996430B1 (en) | 1999-08-16 | 2006-02-07 | Super Dimension Ltd | Method and system for displaying cross-sectional images of a body |
US6213995B1 (en) | 1999-08-31 | 2001-04-10 | Phelps Dodge High Performance Conductors Of Sc And Ga, Inc. | Flexible tubing with braided signal transmission elements |
US6702780B1 (en) | 1999-09-08 | 2004-03-09 | Super Dimension Ltd. | Steering configuration for catheter with rigid distal device |
US6443894B1 (en) | 1999-09-29 | 2002-09-03 | Acuson Corporation | Medical diagnostic ultrasound system and method for mapping surface data for three dimensional imaging |
DE19946948A1 (en) | 1999-09-30 | 2001-04-05 | Philips Corp Intellectual Pty | Method and arrangement for determining the position of a medical instrument |
AU1240801A (en) | 1999-10-28 | 2001-05-08 | Enterprise Medical Technology, Inc. | Coil structures and methods for generating magnetic fields |
US6493573B1 (en) | 1999-10-28 | 2002-12-10 | Winchester Development Associates | Method and system for navigating a catheter probe in the presence of field-influencing objects |
US7366562B2 (en) | 2003-10-17 | 2008-04-29 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US6474341B1 (en) | 1999-10-28 | 2002-11-05 | Surgical Navigation Technologies, Inc. | Surgical communication and power system |
US6499488B1 (en) | 1999-10-28 | 2002-12-31 | Winchester Development Associates | Surgical sensor |
US6381485B1 (en) | 1999-10-28 | 2002-04-30 | Surgical Navigation Technologies, Inc. | Registration of human anatomy integrated for electromagnetic localization |
AU1104901A (en) | 1999-10-28 | 2001-05-08 | Enterprise Medical Technology, Inc. | Patient-shielding and coil system |
US6172499B1 (en) | 1999-10-29 | 2001-01-09 | Ascension Technology Corporation | Eddy current error-reduced AC magnetic position measurement system |
DE19953177A1 (en) | 1999-11-04 | 2001-06-21 | Brainlab Ag | Method to position patient exactly for radiation therapy or surgery; involves comparing positions in landmarks in X-ray image and reconstructed image date, to determine positioning errors |
DE19956814B4 (en) | 1999-11-25 | 2004-07-15 | Brainlab Ag | Shape detection of treatment devices |
US6437567B1 (en) | 1999-12-06 | 2002-08-20 | General Electric Company | Radio frequency coil for open magnetic resonance imaging system |
DE19964016B4 (en) | 1999-12-30 | 2005-06-23 | Brainlab Ag | Method and device for positioning a body with a position sensor for irradiation |
US20020193686A1 (en) | 2000-01-10 | 2002-12-19 | Pinhas Gilboa | Methods and systems for performing medical procedures with reference to projective image and with respect to pre-stored images |
DE10000937B4 (en) | 2000-01-12 | 2006-02-23 | Brainlab Ag | Intraoperative navigation update |
US6383144B1 (en) | 2000-01-18 | 2002-05-07 | Edwards Lifesciences Corporation | Devices and methods for measuring temperature of a patient |
US20010034530A1 (en) | 2000-01-27 | 2001-10-25 | Malackowski Donald W. | Surgery system |
US7373197B2 (en) * | 2000-03-03 | 2008-05-13 | Intramedical Imaging, Llc | Methods and devices to expand applications of intraoperative radiation probes |
US8048070B2 (en) | 2000-03-06 | 2011-11-01 | Salient Surgical Technologies, Inc. | Fluid-assisted medical devices, systems and methods |
AU2001241008A1 (en) | 2000-03-09 | 2001-09-17 | Super Dimension Ltd. | Object tracking using a single sensor or a pair of sensors |
US6615155B2 (en) | 2000-03-09 | 2003-09-02 | Super Dimension Ltd. | Object tracking using a single sensor or a pair of sensors |
US6770070B1 (en) | 2000-03-17 | 2004-08-03 | Rita Medical Systems, Inc. | Lung treatment apparatus and method |
AU2001247806A1 (en) | 2000-03-24 | 2001-10-08 | Surgi-Vision | Endoluminal mri probe |
EP1142536B1 (en) | 2000-04-05 | 2002-07-31 | BrainLAB AG | Patient referencing in a medical navigation system using projected light points |
US6690816B2 (en) | 2000-04-07 | 2004-02-10 | The University Of North Carolina At Chapel Hill | Systems and methods for tubular object processing |
US6484049B1 (en) | 2000-04-28 | 2002-11-19 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic tracking and visualization system |
WO2001091842A1 (en) | 2000-05-30 | 2001-12-06 | Olympus Optical Co., Ltd. | Medical guide wire |
US6478802B2 (en) | 2000-06-09 | 2002-11-12 | Ge Medical Systems Global Technology Company, Llc | Method and apparatus for display of an image guided drill bit |
WO2001097696A1 (en) | 2000-06-19 | 2001-12-27 | Image-Guided Neurologics, Inc. | System and method of minimally-invasive exovascular aneurysm treatment |
US6351513B1 (en) | 2000-06-30 | 2002-02-26 | Siemens Corporate Research, Inc. | Fluoroscopy based 3-D neural navigation based on co-registration of other modalities with 3-D angiography reconstruction data |
US6484118B1 (en) | 2000-07-20 | 2002-11-19 | Biosense, Inc. | Electromagnetic position single axis system |
CA2417988A1 (en) | 2000-08-14 | 2002-02-21 | Boston Scientific Limited | Steerable sphincterotome and methods for cannulation, papillotomy and sphincterotomy |
US6650927B1 (en) | 2000-08-18 | 2003-11-18 | Biosense, Inc. | Rendering of diagnostic imaging data on a three-dimensional map |
AU2001290582A1 (en) | 2000-08-28 | 2002-03-13 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration (Nasa) | Multiple sensor system for tissue characterization |
EP1190676B1 (en) | 2000-09-26 | 2003-08-13 | BrainLAB AG | Device for determining the position of a cutting guide |
US20020082498A1 (en) | 2000-10-05 | 2002-06-27 | Siemens Corporate Research, Inc. | Intra-operative image-guided neurosurgery with augmented reality visualization |
US6473634B1 (en) | 2000-11-22 | 2002-10-29 | Koninklijke Philips Electronics N.V. | Medical imaging at two temporal resolutions for tumor treatment planning |
US6472372B1 (en) | 2000-12-06 | 2002-10-29 | Ortho-Mcneil Pharmaceuticals, Inc. | 6-O-Carbamoyl ketolide antibacterials |
EP1219260B1 (en) | 2000-12-19 | 2003-06-25 | BrainLAB AG | Method and device for dental treatment assisted by a navigation system |
US6620151B2 (en) | 2001-03-01 | 2003-09-16 | Advanced Neuromodulation Systems, Inc. | Non-constant pressure infusion pump |
SG142164A1 (en) | 2001-03-06 | 2008-05-28 | Univ Johns Hopkins | Simulation method for designing customized medical devices |
US7176936B2 (en) | 2001-03-27 | 2007-02-13 | Siemens Corporate Research, Inc. | Augmented reality guided instrument positioning with modulated guiding graphics |
WO2002082375A2 (en) | 2001-04-06 | 2002-10-17 | Stephen Solomon | Cardiological mapping and navigation system |
US7282020B2 (en) | 2001-04-24 | 2007-10-16 | Microspherix Llc | Deflectable implantation device and method of use |
EP1260179B1 (en) | 2001-05-22 | 2003-03-26 | BrainLAB AG | X-ray image registration device with a medical navigation system |
US20030013960A1 (en) | 2001-05-29 | 2003-01-16 | Makin Inder Raj. S. | Guiding ultrasound end effector for medical treatment |
WO2002097735A1 (en) | 2001-05-31 | 2002-12-05 | Kent Ridge Digital Labs | System and method of anatomical modeling |
US7607440B2 (en) | 2001-06-07 | 2009-10-27 | Intuitive Surgical, Inc. | Methods and apparatus for surgical planning |
US20040254454A1 (en) | 2001-06-13 | 2004-12-16 | Kockro Ralf Alfons | Guide system and a probe therefor |
US7286868B2 (en) | 2001-06-15 | 2007-10-23 | Biosense Inc. | Medical device with position sensor having accuracy at high temperatures |
US6577752B2 (en) | 2001-06-15 | 2003-06-10 | Arch Development Corporation | Automated method and system for the delineation of the chest wall in computed tomography scans for the assessment of pleural disease |
US6666864B2 (en) | 2001-06-29 | 2003-12-23 | Scimed Life Systems, Inc. | Electrophysiological probes having selective element actuation and variable lesion length capability |
US6796963B2 (en) | 2001-07-10 | 2004-09-28 | Myocardial Therapeutics, Inc. | Flexible tissue injection catheters with controlled depth penetration |
JP4602602B2 (en) | 2001-07-19 | 2010-12-22 | オリンパス株式会社 | Medical instruments |
US6706041B1 (en) | 2001-08-15 | 2004-03-16 | Peter Costantino | Holders for ablation devices, surgical devices employing such holders, and methods of employing such surgical devices |
ATE387892T1 (en) | 2001-10-10 | 2008-03-15 | Brainlab Ag | MEDICAL INSTRUMENT WITH TOUCH SENSITIVE TIP |
US7784468B2 (en) | 2001-10-10 | 2010-08-31 | Fabian Carl E | Surgical implement detection system |
US6735465B2 (en) | 2001-10-24 | 2004-05-11 | Scimed Life Systems, Inc. | Systems and processes for refining a registered map of a body cavity |
DE50102342D1 (en) | 2001-10-24 | 2004-06-24 | Brainlab Ag | Navigated micro-probe |
US20030099390A1 (en) | 2001-11-23 | 2003-05-29 | Xiaolan Zeng | Lung field segmentation from CT thoracic images |
US7729742B2 (en) | 2001-12-21 | 2010-06-01 | Biosense, Inc. | Wireless position sensor |
EP1329202B1 (en) | 2002-01-18 | 2004-03-10 | BrainLAB AG | Method and device for allocating digital image information to navigation data of a medical navigation system |
DE10203371A1 (en) | 2002-01-29 | 2003-08-07 | Siemens Ag | Intravascular catheter with magnetic component in tip, allows magnetic field generated to be varied after introducing catheter into patient |
US6814733B2 (en) | 2002-01-31 | 2004-11-09 | Biosense, Inc. | Radio frequency pulmonary vein isolation |
US20040015049A1 (en) | 2002-02-05 | 2004-01-22 | Kersten Zaar | Endoscope with sideview optics |
US6947786B2 (en) | 2002-02-28 | 2005-09-20 | Surgical Navigation Technologies, Inc. | Method and apparatus for perspective inversion |
JP4315638B2 (en) * | 2002-04-16 | 2009-08-19 | ソニー株式会社 | Terminal device, remote control method of apparatus using terminal device, and program |
EP1499235B1 (en) * | 2002-04-17 | 2016-08-17 | Covidien LP | Endoscope structures and techniques for navigating to a target in branched structure |
US6887236B2 (en) | 2002-05-03 | 2005-05-03 | Pinhas Gilboa | Multiple-electrode catheter assembly and method of operating such a catheter assembly |
US6779456B2 (en) | 2002-07-01 | 2004-08-24 | Special Devices, Inc. | Initiator with a bridgewire configured in an enhanced heat-sinking relationship |
US7020510B2 (en) | 2002-07-25 | 2006-03-28 | Koninklijke Philips Electronics, N.V. | Optimal view map V.0.01 |
ATE349944T1 (en) | 2002-07-31 | 2007-01-15 | Olympus Corp | ENDOSCOPE |
AU2003264354A1 (en) | 2002-08-30 | 2004-04-30 | Olympus Corporation | Medical treatment system, endoscope system, endoscope insert operation program, and endoscope device |
US20070167804A1 (en) | 2002-09-18 | 2007-07-19 | Byong-Ho Park | Tubular compliant mechanisms for ultrasonic imaging systems and intravascular interventional devices |
WO2004034869A2 (en) | 2002-10-18 | 2004-04-29 | Arieh Sher | Atherectomy system with imaging guidewire |
US20040086161A1 (en) | 2002-11-05 | 2004-05-06 | Radhika Sivaramakrishna | Automated detection of lung nodules from multi-slice CT image data |
US7881769B2 (en) | 2002-11-18 | 2011-02-01 | Mediguide Ltd. | Method and system for mounting an MPS sensor on a catheter |
US7697972B2 (en) | 2002-11-19 | 2010-04-13 | Medtronic Navigation, Inc. | Navigation system for cardiac therapies |
US6991605B2 (en) | 2002-12-18 | 2006-01-31 | Siemens Medical Solutions Usa, Inc. | Three-dimensional pictograms for use with medical images |
US7747307B2 (en) | 2003-03-04 | 2010-06-29 | Calypso Medical Technologies, Inc. | Method and system for marker localization |
US7505809B2 (en) | 2003-01-13 | 2009-03-17 | Mediguide Ltd. | Method and system for registering a first image with a second image relative to the body of a patient |
US20040143317A1 (en) | 2003-01-17 | 2004-07-22 | Stinson Jonathan S. | Medical devices |
US6956369B2 (en) | 2003-01-17 | 2005-10-18 | Mednovus, Inc. | Screening method and apparatus |
US7660623B2 (en) | 2003-01-30 | 2010-02-09 | Medtronic Navigation, Inc. | Six degree of freedom alignment display for medical procedures |
US7399296B2 (en) | 2003-02-26 | 2008-07-15 | Medtronic Vascular, Inc. | Catheter having highly radiopaque embedded segment |
US7893840B2 (en) | 2003-03-03 | 2011-02-22 | Veroscan, Inc. | Interrogator and interrogation system employing the same |
US6987995B2 (en) | 2003-03-12 | 2006-01-17 | Biosense Webster, Inc. | Multifunctional catheter handle |
US8118732B2 (en) | 2003-04-01 | 2012-02-21 | Boston Scientific Scimed, Inc. | Force feedback control system for video endoscope |
US7570987B2 (en) | 2003-04-04 | 2009-08-04 | Brainlab Ag | Perspective registration and visualization of internal areas of the body |
EP1615554B1 (en) | 2003-04-15 | 2017-12-20 | Philips Intellectual Property & Standards GmbH | Method and arrangement for influencing magnetic particles and detecting interfering material |
US7783441B2 (en) | 2003-04-17 | 2010-08-24 | Northern Digital Inc. | Eddy current detection and compensation |
US20040215181A1 (en) | 2003-04-25 | 2004-10-28 | Medtronic, Inc. | Delivery of fluid during transurethral prostate treatment |
DE10323008A1 (en) | 2003-05-21 | 2004-12-23 | Siemens Ag | Automatic fusion of 2D fluoroscopic C-frame X-ray images with preoperative 3D images using navigation markers, by use of a projection matrix based on a 2D fluoroscopy image and a defined reference navigation system |
EP1628576A1 (en) | 2003-06-02 | 2006-03-01 | Deepbreeze Ltd. | Method and system for analyzing cardiovascular sounds |
US7321228B2 (en) | 2003-07-31 | 2008-01-22 | Biosense Webster, Inc. | Detection of metal disturbance in a magnetic tracking system |
EP1660165B1 (en) | 2003-07-31 | 2008-06-04 | Wilson-Cook Medical Inc. | System for introducing multiple medical devices |
US7697974B2 (en) | 2003-10-10 | 2010-04-13 | Ge Medical Systems Global Technology Company, Llc | Methods and apparatus for analysis of angiographic and other cyclical images |
US20070276234A1 (en) | 2003-10-21 | 2007-11-29 | The Board Of Trustees Of The Leland Stanford Junior University | Systems and Methods for Intraoperative Targeting |
US7207989B2 (en) | 2003-10-27 | 2007-04-24 | Biosense Webster, Inc. | Method for ablating with needle electrode |
JP3820244B2 (en) | 2003-10-29 | 2006-09-13 | オリンパス株式会社 | Insertion support system |
US7397364B2 (en) | 2003-11-11 | 2008-07-08 | Biosense Webster, Inc. | Digital wireless position sensor |
EP1691666B1 (en) | 2003-12-12 | 2012-05-30 | University of Washington | Catheterscope 3d guidance and interface system |
US20050154282A1 (en) * | 2003-12-31 | 2005-07-14 | Wenguang Li | System and method for registering an image with a representation of a probe |
US7684849B2 (en) | 2003-12-31 | 2010-03-23 | Calypso Medical Technologies, Inc. | Marker localization sensing system synchronized with radiation source |
US6995729B2 (en) | 2004-01-09 | 2006-02-07 | Biosense Webster, Inc. | Transponder with overlapping coil antennas on a common core |
ATE482664T1 (en) | 2004-01-20 | 2010-10-15 | Koninkl Philips Electronics Nv | DEVICE AND METHOD FOR NAVIGATING A CATHETER |
EP1561431B1 (en) | 2004-02-03 | 2009-08-12 | BrainLAB AG | Device for determining the position of a cutting guide |
CN100441143C (en) | 2004-02-18 | 2008-12-10 | 皇家飞利浦电子股份有限公司 | Correction of measured values for a magnetic localization device |
DE102004009237B3 (en) | 2004-02-26 | 2005-09-22 | Siemens Ag | Device for introducing a stent into a hollow organ |
US7311714B1 (en) * | 2004-03-02 | 2007-12-25 | Wascher Thomas M | Marking catheter for placement using frameless stereotaxy and use thereof |
WO2005084571A1 (en) | 2004-03-03 | 2005-09-15 | Deutsches Krebsforschungszentrum Stiftung des öffentlichen Rechts | Incremental real time recording of tracked instruments in tubular organ structures inside the human body |
US7811294B2 (en) | 2004-03-08 | 2010-10-12 | Mediguide Ltd. | Automatic guidewire maneuvering system and method |
WO2005092188A1 (en) | 2004-03-29 | 2005-10-06 | Olympus Corporation | System for detecting position in examinee |
US20060063973A1 (en) | 2004-04-21 | 2006-03-23 | Acclarent, Inc. | Methods and apparatus for treating disorders of the ear, nose and throat |
US7720521B2 (en) | 2004-04-21 | 2010-05-18 | Acclarent, Inc. | Methods and devices for performing procedures within the ear, nose, throat and paranasal sinuses |
US7197354B2 (en) | 2004-06-21 | 2007-03-27 | Mediguide Ltd. | System for determining the position and orientation of a catheter |
WO2006017172A1 (en) | 2004-07-09 | 2006-02-16 | Fischer Imaging Corporation | Diagnostic system for multimodality mammography |
US7599535B2 (en) | 2004-08-02 | 2009-10-06 | Siemens Medical Solutions Usa, Inc. | System and method for tree-model visualization for pulmonary embolism detection |
US7634122B2 (en) | 2004-08-25 | 2009-12-15 | Brainlab Ag | Registering intraoperative scans |
US7373271B1 (en) | 2004-09-20 | 2008-05-13 | Ascension Technology Corporation | System and method for measuring position and orientation using distortion-compensated magnetic fields |
US8233681B2 (en) | 2004-09-24 | 2012-07-31 | The University Of North Carolina At Chapel Hill | Methods, systems, and computer program products for hierarchical registration between a blood vessel and tissue surface model for a subject and a blood vessel and tissue surface image for the subject |
US8515527B2 (en) | 2004-10-13 | 2013-08-20 | General Electric Company | Method and apparatus for registering 3D models of anatomical regions of a heart and a tracking system with projection images of an interventional fluoroscopic system |
US7636595B2 (en) | 2004-10-28 | 2009-12-22 | Medtronic Navigation, Inc. | Method and apparatus for calibrating non-linear instruments |
US7722565B2 (en) | 2004-11-05 | 2010-05-25 | Traxtal, Inc. | Access system |
US7720520B2 (en) | 2004-12-01 | 2010-05-18 | Boston Scientific Scimed, Inc. | Method and system for registering an image with a navigation reference catheter |
US7551759B2 (en) | 2004-12-07 | 2009-06-23 | Siemens Medical Solutions Usa, Inc. | Target identification using time-based data sets |
US20060241396A1 (en) | 2005-02-10 | 2006-10-26 | Fabian Carl E | Multi-modal detection of surgical sponges and implements |
US20060241399A1 (en) | 2005-02-10 | 2006-10-26 | Fabian Carl E | Multiplex system for the detection of surgical implements within the wound cavity |
US7420468B2 (en) | 2005-02-10 | 2008-09-02 | Fabian Carl E | Surgical implement detector |
WO2006085249A2 (en) | 2005-02-11 | 2006-08-17 | Philips Intellectual Property & Standards Gmbh | Analysis of pulmonary nodules from ct scans using the contrast agent enhancement as a function of distance to the boundary of the nodule |
US7236567B2 (en) | 2005-03-24 | 2007-06-26 | Siemens Aktiengesellschaft | Method and apparatus for synchronizing operation of an x-ray system and a magnetic system |
US20080188749A1 (en) | 2005-04-11 | 2008-08-07 | Koninklijke Philips Electronics N.V. | Three Dimensional Imaging for Guiding Interventional Medical Devices in a Body Volume |
JP4958896B2 (en) | 2005-04-21 | 2012-06-20 | アスマティックス,インコーポレイテッド | Control method and apparatus for energy delivery |
US7604601B2 (en) * | 2005-04-26 | 2009-10-20 | Biosense Webster, Inc. | Display of catheter tip with beam direction for ultrasound system |
JP4418400B2 (en) * | 2005-05-20 | 2010-02-17 | オリンパスメディカルシステムズ株式会社 | Image display device |
US7782189B2 (en) | 2005-06-20 | 2010-08-24 | Carestream Health, Inc. | System to monitor the ingestion of medicines |
DE102005028873B4 (en) | 2005-06-22 | 2014-07-24 | Siemens Aktiengesellschaft | Method for conducting an examination and diagnostic device therefor |
US7324915B2 (en) | 2005-07-14 | 2008-01-29 | Biosense Webster, Inc. | Data transmission to a position sensor |
US7536218B2 (en) | 2005-07-15 | 2009-05-19 | Biosense Webster, Inc. | Hybrid magnetic-based and impedance-based position sensing |
DE102005044405A1 (en) | 2005-09-16 | 2007-03-22 | Siemens Ag | Method of producing an image of a medical instrument at least partly inserted into an object or patient under examination using vectors |
US7835785B2 (en) * | 2005-10-04 | 2010-11-16 | Ascension Technology Corporation | DC magnetic-based position and orientation monitoring system for tracking medical instruments |
US7301332B2 (en) | 2005-10-06 | 2007-11-27 | Biosense Webster, Inc. | Magnetic sensor assembly |
JP4450786B2 (en) | 2005-11-15 | 2010-04-14 | ザイオソフト株式会社 | Image processing method and image processing program |
US20070167806A1 (en) | 2005-11-28 | 2007-07-19 | Koninklijke Philips Electronics N.V. | Multi-modality imaging and treatment |
US8303505B2 (en) * | 2005-12-02 | 2012-11-06 | Abbott Cardiovascular Systems Inc. | Methods and apparatuses for image guided medical procedures |
US20070167714A1 (en) | 2005-12-07 | 2007-07-19 | Siemens Corporate Research, Inc. | System and Method For Bronchoscopic Navigational Assistance |
US8225794B2 (en) | 2006-01-13 | 2012-07-24 | Olympus Medical Systems Corp. | Overtube |
US8948845B2 (en) * | 2006-03-31 | 2015-02-03 | Koninklijke Philips N.V. | System, methods, and instrumentation for image guided prostate treatment |
JP2009532127A (en) | 2006-03-31 | 2009-09-10 | メドトロニック ヴァスキュラー インコーポレイテッド | Nested catheter with electromagnetic coil for imaging and navigation during cardiac procedures |
US9055906B2 (en) | 2006-06-14 | 2015-06-16 | Intuitive Surgical Operations, Inc. | In-vivo visualization systems |
US8023703B2 (en) | 2006-07-06 | 2011-09-20 | The United States of America as represented by the Secretary of the Department of Health and Human Services, National Institues of Health | Hybrid segmentation of anatomical structure |
US7688064B2 (en) | 2006-07-11 | 2010-03-30 | Biosense Webster Inc. | Probe for assessment of metal distortion |
US8888697B2 (en) * | 2006-07-24 | 2014-11-18 | Webmd, Llc | Method and system for enabling lay users to obtain relevant, personalized health related information |
WO2008017051A2 (en) | 2006-08-02 | 2008-02-07 | Inneroptic Technology Inc. | System and method of providing real-time dynamic imagery of a medical procedure site using multiple modalities |
US8150497B2 (en) | 2006-09-08 | 2012-04-03 | Medtronic, Inc. | System for navigating a planned procedure within a body |
US7996060B2 (en) * | 2006-10-09 | 2011-08-09 | Biosense Webster, Inc. | Apparatus, method, and computer software product for registration of images of an organ using anatomical features outside the organ |
DE502006003472D1 (en) | 2006-10-20 | 2009-05-28 | Brainlab Ag | Marker navigation device, in particular for medical purposes |
IL187667A (en) | 2006-11-27 | 2011-12-29 | Mediguide Ltd | System and method for navigating a surgical needle toward an organ of the body of a patient |
US8320991B2 (en) | 2006-12-01 | 2012-11-27 | Medtronic Navigation Inc. | Portable electromagnetic navigation system |
US20080139915A1 (en) | 2006-12-07 | 2008-06-12 | Medtronic Vascular, Inc. | Vascular Position Locating and/or Mapping Apparatus and Methods |
JP2008142199A (en) | 2006-12-07 | 2008-06-26 | Olympus Corp | Endoscope and curve operation device of endoscope |
US7831076B2 (en) * | 2006-12-08 | 2010-11-09 | Biosense Webster, Inc. | Coloring electroanatomical maps to indicate ultrasound data acquisition |
US7879004B2 (en) | 2006-12-13 | 2011-02-01 | University Of Washington | Catheter tip displacement mechanism |
US20080154172A1 (en) | 2006-12-20 | 2008-06-26 | Medtronic Vascular, Inc. | Low Profile Catheters and Methods for Treatment of Chronic Total Occlusions and Other Disorders |
US9220573B2 (en) | 2007-01-02 | 2015-12-29 | Medtronic Navigation, Inc. | System and method for tracking positions of uniform marker geometries |
IL188262A (en) | 2007-01-10 | 2011-10-31 | Mediguide Ltd | System and method for superimposing a representation of the tip of a catheter on an image acquired by a moving imager |
JP5089999B2 (en) | 2007-01-24 | 2012-12-05 | オリンパス株式会社 | Position detection circuit and its application device |
JP5639764B2 (en) * | 2007-03-08 | 2014-12-10 | シンク−アールエックス,リミティド | Imaging and tools for use with moving organs |
WO2008111070A2 (en) * | 2007-03-12 | 2008-09-18 | David Tolkowsky | Devices and methods for performing medical procedures in tree-like luminal structures |
US8270693B2 (en) | 2007-04-03 | 2012-09-18 | M2S | Anatomical visualization and measurement system |
US8463006B2 (en) * | 2007-04-17 | 2013-06-11 | Francine J. Prokoski | System and method for using three dimensional infrared imaging to provide detailed anatomical structure maps |
DE102007024910B4 (en) | 2007-05-29 | 2009-04-09 | Siemens Ag | Arrangement for magnetic field measurement |
IL184151A0 (en) | 2007-06-21 | 2007-10-31 | Diagnostica Imaging Software Ltd | X-ray measurement method |
US8335359B2 (en) | 2007-07-20 | 2012-12-18 | General Electric Company | Systems, apparatus and processes for automated medical image segmentation |
US7912662B2 (en) | 2007-09-24 | 2011-03-22 | General Electric Company | System and method for improving the distortion tolerance of an electromagnetic tracking system |
US20090082665A1 (en) | 2007-09-26 | 2009-03-26 | General Electric Company | System and method for tracking medical device |
US8285367B2 (en) * | 2007-10-05 | 2012-10-09 | The Invention Science Fund I, Llc | Vasculature and lymphatic system imaging and ablation associated with a reservoir |
US7652578B2 (en) | 2007-10-29 | 2010-01-26 | Motorola, Inc. | Detection apparatus and method for near field communication devices |
US7942829B2 (en) * | 2007-11-06 | 2011-05-17 | Eigen, Inc. | Biopsy planning and display apparatus |
US7623081B2 (en) | 2008-01-25 | 2009-11-24 | Mitsubishi Electric Research Laboratories, Inc. | Wireless UWB connection for rotating RF antenna array |
US8926511B2 (en) | 2008-02-29 | 2015-01-06 | Biosense Webster, Inc. | Location system with virtual touch screen |
US8218847B2 (en) | 2008-06-06 | 2012-07-10 | Superdimension, Ltd. | Hybrid registration method |
US20090318797A1 (en) | 2008-06-19 | 2009-12-24 | Vision-Sciences Inc. | System and method for deflecting endoscopic tools |
US20180009767A9 (en) | 2009-03-19 | 2018-01-11 | The Johns Hopkins University | Psma targeted fluorescent agents for image guided surgery |
US10004387B2 (en) | 2009-03-26 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Method and system for assisting an operator in endoscopic navigation |
EP2253287B1 (en) | 2009-05-14 | 2018-08-15 | Covidien LP | Automatic registration technique |
US8706184B2 (en) | 2009-10-07 | 2014-04-22 | Intuitive Surgical Operations, Inc. | Methods and apparatus for displaying enhanced imaging data on a clinical image |
US8625869B2 (en) | 2010-05-21 | 2014-01-07 | Siemens Medical Solutions Usa, Inc. | Visualization of medical image data with localized enhancement |
US8900131B2 (en) | 2011-05-13 | 2014-12-02 | Intuitive Surgical Operations, Inc. | Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery |
US8827934B2 (en) | 2011-05-13 | 2014-09-09 | Intuitive Surgical Operations, Inc. | Method and system for determining information of extrema during expansion and contraction cycles of an object |
US20130303944A1 (en) | 2012-05-14 | 2013-11-14 | Intuitive Surgical Operations, Inc. | Off-axis electromagnetic sensor |
JP6290099B2 (en) | 2012-02-03 | 2018-03-07 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | Steerable flexible needle with implantable shape sensing function |
US20130303945A1 (en) | 2012-05-14 | 2013-11-14 | Intuitive Surgical Operations, Inc. | Electromagnetic tip sensor |
CN108542499B (en) | 2012-05-14 | 2020-12-04 | 直观外科手术操作公司 | Systems and methods for deformation compensation using shape sensing |
EP2849668B1 (en) | 2012-05-14 | 2018-11-14 | Intuitive Surgical Operations Inc. | Systems and methods for registration of a medical device using rapid pose search |
KR102214145B1 (en) | 2012-05-14 | 2021-02-09 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Systems and methods for registration of a medical device using a reduced search space |
US10039473B2 (en) | 2012-05-14 | 2018-08-07 | Intuitive Surgical Operations, Inc. | Systems and methods for navigation based on ordered sensor records |
US9429696B2 (en) | 2012-06-25 | 2016-08-30 | Intuitive Surgical Operations, Inc. | Systems and methods for reducing measurement error in optical fiber shape sensors |
US9801551B2 (en) | 2012-07-20 | 2017-10-31 | Intuitive Sugical Operations, Inc. | Annular vision system |
JP6074587B2 (en) | 2012-08-06 | 2017-02-08 | 株式会社Joled | Display panel, display device and electronic device |
JP6301332B2 (en) | 2012-08-14 | 2018-03-28 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | System and method for registration of multiple vision systems |
CN104736085B (en) | 2012-10-12 | 2018-01-30 | 直观外科手术操作公司 | Determine position of the medicine equipment in branch's anatomical structure |
US10588597B2 (en) | 2012-12-31 | 2020-03-17 | Intuitive Surgical Operations, Inc. | Systems and methods for interventional procedure planning |
EP2968857B1 (en) | 2013-03-15 | 2022-05-04 | Intuitive Surgical Operations, Inc. | Shape sensor systems for tracking interventional instruments |
CN109199388B (en) | 2013-07-29 | 2022-03-18 | 直观外科手术操作公司 | Shape sensor system with redundant sensing |
CN109954196B (en) | 2013-08-15 | 2021-11-09 | 直观外科手术操作公司 | Graphical user interface for catheter positioning and insertion |
KR102354675B1 (en) | 2013-08-15 | 2022-01-24 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Systems and methods for medical procedure confirmation |
WO2015061756A1 (en) | 2013-10-24 | 2015-04-30 | Auris Surgical Robotics, Inc. | System for robotic-assisted endolumenal surgery and related methods |
US10610306B2 (en) | 2013-12-09 | 2020-04-07 | Intuitive Surgical Operations, Inc. | Systems and methods for device-aware flexible tool registration |
WO2015101948A2 (en) | 2014-01-06 | 2015-07-09 | Body Vision Medical Ltd. | Surgical devices and methods of use thereof |
WO2015105132A1 (en) | 2014-01-07 | 2015-07-16 | 株式会社東芝 | X-ray ct device and ct image display method |
KR20160118295A (en) | 2014-02-04 | 2016-10-11 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools |
US20150223765A1 (en) | 2014-02-07 | 2015-08-13 | Intuitive Surgical Operations, Inc. | Systems and methods for using x-ray field emission to determine instrument position and orientation |
WO2015142800A1 (en) | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | Surgical system including a non-white light general illuminator |
US10912523B2 (en) | 2014-03-24 | 2021-02-09 | Intuitive Surgical Operations, Inc. | Systems and methods for anatomic motion compensation |
JP6359312B2 (en) | 2014-03-27 | 2018-07-18 | キヤノンメディカルシステムズ株式会社 | X-ray diagnostic equipment |
EP3125809B1 (en) | 2014-03-28 | 2020-09-09 | Intuitive Surgical Operations, Inc. | Surgical system with haptic feedback based upon quantitative three-dimensional imaging |
EP3174449B1 (en) | 2014-07-28 | 2024-02-28 | Intuitive Surgical Operations, Inc. | Systems and methods for intraoperative segmentation |
KR102419094B1 (en) | 2014-07-28 | 2022-07-11 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Systems and methods for planning multiple interventional procedures |
WO2016032846A1 (en) | 2014-08-23 | 2016-03-03 | Intuitive Surgical Operations, Inc. | Systems and methods for display of pathological data in an image guided procedure |
US10373719B2 (en) | 2014-09-10 | 2019-08-06 | Intuitive Surgical Operations, Inc. | Systems and methods for pre-operative modeling |
US10314513B2 (en) | 2014-10-10 | 2019-06-11 | Intuitive Surgical Operations, Inc. | Systems and methods for reducing measurement error using optical fiber shape sensors |
US10376134B2 (en) | 2014-10-17 | 2019-08-13 | Intutitive Surgical Operations, Inc. | Systems and methods for reducing measurement error using optical fiber shape sensors |
JP2017536870A (en) | 2014-10-20 | 2017-12-14 | ボディ・ビジョン・メディカル・リミテッドBody Vision Medical Ltd. | Surgical device and method of using the surgical device |
EP3217911B1 (en) | 2014-11-13 | 2023-01-04 | Intuitive Surgical Operations, Inc. | Systems for filtering localization data |
US10512510B2 (en) | 2014-12-22 | 2019-12-24 | Intuitive Surgical Operations, Inc. | Flexible electromagnetic sensor |
KR102542190B1 (en) | 2015-04-06 | 2023-06-12 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | System and method of registration compensation in image-guided surgery |
CN107660134B (en) | 2015-05-22 | 2021-06-29 | 直观外科手术操作公司 | System and method for image-guided surgical recording |
US11202680B2 (en) | 2015-08-14 | 2021-12-21 | Intuitive Surgical Operations, Inc. | Systems and methods of registration for image-guided surgery |
CN111887786A (en) | 2015-08-14 | 2020-11-06 | 直观外科手术操作公司 | Registration system and method for image guided surgery |
CN108024693B (en) | 2015-09-10 | 2021-07-09 | 直观外科手术操作公司 | System and method for utilizing tracking in image guided medical procedures |
AU2016323982A1 (en) | 2015-09-18 | 2018-04-12 | Auris Health, Inc. | Navigation of tubular networks |
US10405753B2 (en) | 2015-11-10 | 2019-09-10 | Intuitive Surgical Operations, Inc. | Pharmaceutical compositions of near IR closed chain, sulfo-cyanine dyes |
WO2017106003A1 (en) | 2015-12-14 | 2017-06-22 | Intuitive Surgical Operations, Inc. | Apparatus and method for generating 3-d data for an anatomical target using optical fiber shape sensing |
US9996361B2 (en) | 2015-12-23 | 2018-06-12 | Intel Corporation | Byte and nibble sort instructions that produce sorted destination register and destination index mapping |
KR20180104763A (en) | 2016-02-12 | 2018-09-21 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | POSITION ESTIMATION AND CORRECTION SYSTEM AND METHOD FOR FUSION IMAGING SYSTEM IN IMAGING |
WO2017139621A1 (en) | 2016-02-12 | 2017-08-17 | Intuitive Surgical Operations, Inc. | Systems and methods for using registered fluoroscopic images in image-guided surgery |
AU2017231889A1 (en) | 2016-03-10 | 2018-09-27 | Body Vision Medical Ltd. | Methods and systems for using multi view pose estimation |
US10702137B2 (en) | 2016-03-14 | 2020-07-07 | Intuitive Surgical Operations, Inc.. | Endoscopic instrument with compliant thermal interface |
US20170296679A1 (en) | 2016-04-18 | 2017-10-19 | Intuitive Surgical Operations, Inc. | Compositions of Near IR Closed Chain, Sulfo-Cyanine Dyes and Prostate Specific Membrane Antigen Ligands |
WO2017218552A1 (en) | 2016-06-15 | 2017-12-21 | Intuitive Surgical Operations, Inc. | Systems and methods of integrated real-time visualization |
US11819284B2 (en) | 2016-06-30 | 2023-11-21 | Intuitive Surgical Operations, Inc. | Graphical user interface for displaying guidance information during an image-guided procedure |
KR102420386B1 (en) | 2016-06-30 | 2022-07-13 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Graphical user interface for displaying guidance information in multiple modes during video-guided procedures |
EP3500150B1 (en) | 2016-08-16 | 2021-10-06 | Intuitive Surgical Operations, Inc. | Augmented accuracy using large diameter shape fiber |
WO2018038999A1 (en) | 2016-08-23 | 2018-03-01 | Intuitive Surgical Operations, Inc. | Systems and methods for monitoring patient motion during a medical procedure |
CN109715037B (en) | 2016-09-21 | 2022-09-06 | 直观外科手术操作公司 | System and method for instrument bend detection |
WO2018064566A1 (en) | 2016-09-30 | 2018-04-05 | Intuitive Surgical Operations, Inc. | Systems and methods for entry point localization |
WO2018075911A1 (en) | 2016-10-21 | 2018-04-26 | Intuitive Surgical Operations, Inc. | Shape sensing with multi-core fiber sensor |
CN109788992B (en) | 2016-11-02 | 2022-11-11 | 直观外科手术操作公司 | System and method for continuous registration for image-guided surgery |
US11547490B2 (en) | 2016-12-08 | 2023-01-10 | Intuitive Surgical Operations, Inc. | Systems and methods for navigation in image-guided medical procedures |
US20200069192A1 (en) | 2016-12-09 | 2020-03-05 | Intuitive Surgical Operations, Inc. | System and method for distributed heat flux sensing of body tissue |
CN110087576B (en) | 2017-01-09 | 2023-03-17 | 直观外科手术操作公司 | System and method for registering an elongated device to a three-dimensional image in an image-guided procedure |
EP3576663A4 (en) | 2017-02-01 | 2020-12-23 | Intuitive Surgical Operations Inc. | Systems and methods of registration for image-guided procedures |
JP7213830B2 (en) | 2017-02-01 | 2023-01-27 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | Registration system and method for image-guided procedures |
EP3576662A4 (en) | 2017-02-01 | 2020-12-23 | Intuitive Surgical Operations Inc. | Systems and methods for data filtering of passageway sensor data |
KR102558061B1 (en) | 2017-03-31 | 2023-07-25 | 아우리스 헬스, 인코포레이티드 | A robotic system for navigating the intraluminal tissue network that compensates for physiological noise |
EP3613057A4 (en) | 2017-04-18 | 2021-04-21 | Intuitive Surgical Operations, Inc. | Graphical user interface for planning a procedure |
JP2020518326A (en) | 2017-04-18 | 2020-06-25 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | Graphical user interface for monitoring image-guided procedures |
EP3629882A4 (en) | 2017-05-24 | 2021-05-19 | Body Vision Medical Ltd. | Methods for using radial endobronchial ultrasound probes for three-dimensional reconstruction of images and improved target localization |
US10022192B1 (en) | 2017-06-23 | 2018-07-17 | Auris Health, Inc. | Automatically-initialized robotic systems for navigation of luminal networks |
EP3641686A4 (en) | 2017-06-23 | 2021-03-24 | Intuitive Surgical Operations, Inc. | Systems and methods for navigating to a target location during a medical procedure |
WO2019005696A1 (en) | 2017-06-28 | 2019-01-03 | Auris Health, Inc. | Electromagnetic distortion detection |
EP3644885B1 (en) | 2017-06-28 | 2023-10-11 | Auris Health, Inc. | Electromagnetic field generator alignment |
US20200297442A1 (en) | 2017-08-16 | 2020-09-24 | Intuitive Surgical Operations, Inc. | Systems and methods for monitoring patient motion during a medical procedure |
US10555778B2 (en) | 2017-10-13 | 2020-02-11 | Auris Health, Inc. | Image-based branch detection and mapping for navigation |
US11058493B2 (en) | 2017-10-13 | 2021-07-13 | Auris Health, Inc. | Robotic system configured for navigation path tracing |
KR20200099138A (en) | 2017-12-08 | 2020-08-21 | 아우리스 헬스, 인코포레이티드 | Systems and methods for navigation and target selection of medical devices |
AU2018384820A1 (en) | 2017-12-14 | 2020-05-21 | Auris Health, Inc. | System and method for estimating instrument location |
KR20200101334A (en) | 2017-12-18 | 2020-08-27 | 아우리스 헬스, 인코포레이티드 | Method and system for tracking and navigation of instruments in the luminal network |
US10885630B2 (en) | 2018-03-01 | 2021-01-05 | Intuitive Surgical Operations, Inc | Systems and methods for segmentation of anatomical structures for image-guided surgery |
US20190298451A1 (en) | 2018-03-27 | 2019-10-03 | Intuitive Surgical Operations, Inc. | Systems and methods for delivering targeted therapy |
JP7214747B2 (en) | 2018-03-28 | 2023-01-30 | オーリス ヘルス インコーポレイテッド | System and method for position sensor alignment |
KR102500422B1 (en) | 2018-03-28 | 2023-02-20 | 아우리스 헬스, 인코포레이티드 | System and method for displaying the estimated position of an instrument |
EP3801190A4 (en) | 2018-05-30 | 2022-03-02 | Auris Health, Inc. | Systems and methods for location sensor-based branch prediction |
KR102455671B1 (en) | 2018-05-31 | 2022-10-20 | 아우리스 헬스, 인코포레이티드 | Image-Based Airway Analysis and Mapping |
MX2020012898A (en) | 2018-05-31 | 2021-02-26 | Auris Health Inc | Path-based navigation of tubular networks. |
WO2020028603A2 (en) | 2018-08-01 | 2020-02-06 | Sony Interactive Entertainment LLC | Player induced counter-balancing of loads on a character in a virtual environment |
US11080902B2 (en) | 2018-08-03 | 2021-08-03 | Intuitive Surgical Operations, Inc. | Systems and methods for generating anatomical tree structures |
US20200046436A1 (en) | 2018-08-13 | 2020-02-13 | Body Vision Medical Ltd. | Methods and systems for multi view pose estimation using digital computational tomography |
US11896316B2 (en) | 2018-08-23 | 2024-02-13 | Intuitive Surgical Operations, Inc. | Systems and methods for generating anatomic tree structures using backward pathway growth |
US11637378B2 (en) | 2018-11-02 | 2023-04-25 | Intuitive Surgical Operations, Inc. | Coiled dipole antenna |
US11633623B2 (en) | 2019-04-19 | 2023-04-25 | University Of Maryland, Baltimore | System and method for radiation therapy using spatial-functional mapping and dose sensitivity of branching structures and functional sub-volumes |
-
2009
- 2009-06-04 US US12/478,573 patent/US8218847B2/en active Active
- 2009-06-07 WO PCT/IL2009/000569 patent/WO2009147683A1/en active Application Filing
- 2009-06-07 EP EP18215857.6A patent/EP3485798B1/en active Active
- 2009-06-07 EP EP09758027.8A patent/EP2293839B1/en active Active
-
2011
- 2011-11-02 US US13/287,903 patent/US8467589B2/en active Active
- 2011-11-02 US US13/287,883 patent/US8452068B2/en active Active
-
2013
- 2013-05-02 US US13/875,685 patent/US9271803B2/en active Active
-
2016
- 2016-02-29 US US15/055,698 patent/US10285623B2/en active Active
-
2019
- 2019-04-02 US US16/372,776 patent/US10478092B2/en active Active
- 2019-09-04 US US16/560,863 patent/US10674936B2/en active Active
-
2020
- 2020-05-08 US US16/870,504 patent/US11931141B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080086051A1 (en) * | 2006-09-20 | 2008-04-10 | Ethicon Endo-Surgery, Inc. | System, storage medium for a computer program, and method for displaying medical images |
US20080118135A1 (en) * | 2006-11-10 | 2008-05-22 | Superdimension, Ltd. | Adaptive Navigation Technique For Navigating A Catheter Through A Body Channel Or Cavity |
Cited By (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3058889A1 (en) * | 2011-05-13 | 2016-08-24 | Intuitive Surgical Operations, Inc. | Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery |
US11678813B2 (en) | 2012-05-14 | 2023-06-20 | Intuitive Surgical Operations, Inc. | Systems and methods for deformation compensation using shape sensing |
KR20150017327A (en) * | 2012-05-14 | 2015-02-16 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Systems and methods for deformation compensation using shape sensing |
CN104427952A (en) * | 2012-05-14 | 2015-03-18 | 直观外科手术操作公司 | Systems and methods for deformation compensation using shape sensing |
EP2849669A4 (en) * | 2012-05-14 | 2016-08-10 | Intuitive Surgical Operations | Systems and methods for deformation compensation using shape sensing |
WO2013173229A1 (en) | 2012-05-14 | 2013-11-21 | Intuitive Surgical Operations | Systems and methods for deformation compensation using shape sensing |
KR102171520B1 (en) * | 2012-05-14 | 2020-10-29 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Systems and methods for deformation compensation using shape sensing |
US11026594B2 (en) | 2012-05-14 | 2021-06-08 | Intuitive Surgical Operations, Inc. | Systems and methods for deformation compensation using shape sensing |
CN104427952B (en) * | 2012-05-14 | 2018-06-12 | 直观外科手术操作公司 | For the deformation-compensated system and method that shape is used to sense |
US10085671B2 (en) | 2012-05-14 | 2018-10-02 | Intuitive Surgical Operations, Inc. | Systems and methods for deformation compensation using shape sensing |
WO2014068106A1 (en) * | 2012-11-05 | 2014-05-08 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Imaging system, operating device with the imaging system and method for imaging |
US11786311B2 (en) | 2014-02-04 | 2023-10-17 | Intuitive Surgical Operations, Inc. | Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools |
US11376075B2 (en) | 2014-02-04 | 2022-07-05 | Intuitive Surgical Operations, Inc. | Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools |
US10314656B2 (en) | 2014-02-04 | 2019-06-11 | Intuitive Surgical Operations, Inc. | Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools |
US10966790B2 (en) | 2014-02-04 | 2021-04-06 | Intuitive Surgical Operations, Inc. | Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools |
US10499993B2 (en) | 2014-02-04 | 2019-12-10 | Intuitive Surgical Operations, Inc. | Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools |
CN106170265B (en) * | 2014-02-04 | 2020-06-30 | 直观外科手术操作公司 | System and method for non-rigid deformation of tissue for virtual navigation of interventional tools |
CN106170265A (en) * | 2014-02-04 | 2016-11-30 | 直观外科手术操作公司 | The system and method for non-rigid deformation of tissue for the virtual navigation of intervention tool |
EP3081184A1 (en) * | 2015-04-17 | 2016-10-19 | Clear Guide Medical, Inc. | System and method for fused image based navigation with late marker placement |
US11065059B2 (en) | 2016-11-02 | 2021-07-20 | Intuitive Surgical Operations, Inc. | Systems and methods of continuous registration for image-guided surgery |
US11583353B2 (en) | 2016-11-02 | 2023-02-21 | Intuitive Surgical Operations, Inc. | Systems and methods of continuous registration for image-guided surgery |
WO2018085287A1 (en) * | 2016-11-02 | 2018-05-11 | Intuitive Surgical Operations, Inc. | Systems and methods of continuous registration for image-guided surgery |
US11864856B2 (en) | 2016-11-02 | 2024-01-09 | Intuitive Surgical Operations, Inc. | Systems and methods of continuous registration for image-guided surgery |
US10314658B2 (en) | 2017-04-21 | 2019-06-11 | Biosense Webster (Israel) Ltd. | Registration of an anatomical image with a position-tracking coordinate system based on visual proximity to bone tissue |
CN108720924A (en) * | 2017-04-21 | 2018-11-02 | 韦伯斯特生物官能(以色列)有限公司 | Based on improving being registrated for anatomic image and position tracking coordinate system to the vision degree of approach of bone tissue |
EP3392835A1 (en) * | 2017-04-21 | 2018-10-24 | Biosense Webster (Israel) Ltd. | Improving registration of an anatomical image with a position-tracking coordinate system based on visual proximity to bone tissue |
Also Published As
Publication number | Publication date |
---|---|
EP3485798B1 (en) | 2023-12-27 |
US20200268277A1 (en) | 2020-08-27 |
US20160174874A1 (en) | 2016-06-23 |
EP3485798A2 (en) | 2019-05-22 |
US11931141B2 (en) | 2024-03-19 |
US10674936B2 (en) | 2020-06-09 |
US10478092B2 (en) | 2019-11-19 |
US20190388005A1 (en) | 2019-12-26 |
US9271803B2 (en) | 2016-03-01 |
US20190223760A1 (en) | 2019-07-25 |
EP2293839B1 (en) | 2019-01-30 |
EP2293839A1 (en) | 2011-03-16 |
US20100034449A1 (en) | 2010-02-11 |
EP2293839A4 (en) | 2017-03-01 |
EP3485798A3 (en) | 2019-10-16 |
US20120044334A1 (en) | 2012-02-23 |
US8467589B2 (en) | 2013-06-18 |
US20130245432A1 (en) | 2013-09-19 |
US8218847B2 (en) | 2012-07-10 |
US10285623B2 (en) | 2019-05-14 |
US8452068B2 (en) | 2013-05-28 |
US20120050513A1 (en) | 2012-03-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11931141B2 (en) | Hybrid registration method | |
US11783498B2 (en) | Feature-based registration method | |
CN102843972B (en) | For the image registration based on instrument that image and tubular structure are merged | |
US20220092791A1 (en) | Methods for the Segmentation of Lungs, Lung Vasculature and Lung Lobes from CT Data and Clinical Applications | |
KR20140096919A (en) | Method and Apparatus for medical image registration | |
EP4271305A1 (en) | Systems for image-based registration and associated methods | |
US20240050160A1 (en) | Systems for dynamic image-based localization and associated methods | |
US20230000461A1 (en) | Ultrasound slice enhancement | |
CN117015803A (en) | Image-based seeding for registration and related systems and methods | |
WO2023232678A1 (en) | Navigation in hollow anatomical structures |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 09758027 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2009758027 Country of ref document: EP |