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11. 发明申请

US20080208041A1 System and Method For Optical Position Measurement And Guidance Of A Rigid Or Semi-Flexible Tool To A Target 有权
标题翻译：用于光学位置测量的系统和方法以及刚性或半柔性工具对目标的指导
公开(公告)号：US20080208041A1
公开(公告)日：2008-08-28
申请号：US11915333
申请日：2007-03-29
申请人： Pinhas Gilboa
发明人： Pinhas Gilboa
IPC分类号： A61B5/05
CPC分类号： A61B34/20 , A61B6/12 , A61B90/11 , A61B90/361 , A61B2034/102 , A61B2034/107 , A61B2034/2055 , A61B2034/2065 , A61B2034/2072 , A61B2090/371 , G06T7/73 , G06T2207/30004 , G06T2207/30021 , G06T2207/30208
摘要： A system for measuring the position of a hand-held tool relative to a body in six degrees of freedom employs a camera attached via a mechanical linkage to the tool so that the camera moves together with the proximal portion of the tool and has a field of view including the distal end of the tool. A processing system processes images from the camera to determine a position of at least part of the tool. By employing optically identifiable fiducial reference points defined on the external surface of the body, a projection of the tool tip position onto a plane containing the target can be derived and displayed together with the target position, thereby facilitating guiding the tool to the target.
摘要翻译：用于以六自由度测量手持工具相对于身体的位置的系统使用通过机械连接件附接到工具的照相机，使得照相机与工具的近侧部分一起移动并且具有视图包括工具的远端。处理系统处理来自相机的图像以确定至少部分工具的位置。通过使用限定在身体的外表面上的光学可识别的基准参考点，可以导出与目标位置一起显示工具尖端位置到包含目标的平面上的投影，从而便于将工具引导到目标。

12. 发明授权

US06947788B2 Navigable catheter 有权
标题翻译：导航导管
公开(公告)号：US06947788B2
公开(公告)日：2005-09-20
申请号：US09879109
申请日：2001-06-13
申请人： Pinhas Gilboa , Danny Blecher
发明人： Pinhas Gilboa , Danny Blecher
IPC分类号： A61B1/00 , A61B20060101 , A61B5/00 , A61B5/0408 , A61B5/0478 , A61B5/0492 , A61B5/055 , A61B5/06 , A61B6/03 , A61B6/12 , A61B8/00 , A61B8/08 , A61B8/12 , A61B19/00 , A61M25/00 , A61M25/095 , G01B7/00 , G01R33/02 , G01R33/34 , G01R33/36 , A61B6/00
CPC分类号： A61B5/06 , A61B5/055 , A61B5/062 , A61B6/032 , A61B8/08 , A61B8/4245 , A61B34/20 , A61B2034/2051 , A61B2034/2072
摘要： A catheter, including: a housing having a transverse inner dimension of at most about two millimeters; and a coil arrangement including five coils and five solid cores. Each of the coils is wound around one of the solid cores. The coils are non-coaxial. The coil arrangement is mounted inside the housing.
摘要翻译：一种导管，包括：具有至多约两毫米的横向内部尺寸的壳体; 以及包括五个线圈和五个实芯的线圈装置。每个线圈缠绕在一个固体芯上。线圈是非同轴的。线圈装置安装在壳体内。

13. 发明授权

US06887236B2 Multiple-electrode catheter assembly and method of operating such a catheter assembly 有权
标题翻译：多电极导管组件和操作这种导管组件的方法
公开(公告)号：US06887236B2
公开(公告)日：2005-05-03
申请号：US10137415
申请日：2002-05-03
申请人： Pinhas Gilboa
发明人： Pinhas Gilboa
IPC分类号： A61B18/14 , A61B18/18
CPC分类号： A61B18/1492 , A61B18/1815 , A61B2017/003 , A61B2018/1467
摘要： A multiple-electrode catheter assembly includes a hollow catheter having an internal elongated channel and a flexible distal portion. A number of electrodes are spaced along the flexible distal portion. An inner element, slidingly engaged within the elongated channel, has a steering mechanism configured for selectively deflecting a steerable distal portion of the inner element. According to additional, or alternative, features, the inner element includes sliding contacts for forming electrical connections with the electrodes, and displaceable locating elements for determining the position of an electrode during operation. Also provided is a method for operating such a catheter.
摘要翻译：多电极导管组件包括具有内部细长通道和柔性远端部分的中空导管。多个电极沿着柔性远端部分间隔开。滑动地接合在细长通道内的内部元件具有被配置用于选择性地偏转内部元件的可转向远端部分的转向机构。根据附加或替代的特征，内部元件包括用于与电极形成电连接的滑动触点，以及用于确定操作期间电极位置的可移动定位元件。还提供了用于操作这种导管的方法。

14. 发明授权

US06711429B1 System and method for determining the location of a catheter during an intra-body medical procedure 有权
标题翻译：用于在体内医疗过程期间确定导管的位置的系统和方法
公开(公告)号：US06711429B1
公开(公告)日：2004-03-23
申请号：US09463176
申请日：2000-01-21
申请人： Pinhas Gilboa , David Tolkowsky , David Hollander
发明人： Pinhas Gilboa , David Tolkowsky , David Hollander
IPC分类号： A61B505
CPC分类号： A61B5/06 , A61B5/062 , A61B5/064 , A61B90/36
摘要： A system and method of displaying at least one point-of-interest of a body during an intra-body medical procedure. The method is effected by (a) establishing a location of the body; (b) establishing a location of an imaging instrument being for imaging at least a portion of the body; (c) defining at least one projection plane being in relation to a projection plane of the imaging instrument; (d) acquiring at least one point-of-interest of the body; and (c) projection said at least one point-of-interest on said at least one projection plane; such that, in course of the procedure, the locations of the body and the imaging instrument are known, thereby the at least one point-of-interest is projectable on the at least one projection plane even in cases whereby a relative location of the body and the imaging instrument are changed.
摘要翻译：一种在体内医疗过程中显示身体的至少一个兴趣点的系统和方法。该方法通过（a）建立身体的位置来实现; （b）建立用于对身体的至少一部分进行成像的成像仪器的位置; （c）限定相对于所述成像仪器的投影平面相关的至少一个投影平面; （d）获得身体至少一个兴趣点; 和（c）在所述至少一个投影平面上投影所述至少一个兴趣点; 使得在程序过程中，身体和成像仪器的位置是已知的，因此即使在身体的相对位置的情况下，至少一个兴趣点可投影在至少一个投影平面上并且成像仪器被改变。

15. 发明授权

US06593884B1 Intrabody navigation system for medical applications 有权
公开(公告)号：US06593884B1
公开(公告)日：2003-07-15
申请号：US09463177
申请日：2000-01-21
申请人： Pinhas Gilboa , Danny Blecher
发明人： Pinhas Gilboa , Danny Blecher
IPC分类号： G01S504
CPC分类号： A61B5/06 , A61B5/055 , A61B5/062 , A61B6/032 , A61B8/08 , A61B8/4245 , A61B34/20 , A61B2034/2051 , A61B2034/2072
摘要： A system and method for tracking the position and orientation of a probe. Three at least partly overlapping planar antennas are used to transmit electromagnetic radiation simultaneously, with the radiation transmitted by each antenna having its own spectrum. A receiver inside the probe includes sensors of the three components of the transmitted field, with sensors for at least two of the three components being pairs of sensors, such as coils, on opposite sides of a common reference point. In one variant of the receiver, the coils are collinear and are wound about cores that are mounted in pairs of diametrically opposed apertures in the housing of the probe. Each member of a pair of coils that sense the same component of the transmitted field is connected to a different input of a differential amplifier. The position and orientation of the receiver relative to the antennas are determined noniteratively.

16. 发明授权

US08696548B2 Endoscope structures and techniques for navigating to a target in branched structure 有权
标题翻译：用于导航到分支结构的目标的内窥镜结构和技术
公开(公告)号：US08696548B2
公开(公告)日：2014-04-15
申请号：US13157283
申请日：2011-06-09
申请人： Pinhas Gilboa
发明人： Pinhas Gilboa
IPC分类号： A61B1/00 , A61B1/01 , A61B1/018
CPC分类号： A61B1/00154 , A61B1/012 , A61B5/06 , A61B5/065 , A61B34/20 , A61B34/25 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61M25/0147 , G06F19/00
摘要： Systems and methods employing a small gauge steerable catheter (30) including a locatable guide (32) with a sheath (40), particularly as an enhancement to a bronchoscope (14). A typical procedure is as follows. The location of a target in a reference coordinate system is detected or imported. The catheter (30) is navigated to the target which tracking the distal tip (34) of the guide (32) in the reference coordinate system. Insertion of the catheter is typically via a working channel of a convention bronchoscope. Once the tip of the catheter is positioned at the target, the guide (32) is withdrawn, leaving the sheath (40) secured in place. The sheath (40) is then used as a guide channel to direct a medical tool to target.
摘要翻译：使用包括具有护套（40）的可定位导向器（32）的小规格可导向导管（30）的系统和方法，特别是作为对支气管镜（14）的增强。典型的步骤如下。检测或导入参考坐标系中目标的位置。导管（30）被导航到跟踪参考坐标系中引导件（32）的远侧末端（34）的目标。导管的插入通常通过常规支气管镜的工作通道。一旦导管的尖端定位在靶上，引导件（32）被取出，使得护套（40）固定就位。护套（40）然后用作引导通道以将医疗工具引导到目标。

17. 发明授权

US07876942B2 System and method for optical position measurement and guidance of a rigid or semi-flexible tool to a target 有权
标题翻译：用于光学位置测量的系统和方法，以及将刚性或半柔性工具引导到目标
公开(公告)号：US07876942B2
公开(公告)日：2011-01-25
申请号：US11915333
申请日：2007-03-29
申请人： Pinhas Gilboa
发明人： Pinhas Gilboa
IPC分类号： G06K9/00 , A61B5/05
CPC分类号： A61B34/20 , A61B6/12 , A61B90/11 , A61B90/361 , A61B2034/102 , A61B2034/107 , A61B2034/2055 , A61B2034/2065 , A61B2034/2072 , A61B2090/371 , G06T7/73 , G06T2207/30004 , G06T2207/30021 , G06T2207/30208
摘要： A system for measuring the position of a hand-held tool relative to a body in six degrees of freedom employs a camera attached via a mechanical linkage to the tool so that the camera moves together with the proximal portion of the tool and has a field of view including the distal end of the tool. A processing system processes images from the camera to determine a position of at least part of the tool. By employing optically identifiable fiducial reference points defined on the external surface of the body, a projection of the tool tip position onto a plane containing the target can be derived and displayed together with the target position, thereby facilitating guiding the tool to the target.
摘要翻译：用于以六自由度测量手持工具相对于身体的位置的系统使用通过机械连接件附接到工具的照相机，使得照相机与工具的近侧部分一起移动并且具有视图包括工具的远端。处理系统处理来自相机的图像以确定至少部分工具的位置。通过使用限定在身体的外表面上的光学可识别的基准参考点，可以导出与目标位置一起显示工具尖端位置到包含目标的平面上的投影，从而便于将工具引导到目标。

18. 发明申请

US20100228534A1 METHOD, SYSTEM AND COMPUTER PRODUCT FOR PLANNING NEEDLE PROCEDURES 审中-公开
标题翻译：用于规划针脚程序的方法，系统和计算机产品
公开(公告)号：US20100228534A1
公开(公告)日：2010-09-09
申请号：US12553246
申请日：2009-09-03
申请人： Pinhas GILBOA , Uri Shreter
发明人： Pinhas GILBOA , Uri Shreter
IPC分类号： G06G7/48
CPC分类号： G06T19/00 , A61B90/36 , A61B2034/101 , G06T2200/24 , G06T2210/41
摘要： A system and method for planning a needle procedure include designating a target location within three-dimensional image data of a subject's body and defining a tentative route for insertion of a needle to the target location. The three-dimensional image data is processed to generate a graphic representation which indicates whether the tentative route intersects an obstacle of at least one type. In response to a user input, the graphic representation is then rotated about axes passing through the target location, thereby allowing selection of an updated route to the target which does not intersect an obstacle.
摘要翻译：用于规划针头程序的系统和方法包括指定对象身体的三维图像数据内的目标位置，并且定义用于将针插入目标位置的暂定路线。处理三维图像数据以生成指示临时路线是否与至少一种类型的障碍物相交的图形表示。响应于用户输入，然后绕穿过目标位置的轴线旋转图形表示，从而允许选择不与障碍物相交的目标的更新路线。

19. 发明授权

US07555330B2 Intrabody navigation system for medical applications 有权
标题翻译：医疗应用的体内导航系统
公开(公告)号：US07555330B2
公开(公告)日：2009-06-30
申请号：US10408123
申请日：2003-04-08
申请人： Pinhas Gilboa , Danny Blecher
发明人： Pinhas Gilboa , Danny Blecher
IPC分类号： A61B5/05 , G01S5/04 , G01S3/02
CPC分类号： A61B5/06 , A61B5/055 , A61B5/062 , A61B6/032 , A61B8/08 , A61B8/4245 , A61B34/20 , A61B2034/2051 , A61B2034/2072
摘要： A system and method for tracking the position and orientation of a probe. Three at least partly overlapping planar antennas are used to transmit electromagnetic radiation simultaneously, with the radiation transmitted by each antenna having its own spectrum. A receiver inside the probe includes sensors of the three components of the transmitted field, with sensors for at least two of the three components being pairs of sensors, such as coils, on opposite sides of a common reference point. In one variant of the receiver, the coils are collinear and are wound about cores that are mounted in pairs of diametrically opposed apertures in the housing of the probe. Each member of a pair of coils that sense the same component of the transmitted field is connected to a different input of a differential amplifier. The position and orientation of the receiver relative to the antennas are determined noniteratively.
摘要翻译：用于跟踪探头的位置和方向的系统和方法。使用三个至少部分重叠的平面天线来同时传输电磁辐射，每个天线发射的辐射具有其自己的光谱。探头内部的接收器包括传输场的三个部件的传感器，其中三个部件中的至少两个部件的传感器是在公共参考点的相对侧上的传感器（例如线圈）对。在接收器的一个变型中，线圈是共线的，并且围绕在探针的壳体中成对地沿直径相对的孔安装的芯部缠绕。感测发射场的相同分量的一对线圈的每个成员连接到差分放大器的不同输入。确定接收机相对于天线的位置和取向是非常确定的。

20. 发明申请

US20080167639A1 Methods for localized intra-body treatment of tissue 审中-公开
标题翻译：局部体内治疗组织的方法
公开(公告)号：US20080167639A1
公开(公告)日：2008-07-10
申请号：US11571796
申请日：2007-01-08
申请人： Pinhas Gilboa
发明人： Pinhas Gilboa
IPC分类号： A61M5/00
CPC分类号： A61M25/0662 , A61B5/06 , A61B5/062 , A61B8/12 , A61B18/0206 , A61B18/1492 , A61B18/18 , A61B18/20 , A61B2018/00642 , A61M25/0084 , A61M25/01 , A61M2025/0681
摘要： A method for local treatment of a target region of tissue within a body of a subject includes navigating a first probe (210, 310) intra-bodily to a first location within the body of the subject and employing the first probe to locally change at least one characteristic of a selected region of tissue. Either the same probe (210, 310) or another probe (250, 330) is employed to apply a treatment to the target region of the body of the subject. The changed characteristic of the selected region of tissue is chosen so as to enhance at least one parameter of the treatment.
摘要翻译：用于局部治疗受试者体内的组织的目标区域的方法包括将第一探针（210,310）体内地导航到受试者身体内的第一位置，并使用第一探针至少局部改变选择的组织区域的一个特征。使用相同的探针（210,310）或另一个探针（250,330）来对受试者的身体的目标区域施加治疗。选择组织的选定区域的改变的特征，以便增强至少一个治疗参数。

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