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31. 发明公开

EP3046499A4 OPTICAL TARGETING AND VISUALIZATION OF TRAJECTORIES 有权
标题翻译：视觉摄影展览会上的优惠活动VON TRAJEKTORIEN
公开(公告)号：EP3046499A4
公开(公告)日：2017-06-14
申请号：EP14845288
申请日：2014-09-18
申请人： IMIRGE MEDICAL INC
发明人： HAO WANG , DUGGAL NEIL
IPC分类号： A61B90/00 , A61B5/06
CPC分类号： A61B90/11 , A61B8/4416 , A61B8/4438 , A61B17/1703 , A61B90/13 , A61B90/361 , A61B2017/00398 , A61B2034/107 , A61B2090/363 , A61B2090/364 , A61B2090/3916 , A61B2090/3954 , A61B2090/3966 , A61B2090/3991
摘要： Enhanced targeting systems and methods may be used to visualize trajectories for surgical instruments. Such a targeting system may have a fixture that can be secured at a predetermined location relative to a patient, a first light source attached to the fixture, and a second light source attached to the fixture. The first light source may project first light along a first plane, and the second light source may project second light along a second plane nonparallel to the first plane. At an intersection of the first and second planes, the first light and the second light may cooperate to produce a targeting line that indicates the desired trajectory. A controller may be connected to first and second sets of motors to orient the first and second light sources, respectively. The targeting line may be projected on a visualization aid that guides the surgical instrument along the trajectory.
摘要翻译：可以使用增强的靶向系统和方法来可视化外科器械的轨迹。这种瞄准系统可以具有可以相对于患者固定在预定位置处的固定装置，附接到固定装置的第一光源和附接到固定装置的第二光源。第一光源可以沿着第一平面投影第一光，并且第二光源可以沿着不平行于第一平面的第二平面投影第二光。在第一和第二平面的交点处，第一光和第二光可以协作以产生指示期望轨迹的目标线。控制器可以连接到第一组和第二组电动机，以分别定向第一和第二光源。瞄准线可以投影在沿着轨迹引导外科器械的可视化辅助装置上。

32. 发明公开

EP2501281A4 COORDINATE MAPPING SYSTEM FOR JOINT TREATMENT 有权转让
标题翻译： KOORDINATENZUORDNUNGSSYSTEM ZUR GELENKBEHANDLUNG
公开(公告)号：EP2501281A4
公开(公告)日：2017-05-31
申请号：EP10832292
申请日：2010-11-19
申请人： ZIMMER KNEE CREATIONS INC
发明人： HANSON SHAUN B , MANDEEN CHRISTOPHER D , RUSSELL THOMAS A
IPC分类号： A61B5/05 , A61B17/17 , A61B90/11
CPC分类号： A61B17/1764 , A61B90/11 , A61B2017/3411 , A61B2090/3937 , A61B2090/3966
摘要： A coordinate mapping system is provided for locating a defect in a bone. The system comprises a positioning instrument for controlled delivery of a device to a target site, the instrument comprising a main body and a rail extending from the main body, the rail including a series of indicia corresponding to predefined grid lines, and a template configured to overlay an image of a bone having a defect at the target site, the template including a predefined grid for determining a set of coordinates to locate the target site using the positioning instrument. A method of accessing a target site near a defect in a bone using the radial coordinate mapping system is also provided.
摘要翻译：提供了坐标绘图系统来定位骨骼中的缺陷。该系统包括用于将装置控制输送到目标部位的定位仪器，该仪器包括主体和从主体延伸的轨道，该轨道包括对应于预定义的网格线的一系列标记以及被配置成用于将具有缺陷的骨骼的图像叠加在目标部位处，所述模板包括用于使用定位仪器来确定一组坐标以定位目标部位的预定义网格。还提供了使用径向坐标映射系统访问骨骼中的缺陷附近的目标部位的方法。

33. 发明公开

EP3166516A1 SYSTEMS, METHODS, AND DEVICES FOR ASSISTING OR PERFORMING GUIDED INTERVENTIONAL PROCEDURES USING CUSTOM TEMPLATES 审中-公开
标题翻译：系统，方法和设备支持或对照干预处理执行使用了个人化TEMPLATES
公开(公告)号：EP3166516A1
公开(公告)日：2017-05-17
申请号：EP15818842.5
申请日：2015-07-09
申请人： Glossop, Neil
发明人： Glossop, Neil
IPC分类号： A61B17/34
CPC分类号： A61B90/39 , A61B17/0218 , A61B34/10 , A61B34/20 , A61B90/10 , A61B90/11 , A61B2017/00274 , A61B2017/00331 , A61B2017/3411 , A61B2017/347 , A61B2034/107 , A61B2034/2051 , A61B2090/101 , A61B2090/363 , A61B2090/378 , A61B2090/3958 , A61B2090/3966 , A61N2005/1012
摘要： Systems, methods, and devices are provided for assisting or performing guided interventional procedures using custom templates. The system uses pre-procedure scans of a patient's anatomy to identify targets and critical structures. A template is then manufactured containing guide elements. During a procedure, the template may be aligned to the patient and instruments passed though the guide elements and into various targets. The template may be aligned using one or more of, for example, a position sensing system or a live imaging modality to register the patient to the template. The system makes optional use of devices designed to immobilize or track an organ during therapy.
摘要翻译：系统，方法和设备提供了协助执行或使用自定义模板引导的介入程序。该系统采用了患者的解剖结构的前置程序扫描，以确定目标和关键结构。模板然后制造含引导元件。在一个过程中，模板可以对准到患者，虽然导向元件的器械和成各种目标。该模板可以使用一个或多个的对准，例如，位置感测系统或实时成像模态来注册患者的模板。该系统使得任选使用设计成固定或治疗期间跟踪器官装置。

34. 发明公开

EP2578177A4 SURGICAL ROBOT SYSTEM FOR REALIZING SINGLE-PORT SURGERY AND MULTI-PORT SURGERY AND METHOD FOR CONTROLLING SAME 审中-公开
标题翻译：手术机器人系统用于执行单端口手术及以上端口手术方法控制
公开(公告)号：EP2578177A4
公开(公告)日：2017-04-19
申请号：EP11786820
申请日：2011-04-14
申请人： JEONG CHANG WOOK
发明人： KIM HYUNG TAE
IPC分类号： B25J9/00 , A61B34/30 , B25J9/16 , B25J13/00
CPC分类号： B25J9/0087 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/10 , A61B90/11 , A61B2017/00477 , A61B2017/3466
摘要： Provided is a surgical robot system for realizing single-port surgery and multi-port surgery, the system comprising: an operating device; and a controlling device for electro-mechanically controlling the operating device, wherein the operating device includes an alignment section having a plurality of main robot arms, and a plurality of manipulating sections each having a plurality of auxiliary robot arms, and in the multi-port surgery mode, the plurality of main robot arms and at least a portion of the plurality of auxiliary robot arms are operated so that each surgical tool coupled to each of the plurality of manipulating sections can be placed in correspondence with each of a plurality of incisions, and in the single-port surgery mode, the plurality of main robot arms and at least a portion of the plurality of auxiliary robot arms are operated so that each surgical tool coupled to each of the plurality of manipulating sections can be aligned in correspondence with one incision.

35. 发明公开

EP3145431A1 METHOD AND SYSTEM OF DETERMINING PROBE POSITION IN SURGICAL SITE 有权转让
标题翻译： VERFAHREN UND系统ZUR BESTIMMUNG EINER SONDENPOSITION AN EINER CHIRRIGCHISCHEN STELLE
公开(公告)号：EP3145431A1
公开(公告)日：2017-03-29
申请号：EP15833992.9
申请日：2015-08-19
申请人： Chen, Chieh Hsiao , Wang, Kuan Ju
发明人： Chen, Chieh Hsiao , Wang, Kuan Ju
IPC分类号： A61B34/00
CPC分类号： A61B34/20 , A61B5/061 , A61B5/7425 , A61B8/4245 , A61B8/5261 , A61B90/11 , A61B90/36 , A61B2034/2065 , A61B2090/364 , A61B2090/365 , A61B2090/3784 , A61B2576/026 , G06T7/32 , G06T2207/10081 , G06T2207/10088 , G06T2207/10132 , G06T2207/30016
摘要： One example method to determine a position of a probe in a surgical site with a plurality of reference structures may include receiving a three-dimensional image of the surgical site generated before the probe enters the surgical site and receiving a first two-dimensional image generated by the probe from a position within the surgical site. The three-dimensional image is associated with a first coordinate system, and the first two-dimensional image is associated with a second coordinate system. The method also includes acquiring registration to the plurality of reference structures based on the first two-dimensional image to obtain a permissible set of probe pose parameters, extracting a second two-dimensional image based on the permissible set of probe pose parameters from the three-dimensional image, and computing a correlation between the first two-dimensional image and the extracted second two-dimensional image to map the position of the probe represented by the second coordinate system to a position represented by the first coordinate system with respect to the three-dimensional image.
摘要翻译：用多个参考结构确定手术位置中的探针的位置的一个示例性方法可包括接收在探针进入外科手术部位之前产生的手术部位的三维图像，并且接收由第二二维图像生成的第一二维图像从外科手术部位的探头。三维图像与第一坐标系相关联，并且第一二维图像与第二坐标系相关联。该方法还包括基于第一二维图像获取对多个参考结构的注册以获得允许的探测姿势参数集合，基于来自三维图像的探测姿势参数的允许集合提取第二二维图像，并且计算第一二维图像和提取的第二二维图像之间的相关性，以将由第二坐标系表示的探针的位置映射到由第一坐标系表示的相对于三维图像的位置，三维图像。

36. 发明授权

EP2567668B1 Axial surgical trajectory guide for guiding a medical device 有权转让
标题翻译：轴向手术卷筒纸导用于引导医疗装置
公开(公告)号：EP2567668B1
公开(公告)日：2017-03-29
申请号：EP12006070.2
申请日：2012-08-27
申请人： Stryker European Holdings I, LLC
发明人： Sarvestani, Amir , Schoepp, Hans , Welte, Klaus
IPC分类号： A61B90/11
CPC分类号： A61B17/3403 , A61B5/05 , A61B90/11 , A61B2017/00221 , A61B2017/3407 , A61B2090/067

37. 发明公开

EP3136973A1 ULTRASOUND GUIDED HAND HELD ROBOT 有权转让
标题翻译： ULTRASCHALLGEFÜHRTERTRAGBARER ROBOTER
公开(公告)号：EP3136973A1
公开(公告)日：2017-03-08
申请号：EP15785365.6
申请日：2015-04-28
申请人： Mazor Robotics Ltd.
发明人： SHOHAM, Moshe
IPC分类号： A61B8/00 , A61B34/00 , A61B90/00
CPC分类号： A61B8/0841 , A61B8/085 , A61B17/3403 , A61B34/30 , A61B90/11 , A61B2017/3413 , A61B2018/1425 , A61B2034/2048 , A61B2034/2065 , A61B2034/304 , A61B2090/378
摘要： A system for insertion of a surgical tool along a trajectory to a target region in a patient's tissues, under the guidance of ultrasound imaging. The system includes a hand-held robot to whose base the probe of an ultrasound system is rigidly connected. The activated platform of the hand held robot carries a surgical tool guide. The alignment of the tool guide defines the trajectory which the tool takes within the subject's body. The position of the target region seen on the ultrasound display, can be recorded, and the robot coordinate frame of reference registered thereto. The system aligns the pose of the robot such that the surgical tool is aimed directly at the target region, independently of motion of the ultrasound probe and its associated robot. An inertial measurement unit can be incorporated to provide back-up positional information if the image of the lesion is lost.
摘要翻译：一种用于在超声成像的引导下将外科手术工具沿轨迹插入患者组织中的目标区域的系统。该系统包括一个手持机器人，其基座上的超声系统的探头刚性连接。手持机器人的激活平台携带外科手术工具指南。刀具导轨的对准确定了工具在主体内部所采用的轨迹。可以记录在超声波显示器上看到的目标区域的位置，并且记录登记在其上的机器人坐标系参考系。系统使机器人的姿态对齐，使得外科手术工具直接瞄准目标区域，而与超声探头及其相关机器人的运动无关。如果损伤的图像丢失，则可以并入惯性测量单元以提供备用位置信息。

38. 发明授权

EP2429618B1 DISPOSITIF PERMETTANT DE GUIDER LA SERINGUE DE L'UTILISATEUR POUR QU'IL PUISSE INJECTER SA SOLUTION ANALGESIQUE AU PLUS PRES DU FORAMEN MANDIBULAIRE 有权
标题翻译：装置用于引导用户注射器注射痛仍然端到端的解决方案可能近下颌孔
公开(公告)号：EP2429618B1
公开(公告)日：2017-02-08
申请号：EP09807449.5
申请日：2009-12-31
申请人： Caillieux, Nicolas
发明人： Caillieux, Nicolas
IPC分类号： A61B90/11
CPC分类号： A61C19/00 , A61B90/11 , A61B2017/3407 , A61M5/427

39. 发明公开

EP3120750A1 DIRECT DRIVE ENDOSCOPY SYSTEMS AND METHODS 有权转让
标题翻译： DIREKTANTRIEB-ENDOSKOPIESYSTEME以外地区
公开(公告)号：EP3120750A1
公开(公告)日：2017-01-25
申请号：EP16181345.6
申请日：2007-11-30
申请人： Boston Scientific Limited
发明人： Weitzner, Barry , Smith, Paul J. , Golden, John B. , Intoccia, Brian J.
IPC分类号： A61B1/00 , A61B1/005 , A61B1/018 , A61B17/02 , A61B17/04 , A61B34/00 , A61B10/06 , A61B17/00 , A61B17/29 , A61B17/34 , A61B90/00 , A61B90/11
CPC分类号： A61B34/74 , A61B1/00039 , A61B1/00087 , A61B1/0014 , A61B1/00147 , A61B1/00154 , A61B1/00165 , A61B1/00183 , A61B1/0052 , A61B1/0057 , A61B1/018 , A61B1/04 , A61B1/12 , A61B1/3132 , A61B10/06 , A61B17/00234 , A61B17/0218 , A61B17/0469 , A61B17/29 , A61B17/320016 , A61B34/10 , A61B34/70 , A61B34/71 , A61B90/11 , A61B2017/00212 , A61B2017/00287 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/0034 , A61B2017/00353 , A61B2017/00362 , A61B2017/00398 , A61B2017/00469 , A61B2017/00973 , A61B2017/0225 , A61B2017/2905 , A61B2017/2906 , A61B2017/3445 , A61B2017/3447 , A61B2090/0811 , A61B2090/374
摘要： The present invention relates to a medical system comprising: a guide tube for directing instruments including an elongate guide tube body extending between a proximal end and a distal end, the guide tube body defining a first working channel for a first medical instrument, the first working channel extending from a first proximal opening to a first distal opening, and the guide tube body defining a second working channel for a second medical instrument, the second working channel extending from a second proximal opening to a second distal opening; an articulation portion articulated via a guide tube controller; a first steerable instrument having an elongate body and slidably disposed within the first working channel; and a second steerable instrument having an elongate body and slidably disposed within the second working channel; wherein a distal portion of the first working channel is angled relative to a distal portion of the second working channel, such that the first instrument exits the first distal opening at an angle relative to an axis along which the second instrument exits the second distal opening.
摘要翻译：医疗系统技术领域本发明涉及一种医疗系统，包括：用于引导器械的引导管，其包括在近端和远端之间延伸的细长引导管体，所述引导管主体限定用于第一医疗器械的第一工作通道，所述第一工作通道从第一近端开口延伸到第一远端开口，并且所述引导管主体限定用于第二医疗器械的第二工作通道，所述第二工作通道从第二近端开口延伸到第二远端开口; 经由引导管控制器铰接的关节部分; 第一可操纵器具，具有细长主体并且可滑动地设置在第一工作通道内; 以及具有细长主体并可滑动地设置在第二工作通道内的第二可操纵器具; 其中所述第一工作通道的远侧部分相对于所述第二工作通道的远侧部分成角度，使得所述第一工具相对于所述第二工具离开所述第二远端开口的轴线成一定角度离开所述第一远端开口。

40. 发明公开

EP3096707A1 STEREOTACTIC ACCESS DEVICES AND METHODS 有权
标题翻译：立体定向接入设备和方法
公开(公告)号：EP3096707A1
公开(公告)日：2016-11-30
申请号：EP15703849.8
申请日：2015-01-23
申请人： Visualase, Inc.
发明人： GOWDA, Ashok , HOUSSIERE, Charles , AHUJA, Manish , PATWARDHAN, Ravish , MCNICHOLS, Roger J.
IPC分类号： A61B90/00 , A61B17/34
CPC分类号： A61B90/11 , A61B17/3423 , A61B2017/3407 , A61B2090/103 , A61B2090/3966 , A61B2090/3983
摘要： This invention is directed to devices and methods for stereotactic access, and particularly to a frameless stereotactic access device for accessing a body cavity and methods therefor. In general, a stereotactic device may include portions or features for fixing the device to a portion of a patient's body, such as, for example, a skull, such that the device may be generally spatially fixed in relation to the patient's body or part thereof. The stereotactic device may also generally include portions or features for guiding a medical device or other device at a particular trajectory in relation to the patient's body or part thereof.

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