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    • 10. 发明授权
    • Method and apparatus for tracking a surgical instrument during surgery
    • 在手术过程中跟踪手术器械的方法和装置
    • US07824328B2
    • 2010-11-02
    • US11523134
    • 2006-09-18
    • Abhishek GattaniSalmaan Hameed
    • Abhishek GattaniSalmaan Hameed
    • A61B1/005A61B1/00
    • A61B1/042A61B1/0005A61B1/273A61B5/065A61B34/20A61B90/361A61B2034/105A61B2034/107A61B2034/2051A61B2034/2055A61B2090/367
    • An endoscopic surgical navigation system comprises a tracking subsystem to capture data representing positions and orientations of a flexible endoscope during an endoscopic procedure, to allow coregistration of live endoscopic video with intra-operative and/or pre-operative scan images. Positions and orientations of the endoscope are detected using one or more sensors and/or other signal-producing elements disposed on the endoscope. The sensors include optical curvature sensors located along the endoscope, where the length of each optical curvature sensor decreases with increasing proximity to the distal end of the endoscope. Output signals of the sensors can be routed to the tracking subsystem through the light channel in the endoscope. A hybrid approach can be used to separately track the position and orientation of the (rigid) base and the flexible portion of the endoscope.
    • 内窥镜手术导航系统包括跟踪子系统,用于在内窥镜程序期间捕获表示柔性内窥镜的位置和取向的数据,以允许实时内窥镜视频与术中和/或手术前扫描图像的联合。 使用设置在内窥镜上的一个或多个传感器和/或其他产生信号的元件来检测内窥镜的位置和取向。 传感器包括沿着内窥镜定位的光学曲率传感器,其中每个光学曲率传感器的长度随着与内窥镜远端的接近程度的增加而减小。 传感器的输出信号可通过内窥镜中的光通道路由到跟踪子系统。 可以使用混合方法分别跟踪(刚性)基部和内窥镜的柔性部分的位置和取向。