Canon U.s.a., Inc.

The Brigham and Women's Hospital, Inc.

Brian Ninni

Nobuhiko Hata

Takahisa Kato

Kemal Tuncali

Kazufumi Onuma

Junichi Tokuda

Fumitaro Masaki

HuaLei Shelley Zhang

Yasumichi Arimitsu

Franklin H King

Barret Daniels

Peter Tia

Laurent Chauvin

Kosuke Fujimoto

Sang-Eun Song

Matthew Michael Kincaid

Santosh Ganesan

Lydia G Olson

John E Longan

Derek John Hugger

An articulated medical device having a hollow core, capable of large degrees of maneuverability through small spaces of a patient to reach a target with minimal invasiveness, and once the medical device has reached the target, allowing for finite movement of the distal end of the medical device to hone in on one or more targets or areas of interest, without having to move the remainder of the medical device.

Medical apparatus and method of use thereof

Some devices, systems, and methods obtain a fluoroscopic image and corresponding C-arm positional information of the fluoroscopic image, wherein the fluoroscopic image depicts a distal end of a bendable medical device, and wherein the C-arm positional information indicates a rotation angle of a C-arm of a C-arm scanner; obtain an orientation of the distal end in an image plane of the fluoroscopic image, wherein the image plane is defined in a detector reference frame; obtain an instructed direction; determine, in the image plane, a movement direction of the distal end that corresponds to the instructed direction; map the movement direction from the image plane to a distal-end reference frame of the distal end, wherein the mapping is based on an orientation of the distal end in an intermediate reference frame and on the C-arm positional information; and control the distal end to move according to the mapped movement direction.

Devices, systems, methods, and storage media for controlling a bendable medical device

A method for visualization guidance of device-to-image registration includes acquiring image data of a patient, generating a 3D model of the anatomy of the patient based on the image data, performing initial registration between image space and device space, advancing a device into a structure, tracking trajectory of the device in relation to the model, determining divergence between the device trajectory and the model, and effecting correction to the model or the device trajectory to minimize the divergence.

Real-time correction of regional tissue deformation during endoscopy procedure

A robot-assisted endoscope system and control methods thereof allow a user to perform intraluminal interventional procedures using a steerable sheath. A processor generates a ghost image based on a non-real-time insertion trajectory of the sheath, and a real-time image based on a real-time insertion trajectory for inserting an interventional tool through the sheath towards the target site. A display screen outputs navigation guidance data for informing a user how to manipulate the distal section of the sheath towards the target site such that the real-time image overlaps or coincides with at least part the ghost image and the real-time insertion trajectory becomes aligned with the non-real-time insertion trajectory.

Intraluminal navigation using ghost instrument information

An apparatus for correction of a direction to which a tool channel or a camera moves or is bent in a case where a displayed image is rotated. The apparatus includes at least one memory and at least one processor that executes instructions stored in the memory to receive a directional command of a capturing direction of a camera, move the capturing direction of the camera according to the received directional command, detect a rotation amount of a captured image displayed on a monitor, wherein the captured image is captured by the camera, and correct, based on the detected rotation amount, directional information corresponding to a particular directional command or directional coordinate for moving the camera, wherein the directional information is used for moving the capturing direction of the camera.

Continuum robot apparatus, method, and medium

A medical guidance apparatus () includes a base assembly () configured to be attached to a subject and a guide () configured to be removably mated with the base assembly (). The base assembly () has an opening (), and the guide () includes a rotatable ring () and an arc member (). The arc member () includes a first end () and a second end (), the first end of the arc member is connected to the rotatable ring () and the second end extends diametrically opposite to the first end across the rotatable ring. A probe holder () is mounted on the arc member () so as to hold a needle-like instrument () at a desired angle relative to an axis (Ax) of the rotatable ring (). In some embodiments, the arc member is monolithically integrated with the rotatable ring. In other embodiments, the arc member is pivotable and/or completely removable from the rotating ring.

Medical tool guidance apparatus

The subject disclosure is directed to an articulated medical device having a sensor for detecting outside movements applied upon the medical device while in a subject or patient, wherein the device is capable of maneuvering within the subject or patient while taking the outsides movements into consideration.

Medical continuum robot extraction and methods thereof

There is provided a medical support device for holding and positioning a needle. This device is particularly useful for positioning needles in a less invasive puncture treatment. This device comprises two rotational elements and at least one needle guide attached to a rotational element and. The needle guide guides the direction of insertion of a needle-like instrument and includes a guide portion that guides a needle or other needle-like instrument where the puncture point of the needle in a first position is different from the puncture point when the needle guide guides the needle in a second position.

Medical support device

Exemplary methods, apparatus, and systems are disclosed for automated registration and motion compensation of patient-mounted needle guide medical devices using fiducial markers, and processing algorithms where a re-registration step is provided. These methods, apparati, and systems adaptively compensate for the displacement of the medical device and/or target location due to the patient movement or internal organ motion.

Registration and motion compensation for patient-mounted needle guide

An apparatus () includes a needle placement manipulator () and an attachment () for the manipulator. The manipulator includes a needle holder and a rotary mechanism. The rotary mechanism () has a remote center of motion (RCM:) and is configured to position a needle holder () such that the axis of the needle holder traces a conical region of coverage (), the conical region of coverage having the apex thereof at the RCM and the base thereof in a direction towards a subject of needle placement (). The attachment supports the guide mechanism and is configured to be mounted onto the subject of needle placement. The attachment includes a guide portion () configured to change an inclination of the rotary mechanism with respect to the subject of needle placement such that the axis of the needle holder intersects an insertion target () located outside of the conical region of coverage.

Placement manipulator and attachment for positioning a puncture instrument

Exemplary methods, apparatus, and systems are provided for automated detection and registration of medical images using fiducial markers and processing algorithms. By either clustering fiducial markers having a different number, size, shape, configuration, or material property or by using fiducial markers arranged in a ring shape, wherein their arrangement is asymmetric, and then applying a feature extraction to extract the fiducial marker objects, and registering the fiducial marker objects with a model of the fiducial frame, automatic registration can be achieved.

Fiducial markers, systems, and methods of registration

A positioning apparatus including a needle holder having a through hole for regulating needle placement and movement, a needle positioning unit, and an engagement member that fixes a position of the needle holder with respect to the needle positioning unit. The needle holder is either least partially detachably attached to the needle positioning unit or deformable. The positioning apparatus may be designed to accommodate the placement of multiple needles.

Growing community of inventors

Somerville, MA, United States of America

Brian Ninni