With Means For Determining Position Of A Device Placed Within A Body Patents (Class 600/424)
  • Patent number: 10687900
    Abstract: In a method of image support for a person carrying out a minimally invasive procedure with an instrument in a procedure site of a patient, one two-dimensional X-ray image respectively of the procedure site is recorded by an X-ray apparatus in at least two recording geometries implementing different projection directions and chosen specific to the procedure, in particular by the person. A three-dimensional model data set of the procedure region is reconstructed by iterative reconstruction from the X-ray images. At least one two-dimensional supporting image corresponding to one of the recording geometries is determined by incorporating at least one item of further information by re-projection of the model data set supplemented by the further information and is displayed for the user.
    Type: Grant
    Filed: February 28, 2018
    Date of Patent: June 23, 2020
    Assignee: Siemens Healthcare GmbH
    Inventors: Alexander Gemmel, Bjoern Kreher, Gerhard Kleinszig, Markus Weiten
  • Patent number: 10682182
    Abstract: The present disclosure relates to a method and system for configuring a surgical tool during surgery. A laser scanner generates sensor data and a processor determines spatial data indicative of a position of the anatomical feature and of a position of a tool interface that is fixed in relation to the anatomical feature based on the sensor data. The processor also determines a first desired spatial configuration of the surgical tool in relation to the tool interface based on the spatial data and a second desired spatial configuration of the surgical tool in relation to the anatomical feature. The outcome is more accurate and less complex than other methods, such as methods that are based on reference to the absolute positions of the anatomical feature and the surgical tool within an operation theatre.
    Type: Grant
    Filed: July 14, 2016
    Date of Patent: June 16, 2020
    Assignee: 360 KNEE SYSTEMS PTY LTD.
    Inventors: Jason Hogan, Brad Peter Miles, Peter Bede O'Connor, Stephen McMahon
  • Patent number: 10682185
    Abstract: Systems, methods and devices for use in tracking are described, using optical modalities to detect spatial attributes or natural features of objects, such as, tools and patient anatomy. Spatial attributes or natural features may be known or may be detected by the tracking system. The system, methods and devices can further be used to verify a calibration of a tool either by a computing unit or by a user. Further, the disclosure relates to detection of spatial attributes, including depth information, of the anatomy for purposes of registration or to create a 3D surface profile of the anatomy.
    Type: Grant
    Filed: October 29, 2015
    Date of Patent: June 16, 2020
    Assignee: INTELLIJOINT SURGICAL INC.
    Inventors: Andre Novomir Hladio, Armen Garo Bakirtzian, Richard Tyler Fanson
  • Patent number: 10682480
    Abstract: The present disclosure describes systems and methods that utilize a tracheal tube with a shaped evacuation port. An evacuation port coupled to a suction lumen may be shaped to reduce air channel formation within the suction lumen, which in turn may improve the suctioning force and efficiency. The shaped evacuation ports may be generally oval or may be shaped to minimize a height dimension while maintaining a suitable cross-sectional area. In particular embodiments, the shaped evacuation ports may have cross-sectional areas that correspond to a cross-sectional area of the suction lumen.
    Type: Grant
    Filed: May 11, 2016
    Date of Patent: June 16, 2020
    Assignee: Covidien LP
    Inventors: Donn Sederstrom, Tyler Grubb, Alexa Jansey, Christopher Brune, Corinne Lengsfeld
  • Patent number: 10674970
    Abstract: The present invention is disclosing several methods related to intra-body navigation of radiopaque instrument through natural body cavities. One of the methods is disclosing the pose estimation of the imaging device using multiple images of radiopaque instrument acquired in the different poses of imaging device and previously acquired imaging. The other method allows to resolve the radiopaque instrument localization ambiguity using several approaches, such as radiopaque markers and instrument trajectory tracking.
    Type: Grant
    Filed: March 10, 2017
    Date of Patent: June 9, 2020
    Assignee: Body Vision Medical Ltd.
    Inventors: Dorian Averbuch, Eliron Amir, Dima Sezganov, Eyal Cohen
  • Patent number: 10675097
    Abstract: A handheld surgical tool includes a handle, an instrument shaft, and a navigation device, which includes at least one sensor unit for sensing positional data, a computing unit configured to determine a position in space based on signals of the sensor unit, at least one set key and a position memory configured to store a data set for a position upon activation of the at least one set key. A comparator is operatively connected to the position memory for comparing an actual position against a stored position in at least two different operation modes and for generation of a deviation signal, wherein operation modes differ in that a first mode is configured for a reduced comparison only which lacks at least one spatial dimension. A feedback device is provided supplied with the deviation signal and being configured to indicate direction and preferably magnitude of any deviation.
    Type: Grant
    Filed: August 28, 2015
    Date of Patent: June 9, 2020
    Assignee: Waldemar Link GmbH & Co. KG
    Inventors: Helmut D. Link, Riccardo Signoretti
  • Patent number: 10674982
    Abstract: A system and method for constructing fluoroscopic-based three dimensional volumetric data from two dimensional fluoroscopic images including a computing device configured to facilitate navigation of a medical device to a target area within a patient and a fluoroscopic imaging device configured to acquire a fluoroscopic video of the target area about a plurality of angles relative to the target area. The computing device is configured to determine a pose of the fluoroscopic imaging device for each frame of the fluoroscopic video and to construct fluoroscopic-based three dimensional volumetric data of the target area in which soft tissue objects are visible using a fast iterative three dimensional construction algorithm.
    Type: Grant
    Filed: August 1, 2016
    Date of Patent: June 9, 2020
    Assignee: COVIDIEN LP
    Inventors: Ron Barak, Oren P. Weingarten
  • Patent number: 10672145
    Abstract: Device for extracting three-dimensional information from radiographic images of an object; process for calibrating said device; and process for generating said radiographic images includes an X-ray emitter and an X-ray sensor. A contour sensor represents contour points of an object by means of the radiation emitted or reflected by the object. The device also has a calibration framework with X-ray markers, and contour markers. The processes are based on taking contour and X-ray images of the calibration framework, first without an object of study and subsequently with one, taking into account the information provided by the markers, and the fact that the contour sensor is placed in the same manner with respect to the X-ray emitter in all the images taken.
    Type: Grant
    Filed: March 29, 2016
    Date of Patent: June 2, 2020
    Assignees: CONSEJO SUPERIOR DE INVESTIGACIONES CIENTIFICAS (CSIC), UNIVERSITAT DE VALENCIA
    Inventors: Francisco Javier Albiol Colomer, Alberto Corbi Bellot, Celso Bellot Romero, Alberto Albiol Colomer
  • Patent number: 10672152
    Abstract: A method of NM image reconstruction, including: (a) acquiring a first set of NM data of a part of the body; (b) collecting a probe position and/or probe NM data from an intrabody probe; (c) reconstructing an NM image from said NM data using said collected probe data. Also described is a method of navigating to a target in a body, including: (a) acquiring a NM image of a part of the body; (b) collecting NM data from an intrabody probe; (c) correlating said image and said data; and (d) extracting location information of said probe relative to said target based on said correlated data.
    Type: Grant
    Filed: July 30, 2015
    Date of Patent: June 2, 2020
    Assignee: Navis International Limited
    Inventor: Shlomo Ben-Haim
  • Patent number: 10667775
    Abstract: A method of evaluating a vessel of a patient is provided. The method includes outputting, to a display device, a screen display including: a visualization based on pressure measurements obtained from a first instrument and a second instrument positioned within the vessel of the patient while the second instrument is moved longitudinally through the vessel and the first instrument remains stationary within the vessel; and a visual representation of a vessel; receiving a user input to modify the visualization to simulate a therapeutic procedure; and updating the screen display, in response to the user input, including modifying the visualization based on the user input. A system for evaluating a vessel of a patient is also provided. The system includes first and second instruments sized and shaped for introduction into the vessel of the patient; and a processing system communicatively coupled to the first and second instruments and a display device.
    Type: Grant
    Filed: November 12, 2015
    Date of Patent: June 2, 2020
    Assignee: PHILIPS IMAGE GUIDED THERAPY CORPORATION
    Inventors: David Anderson, Andrew Tochterman
  • Patent number: 10660769
    Abstract: Devices, systems, and methods configured to assess the severity of a blockage in a vessel and, in particular, a stenosis in a blood vessel, provide measurements of a vessel that allow assessment of the vessel and, in particular, any stenosis or lesion of the vessel, simulate diagnostic visualizations a first visualization device and a second visualization device. For example, the methods can include displaying, on a first visualization device, an image of the vessel with treatment diagnostic visualizations based on obtained pressure measurements and displaying, on a second visualization device, a portion of the image of the vessel with diagnostic visualizations based on the obtained pressure measurements, wherein the portion of the image of the vessel displayed on the second visualization device is a close up of a region of interest of the vessel.
    Type: Grant
    Filed: December 7, 2015
    Date of Patent: May 26, 2020
    Assignee: PHILIPS IMAGE GUIDED THERAPY CORPORATION
    Inventor: Jacqueline Keller
  • Patent number: 10657662
    Abstract: A method to visualize and correct alignment errors between paired 2D and 3D data sets is described. In a representative embodiment, a display interface used for dental implant planning includes one or more display areas that enable the operator to visualize alignment errors between the paired 2D and 3D data sets. A first display area renders 3D cone beam data. A second display area renders one or more (and preferably three (3) mutually orthogonal views) slices of the cone beam data. A third display area displays a view of a 2D scanned surface map (obtained from an intra-oral scan, or the scan of a model). According to a first aspect, the view of the 2D scanned surface map in the third display area is “textured” by coloring the 2D surface model based on the intensity of each 3D pixel (or “voxel”) that it intersects.
    Type: Grant
    Filed: August 14, 2017
    Date of Patent: May 19, 2020
    Assignee: D4D Technologies, LLC
    Inventors: Rakesh M. Lal, James D. Susinno
  • Patent number: 10657726
    Abstract: A mixed reality system and method for determining spatial positions of dental instruments without having a fixed intra oral reference point is disclosed. An intra-oral image sensor-based positioning device including at least two cameras is provided to sense and track the movements of dental instruments being used. The three-dimensional coordinates relating to the movement and orientation of the dental instruments are obtained for real time or delayed use in a mixed reality environment.
    Type: Grant
    Filed: September 20, 2018
    Date of Patent: May 19, 2020
    Assignee: International Osseointegration AI Research and Training Center
    Inventors: Xin Jin, Xiaoyu Lu
  • Patent number: 10653495
    Abstract: Methods and systems for performing computer-assisted image-guided surgery, including robotically-assisted surgery. A method of displaying image data includes displaying image data of a patient on a handheld display device, tracking the handheld display device using a motion tracking system, and modifying the image data displayed in response to changes in the position and orientation of the handheld display device. Further embodiments include a sterile case for a handheld display device, display devices on a robotic arm, and methods and systems for performing image-guided surgery using multiple reference marker devices fixed to a patient.
    Type: Grant
    Filed: September 11, 2017
    Date of Patent: May 19, 2020
    Assignee: Mobius Imaging LLC
    Inventors: Eugene Gregerson, Scott Coppen, Todd Furlong, Edward Daley, Russell Stanton, Adeline Harris, Paul Sebring
  • Patent number: 10648792
    Abstract: A measuring system having a measuring tool which includes a probe body and an optical marker, a camera for recording image data of the measuring tool, and an evaluation and control unit which is configured to evaluate the image data recorded by the camera and use the data to determine spatial position coordinates of the optical marker. The evaluation and control unit is also configured to calculate the deformation of the measuring tool due to external mechanical loading acting on the measuring tool, and to determine spatial position coordinates of the probe body based on the spatial position coordinates of the optical marker and the calculated deformation.
    Type: Grant
    Filed: September 25, 2017
    Date of Patent: May 12, 2020
    Assignee: CARL ZEISS INDUSTRIELLE MESSTECHNIK GMBH
    Inventor: Tobias Held
  • Patent number: 10638996
    Abstract: A method for improving the accuracy of a digital medical model of a part of a patient, the method includes obtaining a set of at least 2 medical images of the patient, where an element comprising a predefined geometry and/or predefined information was attached to the patient during the recording of the medical images; obtaining at least 2 tracking images taken with at least one camera having a known positional relationship relative to the medical imaging device, said tracking images depicting at least part of the element; determining any movement of the element between acquisition of the at least 2 tracking images; and generating the digital medical model from the acquired medical images, wherein the determined movement of the element is used to compensate for any movement of the patient between the acquisition of the medical images.
    Type: Grant
    Filed: May 23, 2019
    Date of Patent: May 5, 2020
    Assignee: 3Shape A/S
    Inventors: Morten Boll, Thomas Sangild Sørensen, Jens Peter Holme, Sami Brandt, Henrik Öjelund
  • Patent number: 10631798
    Abstract: A method for radiographic imaging of a body cavity includes imaging the body cavity using computerized tomography (CT) to form a CT image, registering a tracking system with the CT image, inserting into the body cavity a guidewire, including a position sensor, operating in the tracking system, attached to a distal end of the guidewire, in response to signals from the position sensor acquired by the tracking system, displaying a position of the distal end of the guidewire on the CT image. The method further includes assigning voxels within a predefined imaging volume relative to the distal end and having a radiodensity less than a predetermined threshold to have a uniform radiodensity of a predefined default value, incorporating the voxels with the assigned predefined default value into the CT image so as to form an updated CT image, and displaying the updated CT image.
    Type: Grant
    Filed: January 16, 2017
    Date of Patent: April 28, 2020
    Assignee: Biosense Webster (Israel) Ltd.
    Inventors: Andres Claudio Altmann, Vadim Gliner, Ram Bernard Mayer
  • Patent number: 10638084
    Abstract: An endoscope apparatus includes: an operation unit through which recording of an image acquired by an image pickup device can be instructed; and a controller configured to perform control to record, in a main recording unit, a first image acquired by the image pickup device when the image recording is instructed through the operation unit and record, in a sub recording unit, a second image acquired by the image pickup device irrespective of whether the image recording is instructed through the operation unit.
    Type: Grant
    Filed: March 26, 2018
    Date of Patent: April 28, 2020
    Assignee: OLYMPUS CORPORATION
    Inventors: Shinichiro Hirano, Osamu Mitsunaga
  • Patent number: 10625055
    Abstract: A trackable guidewire apparatus and method for use are described. Longitudinally spaced proximal and distal guidewire ends are separated by a guidewire body. A plurality of longitudinally spaced position sensors are configured to provide signals corresponding to a three-dimensional position of at least one position sensor in a coordinate system of an associated tracking system in response to an electromagnetic field/stimulus. At least one retention mechanism is provided for maintaining the medical device in a predetermined retention position longitudinally along the guidewire body. At least one stop structure is provided in a predetermined stop position longitudinally along the guidewire body.
    Type: Grant
    Filed: June 25, 2015
    Date of Patent: April 21, 2020
    Assignee: THE CLEVELAND CLINIC FOUNDATION
    Inventor: Karl West
  • Patent number: 10621701
    Abstract: The disclosure provides a background suppression method and a detecting device in automatic optical detection for a display panel, wherein the background suppression method includes the following steps: S1: collecting a pure color image of the display panel; S2: performing multi-level wavelet decomposition on the pure color image to obtain a series of high-frequency sub-bands and low-frequency sub-bands; S3: performing coefficient smoothing process on high-frequency sub-bands in multiple directions of each level, and performing contrast enhancement process on each level of low-frequency sub-bands; S4: the processed high-frequency sub-bands and the processed low-frequency sub-bands are subjected to wavelet reconstruction to obtain a defect image after background suppression.
    Type: Grant
    Filed: March 23, 2017
    Date of Patent: April 14, 2020
    Assignee: WUHAN JINGCE ELECTRONIC GROUP CO., LTD.
    Inventors: Fangbo Lu, Feng Yao, Biaohua Deng, Kai Chen, Yafei Shen
  • Patent number: 10620285
    Abstract: In a method and magnetic resonance (MR) apparatus for monitoring an interventional procedure with an intervention tool in a vessel of an examination subject, the intervention tool is moved in an insertion direction in the vessel and the position of a front end of the intervention tool in the insertion direction is determined. A first volume segment is determined dependent on the position and the flow direction of a fluid within the vessel. An RF saturation pulse is radiated into the first volume segment that saturates nuclear spins in the fluid within the first volume segment. MR data are acquired in a second volume segment, which contains the front end of the intervention tool and a region in front of the intervention tool in the insertion direction. An MR image is generated from the acquired MR data.
    Type: Grant
    Filed: October 17, 2018
    Date of Patent: April 14, 2020
    Assignee: Siemens Healthcare GmbH
    Inventors: David Grodzki, Rainer Schneider
  • Patent number: 10610311
    Abstract: An add-on device for use in combination with a stereotactic apparatus is herein disclosed, the device including a stereotactic adapter, an optical support comprising lenses and a display support adapted to accommodate a virtual reality display. The stereotactic adapter can adapt to different commercial models of stereotactic systems, and is particularly intended for implementing a method for conducting cognitive and/or behavioral tests in subjects during neurosurgery, wherein a virtual reality stimulus is provided to said subject during awake phases of neurosurgery.
    Type: Grant
    Filed: December 8, 2017
    Date of Patent: April 7, 2020
    Assignee: ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE (EPFL)
    Inventors: Bruno Herbelin, Olaf Blanke, Fabien Moreillon, Philippe Passeraub
  • Patent number: 10613120
    Abstract: A current measurement device includes a low frequency measurement sensor configured to measure a magnetic field, a high frequency measurement sensor configured to measure the magnetic field and configured to generate a magnetic field for canceling the magnetic field applied to the low frequency measurement sensor, a magnetism sensing direction of the low frequency measurement sensor and a magnetism sensing direction of the high frequency measurement sensor being substantially parallel to each other, a negative feedback circuit configured to control a current flowing through the high frequency measurement sensor based on the magnetic field measured by the low frequency measurement sensor, a low pass filter configured to adjust a frequency characteristic of the current controlled by the negative feedback circuit, and an outputter configured to output a measurement value of the current to be measured based on the current flowing through the high frequency measurement sensor.
    Type: Grant
    Filed: October 25, 2017
    Date of Patent: April 7, 2020
    Assignee: Yokogawa Electric Corporation
    Inventor: Kazuma Takenaka
  • Patent number: 10610302
    Abstract: For liver modeling from medical scan data, multiple modalities of imaging are used. By using multiple modalities of imaging in combination with generative modeling, a more comprehensive and informed assessment may be performed. The generative modeling may allow feedback of effects of proposed therapy on function of the liver. This feedback is used to update the liver function information based on the imaging. Based on the computerized modeling with information from various imaging modes, an output based on more comprehensive information and patient personalized modeling and feedback may be provided to assist the physician.
    Type: Grant
    Filed: July 5, 2017
    Date of Patent: April 7, 2020
    Assignee: Siemens Healthcare GmbH
    Inventors: Dorin Comaniciu, Thomas Pheiffer, David Liu, Ankur Kapoor, Tommaso Mansi
  • Patent number: 10610179
    Abstract: A personal display apparatus includes a dual-use transparent plate, a detector, and electronic circuitry. The dual-use transparent plate is configured to be worn by a user while the user is viewing a scene, to block, at least partially, X-rays from passing through the transparent plate and reaching an eye of the user, and to display information to be viewed by the user overlaid on the scene. The detector is coupled to the transparent plate and is configured to measure a level of the X-rays. The electronic circuitry is connected to the transparent plate and to the detector, and is configured to exchange display signals with the transparent plate so as to display the information, and to send a control signal indicative of the level of the X-rays measured by the detector.
    Type: Grant
    Filed: June 5, 2017
    Date of Patent: April 7, 2020
    Assignee: Biosense Webster (Israel) Ltd.
    Inventor: Andres Claudio Altmann
  • Patent number: 10607083
    Abstract: A computer-implemented technique is described herein for discriminatively apprising the user of the existence of some, but not necessarily all, physical objects in a physical environment in the course of the user's interaction with a virtual environment. In operation, the technique allows the user to selectively identify one or more objects-of-interest, such as people, walls, computing devices, etc. The technique then uses a scene analysis component to automatically detect the presence of the selected objects-of-interest in the physical environment, while the user interacts with the virtual environment. The technique provides alert information which notifies the user of the existence of any objects-of-interest that it detects. By virtue of the above-summarized strategy, the technique can apprise the user of objects-of-interest in the user's vicinity without cluttering the user's virtual experience with extraneous information pertaining to the physical environment.
    Type: Grant
    Filed: July 19, 2018
    Date of Patent: March 31, 2020
    Assignee: Microsoft Technology Licensing, LLC
    Inventors: Yuri Pekelny, Michael Bleyer, Michelle Lynn Brook
  • Patent number: 10603120
    Abstract: Disclosed is a medical data processing method for determining control data for an automated movement of a robotic system (1) to move a tool operatively associated with the robotic system (1), wherein the method comprises executing, on at least one processor of at least one computer (4), steps of: a) acquiring (S1) image data describing an image of an anatomical structure of a patient; b) determining (S2) planned position data, based on the image data, describing at least one planned position of the tool relative to the anatomical structure of the patient; c) acquiring (S3) status change data describing the change of data a status of the robotic system (1) from a first status to a second status, wherein in the first status a manual movement of at least one part of the robotic system (1) is allowed and in the second status a manual movement of the at least one part of the robotic system is inhibited; d) acquiring (S4) actual position data describing the actual position of an element of the statue change data ro
    Type: Grant
    Filed: September 13, 2016
    Date of Patent: March 31, 2020
    Assignee: BRAINLAB AG
    Inventors: Wolfgang Steinle, Christian Rabus, Nils Frielinghaus
  • Patent number: 10603123
    Abstract: A robotic surgical system includes a robotic surgical assembly and a control assembly. The robotic surgical assembly includes a robotic actuation assembly, a processing device, and a first communication device. The robotic actuation assembly includes a robotic arm. The processing device is configured to instruct the robotic actuation assembly to perform a task based on a set of instructions. The first communication device is operable to transfer the set of instructions to the processing device. The control assembly includes a second communication device and a user input device. The second communication device is operable to communicate the set of instructions to the first communication device. The user input device assembly is configured to generate the set of instructions and send the set of instruction to the second communication device. At least a portion of the instructions are based on positioning of the user input device within three-dimensional space.
    Type: Grant
    Filed: August 22, 2018
    Date of Patent: March 31, 2020
    Assignee: Ethicon LLC
    Inventors: Omar J. Vakharia, James G. Lee, Matthew S. Corbin, Mark D. Overmyer, Cory G. Kimball
  • Patent number: 10603118
    Abstract: A method for updating a patient registration during a surgical procedure is disclosed. The surgical procedure uses an optical navigation system for optically tracking a patient reference object in a real world space and includes intra-operatively acquiring a first set of image data depicting a region of interest on the patient while the first registration is intact. The region of interest includes at least one anatomical landmark. The method includes: detecting that the first registration has been lost; obtaining a second set of image data depicting the region of interest; identifying a transform based on the first set of image data and the second set of image data; and applying the identified transform to data points of the first registration to obtain data points for the updated patient registration.
    Type: Grant
    Filed: October 27, 2017
    Date of Patent: March 31, 2020
    Assignee: Synaptive Medical (Barbados) Inc.
    Inventors: Kirusha Srimohanarajah, Gal Sela, Dorothy Lui, Kai Michael Hynna
  • Patent number: 10602959
    Abstract: A position determination apparatus for determining the position of a working element arranged within an object having an inner structure with respect to a model of the object. The position and shape of a registration element within the inner structure of the object are provided and used for determining a transformation relating the inner structure of the model and the position and shape of the registration element with respect to each other, wherein the position of the working element with respect to the model is determined depending on a provided spatial relation between the working element and the registration element and the determined transformation.
    Type: Grant
    Filed: December 11, 2013
    Date of Patent: March 31, 2020
    Assignee: KONINKLIJKE PHILIPS N.V.
    Inventors: Pascal Yves Francois Cathier, Olivier Pierre Nempont, Raoul Florent
  • Patent number: 10595795
    Abstract: An angiographic examination method for depicting a target region as an examination object using an angiography system includes capturing a volume data set of the target region with the examination object, registering the volume data set to a C-arm, and extracting information about an assumed course of the examination object in the volume data set. The method also includes generating a 2D projection image of a medical instrument in the target region, 2D/3D merging the 2D projection image and the registered volume data set for generating a 2D overlay image, and detecting the instrument in the 2D overlay image with a first projection matrix. The method includes generating a virtual 2D projection using a virtual projection matrix, 3D reconstructing the instrument, and distorting at least part of the reference image such that the current and the assumed course of vessels are made to be congruent.
    Type: Grant
    Filed: September 30, 2014
    Date of Patent: March 24, 2020
    Assignee: Siemens Aktiengesellschaft
    Inventor: Marcus Pfister
  • Patent number: 10595745
    Abstract: A catheter adapted to determine a contact force, the catheter including a proximal segment, a distal segment, and an elastic segment extending from the proximal segment to the distal segment. The distal segment includes a plurality of tip electrodes including at least three radial electrodes disposed about a circumference of the distal segment. The radial electrodes are configured to output electrical signals indicative of a contact vector of the contact force. The elastic segment includes a force sensing device configured to output an electrical signal indicative of a magnitude of an axial component of the contact force, wherein the contact force is determined by scaling the magnitude of the axial component of the contact force by the contact vector.
    Type: Grant
    Filed: January 27, 2017
    Date of Patent: March 24, 2020
    Assignee: Boston Scientific Scimed Inc.
    Inventors: Mary M. Byron, Jacob I. Laughner, Shibaji Shome
  • Patent number: 10595880
    Abstract: A surgical system includes a surgical tool and a processing circuit. The processing circuit is configured to provide a plurality of virtual haptic interaction points where each virtual haptic interaction point is associated with a portion of the surgical tool such that movement of the surgical tool corresponds to movement of the plurality of virtual haptic interaction points, establish a haptic object that defines a working boundary for the surgical tool, and constrain at least one of the portions of the surgical tool based on a relationship between at least one of the plurality of virtual haptic interaction points and the haptic object.
    Type: Grant
    Filed: June 1, 2017
    Date of Patent: March 24, 2020
    Assignee: MAKO Surgical Corp.
    Inventors: Jason Otto, Radu Iorgulescu, Chris Lightcap, Brian Schmitz, Jason Wojcik, Carinne Cecile Granchi
  • Patent number: 10588532
    Abstract: A system can include a near-field instrument to be placed inside a chamber of a heart, a far-field instrument to be placed in a stable position in relation to the heart, and a control unit. The control unit is configured to identify a unique pattern in electrogram information received from the far-field instrument when the near-field instrument is in one or more positions within the heart. When the unique pattern is detected, the control unit is configured to receive electrogram information from the near-field instrument. While recording electrogram information from the near-field instrument, the control unit is also configured to record voltage and complex fractionated atrial electrogram (CFAE) characteristics of the tissue inside a heart chamber. This information combined with rotor information can be used to identify substrate versus non-substrate rotor characteristics.
    Type: Grant
    Filed: April 30, 2018
    Date of Patent: March 17, 2020
    Assignee: AFTx, Inc.
    Inventors: Bao Nguyen, Jerome Edwards, Paul Kessman, Thomas Kurian, Donald Conty
  • Patent number: 10588629
    Abstract: A surgical system and method includes a surgical instrument configured to wirelessly transmit identifying data specific to the surgical instrument and a console configured to receive the identifying data. The console is configured to register the surgical instrument based on the identifying data, establish a wireless two-way communication link between the surgical instrument and the console, receive at least one of operational data and commands from the surgical instrument, and provide operational feedback data to a user of the surgical instrument during an operation of the surgical instrument based on the at least one of operational data and commands.
    Type: Grant
    Filed: November 20, 2009
    Date of Patent: March 17, 2020
    Assignee: Covidien LP
    Inventors: Donald Malinouskas, David A. Zeichner, Michael P. Whitman
  • Patent number: 10586338
    Abstract: The invention relates to a positions determination apparatus for determining positions, at which an interventional instrument (3) is located, in a projection image. An input unit (16) allows a user to indicate the position of a tip (23) of the interventional instrument (3) in the projection image, wherein the positions, at which the interventional instrument is located, in the projection image are determined based on the projection image, the indicated tip position and a three-dimensional representation of the interventional instrument, which is defined by its position and shape as determined by a tracking device like an OSS device. By using the projection image, the indicated tip position and the representation the positions in the projection image, at which the interventional instrument is located, can be determined very accurately. Based on these determined positions the projection device and the tracking device can be very accurately registered to each other.
    Type: Grant
    Filed: November 23, 2015
    Date of Patent: March 10, 2020
    Assignee: KONINKLIJKE PHILIPS N.V.
    Inventor: Ahmet Ekin
  • Patent number: 10575757
    Abstract: A system and method include a shape sensing enabled device too (102) having an optical fiber (126). An interpretation module (115) is configured to receive optical signals from the optical fiber within a structure and interpret the optical signals to determine a shape of the device. An image generation module (140) is configured to receive the shape of the device, register the shape with an image volume of the structure and generate a curved Memory multi-planar reconstruction (CMPR) rendering based on the shape.
    Type: Grant
    Filed: August 13, 2012
    Date of Patent: March 3, 2020
    Assignee: KONINKLIJKE PHILIPS N.V.
    Inventors: Robert Manzke, Raymond Chan, Martin Bernardus Van Der Mark, Gert Wim 'T Hooft, Bharat Ramachandran, Laurent Verard
  • Patent number: 10578737
    Abstract: A system and method for determining location of a tool having a distal end sensor and at least one other sensor is presented. The method includes obtaining data from the distal end sensor, performing convergence on the obtained data, the convergence indicating whether or not the obtained data is disturbed, when the convergence indicates the obtained data is not disturbed, calculate the location of the tool using the obtained data, and when the convergence indicates the obtained data is disturbed, obtaining additional data from the at least one other sensor, performing the convergence on the obtained additional data, and calculating the location of the tool using the obtained additional data.
    Type: Grant
    Filed: May 19, 2017
    Date of Patent: March 3, 2020
    Assignee: BIOSENSE WEBSTER (ISRAEL) LTD.
    Inventors: Vadim Gliner, Assaf Govari, Andres Claudio Altmann
  • Patent number: 10575913
    Abstract: A surgical system includes a robotic device, an end effector mounted on the robotic device, and a processing circuit. The processing circuit is configured to generate a plurality of virtual geometries, each virtual geometry associated with a surgical task, track a position of the end effector, and determine whether the position of the end effector is at a location corresponding to a first virtual geometry of the plurality of virtual geometries. In response to a determination that the position of the end effector is at the location corresponding to the first virtual geometry, the processing circuit is configured to control the robotic device to facilitate completion of a first surgical task associated with the first virtual geometry.
    Type: Grant
    Filed: June 25, 2018
    Date of Patent: March 3, 2020
    Assignee: MAKO Surgical Corp.
    Inventors: Radu Iorgulescu, Carinne Cecile Granchi, Dennis Moses, Jason Robert Wojcik
  • Patent number: 10568542
    Abstract: Described herein are example methods, devices and systems for motion compensation in ultrasonic respiration monitoring. A respiration detection system includes a first probe placed on a front side of a patient's body and a second probe placed on a dorsal side of the body. The first probe includes an ultrasound transducer, a first accelerometer unit and a magnetic field sensor unit, and the second probe includes a second accelerometer unit and magnetic field sensor unit. Due to respiration of the patient, the abdominal region of the body moves, creating measurement errors when an ultrasound beam is directed towards an internal structure (internal tissue region) inside the patient's body. Correction for such measurement errors uses input data from the first and second accelerometer units and the magnetic field sensor unit.
    Type: Grant
    Filed: July 24, 2019
    Date of Patent: February 25, 2020
    Assignee: Respinor AS
    Inventors: Morten Eriksen, George Refseth, Knut Løklingholm, Nicolay Berard-Andersen
  • Patent number: 10561298
    Abstract: A position detection system includes: a capsule medical device configured to generate a position-detecting magnetic field; a plurality of detection coils arranged outside a subject; and a processor including hardware. The processor is configured to correct a magnetic field component caused by a first magnetic field generation material with respect to each of measurement values of detection signals output from the detection coils, the first magnetic field generation material being arranged inside a space that the position-detecting magnetic field generated by the capsule medical device present inside a detection target region is reachable, the detection target region being a region in which a position of the capsule medical device is detectable, the first magnetic field generation material being configured to generate a magnetic field due to action of the position-detecting magnetic field.
    Type: Grant
    Filed: July 13, 2017
    Date of Patent: February 18, 2020
    Assignee: OLYMPUS CORPORATION
    Inventors: Yusuke Suzuki, Atsushi Chiba, Hironao Kawano, Atsushi Kimura
  • Patent number: 10548671
    Abstract: A medical device for the diagnosis or treatment of tissue in a body and method for fabricating the same are provided. The device includes an elongate, tubular, deformable shaft comprising a proximal end and a distal end. The device also includes an electronic subassembly (54) disposed within the shaft and a conductor (76, 78) coupled to and extending from the electronic subassembly. The electronic subassembly includes a flexible substrate (72) and an electronic device (74). The flexible substrate comprises an interior side (84) and an exterior side (86) opposite the interior side. The flexible substrate also defines a first conductive area (92, 94). The electronic device is mounted on the interior side of the flexible substrate, is coupled to the first conductive area, and is at least partially enclosed within the flexible substrate.
    Type: Grant
    Filed: January 27, 2015
    Date of Patent: February 4, 2020
    Assignee: St. Jude Medical International Holding S.á r.l.
    Inventors: Terry L. Sterrett, Patrick P. Senarith
  • Patent number: 10552969
    Abstract: An exemplary system, method and computer-accessible medium for determining the pixel variation of a tissue(s) in an image(s) can be provided, which can include, for example, receiving first imaging information related to the image(s), segmenting a region(s) of interest from the image(s), generating second imaging information by subtracting a structure(s) from the region(s) of interest, and determining the pixel variation based on the second imaging information. The tissue(s) can include a liver and/or a pancreas. A treatment characteristic(s) can be determined based on the pixel variation, which can include (i) a sufficiency of the tissue(s), (ii) a response to chemotherapy by the tissue(s), (iii) a recurrence of cancer in the tissue(s), or (iv) a measure of a genomic expression of the tissue(s).
    Type: Grant
    Filed: May 26, 2016
    Date of Patent: February 4, 2020
    Assignee: MEMORIAL SLOAN-KETTERING CANCER CENTER
    Inventors: Amber Lea Simpson, Richard Kinh Gian Do
  • Patent number: 10545219
    Abstract: A tracking method is disclosed. The method may include displaying visual content on a screen. A base station may be stationary with respect to the screen while the visual content is being displayed. In contrast, one or more objects may move with respect to the screen while the visual content is being displayed. The one or more objects may be tracked so that the movement thereof may be used to alter the visual content. Such tracking may involve the base station and the one or more objects sending and/or receiving one or more ultrasonic pulses. Time-difference-of-arrival and/or time-of-flight of the one or more ultrasonic pulses may then be used to estimate a relative location and/or a relative orientation of the one or more objects with respect to the base station in three dimensional space.
    Type: Grant
    Filed: November 23, 2016
    Date of Patent: January 28, 2020
    Assignee: CHIRP MICROSYSTEMS
    Inventors: Richard J. Przybyla, David A. Horsley, Mitchell H. Kline
  • Patent number: 10543037
    Abstract: The present disclosure relates to devices, systems and methods for positioning a neuromodulation device at a treatment site and evaluating the effects of therapeutic energy delivery applied to tissue in a patient. Before, during and/or after therapeutic energy delivery, a system can monitor parameters or values relevant to efficacious neuromodulation by emitting and detecting diagnostic energy at the treatment site. Feedback provided to an operator is based on the monitored values and relates to a relative position of the treatment device at the treatment site, as well as assessment of the likelihood that a completed treatment was technically successful.
    Type: Grant
    Filed: March 14, 2014
    Date of Patent: January 28, 2020
    Assignee: MEDTRONIC ARDIAN LUXEMBOURG S.A.R.L.
    Inventor: Jignesh M. Shah
  • Patent number: 10535375
    Abstract: Provided is an information processing system, including a moving image data acquiring unit that acquires moving image data, a communication unit that receives sensor data associated with the moving image data and chronological data corresponding to a shooting time of the moving image data, an image signal processing unit that performs image analysis on the moving image data and generate image analysis result data, and a control unit that generates an interface including the moving image data and graphs of at least two pieces of data among the sensor data, the chronological data, and the image analysis result data.
    Type: Grant
    Filed: April 28, 2016
    Date of Patent: January 14, 2020
    Assignee: SONY CORPORATION
    Inventor: Hiroshi Iwanami
  • Patent number: 10524823
    Abstract: When an image representing an organ in which an excision region has been identified in such a manner that a blood vessel region in the organ is visually recognizable is generated from a three-dimensional image of the organ, an input specifying a depth of cutting is received, and a portion of a boundary surface within the specified depth of cutting along the boundary surface from an outer edge of the boundary surface toward an inside is determined as a cutting surface, and the boundary surface being between the excision region and a non-excision region in the organ. The image representing the organ in such a manner that only a partial blood vessel region, which is present in a neighborhood region of the cutting surface in the blood vessel region of the organ, is visually recognizable is generated from the three-dimensional image.
    Type: Grant
    Filed: January 21, 2015
    Date of Patent: January 7, 2020
    Assignee: FUJIFILM Corporation
    Inventor: Futoshi Sakuragi
  • Patent number: 10517505
    Abstract: Systems, methods, and computer-readable media for optimizing an electromagnetic navigation system are provided. Multiple test signals corresponding to multiple combinations of phase offset values of a plurality of frequency components, respectively, are generated. Based on the test signals, a table including peak signal amplitudes associated with the respective test signals is generated. A minimum value of the stored peak signal amplitudes is identified in the table. Based on the table, a determination is made as to which combination of phase offset values is associated with the minimum value of the stored peak signal amplitudes. The determined combination of phase offset values is stored in a memory for use, during an electromagnetic navigation procedure, in generating a signal including the frequency components having the determined combination of phase offset values, respectively.
    Type: Grant
    Filed: October 28, 2016
    Date of Patent: December 31, 2019
    Assignee: COVIDIEN LP
    Inventors: Sean M. Morgan, Lev A. Koyrakh
  • Patent number: 10507006
    Abstract: A system and method for tracking an invasive device includes a localization system configured to be externally attached to a patient. The localization system includes a transducer module including a plurality of transducer elements. The system and method includes an invasive device including at least one device transducer element. The invasive device is configured to either transmit ultrasound position signals to the transducer module or receive ultrasound position signals from the transducer module.
    Type: Grant
    Filed: December 27, 2013
    Date of Patent: December 17, 2019
    Assignee: GENERAL ELECTRIC COMPANY
    Inventors: Eigil Samset, Geir Ultveit Haugen
  • Patent number: 10499996
    Abstract: Disclosed is a concept for computer-assisted procedures of surgery and diagnosis that target rigid, non-deformable anatomical parts such as bone, tissue, or teeth. The disclosure describes attaching small visual markers to instruments and anatomy of interest (e.g. bone surface), with each marker having a printed known pattern for detection and unique identification in images acquired by a free-moving camera, and a geometry that enables estimating its rotation and translation with respect to the camera using solely image processing techniques.
    Type: Grant
    Filed: March 25, 2016
    Date of Patent: December 10, 2019
    Assignee: Universidade de Coimbra
    Inventor: João Pedro de Almeida Barreto