Patent application number | Description | Published |
20120071757 | Ultrasound Registration - The present invention relates to a method and apparatus for registering three-dimensional ultrasound images to an external coordinate system, such as the coordinate system attached to a camera-based imaging system or the coordinate system used to define the movements of a surgical robot. The apparatus generally comprises a tool with markers that can be accurately and repeatably located in both the ultrasound and external coordinate systems. In the case of the surgical robot frame, this tool may be a component of the surgical robot itself, such as a portion of a surgical manipulator. The method generally comprises positioning the toot upon the surface of a portion of patient tissue, imaging the tool using the ultrasound, simultaneously imaging the tool using the camera system or monitoring the current mechanical configuration of the surgical robot, localizing corresponding tool elements in both frames, and finally using the corresponding elements as registration fiducials to solve the geometric transformation that relates the two frames. | 03-22-2012 |
20150087975 | ELASTOGRAPHY-BASED ASSESSMENT OF CRYOABLATION - A method of monitoring the cryoablation of a target volume of tissue with ultrasound elastography, the method comprising acquiring a first elastography image encompassing said target volume of tissue, performing at least one cycle of freezing and thawing of tissue encompassed in said target volume, acquiring a second elastography image encompassing said target volume, and comparing said first and said second elastography images over said target volume. The elastography provides either relative or quantitative measurements of tissue elasticity. The elastography maps of tissue elasticity, before and after cryoablation of one region, can guide the cryoablation of another region. The use of elastography provided feedback to the operator to achieve effective treatment with cryoblation over a planned target. | 03-26-2015 |
Patent application number | Description | Published |
20100160778 | METHOD AND APPARATUS FOR DETERMINING VISCOELASTIC PARAMETERS IN TISSUE - Described herein are a method and apparatus for determining viscoelastic parameters of a tissue. A vibration signal is applied to the tissue and displacements at a plurality of locations within the tissue are measured at a plurality of times. The viscoelastic parameters of the tissue, including elasticity and viscosity, can then be determined by fitting a finite element model of the tissue to the vibration signal and the measured displacements and by solving for the viscoelastic parameters of the model. A value for density of each element of the model is selected and the absolute values for the viscoelastic parameters of each of the elements in the model is determined. Alternatively, the difference in relaxation-times between two locations within the tissue can be determined from the difference in phases of the strains at the two locations. | 06-24-2010 |
20120095323 | Bandpass Sampling for Elastography - The characterization of tissue viscoelastic properties requires the measurement of tissue displacements over a region of interest at frequencies that exceed significantly the frame rates of conventional medical imaging devices. The present invention involves using bandpass sampling to track high-frequency tissue displacements. With this approach, high frequency signals limited to a frequency bandwidth can be sampled and reconstructed without aliasing at a sampling frequency that is lower than the Nyquist rate. With bandpass sampling, it is feasible to use conventional beam-forming on diagnostic ultrasound machines to perform high frequency dynamic elastography. The method is simple to implement as it does not require beam interleaving, additional hardware or synchronization and can be applied to magnetic resonance elastography. | 04-19-2012 |
20130253318 | METHOD AND APPARATUS FOR DETERMINING VISCOELASTIC PARAMETERS IN TISSUE - Described herein are a method and apparatus for determining viscoelastic parameters of a tissue. A vibration signal is applied to the tissue and displacements at a plurality of locations within the tissue are measured at a plurality of times. The viscoelastic parameters of the tissue, including elasticity and viscosity, can then be determined by fitting a finite element model of the tissue to the vibration signal and the measured displacements and by solving for the viscoelastic parameters of the model. A value for density of each element of the model is selected and the absolute values for the viscoelastic parameters of each of the elements in the model is determined. Alternatively, the difference in relaxation-times between two locations within the tissue can be determined from the difference in phases of the strains at the two locations. | 09-26-2013 |
20130338505 | Ultrasound Probe for Laparoscopy - An intra-operative ultrasound probe for use with a robotic and laparoscopic surgical systems that allows for direct surgeon control over the position and orientation of the ultrasound image is presented. The transducer is designed to interface with the laparoscopic grasper so that it is easy to pick up in a locking, self-aligning and repeatable manner. The transducer is tracked in space using either forward kinematics or electromagnetic sensing, allowing multiple 2D images to be combined in order to create 3D ultrasound volumes. The 3D volumes can be further processed and displayed on the surgeon's console, or used to register and display acquired pre-operative images at the correct spatial location within the patient. | 12-19-2013 |
Patent application number | Description | Published |
20090136108 | METHOD FOR AUTOMATED DELINEATION OF CONTOURS OF TISSUE IN MEDICAL IMAGES - The present invention relates to a method for delineating the contour of an object in captured medical images by first transforming the shape of the object into a simple geometric shape that is more computationally tractable than the shape of the object. After the contour of the transformed shape is detected, the inverse of the transformation is applied to the contour such that it represents the contour of the object in the captured medical image. | 05-28-2009 |
20090143679 | METHOD AND APPARATUS FOR IMAGING THE MECHANICAL PROPERTIES OF TISSUE FROM AN ENDOCAVITY - The present invention relates to a method and apparatus for imaging the mechanical properties of a tissue region from within an endocavity of a patient. The apparatus generally comprises an ultrasound probe, a vibration assembly translationally coupled to probe and operable to vibrate the probe along a vibration plane, and a rotation assembly rotationally coupled to the vibration assembly and operable to rotate the probe and vibration assembly about a selected rotational range. The method generally comprises inserting an ultrasound probe into an endocavity of a patient, vibrating the probe along a vibration plane thereby causing deformational excitement of a tissue region contacted by the probe, capturing a first series of ultrasound images of the tissue region, rotating the vibration plane relative to the tissue region by a selected angular rotation, and capturing a second series of ultrasound images of the tissue region. | 06-04-2009 |
20110152895 | Apparatus for clamping an organ during surgery - This invention is a surgical clamp for the purpose of occluding the kidney or other organ and thereby obtaining a bloodless surgical field, while allowing the majority of the organ to remain normally perfused. Previous approaches are limited in ability to provide sufficient clamping force without damaging the oran. The invention comprises a first and second jaw, wherein the proximal ends of the two jaws, and the distal ends of the two jaws are connected by a strap, such that applying tension to the strap results in moving the relative positions of the jaws in a substantially parallel motion, which provide a clamping force to the organ. The jaws can be attached with a flexibly joint to a hollow shaft, such that a cable inside the shaft can be used to apply tension to the strap while maintaining the ability to pivot the jaws relative to the shaft. | 06-23-2011 |