US7179220B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method for guiding flexible instrument procedures
Assignee: Siemens Medical Solutions USA Inc
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Filing: 2002-02-06
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Granted: 2007-02-20
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Expires: 2022-02-06
Abstract
Abstract A method for determining instructions for handling a flexible instrument comprises parameterizing the flexible instrument according to a plurality of parameters for handling the instrument, determining at least one instrument configuration, wherein the configuration describes at least one parameter, and determining instructions for handling the instrument according to the configuration.
Inventors
- 👤 Markus Kukuk
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 21:08
CPC Classifications
A; A61; A61B; A61B1/00; A61B1/00147; A61B1/005; A61B1/009
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
62 words
A method for handling a flexible endoscope comprising the steps of: parameterizing the flexible endoscope according to a plurality of parameters for handling the endoscope given a desired task; determining, pre-operatively, at least one endoscope configuration of the parameters, based on a predetermined patient model; determining instructions for handling the endoscope according to the configuration; handling the endoscope according to the instructions.
Claim 2
Independent Claim
62 words
A method for handling a flexible endoscope comprising the steps of: parameterizing the flexible endoscope according to a plurality of parameters for handling the endoscope given a desired task; determining, pre-operatively, at least one endoscope configuration of the parameters, based on a predetermined patient model; determining instructions for handling the endoscope according to the configuration; handling the endoscope according to the instructions.
Claim 3
Dependent Claim
16 words
The method of claim 1 , further comprising determining a digital model of a flexible endoscope.
Claim 4
Dependent Claim
19 words
The method of claim 1 , further comprising the step of registering a patient to the predetermined patient model.
Claim 5
Dependent Claim
25 words
The method of claim 1 , further comprising the step of identifying a mutual landmark visible in a patient and in the predetermined patient model.
Claim 6
Dependent Claim
16 words
The method of claim 4 , wherein the landmark is a carina of a tracheobronchial tree.
Claim 7
Dependent Claim
18 words
The method of claim 1 , further comprising the step of determining a configuration relative to a landmark.
Claim 8
Dependent Claim
18 words
The method of claim 1 , wherein the step of parameterizing further comprises determining an endoscope length parameter.
Claim 9
Dependent Claim
61 words
The method of claim 7 , further comprising the steps of: inserting the endoscope to a landmark; and inserting the endoscope to a target site, wherein a distance to the target site from the landmark is a difference between a total distance from a reference point to the target site and an intermediate distance from the reference point to the landmark.
Claim 10
Dependent Claim
26 words
The method of claim 1 , wherein the step of parameterizing further comprises the step of determining a shaft-rotation of the endoscope according to a landmark.
Claim 11
Dependent Claim
27 words
The method of claim 9 , wherein determining a shaft-rotation comprises determining an angle between a bending plane of a tip of the endoscope and a target.
Claim 12
Dependent Claim
23 words
The method of claim 1 , wherein the step of parameterizing further comprises the step of determining a bending angle of the endoscope.
Claim 13
Dependent Claim
61 words
The method of claim 11 , wherein determining the bending angle comprises the steps of: approximating a bending movement by a semi-circle with a given center; determining a first vector between the center and a tip of the endoscope; determining a second vector between the center and a target; and determining the angle between the first vector and the second vector.
Claim 14
Dependent Claim
41 words
The method of claim 1 , wherein parameterizing further comprises the steps of: determining a tool length, wherein the tool is coupled to a tip of the endoscope; and determining a distance between the tip of the endoscope and a target.
Claim 15
Dependent Claim
25 words
The method of claim 13 , wherein determining the tool length comprises determining the distance between an aligned tip of the endoscope and a target.
Claim 16
Dependent Claim
28 words
The method of claim 1 , wherein determining instructions for handling the endoscope according to the configuration are determined prior to inserting the flexible endoscope into a patient.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2010-02-19 | 2010-08-21 | 2011-02-20 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2014-02-19 | 2014-08-21 | 2015-02-20 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2018-02-19 | 2018-08-21 | 2019-02-20 | $7700.00 | Window Closed / Lapsed |