Imaging and tools for use with moving organs
First Claim
1. Apparatus for use with a portion of a body of a subject that moves as a result of cyclic activity of a body system of the subject, the apparatus comprising:
- an imaging device for acquiring a plurality of image frames of the portion of the subject'"'"'s body;
a sensor for sensing a phase of the cyclic activity;
a medical tool configured to perform a function with respect to the portion of the subject'"'"'s body;
a control unit configured to;
generate a stabilized set of image frames of the medical tool disposed within the portion of the subject'"'"'s body,actuate the tool to execute an action selected from the group consisting of performing the function and moving, in response to the sensor sensing that the cyclic activity is at a given phase thereof, andinhibit the tool from executing the action in response to the sensor sensing that the cyclic activity is not at the given phase; and
a display configured to facilitate use of the tool by displaying the stabilized set of image frames of the medical tool disposed within the portion of the subject'"'"'s body.
1 Assignment
0 Petitions
Accused Products
Abstract
Apparatus is described for use with a portion of a subject'"'"'s body that moves as a result of cyclic activity of a body system. An imaging device acquires a plurality of image frames of the portion. A sensor senses a phase of the cyclic activity. A medical tool performs a function with respect to the portion. A control unit generates a stabilized set of image frames of the medical tool disposed within the portion, actuates the tool to perform the function or move, in response to the sensor sensing that the cyclic activity is at a given phase thereof, and inhibits the tool from performing the action or moving in response to the sensor sensing that the cyclic activity is not at the given phase. A display facilitates use of the tool by displaying the stabilized set of image frames. Other embodiments are also described.
237 Citations
68 Claims
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1. Apparatus for use with a portion of a body of a subject that moves as a result of cyclic activity of a body system of the subject, the apparatus comprising:
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an imaging device for acquiring a plurality of image frames of the portion of the subject'"'"'s body; a sensor for sensing a phase of the cyclic activity; a medical tool configured to perform a function with respect to the portion of the subject'"'"'s body; a control unit configured to; generate a stabilized set of image frames of the medical tool disposed within the portion of the subject'"'"'s body, actuate the tool to execute an action selected from the group consisting of performing the function and moving, in response to the sensor sensing that the cyclic activity is at a given phase thereof, and inhibit the tool from executing the action in response to the sensor sensing that the cyclic activity is not at the given phase; and a display configured to facilitate use of the tool by displaying the stabilized set of image frames of the medical tool disposed within the portion of the subject'"'"'s body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A method for use with a portion of a body of a subject that moves as a result of cyclic activity of a body system of the subject, the method comprising:
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inserting a medical tool into the portion of the subject'"'"'s body, the tool being configured to perform a function; acquiring a plurality of image frames of the tool disposed within the portion of the subject'"'"'s body; sensing a phase of the cyclic activity; displaying a stabilized set of image frames of the tool disposed within the portion of the subject'"'"'s body; facilitated by the displaying of the stabilized set of image frames, actuating the tool to execute an action selected from the group consisting of;
performing the function and moving, in response to sensing that the cyclic activity is at a given phase thereof, andinhibiting the tool from executing the action in response to sensing that the cyclic activity is not at the given phase thereof. - View Dependent Claims (30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55)
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56. Apparatus for use with a portion of a body of a subject that moves as a result of cyclic activity of a body system of the subject, and for use with an imaging device for acquiring a plurality of image frames of the portion of the subject'"'"'s body, a sensor for sensing a phase of the cyclic activity, a medical tool configured to perform a function with respect to the portion of the subject'"'"'s body, and a display configured to facilitate use of the tool by displaying image frames of the portion of the subject'"'"'s body, the apparatus comprising:
a control unit configured to; generate a stabilized set of image frames of the portion of the subject'"'"'s body, output the stabilized set of image frames to the display, actuate the tool to perform the function in response to the sensor sensing that the cyclic activity is at a given phase of the cyclic activity, and inhibit the tool from performing the function in response to the sensor sensing that the cyclic activity is not at the given phase.
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57. Apparatus for use with a portion of a body of a subject that moves as a result of cyclic activity of a body system of the subject, the apparatus comprising:
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an imaging device for acquiring a plurality of image frames of the portion of the subject'"'"'s body; a sensor for sensing a phase of the cyclic activity; a medical tool configured to mechanically perform an action during a single cycle of the cyclic activity with respect to the portion of the subject'"'"'s body; and a control unit configured to; generate a stabilized set of image frames of the portion of the subject'"'"'s body, and actuate the tool to mechanically perform the action in response to the sensor sensing that the cyclic activity is at a given phase thereof. - View Dependent Claims (58, 59, 60, 61, 62)
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63. A method for use with a portion of a body of a subject that moves as a result of cyclic activity of a body system of the subject, the method comprising:
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acquiring a plurality of image frames of the portion of the subject'"'"'s body; sensing a phase of the cyclic activity; generating a stabilized set of image frames of the portion of the subject'"'"'s body; and actuating a tool to mechanically perform an action during a single cycle of the cyclic activity, in response to sensing that the cyclic activity is at a given phase thereof. - View Dependent Claims (64, 65, 66, 67, 68)
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Specification