WO2024105704A1 - Système et procédé pour guider un utilisateur dans la navigation d'un dispositif pendant une intervention - Google Patents

Système et procédé pour guider un utilisateur dans la navigation d'un dispositif pendant une intervention Download PDF

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Publication number
WO2024105704A1
WO2024105704A1 PCT/IN2023/051072 IN2023051072W WO2024105704A1 WO 2024105704 A1 WO2024105704 A1 WO 2024105704A1 IN 2023051072 W IN2023051072 W IN 2023051072W WO 2024105704 A1 WO2024105704 A1 WO 2024105704A1
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Prior art keywords
uterus
images
user
parameters
interventional device
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English (en)
Inventor
Sreekar Kothamachu
Darshan Dayanand Samnekar
Sandeep P M
Lakshmi Bai P
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Nesa Medtech Private Ltd
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Nesa Medtech Private Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A61B8/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display

Definitions

  • ablation which is one of the minimally invasive interventional procedures that uses thermal energy to target fibroids to reduce the size of the fibroid significantly.
  • ablation is done through a laparoscopic or a transcervical procedure.
  • physicians make a small opening in the abdomen to insert a laparoscope with a camera at the tip.
  • the physicians locate the fibroids and deploy ablation needle into the fibroids to treat the fibroids.
  • an imaging device a transcervical ultrasound transducer for example
  • a device having needle are inserted through the cervix to locate and treat the fibroids.
  • the conventional systems and methods provide real-time two- dimensional images captured from an imaging device and the physicians need to visualize and characterize the fibroids, and orient, move, and operate the device to reach the target area of the fibroids.
  • the procedures using the conventional system are complex, and planning depends on the intuition and experience of the physicians.
  • the conventional procedures are subjective and skillful in nature, there are high chances of not reaching the target location and delivering optimal intervention leading to incomplete treatment, prolonged hospitalization and further surgical intervention.
  • a method for guiding a user in navigating an interventional device through the cervix uteri of a subject during an interventional procedure on the subject comprises, capturing a plurality of ultrasound images of a uterus of the subject using an ultrasound transducer, displaying the plurality of ultrasound images on a display unit for enabling the user to select one or more images from the plurality of ultrasound images, receiving annotations provided by the user on the one or more images selected by the user, the annotations indicating the uterus landmarks and one or more target regions inside the uterus, generating a three-dimensional representative model of the uterus using the annotated images, generating initial guidance parameters for moving a tip of the interventional device, from a reference point to reach a target point in the target region, wherein the guidance parameters are generated using the three-dimensional representative model of the uterus, generating treatment parameters based on the one or more target regions inside the uterus, displaying the guidance parameters and the treatment parameters on the display unit, capturing real-
  • a system for guiding a user in navigating an interventional device through the cervix uteri of a subject during an interventional procedure on the subject comprises, an ultrasound scanner configured for capturing a plurality of ultrasound images of a uterus of the subject using an ultrasound transducer, and a computing device configured for, displaying, on a display unit, the plurality of ultrasound images for enabling the user to select one or more images from the plurality of ultrasound images, receiving, through the display unit, annotations provided by the user on the one or more images selected by the user, the annotations indicating the uterus landmarks and one or more target regions inside the uterus, generating, by a three-dimensional model generation module, a three-dimensional representative model of the uterus using the annotated images, generating initial guidance parameters, by a guidance parameter generation module, for moving a tip of the interventional device, from a reference point to reach a target point in the target region, wherein the guidance parameters are generated using the three-dimensional representative
  • Figure 1 is block diagram of a system for guiding a user in navigating an interventional device during an interventional procedure on a subject in accordance with an embodiment of the present disclosure
  • Figure 2 is a block diagram of the computing device 115 in accordance with an embodiment of the present disclosure
  • Figure 3 shows an exemplary image displayed by the computing device in accordance with an embodiment of the present disclosure
  • Figure 4 shows an exemplary interventional device for performing the interventional procedure
  • Figure 5 illustrates an example method of generating a 3D model
  • Figure 6 shows a graph illustrating a method of determining a shortest distance between two points in a 3D space
  • Figure 8 shows the image requirement in accordance with an embodiment of the present disclosure
  • Figure 8 shows an exemplary interface displaying additional guidance parameters in accordance
  • Embodiments of the present disclosure disclose a system and a method for guiding a user in navigating an interventional device through the cervix uteri of a subject during an interventional procedure on the subject. Initially, a plurality of ultrasound images of a uterus of the subject is captured through an ultrasound transducer.
  • the plurality of ultrasound images of the uterus is captured by introducing the ultrasound transducer trans-vaginally proximal to the cervix uteri of the subject.
  • the images may be captured using an abdominal ultrasound transducer.
  • the plurality of ultrasound images are then displayed on a display unit for enabling a user to select one or more images from the plurality of ultrasound images and for annotating the selected images.
  • the system receives the annotations provided by the user on the one or more images selected by the user, the annotations indicating the uterus landmarks and one or more target regions inside the uterus.
  • uterus landmarks refers to anatomical features, structures, or reference points of the uterus that helps in defining its structure, function, or location. Then the system generates a three-dimensional representative model of the uterus using the annotated images. Further, using the three-dimensional representative model of the uterus, the system generates initial guidance parameters for moving a tip of the interventional device, from a reference point to reach a target point in the target region and generates treatment parameters based on the one or more target regions inside the uterus, and displays the guidance parameters and the treatment parameters on the display unit to guide the user during the interventional procedure on the subject.
  • FIG. 1 is block diagram of a system for guiding a user in navigating an interventional device during an interventional procedure on a subject in accordance with an embodiment of the present disclosure.
  • the system 100 comprises an ultrasound transducer 105, a data transfer device 110, a computing device 115 and a display device 120, wherein the said devices are communicatively connected through wired or wireless communication networks.
  • the ultrasound transducer 105 is a transvaginal ultrasound transducer used in the hospital for scanning human subjects. Alternatively, the ultrasound transducer 105 may be an abdominal ultrasound transducer.
  • the ultrasound transducer 105 is communicatively connected to an ultrasound scanner (not shown) and the ultrasound transducer 105 radiates ultrasound and receives reflected ultrasound and thereby. The scanner then uses the reflected ultrasound to generate images.
  • the ultrasound transducer is introduced trans-vaginally proximal to the cervix uteri of the subject and a plurality of ultrasound images of a uterus of the subject is captured.
  • the transducer is swept along the abdomen to acquire a volume scan of the entire uterus in different orientations and the images are captured.
  • the plurality of ultrasound images of the uterus is obtained by scanning the uterus in two orthogonal planes and one or more images are captured in each of the two orthogonal planes.
  • the data transfer device 110 then transfers the plurality of ultrasound images to the computing device 115 for further processing.
  • the data transfer device 110 may be a frame grabber or a wired or wireless communication module or any other equipment capable of transferring digital image data from a source device to a destination device.
  • the computing device 115 is configured for guiding the user in navigating an interventional device 125 through the cervix uteri of the subject during an interventional procedure on the subject.
  • the computing device 115 may include, for example, a computer server or a network of computers having communication and computational capabilities for processing high volume data.
  • the computing device 115 may include one or more processors, associated processing modules, interfaces and storage devices communicatively interconnected to one another through one or more communication means for communicating information.
  • the storage associated with the computing device 115 may include volatile and non-volatile memory devices for storing information and instructions to be executed by the one or more processors and for storing temporary variables or other intermediate information during processing.
  • the computing device 115 comprises an input and output module 120 for receiving calibration data from the user and for guiding the user during the interventional procedure.
  • Figure 2 is a block diagram of the computing device 115 in accordance with an embodiment of the present disclosure. As shown, the computing device 115 comprises a network interface module 203 enabling communication with the data transfer device 110, a processor 204, a memory module 206 for storing temporary data during processing and for storing instructions to be executed by the processor 204.
  • the data transfer device 110 comprises a 3D model generation module 208, guidance parameter generation module 210 and a treatment parameter generation module 212.
  • the plurality of ultrasound images of the uterus of the subject is captured by scanning the uterus in two orthogonal planes, and the captured images are communicated to computing device 115. That is, one or more images are captured in each of the two orthogonal planes.
  • the user may set a resolution for the incoming images and all the images will be converted to the resolution set by the user and stored in the memory for further processing.
  • the processor 204 displays the plurality of ultrasound images on the display unit 120 for enabling the user to select one or more images from the plurality of ultrasound images, the one or more images including at least one image obtained from scanning in each of the two orthogonal planes. That is, the computing device 115 displays all the ultrasound images and enables the user to browse through all the images to select one or more images in which the uterus and the target regions (one or more fibroids) are clearly visible. Further, the computing device 115 enables the user to annotate the one or more images selected by the user. In one embodiment of the present disclosure, the annotations include calibrating the selected images, marking the uterus landmarks, and marking the one or more fibroids in the uterus.
  • the annotations further include marking target points in the one or more fibroids.
  • the guidance parameter generation module 210 may be configured to determine the target point in the fibroid based on the maximum length, the maximum width, and the maximum depth of the fibroid, for example.
  • the computing device 115 is configured for automatically selecting and annotating the one or more images using trained machine learning models.
  • Figure 3 shows an exemplary image displayed by the computing device in accordance with an embodiment of the present disclosure. As shown, the computing device 115 displays the image on the display unit 120 and provides an image scale 303 for calibration by the user. Based on the calibration, the computing device 115 computes the length of each pixel.
  • This value is used to get the coordinates of uterus and the one or more fibroids based on the annotation on the anatomical features of the uterus. That is, when the user annotates the uterus and the fibroids, the computing device 115 identifies the number of pixels in the annotations. Upon this calibration, the user annotates uterus and the one or more fibroids and its relevant orientation details in each of the selected images. That is, the user needs to annotate at least the uterus landmarks and the one or more fibroids in the one or more images in each of the orthogonal planes obtained from scanning in two orthogonal planes.
  • the user needs to annotate at least the uterus landmarks and the one or more fibroids in the one or more images obtained from scanning in the two orthogonal planes.
  • the user may annotate the selected images in multiple ways using one or more tools provided by the computing device 115.
  • the user may mark the uterus and the one or more fibroids inside the uterus by drawing circle(s), ellipse(s), dots, lines, etc.
  • the annotated images are stored in the memory module 206 for further processing.
  • the computing device 115 may automatically select and annotate the one or more images using the trained machine learning models.
  • the plurality of ultrasound images and the one or more annotated images are post-processed by the computing device 115 to detect the coordinates in three dimensions (3D coordinates) of the uterus and one or more fibroids inside the uterus, and to generate a 3D representative model of the uterus.
  • 3D coordinates are used to generate the initial guidance parameters to the one or more fibroids, specifically, for guiding the user to navigate the tip of the interventional device from a reference point to a target point in the fibroid. If multiple fibroids are identified, the initial guidance parameters are generated for each fibroid.
  • the initial guidance parameters may include, but not limited to, a profile, a length of the transcervical interventional device 125, angulation of the transcervical interventional device 125 and a length of insertion of the transcervical interventional device 125 from a reference point.
  • the reference point is an external orifice of the uterus.
  • Figure 4 shows an exemplary interventional device for performing the interventional procedure.
  • the profile of the interventional device 125 defines and refers to the angled tip 408. That is, the interventional device 125 may work with different angled tip having different angles, which may vary between zero to forty-five degrees.
  • angulation of the transcervical interventional device 125 as described herein refers to an angle at which the interventional device 125 needs to be rotated during the procedure.
  • the device comprises an adjustable stopper 409 which is adjustable based on the insertion length to prevent accidental insertion of the needle into the uterus.
  • the 3D model generation module 208 on receiving the annotations from the user, the 3D model generation module 208 generates a 3D representative model of the uterus.
  • the term 3D representative model as described herein refers to a model of the uterus and may not be an exact 3D replica of the uterus. In other words, the 3D representative model of the uterus resembles a 3D model of the uterus.
  • the 3D model generation module 208 uses the information such as uterus dimensions, one or more fibroid dimensions, one or more fibroid positions with respect to a reference point (external orifice of the uterus) for generating the 3D representative model of the uterus.
  • the reference point is the cervix uteri.
  • Such information is determined based on the user’s annotations on the images obtained from scanning in the two orthogonal planes. That is, once the user annotates the uterus landmarks and the one or more fibroids in the one or more images, the 3D model generation module 208 processes the annotated images and generates the values required for the generating the 3D representative model of the uterus.
  • the 3D model generation module 208 derives the width and depth of the uterus and fibroids from the annotations on the images obtained through scanning in two orthogonal planes. Then the distance of a fibroid is derived using the annotated images of the uterus and the fibroid. Similarly, the length of the uterus and the fibroid are derived from the annotated images obtained through scanning in two orthogonal planes. The distance of the fibroid is derived from the annotated images of the uterus and the fibroid.
  • Figure 5 illustrates an example method of generating a 3D representative model. As shown, the images annotated with uterus landmarks and the fibroid are used and the distances are measured using the calibration data.
  • the guidance parameter generation module 210 uses the 3D representative model of the uterus for generating the initial guidance parameters.
  • one or more values for each of the guidance parameters are calculated based on the reference point and the target point in the 3D representative model, wherein the reference point is the external orifice of the uterus, and the target site point is preferably any location in the fibroid.
  • the guidance parameter generation module 210 on receiving the annotations on the fibroids, the guidance parameter generation module 210 computes the size of the fibroid based on the number of pixels. Similarly, on identifying the reference point and the target point, the guidance parameter generation module 210 computes the distance between the reference point and the target point.
  • a proprietary interventional device 125 for interventional procedures is compatible with different angled tips (hereafter referred as profile) that allows the extension of the device 125 in a range of its specified angles. These sets of angles help in covering the major parts of the uterus for the intervention.
  • the device 125 comprises markings to determine extent of extension of an interventional device, markings provided on a sheath to enable determination of extent of insertion of the angled tip into the uterine cavity and rotary markings provided on the device 125 to enable determination of rotational orientation of the sheath.
  • the system and method disclosed in the present disclosure generates guidance parameters to assist in interventional procedure for fibroid using the device 125.
  • the system and method provide values to select and adjust various components of the device 125 to precisely reach the target point in the fibroid.
  • the annotation data is used to get the coordinates of the reference point and the target point in the target region, that is a target point in the fibroid.
  • the guidance parameter generation module 210 generates the initial guidance parameters for guiding the user to reach the one or more target points in the fibroid during the interventional procedure on the subject. It is to be noted that the initial guidance parameters are generated to reach each of the one or more target points in the fibroid.
  • the guidance parameter generation module 210 reads the target point in the fibroid and the reference point in the 3D representative model and determines the shortest distance between the two points.
  • Figure 6 shows a graph illustrating a method of determining the shortest distance between two points in a 3D space. This distance is run through multiple combinations of the interventional device having different angulations, lengths of angled tip and the length of the interventional device.
  • the guidance parameter generation module 210 computes the distance between external orifice 604 (reference point) of the uterus and the target point 608 in the fibroids based on the number of pixels covered and the angle is determined based on the reference point and the one or more fibroids.
  • the guidance parameter generation module 210 also computes an angle between the two points and converts the angle into a rotational value which will be common for all types of interventional device 120. On identifying the shortest distance and the angle between the reference point (external orifice of the uterus) and the target point in the fibroid, the guidance parameter generation module 210 generates guidance parameters by shortlisting the common intervention devices having different profiles and picks up the optimal one from that group, wherein the optimal one is the one having minimum variation (in distance) between a tip of the intervention device 125 and the target point in the fibroid.
  • the guidance parameter generation module 210 selects the length of the interventional device 125, and based on the angle, it selects the profile of the interventional device 125.
  • the variation in distance is computed using the 3D representative model of the uterus, coordinates of the reference point and the coordinates of the target point and the device profile, the length of the transcervical interventional device, angulation of the transcervical interventional device and a length of insertion of the transcervical interventional device.
  • the guidance parameter generation module 210 computes the required length of the interventional device 125 and the length of insertion of the 125 based on the Y distance between the reference point and the target point.
  • the profile and the angulation of the interventional device 125 is calculated based on the target point of the fibroid.
  • the length of insertion of the interventional device 125 is preferably between 2cm and 5cm, however the insertion length may vary.
  • the guidance parameter generation module 210 shortlists one having minimum variation (in distance) between a tip of the intervention device 125 and the target point in the fibroid, wherein the variation is calculated based on the spatial co-ordinates. Below table explains the process of shortlisting the profile of the interventional device 125.
  • the guidance parameter generation module 210 displays the profile along with the distance between the reference point and the target point in the fibroid. [0044] As described, based on the 3D representative model of the uterus, the reference point (the external orifice of the uterus) and the target point in the fibroid, the guidance parameter generation module 210 generates the initial guidance parameters (values) to assists the user in navigating to the target point in the fibroid.
  • the guidance parameters include but not limited to length of the interventional device 125, profile, type of the angled tip, length of the angled tip, and angle of rotation of the angled tip from the reference point on the intervention device. As described, the guidance parameters and their values are displayed on the display unit 120 of the computing device 115.
  • the treatment parameter generation module 212 generates the treatment parameters for treating the fibroids in the uterus of the subject.
  • the treatment parameters as described herein may include but not limited to treatment power, temperature and treatment time, etc., wherein the treatment parameters are determined based on maximum length, maximum width, and the maximum depth, and the specification of the interventional device 125.
  • the treatment parameter generation module 212 of the device 115 reads treatment parameters from a treatment chart stored in the proposed system which is obtained by the treatment device manufacturer that contains the estimated treatment area for a specific combination of parameter. Based on the maximum length, the maximum width, and the maximum depth of the fibroid and the device specification, the treatment parameter generation module 212 generates the treatment parameters for treating the fibroids in the uterus.
  • the treatment parameter can include the treatment power and the treatment time if the procedure us a radiofrequency ablation.
  • the treatment options can also include microwave ablation, ultrasound ablation, cryoablation, or injecting drugs to the centre of the fibroid.
  • the computing device 115 Upon generating the guidance parameters and the treatment parameters, the computing device 115 displays the same on the display unit 120 along with the 3D representative model of the uterus.
  • the 3D representative model displayed on display unit 120 is an interactive model which can be rotated by the user.
  • the display unit 120 displays the details of each fibroid when it is activated individually.
  • the details of the fibroid, along with fibroid size, fibroid position also contains the guidance and the treatment parameters of the fibroid.
  • the system provides the detailed information on the uterus and the fibroids along with the initial guidance parameters and the treatment parameters, thereby enabling the user to use the correct interventional device 125 during the interventional procedure.
  • the transducer scans both the target point in the fibroid region and the angulated tip in the same image.
  • the image having both the target point in the fibroid region and the angulated tip is captured from the video using data transfer device 110 and is sent to the computing device 115 for further processing and guiding the user.
  • the physician can perform this step of capturing image multiple times to capture the image as per the requirement.
  • image may be captured using abdominal ultrasound transducers.
  • the processor 204 displays the image on the display unit 120 (preferably a touch screen display), wherein the image comprises the image of the angulated tip, the target point in the fibroid to which the tip of the interventional device 125 device should reach, and a reference scale of the captured image.
  • the image of the angulated tip, the target point in the fibroid to which the tip of the interventional device 125 device should reach is displayed as an overlay on the 3D representative model of the uterus.
  • the processor 204 further displays an image scale using which the user may calibrate the image.
  • Figure 7 shows the image requirement in accordance with an embodiment of the present disclosure.
  • the image should include the target region (the fibroid region) 704, and the angulated tip 708 of the interventional device 125.
  • the user then needs to identify the points on the captured image’s reference scale 712 and indicate the displayed scale length and needs to click on the top and bottom point to indicate the annotation reference scale value. Preceding this, the user needs to detect the angulated tip 708 and click on them, with a cursor on the screen, respectively.
  • This annotated frame is saved to display an overlay of the path with which the interventional device 125 projects with its specified length, along with an estimation of the treatment zone and its safety region. The manner in which the system 100 guides the user during the procedure is described in detail further below.
  • an image (of both the fibroid region and the angulated tip inclusive) is captured from the ultrasound transducer for processing by the computing device 115.
  • the computing device 115 displays the image for annotation by the user. This annotation is used by the computing device 115 for calculating the pixel dimensions. Further, the user annotates the angulated tip, using an angulated tip annotation marker, as shown in Figure 7. Alternatively, one or more machine learning model is trained for identifying the rear end and the front tip of the angulated tip.
  • the computing device 115 stores the annotated image for further processing. With such annotation, the computing device 115 may guide the user to move the interventional device 115 to the target point.
  • the computing device 115 is further configured for computing and displaying an estimated safety zone for assisting the user.
  • the estimated safety zone is displayed as an overlay on the 3D representative model of the uterus.
  • Figure 8 shows an exemplary interface displaying additional guidance parameters in accordance with an embodiment of the present disclosure.
  • the ultrasound transducer captures the image, the image including the fibroid region 802 and the tip 708 of the interventional device 125. Then the data transfer device 110 transfers the captured image to the computing device 120 for further processing.
  • the computing device 115 identifies the angulated tip 708 of the interventional device 125 and projects treatment trajectory 804 to reach the target point 806 based on the co-ordinates of the target point 804 and the co-ordinates the angulated tip 708.
  • the tip 708 of the interventional device 125 and the trajectory is displayed as an overlay on the 3D representative model of the uterus.
  • the computing device 115 further computes and displays the estimated safety zone (outer ellipsoid 808) by adding a length (5 mm for example) to the fibroid region’s 802 (inner ellipsoid) length and width.
  • estimated safety zone (outer ellipsoid) length 5 mm + estimated treatment zone (inner ellipsoid) length
  • estimated safety zone (outer ellipsoid) width 5 mm + estimated treatment zone (inner ellipsoid) width.
  • the system and method disclosed in the present disclosure guides the user in navigating the interventional device through the cervix uteri of the subject during the interventional procedure on the subject by providing data on the profile, the length of the interventional device required to reach the target point (distance between the front end of the angulated tip and the target point), angle between the front end of the angulated tip and the target point and the treatment zone.
  • the system assigns the value to the corresponding variable, and this value from the variable is taken for calculating the length accordingly.
  • the proposed system and method may be implemented for interventional procedures including but not limited to ablation procedures, biopsy procedures or drug delivery to the target location.

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Abstract

La présente invention concerne un système (100) pour guider un utilisateur dans la navigation d'un dispositif d'intervention (125) pendant une intervention. Le système (100) comprend un dispositif de balayage ultrasonore (105) pour capturer des images ultrasonores d'un utérus du sujet, et un dispositif informatique (115), le dispositif informatique (115) générant un modèle représentatif 3D de l'utérus à l'aide d'une ou plusieurs images annotées, générant des paramètres de guidage initiaux pour déplacer une pointe du dispositif d'intervention (125), à partir d'un point de référence pour atteindre un point cible dans une région cible, générant des paramètres de traitement à l'aide du modèle représentatif tridimensionnel de l'utérus, affichant et, pendant l'intervention, le dispositif informatique (115) mettant périodiquement à jour les paramètres de guidage sur la base d'une position actuelle de la pointe du dispositif d'intervention (125), des données en temps réel de l'intérieur de l'utérus et des paramètres de guidage initiaux.
PCT/IN2023/051072 2022-11-20 2023-11-20 Système et procédé pour guider un utilisateur dans la navigation d'un dispositif pendant une intervention Ceased WO2024105704A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170236272A1 (en) * 2012-02-22 2017-08-17 Veran Medical Technologies, Inc. Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation
US20210322092A1 (en) * 2018-08-27 2021-10-21 Nesa Medtech A system and method for the ablation of uterine fibroids

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170236272A1 (en) * 2012-02-22 2017-08-17 Veran Medical Technologies, Inc. Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation
US20210322092A1 (en) * 2018-08-27 2021-10-21 Nesa Medtech A system and method for the ablation of uterine fibroids

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